WO2007069667A1 - Dispositif de joint elastique - Google Patents

Dispositif de joint elastique Download PDF

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Publication number
WO2007069667A1
WO2007069667A1 PCT/JP2006/324883 JP2006324883W WO2007069667A1 WO 2007069667 A1 WO2007069667 A1 WO 2007069667A1 JP 2006324883 W JP2006324883 W JP 2006324883W WO 2007069667 A1 WO2007069667 A1 WO 2007069667A1
Authority
WO
WIPO (PCT)
Prior art keywords
elastic
joint device
elastic joint
supports
rods
Prior art date
Application number
PCT/JP2006/324883
Other languages
English (en)
Japanese (ja)
Inventor
Shigeo Hirose
Yoshinori Tanaka
Masayuki Arai
Kazunori Ogami
Original Assignee
Tokyo Institute Of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokyo Institute Of Technology filed Critical Tokyo Institute Of Technology
Priority to JP2007550211A priority Critical patent/JPWO2007069667A1/ja
Publication of WO2007069667A1 publication Critical patent/WO2007069667A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible

Definitions

  • the present invention relates to an elastic joint device. -Background technology ...
  • a joint device using a linear motion is known as an inter-body connecting device for robot joints and ground moving bodies.
  • Japanese Patent No. 2 9500 5 5 and Japanese Patent Laid-Open No. 2 0 4-3 4 5 5 3 have a pair of supports and a plurality of telescopic rods, and each telescopic rod is universal. These supports are connected to each other by being fixed to the support via a joint ⁇ , and the telescopic rods are expanded and contracted in the axial direction, so that one of the supports is rotated about the vertical axis with respect to the other support or is almost horizontal.
  • a joint device is disclosed that is adapted to rotate about an axis.
  • the telescopic rods themselves do not have elasticity, so that if an external force acts on one support body, the external force may be transmitted to the other support body via the joint device. is there.
  • the movement of the support may be restricted and smooth operation may not be obtained.
  • Japanese Patent Application Laid-Open No. 2005-059 1 10 discloses a first elastic member having a base portion fixed to a support member, a plurality of node members fixed to the first elastic member, Disclosed is a joint device that has a second elastic member having a tip portion fixed to a node member positioned at the tip, and the joint portion bends when the root portion of the second elastic member is moved in a direction opposite to the tip portion. ing.
  • the first elastic member and the second elastic member are formed from plate members. Therefore, the external force in the bending direction can be absorbed by these elastic parts. However, the external force in the direction perpendicular to the bending direction cannot be absorbed by the elastic member. Disclosure of the invention
  • the present invention takes the above-mentioned conventional technology into consideration, and not only functions as a joint device having at least a degree of freedom of expansion and contraction, but also buffers external forces with elastic forces in the vertical and horizontal directions and in the direction of expansion and contraction.
  • An object of the present invention is to provide a joint device capable of smoothly connecting supports.
  • the pair of support bodies and the connection body that connects the support bodies to each other, the one or more elastic bars and the elastic bars are driven independently of each other.
  • an elastic joint device having a telescopic device that expands and contracts in the axial direction.
  • the moving body in the moving body, at least one connecting body that connects a pair of moving modules that are in contact with each other with a plurality of moving modules is connected to each other.
  • a moving body provided with M which includes one or a plurality of elastic bars and a connecting body equipped with an expansion / contraction device that drives the elastic bars independently of each other and expands and contracts in the axial direction.
  • FIG. 1 is a diagram illustrating a 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 a configuration of another embodiment of an elastic coupling body
  • FIG. 5 and 6 are diagrams for explaining the operation of the embodiment of FIG. 1
  • FIG. 7A is a diagram for explaining the operation of the conventional example
  • FIG. 7B is a diagram for explaining the operation of the embodiment according to the present invention
  • FIG. Fig. 9 and Fig. 10 are diagrams illustrating the configuration of another embodiment of the ground mobile unit, from Fig. 11A to Fig. 11D.
  • It is a schematic view for illustrating a propulsion method land mobile, configuration explanatory diagram of another embodiment of FIG. 1 2 invention
  • Figures 1 to 3 show an unfavorable example diagrams.
  • FIG. 1 is an explanatory diagram of the configuration of the embodiment of the present invention.
  • the elastic joint device 3 1 shown in FIG. 1 is composed of a front support body 2 and a rear support body 1 and an elastic connection body 30 connecting them.
  • the elastic coupling body 30 is composed of one or a plurality (three in this example) of elastic rods 4 (4 a, 4 b, 4 c), and each elastic rod 4 linearly extending and contracting in the respective axial directions.
  • 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.
  • 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. .
  • each expansion / contraction device 3 has 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 5 1 that slidably accommodates an elastic bar 4, and a casing 5 1 that can rotate around a central axis.
  • the electric motor 54 is rotated, the port 52 is rotated, whereby the nut 55 and the elastic rod 4 are moved in the axial direction. In this case, the length in the axial direction of the elastic bar 4 itself does not change greatly.
  • each elastic rod 4 Since each elastic rod 4 has its own elasticity, it can be swung not only in a longitudinally extending / contracting direction but also in a vertical / left / right direction.
  • each of the three elastic rods 4 has elasticity, that is, a pair of supports. Since the bodies 1 and 2 are not connected by a rigid body, the elastic joint device 3 1 has a vertical swing direction (arrow a) with respect to its central axis C.
  • FIG. 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 to enable direct-motion expansion / contraction. Also, due to the elasticity of the elastic bar 4a, the impact in all directions of up and down swing direction (. Arrow a), left and right swing direction (arrow b), twisting direction (arrow) and telescopic direction (arrow d) Can be relaxed.
  • 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 constituted by two elastic rods 4 a and 4 b and respective expansion devices 3 a and 3 b. Show.
  • the elastic devices 4a and 4b are independently driven by the expansion and contraction devices 3a and 3b. Further, the impact in all directions of the up and down swing direction (arrow a), the left and right swing direction (arrow b), the tilting motion direction (arrow) and the telescopic motion 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, six elastic rods 4 a, 4 b, 4 c, 4 d, 4 e, 4 f and respective telescopic devices.
  • An example is shown in which a Stewart platform with 6 degrees of freedom is formed by using 3a, 3b, 3c, 3d, 3e, and 3f.
  • the front ends of the elastic bars 4 a, 4 b, 4 c, 4 d, 4 e, 4 f are directly fixed to the front support 2, and the telescopic devices 3 a, 3 b, 3 f
  • the rear ends of c, 3d, 3e, 3f are fixed to the rear support 1 through elastic members 5a, 5b, 5c, 5d, 5e, 5f. Determined.
  • the elastic rods 4a, 4b, 4c, .4, 4e, 4e, 4f are independent by the expansion devices 3a, 3b, 3c, 3d, 3e, 3.f. Therefore, it is possible to operate in the X, ⁇ , and Z directions and a, ⁇ , and downward directions in Fig.
  • Each elastic rod 4a, 4b, 4c, 4d, 4e, 4f has elasticity and elastic members 5a, 5.b, 5c, 5d., 5e, 5f Therefore, the impact in all directions of the up-and-down swing direction, the left swing direction, the twisting operation direction, and the telescopic operation direction can be reduced.
  • the number of the elastic rods 4 of the elastic coupling body 30 may be one or plural. However, if the elastic rod 4 is at least 3 ⁇ , the elastic rod 4 is independently driven and controlled, so that it can move up and down, left and right, and extend and contract as a whole. It is possible to buffer the impact in the direction of movement and torsion.
  • Fig. 4 shows the elastic coupling body 3 with three elastic rods shown in Fig. 1.
  • FIG. 9 is an operation explanatory diagram of 0. ⁇
  • FIG. 5 is another operation explanatory view of the elastic coupling body 30 including the three elastic rods shown in FIG.
  • FIG. 6 is another operation explanatory diagram of the elastic coupling body having three elastic rods shown in FIG.
  • the three elastic rods 4 a, 4 b, 4 c are extended by an equal length (arrow E).
  • the elastic coupling body 30 can be moved straight forward (arrow F).
  • the front support 2 is linearly expanded and contracted with respect to the rear support 1.
  • FIG. 7A shows a conventional joint-joint device
  • FIG. 7B shows a joint device of the present invention.
  • 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.
  • the elastic rod 4 is bent smoothly by extending and contracting. Therefore, foreign matter is not caught at the bent part, and the operation is more reliable because it is less likely to break down.
  • the elastic coupling body not only functions as a joint device having at least a degree of freedom of expansion and contraction, but also buffers the impact force by the elastic force in the vertical and horizontal directions, the expansion and contraction direction, Supports can be connected smoothly.
  • the elastic rod itself constituting the elastic coupling body Since it is elastically curved, the curved elastic bar itself can provide an effect of buffering the impact. For this reason, it is not necessary to provide a new shock absorber for shock absorption, simplifying the structure, reducing costs, and smoothly bending the joints or connecting parts, making it difficult for foreign objects to be caught. It is possible to achieve a joint device that can operate smoothly and is not easily damaged. .
  • the present invention can be applied to, for example, a joint of a mouth pot 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 ground mobile unit connection device.
  • This ground moving body can be composed of an unmanned exploration device for exploring victims in rough lands (such as an earthquake) after a disaster such as an earthquake.
  • the ground moving body 20 includes a rear module 2 1, a front module 2 2, and an elastic connecting body 30 connecting them.
  • the rear module 21 and the front module 22 are connected in series along their traveling direction.
  • the rear module 21 and the front module 22 are each composed of a vehicle provided with a crawler 26 for traveling and driving, covering the entire surface of each.
  • the elastic coupling body 30 includes four elastic rods 2 4 a, 2 4 b, 2 4 c, 2 4 d and each elastic rod 2 4 a, 2 4 b, 2 4 c, 2 4 d separately
  • the expansion and contraction device 2 3 a, 2 3 b, 2 3 c, and 2 3 d (only 2 3 b and 2 3 d are shown in the figure) are controlled.
  • the front ends of the elastic rods 2 4 a, 2 4 b, 2 4 c, 2 4 d are directly fixed to the forward vehicle 22, and the telescopic devices 2 3 a, 2 3 b, 2 3 c, 2 3 d
  • the rear end is fixed directly to the rear vehicle 21.
  • the number of elastic bars constituting the elastic coupling body 30 is not limited to four, and may be three or other numbers.
  • the preceding vehicle 2.2 is connected to the rear vehicle 2 1 via the elastic connecting body 30. Therefore, between the preceding and following vehicles 2 1 and 2 2, As in the case of Fig. 1 to Fig. 6, it is possible to move up / down, left / right, twist and extend / contract.
  • the shocks in these directions of movement can be elastically buffered, and the vehicles can be connected smoothly to eliminate any debris and other obstacles.
  • FIG. 9 shows another embodiment of the ground mobile unit 20.
  • the ground moving body '20 is composed of two moving modules 2 1 and 2 2, that is, a rear module 2 1 and a front module 2 2, and an elastic connection body 30 connecting them.
  • the rear module 2 1. and the front module 2 2 are connected in series along their traveling direction.
  • each module 2 1, 2 2 has, for example, a cylindrical shape and is not provided with a crawler or wheels. .
  • the elastic coupling body 3 2 includes three elastic rods 2 4 a, 2 4 b, 2 4 c and an expansion device 2 3 that individually controls expansion and contraction of the elastic rods 2 4, 2 4 b, 2 4 c. It consists of a, 2 3. b, and 2 3 c.
  • the front and end of each elastic rod 2 4 a, 2 4 b, 2 4 c are fixed to the front module. Even in the ground moving body 20 shown in FIG. 9, since the front module 2 2 is connected to the rear module 2 1 via the elastic connection body 30, it can be vertically and horizontally, twisted and extended, Impacts in these operating directions can be elastically buffered.
  • three or more, for example, four movement modules 2 1, 2 7 a, 2 7 b, 2 2 are provided, and these movement modules are connected in series along their traveling directions, Moving modules adjacent to each other It is also possible to connect the cables by elastic connectors 30.
  • 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. Become. .
  • FIG. 11A the engaging claws 2 2p of the front module 2 2 are first engaged with the ground GR, for example.
  • the elastic coupling 30 is then contracted as shown in FIG. 11B; thereby causing the rear module 21 to advance. Then, as shown in Fig.
  • the engaging claw 2 2 of the front module 2 2 is released from the ground GR, and the engaging claw of the rear module 2 1 .2 1 p is engaged with the ground G.R. Combined.
  • the elastic coupling body 30 is extended, and thereby the front module 22 is advanced. These are repeated.
  • the ground mobile body 20 can be propelled by a bending motion such as a snake or a bug.
  • Figure 12 shows another embodiment of the present invention.
  • the front module 2 2 should be moved upward relative to the rear module 2 1:
  • the elastic rod 2 4 a is extended, as shown in Figure 13
  • the elastic rod 2.4a itself may be deformed undesirably, and the front module 2 2 may not be moved upward. Therefore, in another embodiment according to the present invention, as shown in FIG. , 22 is provided with a restricting member 6 1 for restricting the movement of the elastic rods 2 4 a, 24 b, 24 c at an intermediate position between them.
  • the regulating member 6 1 is composed of a plurality of, for example, two plate members 6 2 and 6 3.
  • Each plate member 6 2 a, 6 2 b has a receiving hole 6 4 for receiving the elastic rods 2 4 a, 2 4 b, 2 4 c, respectively, and the inertia rods 2 4 a, 2 4 b, The movement of the elastic rods 2 4 a, 2 4 b, and 2 4 c is restricted by the passage of the 2 4 c through the corresponding receiving holes 6 4.
  • the elastic rods 2 4 a, 2 4 b, 2 4 c between the pair of moving modules 2 1, 2 2 are moved all around.
  • a bellows-like cover member 65 is provided to cover the plate member 6.2 and 63 by the cover neo 65.
  • the cover member 65 is deformed in accordance with the up and down, left and right, torsion and expansion / contraction operations of the elastic rods 2 4 a, 2 4 b and 2 4 c, so that the plate members 6 2 and 6 3 are Therefore, the movement of the elastic rods 2 4 a, 2 4 b, 2 4 c is restricted regardless of the state of the elastic rods 2 4 a, 2 4 b, 2 4 c. You can continue.
  • 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. Therefore, the elastic coupling body 30 is protected by the cover member 65 and the gap between the elastic rods 2 4 a, 2 4 b, 2 4 c Intrusion of foreign matter or the like is prevented.
  • the present invention not only does it function as a joint device having at least a degree of freedom of extension, but also cushions external forces with elastic forces in the vertical, horizontal, telescopic, and torsional directions, thereby smoothing the supports. It is possible to provide a joint device that can be connected.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif de joint élastique (31) qui comprend une paire de corps d’appui (1, 2) et un corps de raccord (30) destiné à relier ces corps d’appui (1, 2) l’un à l’autre. Le corps de raccord (30) comprend une ou plusieurs barres élastiques (4a, 4b, 4c) et des dispositifs d’extension (3a, 3b, 3c) destinés à étirer et ramener axialement les barres élastiques (4a, 4b, 4c) en les entraînant indépendamment.
PCT/JP2006/324883 2005-12-15 2006-12-07 Dispositif de joint elastique WO2007069667A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007550211A JPWO2007069667A1 (ja) 2005-12-15 2006-12-07 弾性関節装置

Applications Claiming Priority (2)

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JP2005361561 2005-12-15
JP2005-361561 2005-12-15

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WO2007069667A1 true WO2007069667A1 (fr) 2007-06-21

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2233256A1 (fr) * 2009-03-26 2010-09-29 FESTO AG & Co. KG Dispositif d'entraînement
WO2010109534A1 (fr) * 2009-03-26 2010-09-30 Sano Mitetsu Dispositif de déplacement et procédé de production d'une section rotative annulaire
JP2012096337A (ja) * 2010-11-05 2012-05-24 Ryutai Servo:Kk 剛性を有する複数の弾性ワイヤーを用いたパラレルメカニズム
CN102881338A (zh) * 2012-09-21 2013-01-16 江苏大学 一种1t2r并联三自由度位姿调整平台
CN102887182A (zh) * 2012-10-12 2013-01-23 北京交通大学 全移动副移动机构
WO2016063348A1 (fr) * 2014-10-21 2016-04-28 オリンパス株式会社 Mécanisme de courbure et équipement médical souple
WO2017072999A1 (fr) * 2015-10-26 2017-05-04 ソニー株式会社 Robot à biellettes parallèles et dispositif d'actionnement
WO2017082187A1 (fr) * 2015-11-13 2017-05-18 日本電産サンキョー株式会社 Dispositif d'entraînement
WO2017082191A1 (fr) * 2015-11-13 2017-05-18 日本電産サンキョー株式会社 Dispositif d'entraînement composite
JP2019030927A (ja) * 2017-08-07 2019-02-28 日本電気株式会社 ロボットアーム、制御方法およびプログラム

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5977137B2 (ja) * 2012-10-04 2016-08-24 ヤマハ発動機株式会社 回転軸およびこの回転軸を備える産業用ロボット

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JPH04176584A (ja) * 1990-11-09 1992-06-24 Toshiba Corp 多自由度テーブル
JPH06183374A (ja) * 1992-12-18 1994-07-05 Kawasaki Heavy Ind Ltd 連節形車両
JPH09170604A (ja) * 1995-11-07 1997-06-30 Siemens Ag フレキシブルなアクチュエータ
JPH09254078A (ja) * 1996-03-25 1997-09-30 Toshiba Corp ロボットアーム装置
JPH10277974A (ja) * 1997-04-08 1998-10-20 Eizou Nishimura パラレルメカニズムアクチュエータ
JPH1190869A (ja) * 1997-09-24 1999-04-06 Olympus Optical Co Ltd パラレルリンク機構

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JPS6288008A (ja) * 1985-10-14 1987-04-22 Hitachi Ltd 多自由度空間微動機構
JPH04176584A (ja) * 1990-11-09 1992-06-24 Toshiba Corp 多自由度テーブル
JPH06183374A (ja) * 1992-12-18 1994-07-05 Kawasaki Heavy Ind Ltd 連節形車両
JPH09170604A (ja) * 1995-11-07 1997-06-30 Siemens Ag フレキシブルなアクチュエータ
JPH09254078A (ja) * 1996-03-25 1997-09-30 Toshiba Corp ロボットアーム装置
JPH10277974A (ja) * 1997-04-08 1998-10-20 Eizou Nishimura パラレルメカニズムアクチュエータ
JPH1190869A (ja) * 1997-09-24 1999-04-06 Olympus Optical Co Ltd パラレルリンク機構

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2233256A1 (fr) * 2009-03-26 2010-09-29 FESTO AG & Co. KG Dispositif d'entraînement
WO2010109534A1 (fr) * 2009-03-26 2010-09-30 Sano Mitetsu Dispositif de déplacement et procédé de production d'une section rotative annulaire
JP2012096337A (ja) * 2010-11-05 2012-05-24 Ryutai Servo:Kk 剛性を有する複数の弾性ワイヤーを用いたパラレルメカニズム
CN102881338A (zh) * 2012-09-21 2013-01-16 江苏大学 一种1t2r并联三自由度位姿调整平台
CN102887182A (zh) * 2012-10-12 2013-01-23 北京交通大学 全移动副移动机构
JPWO2016063348A1 (ja) * 2014-10-21 2017-09-28 オリンパス株式会社 湾曲機構および軟性医療器具
WO2016063348A1 (fr) * 2014-10-21 2016-04-28 オリンパス株式会社 Mécanisme de courbure et équipement médical souple
US11130244B2 (en) 2014-10-21 2021-09-28 Olympus Corporation Bending mechanism and flexible medical apparatus
WO2017072999A1 (fr) * 2015-10-26 2017-05-04 ソニー株式会社 Robot à biellettes parallèles et dispositif d'actionnement
US10744639B2 (en) 2015-10-26 2020-08-18 Sony Corporation Parallel link robot and operation apparatus
WO2017082187A1 (fr) * 2015-11-13 2017-05-18 日本電産サンキョー株式会社 Dispositif d'entraînement
WO2017082191A1 (fr) * 2015-11-13 2017-05-18 日本電産サンキョー株式会社 Dispositif d'entraînement composite
JP2019030927A (ja) * 2017-08-07 2019-02-28 日本電気株式会社 ロボットアーム、制御方法およびプログラム
JP7069592B2 (ja) 2017-08-07 2022-05-18 日本電気株式会社 ロボットアームおよびロボット

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