WO2009096159A1 - 柔軟アクチュエータ及びそれを用いた関節駆動ユニット - Google Patents
柔軟アクチュエータ及びそれを用いた関節駆動ユニット Download PDFInfo
- Publication number
- WO2009096159A1 WO2009096159A1 PCT/JP2009/000225 JP2009000225W WO2009096159A1 WO 2009096159 A1 WO2009096159 A1 WO 2009096159A1 JP 2009000225 W JP2009000225 W JP 2009000225W WO 2009096159 A1 WO2009096159 A1 WO 2009096159A1
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- WO
- WIPO (PCT)
- Prior art keywords
- speed change
- displacement
- flexible actuator
- displacement member
- actuator
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions
- F16H21/54—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions for conveying or interconverting oscillating or reciprocating motions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H23/00—Wobble-plate gearings; Oblique-crank gearings
- F16H23/10—Wobble-plate gearings; Oblique-crank gearings with rotary wobble-plates with plane surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H33/00—Gearings based on repeated accumulation and delivery of energy
- F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18832—Reciprocating or oscillating to or from alternating rotary including flexible drive connector [e.g., belt, chain, strand, etc.]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18992—Reciprocating to reciprocating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Definitions
- the present invention relates to a flexible actuator with easy force control and excellent operation efficiency, and a joint drive unit using the same.
- SEA series elastic actuators
- DM2 distributed macro-mini actuation
- VST Transmission
- an object of the present invention is to provide a flexible actuator that is easy to control force and excellent in operation efficiency, and a joint drive unit using the same, in view of the above points.
- the present invention is configured as follows.
- a base member A linear motion member that is held linearly reciprocally with respect to the base member; A displacement member displaceable in a direction substantially perpendicular to the moving direction of the linear motion member; An elastic mechanism that is fixed to the base member and stores or releases elastic energy according to a distance from the displacement member; A speed change member connected to the displacement member such that a distance between the displacement member and the displacement member can be adjusted by two or more coupling mechanisms; A projecting member provided to project from the linear motion member and pressed against the speed change member by a force generated by the release of energy of the elastic mechanism;
- a flexible actuator capable of linear motion comprising a control device that changes a relative position and a relative angle between the displacement member and the speed change member by controlling the distance adjusting operation of the coupling mechanism.
- a base member A rotating member that is rotatably held with respect to the base member; A displacement member displaceable in substantially the same direction as the rotation axis direction of the rotation member; An elastic mechanism that is fixed to the base member and stores or releases elastic energy according to a distance from the displacement member; A speed change member connected to the displacement member so that the distance between the displacement member and the displacement member can be adjusted by a coupling mechanism of 3 or more; A protruding member that protrudes from a rotational center of the rotating member and is pressed against the speed change member by a force generated by the release of energy of the elastic mechanism; A control device that changes a relative position and a relative angle between the displacement member and the speed change member by controlling the distance adjusting operation of the coupling mechanism, and is capable of swinging and rotating, and is flexible An actuator is provided.
- a joint drive unit driven by the flexible actuator according to any one of the first to eighth aspects.
- the present invention it is possible to obtain a flexible actuator with excellent operation efficiency and a joint drive unit using the same.
- the force generated by the release of the energy of the elastic mechanism is output to the linearly-moving member in a state where the force is changed according to the inclination of the speed change member.
- a flexible actuator in which the generated force is suppressed by the elasticity of the elastic mechanism and a joint drive unit using the same can be easily performed by controlling the magnitude of the inclination of the actuator. Will be obtained.
- the displacement of the linear motion member is linked to the displacement of the elastic mechanism, the energy input to the actuator is stored in the elastic mechanism when work is performed from the outside of the actuator. Efficiency can also be improved.
- FIG. 1A is a perspective view schematically showing a linear motion actuator according to a first embodiment of the present invention.
- 1B is a cross-sectional view taken along line XX of FIG. 1A, showing an outline of the linear motion actuator according to the first embodiment of the present invention.
- FIG. 1C is a cross-sectional view taken along line YY of FIG. 1B, showing an outline of the linear motion actuator according to the first embodiment of the present invention.
- FIG. 1D is a cross-sectional view taken along line XX of FIG. 1A, showing an outline during driving of the linear actuator according to the first embodiment of the present invention.
- FIG. 1E is a cross-sectional view taken along line AA of FIG. 1B, showing an outline of the linear motion actuator according to the first embodiment of the present invention.
- FIG. 2A is a cross-sectional view schematically illustrating a rotary actuator according to a second embodiment of the present invention.
- FIG. 2B is a top view schematically showing the rotary actuator according to the second embodiment of the present invention.
- FIG. 2C is a cross-sectional view taken along line AA of FIG. 2A, showing an outline of the rotary actuator according to the second embodiment of the present invention.
- FIG. 2D is a cross-sectional view illustrating an outline at the time of driving the rotary actuator according to the second embodiment of the present invention.
- FIG. 2E is a cross-sectional view showing an outline of a different configuration example of the rotary actuator as a modification of the second embodiment of the present invention.
- FIG. 2F is an enlarged view of the vicinity of the transmission plate of FIG. 2A in the rotary actuator according to the second embodiment of the present invention.
- FIG. 3A is a schematic cross-sectional view of a rotary actuator according to a third embodiment of the present invention.
- FIG. 3B is a cross-sectional view taken along line AA of FIG. 3A, showing an outline of the rotary actuator according to the third embodiment of the present invention.
- FIG. 3C is a cross-sectional view illustrating an outline at the time of driving the rotary actuator according to the third embodiment of the present invention.
- FIG. 4 is a perspective view schematically showing a joint drive unit using the linear motion actuator according to the first embodiment of the present invention.
- FIG. 5A is a front view showing an outline of a joint drive unit using the linear actuator according to the first embodiment of the present invention.
- FIG. 5B is a front view showing an outline of a joint drive unit using the linear motion actuator according to the first embodiment of the present invention;
- FIG. 6 is a perspective view schematically showing a joint drive unit using a rotary actuator according to the second embodiment of the present invention.
- FIG. 7A is a side view showing an outline of a joint drive unit using a rotary actuator according to a second embodiment of the present invention;
- FIG. 7B is a side view showing an outline of a joint drive unit using the rotary actuator according to the second embodiment of the present invention.
- a base member A linear motion member that is held linearly reciprocally with respect to the base member; A displacement member displaceable in a direction substantially perpendicular to the moving direction of the linear motion member; An elastic mechanism that is fixed to the base member and stores or releases elastic energy according to a distance from the displacement member; A speed change member connected to the displacement member such that a distance between the displacement member and the displacement member can be adjusted by two or more coupling mechanisms; A projecting member provided to project from the linear motion member and pressed against the speed change member by a force generated by the release of energy of the elastic mechanism;
- a flexible actuator capable of linear motion comprising a control device that changes a relative position and a relative angle between the displacement member and the speed change member by controlling the distance adjusting operation of the coupling mechanism.
- the force generated by the elastic mechanism is output to the linear motion member in a state of being shifted according to the magnitude of the inclination of the speed change member.
- a base member A rotating member that is rotatably held with respect to the base member; A displacement member displaceable in substantially the same direction as the rotation axis direction of the rotation member; An elastic mechanism that is fixed to the base member and stores or releases elastic energy according to a distance from the displacement member; A speed change member connected to the displacement member so that the distance between the displacement member and the displacement member can be adjusted by a coupling mechanism of 3 or more; A protruding member that protrudes from a rotational center of the rotating member and is pressed against the speed change member by a force generated by the release of energy of the elastic mechanism; A flexible actuator capable of swinging and rotating, comprising a control device that changes a relative position and a relative angle between the displacement member and the speed change member by controlling the distance adjusting operation of the coupling mechanism.
- the force generated by the elastic mechanism is output to the rotating member in a state of being shifted in accordance with the magnitude of the inclination of the speed change member.
- the flexible actuator according to the second aspect wherein the coupling mechanisms are arranged circumferentially at equal intervals.
- the contact point between the projecting member and the speed change member includes a contact point between the connection mechanism and the speed change member or a rotation center at the connection portion, and the displacement member moves in the displacement direction.
- the flexible actuator according to any one of the second to third aspects, wherein the flexible actuator is substantially flush with a side surface of the elliptical cylinder having a height.
- the contact point between the protruding member and the speed change member is substantially on the same plane as the contact point between the connection mechanism and the speed change member or a plane including the center of rotation at the connection portion.
- the elastic mechanism is a ram cylinder or a single rod cylinder capable of fluid movement between pressure chambers on both sides of the piston.
- the flexible actuator described in 1. is provided.
- the coupling mechanism can adjust the distance between the displacement member and the speed change member so as to be substantially parallel to the displacement direction of the displacement member from the displacement member.
- the flexible actuator according to any one of the first to sixth aspects is provided, wherein the flexible actuator is a mechanism that is pressed against a member by the generated force of the elastic mechanism.
- the coupling mechanism is a mechanism that is rotatably coupled to each of the displacement member and the speed change member, and is capable of variably adjusting the distance between the two connection points.
- a flexible actuator according to any one of the first to sixth aspects is provided.
- the coupling mechanism can generate not only a force in the expansion direction but also a force in the contraction direction with respect to the transmission member, the position and angle of the transmission member using expansion and contraction of the coupling mechanism. It becomes easy to control. Therefore, a flexible actuator with easier force control can be obtained.
- a joint drive unit driven by the flexible actuator according to any one of the first to eighth aspects.
- the joint drive unit driven by the flexible actuator according to any one of the first to eighth aspects can be configured, and the operational effect of the flexible actuator can be achieved.
- a joint drive unit can be obtained.
- FIG. 1A is a perspective view showing an outline of a linear actuator 1 as an example of a flexible actuator according to a first embodiment of the present invention
- FIG. 1B is a sectional view taken along line XX of FIG. 1A
- FIG. A cross-sectional view taken along line YY in FIG. 1B is shown.
- FIG. 1E shows a cross-sectional view taken along line AA in FIG. 1B.
- a rectangular parallelepiped box-shaped frame 12a that is long along the vertical direction is an example of a base member.
- a pair of parallel guide rails 13a and 13b are fixed to the inside of the upper surface of the frame 12a so as to extend along a lateral direction perpendicular to the vertical direction.
- the plate-like linear motion member 11 is connected to the guide rails 13a and 13b so as to be freely reciprocated in the lateral direction in FIG. 1B (movable in the left-right direction).
- the linear guide rails 13a and 13b are slidably fitted into a pair of parallel guide groove portions 11g and 11g on the upper surface of the linear motion member 11, and are guided so as to be linearly reciprocable along the lateral direction.
- a through-hole 12p through which the linear motion member 11 can freely enter and exit is formed on the front and rear side surfaces of the upper portion of the frame 12a.
- the upper ends of bar-shaped protrusions 14a and 14b as examples of the protruding members extending downward are fixed to the lower surface of the linear motion member 11 at positions symmetrical with respect to the center in the width direction.
- the hemispherical portions at the lower ends of 14a and 14b are in rolling contact with the upper surface of a square plate (for example, a square) transmission plate 15a that is an example of a transmission member.
- the transmission plate 15a has a stepped shape in which a plate surface is arranged in a direction intersecting with the vertical direction, and the central portion 15p is recessed with respect to both end portions 15q in the width direction orthogonal to the moving direction of the linear motion member 11.
- the hemispherical portion at the lower end of the rod-like projections 14a and 14b is in rolling contact with the upper surface of the central portion 15p.
- the upper surface of the central portion 15p of the transmission plate 15a and the lower surfaces of both end portions 15q are formed on the same plane (substantially on the same plane).
- the transmission plate 15a also functions as an example of a swing plate or a swing member.
- an elongated through hole 11p is formed in the center of the linear motion member 11 along the moving direction of the linear motion member 11, and the following support rod 16 prevents the movement of the linear motion member 11 from being obstructed. .
- the upper end of the support bar 16 is fixed at the center of the inner surface of the upper surface of the frame 12a.
- the support bar 16 extends downward from the upper surface of the frame 12a and passes through the central through hole 11p of the linear motion member 11. ing.
- An outer cylinder 26a is held on the outer peripheral surface of the intermediate portion of the support bar 16 so that only the vertical movement in FIG. 1B is free.
- the transmission plate 15a is held by a shaft so as to be freely rotatable about a vertical axis in FIG. 1B.
- a gas cylinder 17 as an example of an elastic mechanism is fixed to the bottom surface of the frame 12a along the vertical direction.
- the gas cylinder 17 has a structure that stores high-pressure gas therein and holds the ram-shaped piston 18 so as to be movable in the vertical direction of FIG. 1B.
- a force corresponding to the product of the cross-sectional area of the piston 18 and the pressure of the high-pressure gas (hereinafter referred to as “generated force”) is applied to the piston 18 in the upward direction in FIG. 1B.
- a rectangular (for example, rectangular) plate-like member 19 a that is an example of a displacement member that can be displaced in a direction substantially perpendicular to the moving direction of the linear motion member 11 intersects the vertical direction. It connects so that the plate
- Ten ball screw nuts 20a to 20j are fixed to the plate member 19a in two rows. Specifically, each of the ball screw nuts 20a to 20e and the ball screw nuts 20f to 20j forms one row at equal intervals, and each row is disposed at a line-symmetrical position with respect to the center line of the plate member 19a. ing.
- Each of the ball screw nuts 20a to 20j is connected to ten ball screw mechanisms 21a to 21j which are examples of the connecting mechanism.
- FIG. 1B only the ball screw nuts 20a to 20e and the ball screw mechanisms 21a to 21e are shown.
- the ball screw nuts 20f to 20j and the ball screw mechanisms 21f to 21j represent elements at positions facing the ball screw nuts 20a to 20e and the ball screw mechanisms 21a to 21e, respectively.
- Each of the ball screw mechanisms 21a to 21j includes motors 22a to 22j, screw shafts 23a to 23j arranged along the vertical direction, and holding members 24a to 24j arranged along the vertical direction. .
- the motors 22a to 22j are fixed to the holding members 24a to 24j, respectively, and the rotation shafts of the motors 22a to 22j are connected to the lower ends of the screw shafts 23a to 23j, respectively.
- the screw shafts 23a to 23j are rotatably held by the holding members 24a to 24j via bearings or the like.
- the ball screw nuts 20a to 20j are respectively screwed and penetrated. Therefore, according to such a configuration, the rotation shafts of the motors 22a to 22j rotate forward and backward, so that the screw shafts 23a to 23j connected to the rotation shafts of the motors 22a to 22j rotate forward and backward, respectively.
- the positions of the ball screw nuts 20a to 20j into which the screw shafts 23a to 23j are screwed are on the screw shafts 23a to 23j along the axial directions of the screw shafts 23a to 23j (in other words, along the lower direction). It will move back and forth.
- the hemispherical portions at the upper ends of the screw shafts 23a to 23j are in rolling contact with the lower surfaces of both end portions 15q of the transmission plate 15a.
- a control computer 101 as an example of a control device is connected to each of the motors 22a to 22j. By controlling the driving of the motors 22a to 22j by the control computer 101, the relative position and relative angle between the plate-like member 19a and the transmission plate 15a change.
- the holding members 24a to 24j are connected to guide rails 25a to 25j fixed to the frame 12a along the vertical direction so as to be freely movable along the vertical direction in FIG. 1B.
- the distance between the plate member 19a and the transmission plate 15a in the direction of movement of the ball screw mechanisms 21a to 21j (in other words, the movement direction along the vertical direction of the ball screw nuts 20a to 20j can be adjusted).
- the degree of freedom other than the direction (which can be long and short), it is possible to maintain high rigidity.
- the force acting on the linear motion member 11 of the linear motion actuator 1 is determined by the generated force of the gas cylinder 17 and the magnitude of the inclination of the transmission plate 15a. That is, when the force (generated force) generated by the gas cylinder 17 acts upward in FIG. 1B, the force is generated by the piston 18, the plate member 19a, the ball screw nuts 20a to 20j, and the ball screw mechanism 21a to 21a. 21j is transmitted to the screw shafts 23a to 23j and the transmission plate 15a. As a result, the transmission plate 15a is pressed toward the rod-shaped protrusions 14a and 14b. At this time, when the transmission plate 15a is in a horizontal state (a state along a direction perpendicular to the vertical direction) as shown in FIG.
- the generated force of the gas cylinder 17 is generated by the rod-like protrusions 14a and 14b, the linear motion member 11, It is transmitted to the frame 12a through the guide rails 13a and 13b and balanced.
- the transmission plate 15a is inclined from the horizontal state (in FIG. 1D, the transmission plate 15a is inclined in the upper right direction so that the left end is downward and the right end is upward). In this case, a force in the lateral direction (leftward in FIG. 1D) is applied at the contact point between the transmission plate 15a and the rod-shaped protrusions 14a and 14b.
- the rightward force acting on the transmission plate 15a is supported by the support bar 16, but the leftward force acting on the linear motion member 11 is output as it is.
- the leftward force is expressed by the product of the generated force of the gas cylinder 17 and the tangent to the angle change from the horizontal state of the transmission plate 15a.
- the force control of the linear actuator 1 can be performed by driving the motors 22a to 22j so that the transmission plate 15a is at an inclination angle corresponding to the force desired to be output by the control computer 101.
- the linear actuator 1 is a flexible actuator that is safe against contact.
- the generated force of the gas cylinder 17 is represented by the product of the cross-sectional area of the piston 18 and the pressure of the high-pressure gas, and the pressure of the high-pressure gas varies depending on the amount of the piston 18 inserted into the cylinder 17.
- the gas cylinder 17 as in the first embodiment can reduce the change in the generated force with respect to the displacement of the piston 18.
- FIG. 1D when the linear motion actuator 1 is in a state where the linear motion member 11 moves to the left, the linear motion actuator 1 is working on the outside of the flexible actuator. That is, when the control computer 101 stops driving the motors 22a to 22j, the holding members 24a to 24j move with respect to the frame 12a along the guide rails 25a to 25j as the linear motion member 11 moves to the left. Move upward in FIG. 1D. Then, the plate-like member 19a moves upward in FIG. 1D via the ball screw nuts 20a to 20j connected to the screw shafts 23a to 23j of the ball screw mechanisms 21a to 21j supported by the holding members 24a to 24j. It will be. At this time, the direct acting actuator 1 performs work on the outside of the direct acting actuator 1 due to potential energy lost by the gas cylinder 17.
- the linear motion actuator 1 is operated from the outside of the linear motion actuator 1. That is, when the control computer 101 stops driving the motors 22a to 22j, the holding members 24a to 24j move with respect to the frame 12a along the guide rails 25a to 25j as the linear motion member 11 moves rightward. Move downward in FIG. 1D. Then, the plate-like member 19a moves downward in FIG. 1D via the ball screw nuts 20a to 20j connected to the screw shafts 23a to 23j of the ball screw mechanisms 21a to 21j supported by the holding members 24a to 24j. It will be. At this time, potential energy is stored in the gas cylinder 17 due to work performed by the outside of the linear actuator 1 as the linear actuator 1.
- the linear motion actuator 1 not only works on the outside of the linear motion actuator 1 but also can perform a regenerative operation of storing energy inside the linear motion actuator 1 by work from outside the linear motion actuator 1. It will be. Therefore, the linear motion actuator 1 according to the first embodiment can improve the operation efficiency as compared with an actuator that cannot perform regeneration.
- the driving force of the linear actuator 1 is controlled by the magnitude of the inclination of the transmission plate 15a, a large output can be obtained by releasing the potential energy of the gas cylinder 17 in a short time.
- the ball screw mechanisms 21a to 21j may be operated by the control computer 101 and the plate-like member 19a may be pushed down. If there is a large difference between the peak power and the average power required for the output of the linear motion actuator 1, the potential energy released in a short time may be replenished over time, so the motors 22a to 22j The power required for this is smaller than the peak power.
- the plurality of ball screw mechanisms 21a to 21j cooperate with each other under the control of the control computer 101 to push down the plate member 19a, thereby further reducing the power required for each of the motors 22a to 22j. be able to.
- the ball screw mechanism As the ball screw mechanism, ten ball screw mechanisms indicated by reference numerals 21a to 21j are used as the ball screw mechanism. Since the transmission plate 15a is pressed by the rod-like protrusions 14a and 14b whose length is not changed, the transmission plate 15a moves with respect to the support rod 16 in two degrees of freedom in the vertical position and the angle. Therefore, the minimum required ball screw mechanism is two. However, as shown in FIG. 1C, when the screw shafts 23b and 23g are located at the same position as the rod-shaped protrusions 14a and 14b, that is, the position in the left-right direction with respect to the support rod 16, the generated force of the gas cylinder 17 is reduced.
- the ball screw mechanisms 21b and 21g having the screw shafts 23b and 23g can be supported. For this reason, the other ball screw mechanisms are not affected by the generated force of the gas cylinder 17, and the angle of the transmission plate 15a can be changed only by the ball screw mechanisms 21b and 21g. The driving force can be easily changed.
- the ball screw mechanisms 21b and 21g do not have to be displaced, so it is only necessary to hold the transmission plate 15a. It is desirable to redundantly arrange the ball screw mechanism since such a state can be obtained at more points.
- the transmission plate 15a has a stepped shape in which the central portion 15p is recessed with respect to the both end portions 15q, and the surface on which the rod-shaped protrusions 14a and 14b come into contact (the upper surface of the central portion 15p). ) And the surface (the lower surface of both end portions 15q) with which the screw shafts 23a to 23j come into contact are on the same plane (substantially on the same plane).
- a transmission plate that does not have a step for example, when the magnitude of the inclination of the transmission plate 15a is changed from the state of FIG.
- the transmission plate 15a has a stepped shape as in the first embodiment, and the contact point between the transmission plate 15a and the rod-shaped protrusions 14a and 14b and the contact point between the transmission plate 15a and the screw shafts 23b and 23g are on the same plane (substantially). Positioning on the same plane is desirable because the influence of the thickness of the transmission plate 15a can be eliminated.
- the ball screw mechanisms 21a to 21j are used as an example of the coupling mechanism.
- the configuration of the coupling mechanism is not limited to this, and any configuration that achieves the same function can be used. Any combination of known techniques can be used.
- FIG. 4 shows a configuration example of a joint drive unit using the linear motion actuator 1 in the first embodiment.
- An output transmission member 51 having a C-shaped side surface is coupled to the linear motion member 11 of the linear motion actuator 1, and a rack 52 is fixed on the output transmission member 51.
- a pinion 53 is fixed to the lower end of the arm 54 a disposed above the frame 12 d and meshes with the rack 52. Further, the lower end of the arm 54 a and the upper end of the frame 12 d are rotatably connected via a shaft 55.
- the configuration method of the joint drive unit is not limited to the one using the rack and pinion mechanism, and any combination of known techniques can be used as long as the same operation is realized.
- FIG. 2A is a cross-sectional view schematically illustrating a rotary actuator 2a as an example of a flexible actuator according to a second embodiment of the present invention.
- 2B shows a top view of the rotary actuator 2a
- FIG. 2C shows a cross-sectional view taken along line AA in FIG. 2A.
- FIG. 2F is an enlarged view of the vicinity of the transmission plate 15b of FIG. 2A.
- performs the same function as 1st Embodiment mentioned above attaches
- the Z axis of the coordinate axis is defined as upward in the vertical direction.
- the X-axis is defined as a direction along the direction perpendicular to the Z-axis and passing through one side surface of the rectangular box-shaped frame 12b as an example of the base member in the thickness direction.
- the Y axis is defined as a direction penetrating in the thickness direction through a side surface that is adjacent to the side surface of the rectangular box-shaped frame 12b along a direction orthogonal to the Z axis and the X axis.
- a rotary motion is output using a disc-shaped transmission plate 15b, which is an example of a transmission member, corresponding to the transmission plate 15a in the first embodiment.
- the transmission plate 15b is held via a bearing or the like so that the ring-shaped member 33 having a shaft portion protruding in the X-axis direction can freely rotate around the X-axis.
- the ring-shaped member 33 is free to reciprocate only in the Z-axis direction (the axial direction of the support bar 16) with respect to the support bar 16 which is a spline shaft fixed downward to the center of the inner surface of the upper surface of the frame 12a.
- the outer cylinder 26b having a shaft portion protruding in the Y-axis direction is held via a bearing or the like so that the rotation around the Y-axis is free.
- a bevel gear 31 that is an example of a rotating member is held on the support bar 16 so as to be freely rotatable around a Z axis via a bearing or the like.
- one rod-like protrusion 14c as an example of a protrusion member is provided to extend downward at a position away from the center of rotation, and the hemispherical portion at the lower end is a circular center of the transmission plate 15b. It comes into rolling contact with the upper surface of the portion 15r.
- the hemispherical portions at the upper ends of the screw shafts 23a to 23j are in rolling contact with the lower surface of the annular outer peripheral portion 15s around the circular central portion 15r of the transmission plate 15b.
- the upper surface of the circular central portion 15r of the transmission plate 15b and the lower surface of the annular outer peripheral portion 15s are formed on the same plane (substantially on the same plane). .
- the transmission plate 15b also functions as an example of a swing plate or a swing member.
- the rotational output of the bevel gear 31 includes a bevel gear with which a pair of bearing portions 12r formed in the opening 12q on the upper surface of the frame 12b, which is an example of a base member, is rotatably held via a bearing portion.
- a rotation shaft (rotation shaft to which the bevel gear 31 is fixed) 32 Via a rotation shaft (rotation shaft to which the bevel gear 31 is fixed) 32, a forward / reverse rotation output about the Y axis is taken out of the rotary actuator 2a.
- the bevel gear 32 a of the rotating shaft 32 with the bevel gear is fixed to the rotating shaft 32 and meshed with the bevel gear 31, so that the bevel gear 32 a rotates forward and backward together with the rotating shaft 32 by forward and reverse rotation of the bevel gear 31. I have to.
- the operation of the rotary actuator 2a performed under the control of the control computer 101 will be described.
- the force acting on the bevel gear 31 of the rotary actuator 2a is determined by the magnitude of the generated force of the gas cylinder 17 and the magnitude of the inclination of the transmission plate 15b. That is, when the force (generated force) generated by the gas cylinder 17 acts upward in FIG. 2A, the force (generated force) is the piston 18, the disk-shaped plate member 19b, and the plate member 19b. Ball screw nuts 20a to 20d and ball screw nuts 20a fixed at positions that are rotationally symmetric with respect to the center of the plate member (specifically, at positions of 90 degrees on the same circumference around the center of the plate member 19b).
- a force in the circumferential direction that is, a clockwise torque around the Z axis to the bevel gear 31 is applied at the contact point between the transmission plate 15b and the rod-shaped protrusion 14c.
- the counterclockwise torque about the Z axis acting on the transmission plate 15b as a reaction is supported by the support rod 16.
- counterclockwise torque about the Z-axis acts on the bevel gear 31, and the speed change is performed as a reaction.
- the clockwise torque about the Z-axis acting on the plate 15b is supported by the support bar 16.
- the clockwise torque acting on the bevel gear 31 in FIG. 2D is the generated force of the gas cylinder 17 and the angle from the horizontal state to the inclined state of the transmission plate 15b.
- the angle change referred to here is an angle change around a perpendicular line from the contact point between the transmission plate 15b and the rod-shaped protrusion 14c to the rotating shaft of the bevel gear 31.
- the rotary actuator 2a is a flexible actuator that is safe against contact.
- FIG. 2D when the rotary actuator 2a is in a situation where the bevel gear 31 rotates clockwise around the Z axis, the rotary actuator 2a is working on the outside of the rotary actuator 2a. That is, when the control computer 101 stops driving the motors 22a to 22d, the plate-like member 19b moves upward in FIG. 2D as the bevel gear 31 rotates clockwise around the Z axis. . At this time, the rotary actuator 2a performs work on the outside of the rotary actuator 2a by the potential energy lost by the gas cylinder 17.
- the rotary actuator 2a is operated from the outside of the rotary actuator 2a. That is, when the control computer 101 stops driving the motors 22a to 22d, the plate-like member 19b moves downward in FIG. 2D as the bevel gear 31 rotates counterclockwise around the Z axis. Thus, potential energy is stored in the gas cylinder 17 due to work performed by the rotary actuator 2a on the outside of the rotary actuator 2a.
- the rotary actuator 2a not only works on the outside of the rotary actuator 2a, but also can perform a regenerative operation for storing energy in the rotary actuator 2a by work from the outside of the rotary actuator 2a. Therefore, the rotation actuator 2a of the second embodiment can improve the operation efficiency compared to an actuator that cannot be regenerated.
- the ball screw mechanisms 21a to 21d may be operated by the control computer 101 to push down the plate-like member 19b. If there is a large difference between the peak power and the average power required for the output of the rotary actuator 2a, the potential energy released in a short time may be replenished over time, so the motors 22a to 22d The required power may be smaller than the peak power. Further, the plurality of ball screw mechanisms 21a to 21d cooperate with each other under the control of the control computer 101 to push down the plate-like member 19b, thereby further reducing the power required for each of the motors 22a to 22d. be able to.
- the ball screw mechanism In the second embodiment, four ball screw mechanisms indicated by reference numerals 21a to 21d are used as the ball screw mechanism. Since the transmission plate 15b is pressed by the rod-shaped protrusion 14c whose length does not change, the movement with three degrees of freedom of displacement in the Z-axis direction, rotation around the X-axis, and rotation around the Y-axis with respect to the support rod 16 is performed. Will do. Therefore, the minimum number of ball screw mechanisms required is three. However, when the screw shafts 23b and 23d are located at the same position in the Y direction as the rod-shaped protrusion 14c as shown in FIG.
- the generated force of the gas cylinder 17 can be supported by the ball screw mechanisms 21b and 21d. Therefore, the ball screw mechanisms 21a and 21c are not affected by the generated force of the gas cylinder 17, and the angle of the transmission plate 15b can be changed around the X axis only by the ball screw mechanisms 21b and 21d.
- the driving torque of the rotary actuator 2a can be easily changed.
- the ball screw mechanisms 21b and 21d do not have to be displaced. For this reason, it is only necessary to hold the transmission plate 15b. It is desirable to redundantly arrange the ball screw mechanisms circumferentially because such a state can be obtained at more points.
- the target expansion / contraction amount of each ball screw mechanism (in other words, the adjustment amount of the distance between the plate member 19a and the transmission plate 15a in the movement direction along the vertical direction of the ball screw nuts 20a to 20j) is calculated. This is desirable because it facilitates the process and eliminates the burden on the specific ball screw mechanism, which leads to improvement in overall controllability.
- the transmission plate 15b has a stepped shape in which the central portion 15r is recessed with respect to the outer peripheral portion 15s, and the rod-shaped protrusion 14c is in contact with the transmission plate 15b.
- the surface (the upper surface of the central portion 15r) and the surface (the lower surface of the outer peripheral portion 15s) in contact with the screw shafts 23a to 23d are on the same plane (substantially on the same plane).
- the contact point between the transmission plate 15b and the rod-shaped protrusion 14c and the transmission plate is changed from the state shown in FIG. 2A, the contact point between the transmission plate 15b and the rod-shaped protrusion 14c and the transmission plate.
- the transmission plate 15b has a stepped shape as in the second embodiment, and the contact point between the transmission plate 15b and the rod-shaped protrusion 14c and the contact point between the transmission plate 15b and the screw shafts 23b and 23d are on the same plane (substantially the same). Positioning on the plane is desirable because the influence of the thickness of the transmission plate 15b can be eliminated.
- the transmission plate 15b is a flat transmission plate 15c having no steps, and a contact point between the rod-shaped protrusion 14c and the transmission plate 15c can be taken.
- the circumference and the circumference including the contact point between the screw shafts 23a to 23d and the transmission plate 15c may be arranged so as to be the same circumference that is reciprocated in the Z-axis direction. That is, as shown in FIG. 2E, a contact point between a rod-shaped protrusion 14c as an example of the protrusion member and a transmission plate 15c as an example of the transmission member is a ball screw mechanism and an transmission plate 15c as an example of the coupling mechanism.
- the transmission plate 15c also functions as an example of a swing plate or a swing member.
- the ball screw mechanism is used as the coupling mechanism.
- the configuration of the coupling mechanism is not limited to this, and any combination of known techniques may be used as long as the same function is realized. Is available.
- FIG. 6 shows a configuration example of a joint drive unit using the rotary actuator 2a in the second embodiment.
- An arm 54b is disposed above the rotary actuator 2a, and the arm 54b is directly fixed to the rotary shaft 32 of the rotary actuator 2a.
- the arm 54b rotates counterclockwise by operating the rotary actuator 2a from the state of FIG. 7A and rotating the rotary shaft 32 counterclockwise. It becomes the state of. Similarly, by rotating the rotation shaft 32 clockwise, the arm 54b can be rotated in the opposite direction (that is, clockwise).
- a joint drive unit can be obtained that inherits the features of the rotary actuator 2a that excel in operating efficiency and flexibility, and realizes a joint drive unit in a robot arm particularly suitable for home use. can do.
- FIG. 3A is a cross-sectional view schematically showing a rotary actuator 2b as an example of a flexible actuator according to a third embodiment of the present invention.
- FIG. 3B shows a cross-sectional view taken along line AA in FIG. 3A.
- symbol is attached
- the Z-axis of the coordinate axis is defined as upward in the vertical direction.
- the X-axis is defined as a direction along the direction perpendicular to the Z-axis and passing through one side surface of the rectangular box-shaped frame 12c as an example of the base member in the thickness direction.
- the Y axis is defined as a direction penetrating in the thickness direction along a side surface that is perpendicular to the side surface of the rectangular box-shaped frame 12c along a direction orthogonal to the Z axis and the X axis.
- the generated force of the gas cylinder 17 is transmitted not by pressing but by pulling by four wire mechanisms 42a to 42d, which is an example of a coupling mechanism.
- the gas cylinder 17 is fixed to an intermediate portion of the frame 12c by four support members (for example, columns) 41a to 41d.
- the generated force of the gas cylinder 17 is transmitted to a disk-shaped plate member 19d disposed below the gas cylinder 17 in the frame 12c and to which the lower end of the piston 18 is fixed.
- the disk-shaped plate member 19d includes four plates 19d so that the diameter direction is along the X-axis or Y-axis direction at intervals of 90 degrees around the center of the plate-shaped member 19d.
- Wire reels 43a to 43d are arranged.
- the four wire reels 43a to 43d are rotatably held by the plate member 19d via bearings or the like, and the rotation angles of the wire reels 43a to 43d are motors that are driven and controlled by the control computer 101. It changes with forward and reverse rotation of the rotating shafts 44a to 44d.
- One end of each of the wires 45a to 45d is connected to the wire reels 43a to 43d, and the wires 45a to 45d are respectively connected to the lower spherical members 46a to 46d swingably held by the plate-like member 19d by spherical bearings.
- the other ends of the wires 45a to 45d are connected to upper spherical members 47a to 47d held by the disc-shaped transmission plate 15d by spherical bearings, respectively. That is, when the rotation shafts of the motors 44a to 44d are rotated according to the instruction of the control computer 101, the wire reels 43a to 43d are simultaneously rotated, and the lengths of the wires 45a to 45d (in other words, the upper spherical members 47a to 47d and The length between the lower spherical members 46a to 46d, that is, the length between the transmission plate 15d and the plate-like member 19d) changes.
- the transmission plate 15d is pressed against the hemispherical portion at the upper end of a rod-like projection 14c described later by the generated force of the gas cylinder 17 transmitted through the wires 45a to 45d.
- the transmission plate 15d also functions as an example of a swing plate or a swing member.
- the transmission plate 15d is held via a bearing or the like so as to be freely rotatable around the X axis with respect to the ring-shaped member 33 having a shaft portion protruding in the X-axis direction.
- the member 33 is held via a bearing or the like so as to be freely rotatable around the Y axis with respect to the outer cylinder 26b having a shaft portion protruding in the Y axis direction.
- the outer cylinder 26b is free to reciprocate only in the Z-axis direction (the axial direction of the support bar 16) with respect to the support bar 16 which is a cylindrical spline shaft fixed downward to the center of the inner surface of the upper surface of the frame 12c. Is held to be.
- the rotating shaft 49 which has a lower end of the rotating shaft portion 49a fixed to a rotating disc 48, which is an example of a rotating member, with respect to the support rod 16 is formed on the center portion of the cylindrical support rod 16 and the upper surface of the frame 12c.
- the rotation shaft portion 49a passing through the through hole 12z, the rotation shaft portion 49a is held so as to be freely rotatable around the Z axis via a bearing portion or the like.
- the rotational output given to the rotary disk 48 by the rod-shaped protrusion 14c is taken out of the rotary actuator 2b as the rotational output around the Z axis through the rotary shaft part 49a and the disk part 49b fixed to the upper end thereof. It is like that.
- the rotation shaft portion 49a has a small diameter portion at the through hole 12z of the frame 12c, and a large diameter portion having a larger diameter than the small diameter portion is disposed outside the through hole 12z. Therefore, when the rotation shaft portion 49a receives a downward force, the large diameter portion of the rotation shaft portion 49a abuts around the through hole 12z of the frame 12c so that the force can be received by the frame 12c. .
- the operation of the rotary actuator 2b performed under the control of the control computer 101 will be described.
- the force acting on the rotary shaft 49 of the rotary actuator 2b is determined by the magnitude of the generated force of the gas cylinder 17 and the magnitude of the inclination of the transmission plate 15d. That is, when the force (generated force) generated by the gas cylinder 17 acts downward in FIG. 3A, the force (generated force) is applied to the piston 18, the plate member 19d, and the center of the plate member 19d.
- Wire reels 43a to 43d, wires 45a to 45d, and upper spherical member fixed at rotationally symmetrical positions (specifically, at positions of 90 degrees on the same circumference around the center of the plate-like member 19d) 47a to 47d are transmitted to the transmission plate 15d, and the transmission plate 15d is pressed against the rod-shaped protrusion 14c.
- the transmission plate 15d is in a horizontal state as shown in FIG. 3A, the generated force of the gas cylinder 17 is transmitted to the frame 12c through the rod-shaped protrusion 14c, the rotating disk 48, and the rotating shaft 49, Will be balanced.
- the force control of the rotary actuator 2b is performed by driving the motors 44a to 44d so that the transmission plate 15d has an inclination (inclination angle) corresponding to the magnitude of the force desired to be output by the control computer 101. Is possible.
- the rotary actuator 2b is a flexible actuator that is safe against contact.
- energy is regenerated to the gas cylinder 17.
- the drive torque of the rotary actuator 2b is changed.
- four wire mechanisms indicated by reference numerals 42a to 42d are used as the wire mechanism.
- the transmission plate 15d is pressed by the rod-shaped protrusion 14c whose length does not change.
- the support rod 16 is moved in three degrees of freedom: displacement in the Z-axis direction, rotation around the X-axis, and rotation around the Y-axis. Therefore, the minimum number of wire mechanisms required is three.
- the wires 45a and 45c are at the same position in the X direction as the rod-shaped protrusion 14c as shown in FIG. 3A, the generated force of the gas cylinder 17 can be supported by the wire mechanisms 42a and 42c.
- the wire mechanisms 42b and 42d are not affected by the generated force of the gas cylinder 17, and the angle of the transmission plate 15d can be changed around the Y axis only by the wire mechanisms 42a and 42c.
- the driving torque of 2b can be easily changed.
- the wire mechanisms 42a and 42c do not have to be displaced, so it is only necessary to hold the transmission plate 15d. It is desirable to redundantly arrange the wire mechanisms in a circumferential shape because such a state can be obtained at more points. Furthermore, arranging the wire mechanisms at equal intervals in a circumferential manner causes such a state to be periodically distributed without variation due to the rotation angle of the rotation shaft 49.
- the rotation center of the upper spherical members 47a to 47d is on the same plane (substantially on the same plane) as the surface where the transmission plate 15d and the rod-shaped protrusion 14c contact. ). This is desirable because the influence of the thickness of the transmission plate 15d can be eliminated.
- a wire mechanism is used as the coupling mechanism.
- the configuration of the coupling mechanism is not limited to this, and any combination of known techniques may be used as long as the same function is realized. Is available.
- gas cylinder 17 was mentioned and demonstrated as an example of the said elastic mechanism, you may make it comprise with a spring, if it can show
- the flexible actuator and the joint drive unit using the same according to the present invention are easy to control the force and have excellent operation efficiency, and are useful as a joint drive actuator of a robot and a joint drive unit using the same. is there.
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- General Engineering & Computer Science (AREA)
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Abstract
Description
前記ベース部材に対して直線的に往復移動可能に保持される直動部材と、
前記直動部材の移動方向と略垂直な方向に変位可能な変位部材と、
前記ベース部材に固定されかつ前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が2以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記直動部材に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置を備えることを特徴とする直動動作可能な柔軟アクチュエータを提供する。
前記ベース部材に対して回転自由に保持される回転部材と、
前記回転部材の回転軸方向と略同方向に変位可能な変位部材と、
前記ベース部材に固定され前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が3以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記回転部材の回転中心からずれた位置に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置とを備えることを特徴とする揺動及び回転動作可能な柔軟アクチュエータを提供する。
前記ベース部材に対して直線的に往復移動可能に保持される直動部材と、
前記直動部材の移動方向と略垂直な方向に変位可能な変位部材と、
前記ベース部材に固定されかつ前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が2以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記直動部材に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置を備えることを特徴とする直動動作可能な柔軟アクチュエータを提供する。
前記ベース部材に対して回転自由に保持される回転部材と、
前記回転部材の回転軸方向と略同方向に変位可能な変位部材と、
前記ベース部材に固定され前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が3以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記回転部材の回転中心からずれた位置に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置を備えることを特徴とする揺動及び回転動作可能な柔軟アクチュエータを提供する。
(第1実施形態)
図1Aは、本発明にかかる第1実施形態の柔軟アクチュエータの一例としての直動アクチュエータ1の概要を示した斜視図であり、図1Bは図1AのX-X線の断面図、図1Cは図1BのY-Y線の断面図をそれぞれ示している。また、図1Eには図1BにおけるA-A線の断面図を示している。図1A~図1Cにおける、上下方向沿いに長尺な直方体箱形状のフレーム12aはベース部材の一例である。フレーム12aの上面の内側には、前記上下方向とは直交する横方向沿いに延びるように一対の互いに平行なガイドレール13a、13bが固定されている。板状の直動部材11は、ガイドレール13a、13bに、図1Bの横方向に往復移動自由(左右方向に移動自由)となるように接続されている。直線的なガイドレール13a、13bは、直動部材11の上面の一対の互いに平行なガイド溝部11g,11gに摺動自在にはめ込まれて、前記横方向沿いに直線的に往復移動可能に案内されている。フレーム12aの上部の前後側面には、直動部材11が出入り自在な貫通口12pが形成されている。また、直動部材11には、その下面に、幅方向中心に対して対称となる位置に、下向きに延びた突起部材の一例としての棒状突起14a、14bの上端が固定されており、棒状突起14a、14bの下端の半球面部が、変速部材の一例である四角形板状(例えば正方形)の変速板15aの上面に対して転がり接触するようになっている。変速板15aは、上下方向と交差する方向に板面が配置され、直動部材11の移動方向と直交する幅方向において、中央部15pが両端部15qに対してくぼんだ形状の段付き形状をしており、中央部15pの上面に対して棒状突起14a、14bの下端の半球面部が転がり接触するようにしている。後述するように、変速板15aの中央部15pの上面と両端部15qの下面は同一平面上(略同一平面上)に位置するように形成されている。この変速板15aは、揺動板又は揺動部材の一例としても機能するものである。
図2Aは、本発明にかかる第2実施形態の柔軟アクチュエータの一例としての回転アクチュエータ2aの概略を示した断面図である。また図2Bには回転アクチュエータ2aの上面図を示し、図2Cには図2AにおけるA-A線の断面図を示している。図2Fは、図2Aの変速板15b付近の拡大図である。なお、前述した第1実施形態と同様の機能を果たす部分には、同一の符号を付して重複する説明は省略する。この第2実施形態の柔軟アクチュエータでは、座標軸のZ軸は上下方向の上向きと定義している。X軸はZ軸と直交する方向沿いでかつベース部材の一例である直方体箱形状のフレーム12bの1つの側面を厚さ方向に貫通する方向と定義している。また、Y軸はZ軸及びX軸とそれぞれ直交する方向沿いでかつ直方体箱形状のフレーム12bの前記側面に直交して隣接する側面を厚さ方向に貫通する方向と定義している。
次に、制御コンピュータ101の制御の下で行われる、この回転アクチュエータ2aの作用を説明する。
図3Aは、本発明にかかる第3実施形態の柔軟アクチュエータの一例としての回転アクチュエータ2bの概略を示した断面図である。また、図3Bには図3AにおけるA-A線の断面図を示している。なお、前述した第2実施形態と同様の機能を果たす部分には、同一の符号を付して重複する説明は省略する。この第3実施形態の柔軟アクチュエータでも、座標軸のZ軸は上下方向の上向きと定義している。X軸はZ軸と直交する方向沿いでかつベース部材の一例である直方体箱形状のフレーム12cの1つの側面を厚さ方向に貫通する方向と定義している。また、Y軸はZ軸及びX軸とそれぞれ直交する方向沿いでかつ直方体箱形状のフレーム12cの前記側面に直交して隣接する側面を厚さ方向に貫通する方向と定義している。
次に、制御コンピュータ101の制御の下で行われる、この回転アクチュエータ2bの作用を説明する。
Claims (15)
- ベース部材と、
前記ベース部材に対して直線的に往復移動可能に保持される直動部材と、
前記直動部材の移動方向と略垂直な方向に変位可能な変位部材と、
前記ベース部材に固定されかつ前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が2以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記直動部材に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置とを備える直動動作可能な柔軟アクチュエータ。 - ベース部材と、
前記ベース部材に対して回転自由に保持される回転部材と、
前記回転部材の回転軸方向と略同方向に変位可能な変位部材と、
前記ベース部材に固定され前記変位部材との距離に応じて弾性エネルギーを蓄えたり放出したりする弾性機構と、
前記変位部材との間の距離が3以上の連結機構により調整可能に前記変位部材と接続された変速部材と、
前記回転部材の回転中心からずれた位置に突出して設けられ、前記弾性機構のエネルギーの放出により発生した力により前記変速部材に押圧される突起部材と、
前記連結機構の前記距離の調整動作を制御することで、前記変位部材と前記変速部材との相対位置及び相対角度を変化させる制御装置とを備える揺動及び回転動作可能な柔軟アクチュエータ。 - 前記連結機構が、円周状に等間隔で配置されている請求項2に記載の柔軟アクチュエータ。
- 前記突起部材と前記変速部材の接触点が、前記連結機構と前記変速部材との接触点若しくは連結部における回転中心を含み、前記変位部材の変位方向への高さを持つ楕円柱の側面と略同一面上にある請求項2に記載の柔軟アクチュエータ。
- 前記突起部材と前記変速部材の接触点が、前記連結機構と前記変速部材との接触点若しくは連結部における回転中心を含み、前記変位部材の変位方向への高さを持つ楕円柱の側面と略同一面上にある請求項3に記載の柔軟アクチュエータ。
- 前記突起部材と前記変速部材の接触点が、前記連結機構と前記変速部材との接触点若しくは連結部における回転中心を含む平面と略同一面上にある請求項1に記載の柔軟アクチュエータ。
- 前記突起部材と前記変速部材の接触点が、前記連結機構と前記変速部材との接触点若しくは連結部における回転中心を含む平面と略同一面上にある請求項2に記載の柔軟アクチュエータ。
- 前記弾性機構がラム形シリンダ若しくはピストン両側の圧力室間で流体移動が可能な片ロッドシリンダである請求項1に記載の柔軟アクチュエータ。
- 前記弾性機構がラム形シリンダ若しくはピストン両側の圧力室間で流体移動が可能な片ロッドシリンダである請求項2に記載の柔軟アクチュエータ。
- 前記連結機構が、前記変位部材より前記変位部材の変位方向と略平行に、前記変位部材と前記変速部材との間の距離を調整可能であり、前記変速部材に対して前記弾性機構の発生力により押圧される機構である請求項1に記載の柔軟アクチュエータ。
- 前記連結機構が、前記変位部材より前記変位部材の変位方向と略平行に、前記変位部材と前記変速部材との間の距離を調整可能であり、前記変速部材に対して前記弾性機構の発生力により押圧される機構である請求項2に記載の柔軟アクチュエータ。
- 前記連結機構が、前記変位部材と前記変速部材のそれぞれと回転自在に連結されるとともに、両接続点間の距離が可変調整できる機構である請求項1に記載の柔軟アクチュエータ。
- 前記連結機構が、前記変位部材と前記変速部材のそれぞれと回転自在に連結されるとともに、両接続点間の距離が可変調整できる機構である請求項2に記載の柔軟アクチュエータ。
- 請求項1に記載の柔軟アクチュエータにより駆動される関節駆動ユニット。
- 請求項2に記載の柔軟アクチュエータにより駆動される関節駆動ユニット。
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JP2009516764A JP4405589B2 (ja) | 2008-01-28 | 2009-01-22 | 柔軟アクチュエータ及びそれを用いた関節駆動ユニット |
US12/529,734 US7870808B2 (en) | 2008-01-28 | 2009-01-22 | Flexible actuator and joint-driving unit using the same |
US12/962,799 US8256321B2 (en) | 2008-01-28 | 2010-12-08 | Flexible actuator and joint-driving unit using the same |
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DE102007063099A1 (de) * | 2007-12-28 | 2009-07-02 | Kuka Roboter Gmbh | Roboter und Verfahren zum Überwachen der Momente an einem solchen |
JP4512670B2 (ja) * | 2008-07-18 | 2010-07-28 | パナソニック株式会社 | 液圧アクチュエータ及びそれを用いた関節駆動ユニット |
TWI426188B (zh) * | 2009-12-17 | 2014-02-11 | Univ Nat Taiwan | 調整輸出力量特性之調整裝置 |
JP5907678B2 (ja) * | 2011-07-20 | 2016-04-26 | オリンパス株式会社 | 医療用動作機構およびマニピュレータ |
CN107745389B (zh) * | 2017-09-08 | 2020-09-11 | 燕山大学 | 刚-柔-软体测力机器人操作手指机构 |
CN113474614A (zh) | 2018-09-07 | 2021-10-01 | Nl企业有限责任公司 | 非致命射弹构造和发射器 |
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US5910720A (en) * | 1995-06-29 | 1999-06-08 | Massachusetts Institute Of Technology | Cross-shaped torsional spring |
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WO2006025446A1 (ja) * | 2004-09-01 | 2006-03-09 | Matsushita Electric Industrial Co., Ltd. | 関節駆動装置 |
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US5910720A (en) * | 1995-06-29 | 1999-06-08 | Massachusetts Institute Of Technology | Cross-shaped torsional spring |
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