WO2011033934A1

WO2011033934A1 - Fluid pressure transmission device

Info

Publication number: WO2011033934A1
Application number: PCT/JP2010/064921
Authority: WO
Inventors: 寛則和井田; 裕介山本
Original assignee: 本田技研工業株式会社
Priority date: 2009-09-15
Filing date: 2010-09-01
Publication date: 2011-03-24
Also published as: JP2011064216A

Abstract

Provided is a fluid pressure transmission device which can be downsized and the weight of which can be reduced. The fluid pressure transmission device is provided with a high pressure driving fluid pressure cylinder (75); a plurality of low pressure driving fluid pressure cylinders (71 - 74); a plurality of driven fluid pressure cylinders (51 - 54) which are connected to the low pressure driving fluid pressure cylinders (71 - 74), respectively, via low pressure side fluid pressure transmission paths (61 - 64), respectively; and a high pressure side fluid pressure transmission path (65) which is connected to the high pressure driving fluid pressure cylinder (75). The high pressure side fluid pressure transmission path (65) is connected to the low pressure side fluid pressure transmission paths (61 - 64) via flow path selector valves (91- 94). The flow path selector valves (91- 94) are configured in such a way as to be switchable between a low pressure path state and a high pressure path state, the aforementioned low pressure path state being a state where the low pressure driving fluid pressure cylinders (71 - 74) and the driven fluid pressure cylinders (51 - 54) are connected, and the aforementioned high pressure path state being a state where the high pressure driving fluid pressure cylinder (75) and the driven fluid pressure cylinders (51 - 54) are connected.

Description

Fluid pressure transmission device

The present invention relates to a fluid pressure transmission device including a drive fluid pressure cylinder and a driven fluid pressure cylinder.

Conventionally, there has been known a hand apparatus provided with a plurality of finger mechanisms imitating human hands and a hand main body to which each finger mechanism is connected (see, for example, Japanese Patent Application Laid-Open No. 8-126984). The finger mechanism of the hand device of Patent Document 1 is bent and stretched by a fluid pressure transmission device. The fluid pressure transmission device is provided with a plurality of driven fluid pressure cylinders provided in the hand main body, and a plurality of drives provided outside the hand main body and connected to the driven fluid pressure cylinders via fluid pressure transmission pipes. And a fluid pressure cylinder.

When fluid pressure is generated in the drive fluid pressure cylinder by a drive source such as a motor, the fluid pressure is applied to a driven fluid pressure cylinder connected to the drive fluid pressure cylinder. Then, the piston of the driven fluid pressure cylinder advances and retracts, and the movable member which is a component of the joint of the finger mechanism connected to the piston is moved. In this way, the movement of the joint of the finger mechanism is performed by advancing and retracting the piston of the driven fluid pressure cylinder.

In a fluid pressure transmission device constituted by a conventional drive fluid pressure cylinder, a driven fluid pressure cylinder, and a fluid pressure transfer pipe, the driven fluid pressure cylinder used for a joint or the like requiring precise operation corresponds to this. One drive hydraulic cylinder is connected.

In the case where a plurality of driven fluid pressure cylinders are provided, a drive fluid pressure cylinder having an inner diameter which can correspond to the maximum pressure and the maximum speed required for the driven fluid pressure cylinders and a drive source capable of obtaining an appropriate maximum output are used. There is a need. For this reason, in proportion to the increase in the number of driven fluid pressure cylinders used for joints and the like where precise operation is required, the entire fluid pressure transmission device can not be made large and lightening can not be achieved.

An object of the present invention is to provide a fluid pressure transmission device that can be reduced in size and weight.

[1] In order to achieve the above object, the present invention has a piston advanced / retracted in a cylinder body by a high pressure drive source, and the piston moves forward by the high pressure drive source in the cylinder body A high pressure drive fluid pressure cylinder generating high pressure fluid pressure, and a piston advanced / retracted in the cylinder body by a low pressure drive source, and the piston moves forward by the low pressure drive source, thereby producing a pressure in the cylinder body A plurality of low pressure drive fluid pressure cylinders that generate a fluid pressure lower than that of the high pressure drive fluid pressure cylinder, and a plurality of fluid flow pressures respectively connected to the low pressure drive fluid pressure cylinders via low pressure side fluid pressure transfer paths. A cylinder and a high pressure side fluid pressure transmission path connected to the high pressure drive fluid pressure cylinder, the high pressure side fluid pressure transmission path being disconnected from each low pressure side fluid pressure transmission path Connected via a valve, the flow path switching valves allow the fluid pressure of the low pressure drive fluid pressure cylinder to act on the driven fluid pressure cylinder and the fluid pressure of the high pressure drive fluid pressure cylinder is driven The low pressure path state which prevents acting on the fluid pressure cylinder, and the fluid pressure of the low pressure driving fluid pressure cylinder is prevented from acting on the driven fluid pressure cylinder, and the fluid pressure of the high pressure driving fluid pressure cylinder is the driven It is characterized in that it is switchable to a high pressure path state which allows acting on the fluid pressure cylinder.

[2] Also, in the present invention, each flow path switching valve is switched between the low pressure path state and the high pressure path state by the controller, and the controller is all in the low pressure mode in which all flow path switching valves are in the low pressure path state. It is preferable to switch the flow passage switching valve to the high pressure mode in which the high pressure passage state is established.

According to the present invention, the low pressure mode in which each driven fluid pressure cylinder can be operated at a relatively high speed with one low pressure drive fluid pressure cylinder, and all the driven fluid pressure cylinders with one high pressure drive fluid pressure cylinder It can be switched to a high pressure mode that can be operated with relatively strong force (torque). The movable member can be quickly operated in the low pressure mode when it is required to quickly operate the movable member to which the pistons of the driven fluid pressure cylinders are connected. Further, when a large movable force (torque) is required for each movable member, the movable member can be operated with a strong force in the high pressure mode. From this, according to the fluid pressure transmission device of the present invention, it is possible to switch between the quick operation and the strong operation of the movable member.

Then, a high pressure drive fluid pressure cylinder that generates a high pressure by using a drive source such as a high output motor, etc., without preparing the same number of driven fluid pressure cylinders as one high pressure drive fluid pressure cylinder and a plurality of Each driven fluid pressure cylinder can be operated with relatively strong force (torque) simply by providing the flow path switching valve, so the low pressure drive source for advancing and retracting the piston of the low pressure drive fluid pressure cylinder has a maximum output relatively Small ones can be used.

Thus, the fluid pressure transmission device can be reduced in size and weight.

[3] Also, the fluid pressure transmission device of the present invention includes, for example, a robot hand including a plurality of finger mechanisms that can be flexed and extended at joints, and the joints of the finger mechanisms flex and extend as the piston of the driven fluid pressure cylinder moves back and forth. It can be used for the device.

Explanatory drawing which shows the robot hand apparatus which applies the fluid pressure transmission apparatus of embodiment of this invention. Explanatory drawing which shows the low pressure mode of the fluid pressure transmission apparatus of embodiment. Explanatory drawing which shows the holding | grip state of the robot hand apparatus of embodiment. Explanatory drawing which shows the high pressure mode of the fluid pressure transmission apparatus of embodiment.

A robot hand device using a fluid pressure transmission device according to an embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the robot hand apparatus 1 includes a first finger mechanism 2, a second finger mechanism 3, and a base 4 to which both

finger mechanisms

2 and 3 are connected. The two

finger mechanisms

2 and 3 have

finger base members

21 and 31 pivotally supported by

pivot shafts

4 a and 4 b provided on the base 4 and pivot shafts provided on the

finger base members

21 and 31. The

finger tip members

22 and 32 pivotally supported pivotally by 21a and 31a are provided.

The base 4 is provided with first and second driven

fluid pressure cylinders

51 and 52. The driven

fluid pressure cylinders

51, 52 include

cylinder bodies

51a, 52a fixed to the outer surface (the back side of the hand) of the base 4,

pistons

51b, 52b that can slide inside the

cylinder bodies

51a, 52a, and

pistons

51b, 51b,

Rods

51c and 52c pivotally connected via a spherical joint (not shown) to 52b are provided.

The rod 51c of the first driven fluid pressure cylinder 51 is swingably connected to a base end portion of the finger base member 21 of the first finger mechanism 2 and to a portion outside the rotation shaft 4a. The rod 52c of the second driven fluid pressure cylinder 52 is swingably connected to a base end portion of the finger base member 31 of the second finger mechanism 3 and to a portion outside the rotation shaft 4b.

The finger base member 21 of the first finger mechanism 2 is provided with a third driven fluid pressure cylinder 53. The third driven fluid pressure cylinder 53 is provided via a cylinder main body 53a fixed to the outer surface of the finger base member 21, a piston 53b capable of sliding the inside of the cylinder main body 53a, and a spherical joint not shown on the piston 53b. And a pivotally connected rod 53c.

The rod 53c of the third driven fluid pressure cylinder 53 is swingably connected to a proximal end of the fingertip member 22 of the first finger mechanism and to a portion outside the pivot shaft 21a.

The finger base member 31 of the second finger mechanism 3 is provided with a fourth driven fluid pressure cylinder 54. The fourth driven flow pressure-resistant cylinder 54 is provided via a cylinder body 54a fixed to the outer surface of the finger base member 31, a piston 54b capable of sliding the inside of the cylinder body 54a, and a spherical joint not shown on the piston 54b. And a pivotally connected rod 54c.

The rod 54c of the fourth driven fluid pressure cylinder 54 is swingably connected to a proximal end portion of the fingertip member 32 of the second finger mechanism and a portion outside the pivot shaft 31a.

Next, with reference to FIG. 2 and FIG. 3, the fluid pressure transmission apparatus used for the robot hand apparatus 1 of embodiment is demonstrated. As shown in FIG. 2, first to fourth low pressure drive fluid pressures arranged outside the robot hand device 1 in the driven fluid pressure cylinders 51 to 54 via the low pressure side fluid pressure transfer paths 61 to 64. The cylinders 71 to 74 are connected to one another.

The low pressure drive fluid pressure cylinders 71 to 74 include cylinder bodies 71a to 74a, pistons 71b to 74b which can slide inside the cylinder bodies 71a to 74a, and ball screws 71c to 74c connected to the pistons 71b to 74b. Have. The driven pulleys 81a to 81d are screwed into the ball screws 71c to 74c.

Behind the respective low pressure drive fluid pressure cylinders 71 to 74, low output motors M1 to M4, which are low pressure drive sources having a relatively small maximum drive force, are disposed. Drive pulleys 82a to 82d are fixed to the rotational shafts of the low output motors M1 to M4, respectively. Belts 83a to 83d are wound around the driven pulleys 81a to 81d and the drive pulleys 82a to 82d.

Then, the rotational driving force of the low output motors M1 to M4 is converted into forward and backward motion of the ball screws 71c to 74c through the drive pulleys 82a to 82d, the belts 83a to 83d, and the driven pulleys 81a to 81d, and the pistons 71b to 74b are cylinders. It is advanced and retracted inside the main bodies 71a to 74a. In this way, the low pressure drive fluid pressure cylinders 71-74 generate relatively low pressure fluid pressure.

The low pressure side fluid communication paths 61 to 64 are connected to the high pressure side fluid communication path 65 via the flow path switching valves 91 to 94, respectively. A high pressure drive fluid pressure cylinder 75 is connected to the high pressure side fluid transfer passage 65. The high pressure drive fluid pressure cylinder 75 includes a cylinder body 75a, a piston 75b slidable inside the cylinder body 75a, and a ball screw 75c connected to the piston 75b. The driven pulley 81e is engaged with the ball screw 75c.

Behind the high pressure drive fluid pressure cylinder 75, a high output motor M5 is disposed, which is a high pressure drive source having a maximum drive force greater than that of the low pressure motors M1 to M4. A drive pulley 82e is fixed to the rotation shaft of the high output motor M5. A belt 83e is wound around the driven pulley 81e and the drive pulley 82e.

Then, the rotational driving force of the high output motor M5 is converted to the forward and backward motion of the ball screw 75c through the drive pulley 82e, the belt 83e and the driven pulley 81e, and the piston 75b is advanced and retracted inside the cylinder body 75a. Thus, the high pressure drive fluid pressure cylinder 75 generates a fluid pressure higher than that of the low pressure drive fluid pressure cylinders 71-74.

The flow path switching valves 91 to 94 provided at the connection between the low pressure side fluid transmission paths 61 to 64 and the high pressure side fluid transmission path 65 are low pressure drive fluid pressure cylinders 71 to 74 and corresponding driven fluid pressure cylinders 51 to 54, and communication between the high pressure drive fluid pressure cylinder 75 and the driven fluid pressure cylinder is cut off (see FIG. 2), and the low pressure drive fluid pressure cylinders 71 to 74 and the driven fluid pressure cylinder 51 It is configured to be able to switch to a high pressure path state (see FIG. 3) that causes communication between the high pressure drive fluid pressure cylinder 75 and the driven fluid pressure cylinders 51 to 54 while disconnecting communication with the H. 54.

The motors M1 to M5 and the flow path switching valves 91 to 94 are provided on the inner surface (surface on the palm side) of the base 4 of the robot hand device 1, the inner surfaces of the

finger base members

21 and 31, and the

fingertip members

22 and 32. Based on the pressure detected by the pressure sensor (not shown), the controller is controlled by a controller (not shown). In addition, the controller switches the flow path switching valves 91 to 94 to the low pressure path state in the low pressure mode (see FIG. 2), and switches the flow path switching valves 91 to 94 to the high pressure path state in the high pressure mode (see FIG. 3). And) based on the pressure detected by the pressure sensor.

The pistons 51b to 54b of the driven fluid pressure cylinders 51 to 54 move forward and backward as the pistons 71b to 75b of the drive fluid pressure cylinders 71 to 75 connected move. As a result, the

finger base members

21 and 31 and the

fingertip members

22 and 32 of the both

finger mechanisms

2 and 3 turn about the turning shafts 4a 4b 21a 31a so as to be able to bend and extend freely.

Next, the operation of the fluid pressure transmission device of the embodiment will be described by using the robot hand device 1 as an example in which the object W shown in FIGS. 1 and 4 is gripped. First, the controller determines, based on the detection value of the pressure sensor, whether or not the

finger mechanisms

2 and 3 can properly hold the object W (position).

As shown in FIG. 1, when the pressure sensor of the second finger mechanism 3 does not detect the contact with the object W, the controller switches the flow path switching valves 91 to 94 to the low pressure mode, as shown in FIG. Let it be in the state shown. Then, the low output motors M1 to M4 are appropriately controlled so that the detection values from the respective pressure sensors of the robot hand device 1 are in a state suitable for gripping the object W (attitude and position of finger mechanism) Make it At this time, since the reaction force from the object W is substantially equal to 0, relatively quick operation is possible even if the driven fluid pressure cylinders 51 to 54 are operated using the low pressure drive fluid pressure cylinders 71 to 74. It can be put into a quick and appropriate state.

When the detection values from each pressure sensor of the robot hand device 1 are in a state suitable for gripping the object W (the posture or position of the finger mechanism), the controller controls the flow path switching valve 91 to 94 Is switched to the high pressure mode, and the high output motor M5 is controlled to cause the robot hand apparatus 1 to grip the object W, as shown in FIG.

In this case, since the high pressure drive fluid pressure cylinders 75 are connected to the four driven fluid pressure cylinders 51 to 54, the operating speeds of the pistons 51b to 54b of the driven fluid pressure cylinders 51 to 54 are reduced. However, when the

finger mechanisms

2 and 3 are in contact with the object W, the quick operation of the pistons 51b to 54b is not required, and the finger mechanisms 2 and 3 (in particular, the

fingertip members

22 and 32 are not In order to support the weight, relatively high fluid pressure is required for the third and fourth driven

fluid pressure cylinders

53, 54. Only the torque necessary for gripping the object W is required.

According to the robot hand apparatus 1 using the fluid pressure transmission device of the embodiment, the high-power motor M5 is quickly positioned with respect to the object W with the

finger mechanisms

2 and 3 in the low pressure mode using the low power motors M1 to M4. The object W can be strongly held by the

finger mechanisms

2 and 3 by the high pressure mode used.

Therefore, it is not necessary to provide a high output motor for all the driven fluid pressure cylinders 51 to 54, and downsizing and weight reduction can be achieved without reducing the functionality of the fluid transmission device.

DESCRIPTION OF SYMBOLS 1 ... Robot hand apparatus, 2 ... 1st finger mechanism, 21 ... finger base member, 21a ... rotation axis, 22 ... fingertip member, 3 ... 2nd finger mechanism, 31 ... finger base member, 31a ... rotation axis, 32 ... finger tip member, 4 ... base portion, 4a, 4b ... rotating shaft, 51 ... first driven fluid pressure cylinder, 51a ... cylinder body, 51b ... piston, 51c ... rod, 52 ... second driven fluid pressure cylinder, 52a ... cylinder Body, 52b: Piston, 52c: Rod, 53: Third driven fluid pressure cylinder, 53a: Cylinder body, 53b: Piston, 53c: Rod, 54: Fourth driven fluid pressure cylinder, 54a: Cylinder body, 54b: Piston, 54c: rod, 61 to 64: low pressure side fluid pressure transmission path, 65: high pressure side fluid pressure transmission path, 71 to 74: low pressure drive fluid pressure cylinder, 71a to 74a ... cylinder main body, 71b to 74b ... Stone, 71c to 74c: Ball screw, 75: High pressure drive fluid pressure cylinder, 75a: Cylinder body, 75b: Piston, 75c: Ball screw, 81a to 81e: Driven pulley, 82a to 82e: Drive pulley, 83a to 83e: Belt, 91 94 94: Channel switching valve.

Claims

A high pressure drive fluid pressure cylinder having a piston advanced and retracted in a cylinder body by a high pressure drive source, and the high pressure drive source advancing the piston to generate high pressure fluid pressure in the cylinder body;
The piston which is advanced and retracted in the cylinder body by the low pressure drive source, and the piston is advanced by the low pressure drive source generates a lower pressure fluid pressure than the high pressure drive fluid pressure cylinder in the cylinder body. A plurality of low pressure drive fluid pressure cylinders,
A plurality of fluid pressure cylinders connected to the respective low pressure drive fluid pressure cylinders via low pressure side fluid pressure transmission paths;
And a high pressure side fluid pressure transfer path connected to the high pressure drive fluid pressure cylinder,
The high pressure side fluid pressure transfer path is connected to each of the low pressure side fluid pressure transfer paths via a flow path switching valve,
The flow path switching valves allow the fluid pressure of the low pressure drive fluid pressure cylinder to act on the driven fluid pressure cylinder, and the fluid pressure of the high pressure drive fluid pressure cylinder acts on the driven fluid pressure cylinder. Low pressure path state preventing the fluid pressure of the low pressure driving fluid pressure cylinder from acting on the driven fluid pressure cylinder, and the fluid pressure of the high pressure driving fluid pressure cylinder acting on the driven fluid pressure cylinder A fluid pressure transmission device characterized by being switchable to a high pressure path state that permits.
The fluid pressure transmission device according to claim 1, wherein the flow path switching valve is switched between the low pressure path state and the high pressure path state by a controller.
A fluid pressure transmission device characterized in that the controller switches between a low pressure mode in which all the flow path switching valves are in the low pressure path state and a high pressure mode in which all the flow path switching valves are in the high pressure path state. .
A robot hand device using the fluid pressure transmission device according to claim 1 or 2, wherein
The robot hand apparatus includes a plurality of flexible finger mechanisms at joints.
A robot hand apparatus characterized in that a joint portion of the finger mechanism bends and extends as the piston of the driven fluid pressure cylinder advances and retracts.