WO2017138634A1 - 外部駆動型の関節構造体 - Google Patents

外部駆動型の関節構造体 Download PDF

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Publication number
WO2017138634A1
WO2017138634A1 PCT/JP2017/004922 JP2017004922W WO2017138634A1 WO 2017138634 A1 WO2017138634 A1 WO 2017138634A1 JP 2017004922 W JP2017004922 W JP 2017004922W WO 2017138634 A1 WO2017138634 A1 WO 2017138634A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint structure
link
rotating member
rotating
link member
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/004922
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
智之 野田
佳弘 仲田
石黒　浩
森本　淳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ATR Advanced Telecommunications Research Institute International
University of Osaka NUC
Original Assignee
Osaka University NUC
ATR Advanced Telecommunications Research Institute International
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 Osaka University NUC, ATR Advanced Telecommunications Research Institute International filed Critical Osaka University NUC
Priority to CN201780010911.4A priority Critical patent/CN109070343B/zh
Priority to JP2017530358A priority patent/JP6220105B1/ja
Priority to US16/077,349 priority patent/US11325244B2/en
Priority to EP17750355.4A priority patent/EP3415283B1/en
Publication of WO2017138634A1 publication Critical patent/WO2017138634A1/ja
Anticipated expiration legal-status Critical
Priority to US17/658,166 priority patent/US11794336B2/en
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • 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
    • B25J17/0241—One-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C35/00—Rigid support of bearing units; Housings, e.g. caps, covers
    • F16C35/04—Rigid support of bearing units; Housings, e.g. caps, covers in the case of ball or roller bearings
    • F16C35/06—Mounting or dismounting of ball or roller bearings; Fixing them onto shaft or in housing

Definitions

  • the present invention relates to a technique of an externally driven joint structure.
  • Patent Document 1 proposes a joint structure of a modular manipulator.
  • the joint structure disclosed in Patent Document 1 incorporates a motor, and can be coupled to other joint structures at two locations on the periphery and end surface of the rotating body that rotates with the rotation of the motor. It has a detachable surface. Therefore, a plurality of joint structures can be coupled to each other, thereby forming a manipulator having a multi-joint structure.
  • Patent Document 2 proposes a multi-axis joint in which a distal joint portion and a proximal joint portion are connected so as to be capable of rotating and turning through a rotary pivot joint and a rotary swivel joint connected in series with each other.
  • a joint having a degree of freedom in two directions can be realized in the robot link mechanism.
  • a joint structure that can be used for a link mechanism of a robot such as an exoskeleton robot or a robot arm is separated from the drive source from a joint structure with a built-in actuator that is directly connected to or built in the drive source (for example, Patent Document 1).
  • a built-in actuator that is directly connected to or built in the drive source
  • Patent Document 2 there is an externally driven joint structure (for example, Patent Document 2) that is driven by an external force transmitted from outside such as a link member to be connected.
  • the joint structure with a built-in actuator is relatively large because a housing for accommodating an actuator such as a motor that directly drives the joint structure is provided inside. Further, the shape, structure, driving direction, and the like are limited by the built-in actuator. Therefore, the joint structure with a built-in actuator has a limited use scene.
  • the externally driven joint structure does not have such a restriction, it can be designed relatively freely according to the link mechanism to be formed. Therefore, the externally driven joint structure can be used in various situations, and according to the externally driven joint structure, various link mechanisms can be configured.
  • the present invention has been made in view of such a situation, and an object thereof is to provide an externally driven joint structure that is modularized and can be used for general purposes.
  • the present invention adopts the following configuration in order to solve the above-described problems.
  • an externally driven joint structure includes an axial body extending in the axial direction and a plurality of rotations arranged in the axial direction and rotatably connected to each other around the axis by the axial body.
  • Each rotating member is disposed on the surface portion or the side wall portion, a pair of surface portions facing in the axial direction, a side wall portion disposed along an outer peripheral edge of the pair of surface portions, And at least one connecting portion to which a link member constituting the link of the robot is connected.
  • each rotating member has at least one connecting portion that connects the link members constituting the link of the robot.
  • a plurality of link members can be connected via the joint structure according to the above configuration. Further, when the link member moves due to an external force acting from an actuator or the like, the rotating member connected to the link member can rotate around the axis according to the movement of the link member.
  • the joint structure according to the above configuration can be driven by an external force transmitted from the link member, and thereby the positional relationship between the link members connected to different rotating members can be changed. Therefore, according to the above configuration, it is possible to provide an externally driven joint structure that is modularized and can be used for general purposes.
  • At least one of the plurality of rotating members includes the plurality of connecting portions disposed on the side wall portion. Also good. According to this configuration, since a plurality of link members can be connected to the side wall of at least one rotating member, a complicated link mechanism such as a parallel-linked Scott Russell mechanism described later can be realized.
  • At least one rotating member of the plurality of rotating members is at least one of the pair of surface portions.
  • a connecting part may be provided, and the other rotating member of the plurality of rotating members may include at least one connecting part disposed on the side wall part.
  • the force acting in the axial direction between the rotating members adjacent to the axial direction on the surface portions of the rotating members may be provided. According to this configuration, it is possible to provide a modular joint structure that can be reinforced in the axial direction by a bearing.
  • an encoder that detects a relative rotation angle of the adjacent rotating member between the recesses of the rotating member adjacent in the axial direction May be further accommodated.
  • an encoder that detects the rotation angle is built in the joint structure. Therefore, it is possible to provide a compact modular joint structure capable of detecting an angle.
  • each of the recesses may be formed in an annular shape, and the root of the inner peripheral surface of each of the recesses is formed from the inner peripheral surface.
  • An annular step portion extending radially inward may be provided, and an annular projecting portion having a smaller diameter than each recess is provided on a surface portion facing each recess of the rotation member adjacent to each rotation member.
  • An annular stepped portion extending radially outward from the outer peripheral surface of the protruding portion may be provided at the base of the outer peripheral surface of the protruding portion, and a cross roller bearing may be used as the annular bearing.
  • the outer diameter of a shaft body can be enlarged by using a cross roller bearing compared with the case where a thrust bearing is used. Thereby, the rigidity of a shaft body can be improved.
  • the rotary drive includes two rotating members, and the connecting portion of each rotating member has an axis perpendicular to the axial direction of the joint structure. Even if it is reversed, it may be arranged symmetrically in the axial direction so that the joint structure can be used while maintaining the positional relationship of the link member, and one of the two rotating members is the shaft.
  • the other rotary member of the two rotary members may have a through hole through which the shaft body is inserted, and a radial bearing is an interference fit on the shaft body and an inner peripheral wall of the through hole. It may be arranged such that it is a clearance fit or a clearance fit on the shaft body and an interference fit on the inner peripheral wall of the through hole.
  • a link mechanism according to an aspect of the present invention includes two or more joint structures according to the present embodiment, and a link member connected to the connection portion of each joint structure, and the link member The two joint structures adjacent to each other are used in a state in which one joint structure is inverted with respect to the other joint structure in an axis perpendicular to the axial direction. It arrange
  • the rotary drive includes two rotating members, and the connecting portion of each rotating member has an axis perpendicular to the axial direction of the joint structure. Even if it is reversed, it may be arranged symmetrically in the axial direction so that the joint structure can be used while maintaining the positional relationship of the link member, and the shaft body is separate from the two rotating members.
  • Each rotating member may have a through-hole through which the shaft body is inserted, and the shaft member has a tight fit on the shaft body and an inner peripheral wall of the through-hole, or a clearance fit in the shaft body.
  • a radial bearing may be disposed between the shaft body and each of the rotating members so as to fit in the inner wall of the inner periphery and the through hole. According to this configuration, a joint structure having symmetry in the axial direction can be provided.
  • the externally driven joint structure may be provided, and at least two rotating members of the three or more rotating members may be provided.
  • the connecting part may be connected to the same link member.
  • connection between each connection portion and the link member may be configured by a magnet. According to the said structure, since each rotation member and a link member can be connected easily, a link mechanism can be produced now easily.
  • each of the rotating members may include at least one of the connecting portions disposed on the side wall portion.
  • the side wall portion may be formed in a cylindrical shape, and each connecting portion disposed on the side wall portion may have a shape obtained by cutting out the arc portion of the side wall portion in a tangential direction.
  • the joint structure body which can be produced easily by lathe processing etc. can be provided.
  • the state in which the side wall portion is cylindrical refers to a state in which the outer shape of the side wall portion is cylindrical except for a cutout portion of the connecting portion.
  • the height of the side wall portion of each rotating member may be the same as the thickness of the link member. According to the said structure, the joint structure which can construct
  • each connecting portion disposed on the side wall portion corresponds to a concave portion provided in the center of the end surface of the link member, and the tangent line You may have the convex part which protrudes in the radial direction outer side in the center of a direction. According to this configuration, a portion that is notched as a connecting portion in each rotating member can be radially outward, and thus a joint structure that can be provided with a bearing having a relatively large diameter can be provided.
  • the externally driven joint structure according to the above-mentioned one side surface, on both axial sides of the connecting portions of the connecting portions and the link members disposed on the side wall portions of the rotating members, At least one of them may be provided with a reinforcing plate that supports the connecting portion. According to the said structure, the joint structure strong against a twist can be provided.
  • each of the rotating members may include a plurality of the connecting portions on the side wall portion, and the plurality of connecting portions may include the respective connecting portions.
  • the rotating member may be arranged symmetrically around the axis. According to the said structure, even if it rotates around an axis
  • the link mechanism which concerns on 1 side of this invention is connected with each said connection part arrange
  • a link member, and the side wall portion of each rotating member of the joint structure has a wire driving groove portion, and a fixing tool is attached to the link member and driven by an external driving source.
  • a wire is arrange
  • an externally driven joint structure that is modularized and can be used for general purposes.
  • FIG. 1 is a perspective view schematically illustrating a joint structure according to an embodiment.
  • FIG. 2 is a cross-sectional view schematically illustrating the joint structure according to the embodiment.
  • FIG. 3 schematically illustrates a state where the joint structure according to the embodiment is disassembled.
  • FIG. 4 is a partially enlarged view schematically illustrating the connecting portion of the joint structure according to the embodiment.
  • FIG. 5A is a cross-sectional view schematically illustrating a state before the link member is coupled to the coupling portion of the rotating member according to the embodiment.
  • FIG. 5B is a cross-sectional view schematically illustrating a state after the link member is coupled to the coupling portion of the rotating member according to the embodiment.
  • FIG. 5A is a cross-sectional view schematically illustrating a state before the link member is coupled to the coupling portion of the rotating member according to the embodiment.
  • FIG. 5B is a cross-sectional view schematically illustrating a state after the link member is coupled to the coupling portion
  • FIG. 6 schematically illustrates a connection state between the connecting portion of the rotating member and the end surface of the link member according to the embodiment.
  • FIG. 7A is a perspective view schematically illustrating a robot (Scott Russell mechanism) using the joint structure according to the embodiment.
  • FIG. 7B is a side view schematically illustrating a robot (Scott Russell mechanism) using the joint structure according to the embodiment.
  • FIG. 8 is a perspective view schematically illustrating a robot (wire drive mechanism) using the joint structure according to the embodiment.
  • FIG. 9A is a perspective view schematically illustrating a robot (delta robot) using the joint structure according to the embodiment.
  • FIG. 9B is a perspective view schematically illustrating a robot (delta robot) using the joint structure according to the embodiment.
  • FIG. 10 is a cross-sectional view schematically illustrating a joint structure according to another embodiment.
  • FIG. 11 is a perspective view schematically illustrating a joint structure according to another embodiment.
  • FIG. 12 is a perspective view schematically illustrating a robot (Scott Russell mechanism) using a joint structure according to another embodiment.
  • FIG. 13 is a cross-sectional view schematically illustrating a joint structure according to another embodiment.
  • FIG. 14 is a perspective view schematically illustrating a joint structure according to another embodiment.
  • FIG. 15 is a cross-sectional view schematically illustrating a joint structure according to another embodiment.
  • FIG. 16A schematically illustrates a joint structure according to another embodiment.
  • FIG. 16B is a partial cross-sectional view (cross section taken along the line CC of FIG. 16A) schematically illustrating a joint structure according to another embodiment.
  • FIG. 17 is a perspective view schematically illustrating a rotating member according to another embodiment.
  • FIG. 18 is a cross-sectional view schematic
  • this embodiment will be described with reference to the drawings.
  • this embodiment described below is only an illustration of the present invention in all respects.
  • Various improvements and modifications may be made without departing from the scope of the present invention. That is, in implementing the present invention, a specific configuration according to the embodiment may be adopted as appropriate.
  • FIG. 1 is a perspective view schematically illustrating a joint structure 1 according to this embodiment.
  • FIG. 2 is a cross-sectional view schematically illustrating the joint structure 1 according to this embodiment.
  • hatching is used to distinguish each component. This hatching is for convenience of explanation and does not specify the material or the like of each component. The same applies to other cross-sectional views using hatching.
  • the joint structure 1 according to the present embodiment is disposed in the axial direction and the axial body 13 extending in the axial direction (left-right direction in FIG. 2). And two rotating members (11, 12) that are rotatably connected to each other.
  • the joint structure 1 according to the present embodiment does not include a housing incorporating an actuator such as a motor, and is driven by a separated drive source.
  • the two rotating members (11, 12) are also referred to as a first rotating member 11 and a second rotating member 12, respectively.
  • each direction is illustrated using the x axis, the y axis, and the z axis.
  • the x axis indicates the axial direction of the shaft body 13
  • the y axis and the z axis indicate an example of a direction perpendicular to the axial direction of the shaft body 13.
  • the shaft body 13 As illustrated in FIG. 2, the shaft body 13 according to this embodiment is formed integrally with the first rotating member 11. Specifically, the shaft body 13 is integrally connected to the center of a second surface portion 112 described later of the first rotating member 11 and extends in a direction away from the second surface portion 112. Thereby, in this embodiment, the 2nd rotation member 12 is comprised by the 2nd surface part 112 side of the 1st rotation member 11 so that it may be connected.
  • the shaft body 13 is formed in a cylindrical shape and includes a columnar hollow portion 132 penetrating in the axial direction.
  • the hollow portion 132 is disposed at the center of the shaft body 13 in the radial direction (hereinafter also referred to as “radial direction”), and penetrates the shaft body 13 and the first rotating member 11 in the axial direction.
  • a male screw is attached to the outer peripheral wall of the upper end portion (left end portion in FIG. 2) of the shaft body 13 so that an annular fastener 131 (for example, a nut) having a female screw formed on the inner peripheral wall is attached. (Not shown) is formed.
  • the first rotating member 11 includes a pair of surface portions (111, 112) opposed in the axial direction, and a side wall portion 113 disposed along the outer peripheral edge of the pair of surface portions (111, 112). I have.
  • the pair of surface portions (111, 112) are also referred to as a first surface portion 111 and a second surface portion 112, respectively.
  • each surface portion (111, 112) is formed in a circular shape, and the height of the side wall portion 113 (the length in the left-right direction in FIG. 2) is equal to the diameter of each surface portion (111, 112). It is slightly shorter than that. Therefore, the 1st rotation member 11 is formed in the cylindrical shape with low height (length of the left-right direction of FIG. 2). In addition, the 1st surface part 111 arrange
  • two connecting portions 21 are provided on the side wall portion 113. Specifically, the two connecting portions 21 are arranged at a position of 180 degrees with respect to the center in the surface direction of each surface portion (111, 112).
  • a link member 31 constituting a link of a robot such as an exoskeleton robot or a robot arm is connected to each connecting portion 21.
  • the robot includes a machine having a link mechanism and driven with one or more degrees of freedom.
  • each connecting portion 21 has an inverted T-shaped groove portion 211 penetrating in a tangential direction perpendicular to the radial direction.
  • a wedge (a wedge member 32 described later) is attached.
  • the link member 31 having a substantially H-shaped cross section is connected to each connecting portion 21 via the wedge.
  • the second rotating member 12 is configured in substantially the same shape as the first rotating member 11 excluding the shaft body 13. That is, the second rotating member 12 according to the present embodiment includes a pair of circular surface portions (121, 122) facing in the axial direction and side walls disposed along the outer peripheral edges of the pair of surface portions (121, 122). Part 123. Each surface portion (121, 122) is formed to have the same diameter as each surface portion (111, 112) of the first rotating member 11, and the side wall portion 123 is the same height as the side wall portion 113 of the first rotating member 11 ( The same length in the axial direction). Moreover, the two connection parts 21 arrange
  • the second rotating member 12 has a cylindrical through-hole 124 penetrating in the axial direction at the center in the surface direction of each surface portion (121, 122).
  • the through hole 124 has a diameter larger than the outer diameter of the shaft body 13 so that the second rotating member 12 can be attached to the shaft body 13.
  • the second rotating member 12 is configured such that the shaft body 13 can be inserted into the through hole 124 after the radial bearing 15 is disposed between the inner peripheral wall of the second rotating member 12 and the outer peripheral wall of the shaft body 13. Has been.
  • the second rotating member 12 and the first rotating member 11 are arranged around the axis by inserting the shaft body 13 into the through hole 124 of the second rotating member 12 and then attaching the fastener 131 to the upper end portion of the shaft body 13. It is rotatably connected.
  • the shape of each side surface portion (113, 123) of each rotating member (11, 12) is a surface perpendicular to the axial direction of the shaft body 13 so that the outer shapes of both rotating members (11, 12) are symmetrical. It is symmetrical.
  • Each of the radial bearings 15 may be disposed on the shaft body 13 so as to have a tight fit on the inner peripheral wall of the through hole 124, or on the inner peripheral wall of the shaft body 13. You may arrange
  • Each radial bearing 15 can receive a force acting in the radial direction (radial direction). As illustrated in FIG. 2, in the present embodiment, the two radial bearings 15 are arranged so as to be aligned in the axial direction between the inner peripheral wall of the second rotating member 12 and the outer peripheral wall of the shaft body 13. .
  • the inner peripheral wall of the second rotating member 12 is provided with a locking convex portion 125 protruding radially inward, and each radial bearing 15 is locked to the locking convex portion 125 in the axial direction. Positioned.
  • each radial bearing 15 has an inner diameter that is substantially the same as the outer diameter of the shaft body 13, and the fastener 131 has a radial bearing 15 disposed on the outer side (left side in FIG. 2) from the shaft body 13. Prevent exiting. Accordingly, the second rotating member 12 is prevented from coming out of the shaft body 13 by the radial bearing 15 and the fastener 131 through the locking convex portion 125. Therefore, even if the outer diameter of the fastener 131 is smaller than the diameter of the through hole 124, the second rotating member 12 can be prevented from coming off. Therefore, the outer diameter of the fastener 131 may be larger or smaller than the diameter of the through hole 124.
  • the first surface portion 121 disposed on the first rotating member 11 side has a circular first recessed portion 126 corresponding to the recessed portion 115 of the second surface portion 112 of the opposing first rotating member 11.
  • the first concave portion 126 has the same diameter as the concave portion 115, and the first concave portion 126 and the concave portion 115 are aligned so as to form an annular inner space by being adjacent to each other in the axial direction.
  • the first recessed portion 126 of the second rotating member 12 and the recessed portion 115 of the first rotating member 11 each correspond to a “recessed portion” of the present invention.
  • the thrust bearing 14 and the encoder 16 are accommodated in the internal space formed by the first recess 126 and the recess 115. Each component housed in the internal space will be described later.
  • the second surface portion 122 is provided with a second concave portion 127 having a smaller diameter than the first concave portion 126.
  • the diameter of the second recess 127 is larger than the outer diameter of the fastener 131. Therefore, when the second rotating member 12 attached to the shaft body 13 is retained by the fastener 131, the fastener 131 is equal to the height of the second recess 127 (the length in the left-right direction in FIG. 2).
  • the second rotating member 12 does not protrude greatly from the second surface portion 122 to the outside (left side in the figure).
  • the side wall 123 is provided with two wire driving grooves 129 aligned in the axial direction and extending in the circumferential direction.
  • a wire for pulling and driving the joint structure 1 is arranged in each wire driving groove portion 129. The driving by the wire drawing will be described later.
  • the shaft body 13 and the rotating members (11, 12) can be manufactured by a known method such as cutting or injection molding. Further, the shaft body 13 and the rotating members (11, 12) can be appropriately manufactured by a 3D printer.
  • the material of the shaft body 13 and each rotary member (11, 12) may be appropriately selected according to the embodiment, and may be a metal such as aluminum or titanium, or a resin such as engineering plastic.
  • FIG. 3 schematically illustrates a state in which the joint structure 1 according to the present embodiment is disassembled.
  • Each of the recesses (115, 126) is formed to have a shape capable of accommodating the thrust bearing 14 and the encoder 16, and as a result, the thrust is formed in the internal space formed by the both recesses (115, 126) as described above.
  • a bearing 14 and an encoder 16 are accommodated.
  • the thrust bearing 14 can receive a force acting in the axial direction (thrust direction).
  • the thrust bearing 14 generally has a configuration in which a cage that holds a plurality of rolling elements is sandwiched between a housing washer and a shaft washer.
  • the type of rolling element of the thrust bearing 14 may be appropriately selected according to the embodiment, and may be, for example, a ball or a roller.
  • the type of the thrust bearing 14 is not limited to a type including a rolling element, and may be a type not including a rolling element such as an oilless bush or an oilless bearing. The same applies to the radial bearing 15.
  • the thrust bearing 14 is formed in an annular shape, and the outer diameter of the thrust bearing 14 is substantially the same as the diameter of each recess (115, 126).
  • the inner diameter of the thrust bearing 14 is larger than the outer diameter of the shaft body 13, so that the shaft body 13 is surrounded between the inner peripheral wall of the thrust bearing 14 and the outer peripheral wall of the shaft body 13.
  • An annular gap 116 is formed in the upper part.
  • an encoder 16 capable of detecting the relative rotation angle of the adjacent rotating members (11, 12) is accommodated in the gap 116.
  • an optical reflective encoder 16 including a scale 161 and a detection element 162 is accommodated in the gap 116.
  • the scale 161 and the detection element 162 are arranged in the gap portion 116 as follows.
  • an annular disc 142 having the same outer diameter as the thrust bearing 14 is arranged on the second rotating member 12 side of the thrust bearing 14.
  • the bottom surface of the first recess 126 of the second rotating member 12 is provided with a protruding portion 128 that protrudes toward the first rotating member 11 (the right side in FIG. 2), and the bottom surface of the panel 142 corresponds to the protruding portion 128.
  • a hole 143 is provided. Therefore, the board 142 is positioned by the protrusion 128.
  • the radially inner portion of the board 142 protrudes in an annular shape toward the first rotating member 11.
  • the outer diameter of the protruding portion is the same as the inner diameter of the thrust bearing 14, and the inner diameter of the protruding portion is substantially the same as or slightly larger than the outer diameter of the shaft body 13.
  • the protruding portion is fitted in the hollow portion of the thrust bearing 14.
  • the annular scale 161 is attached to the end surface at the side of the 1st rotation member 11 of this protrusion part.
  • annular washer 141 having the same outer diameter and inner diameter as the thrust bearing 14 is disposed on the first rotating member 11 side of the thrust bearing 14.
  • the detection element 162 of the encoder 16 is disposed between the inner peripheral wall of the washer 141 and the outer peripheral wall of the shaft body 13. Specifically, the detection element 162 is attached to the bottom surface of the recess 115 of the first rotating member 11 that faces the scale 161 in the axial direction.
  • the scale 161 is concentric with the shaft body 13, and a scale is formed on the surface thereof so that the reflectance of light periodically changes in the circumferential direction.
  • the detection element 162 By reading this scale with the detection element 162, the relative rotation angle of the adjacent rotating members (11, 12) can be detected. That is, the detection element 162 is appropriately configured to project light onto the scale 161 and receive reflected light from the scale 161.
  • the detection element 162 outputs an electrical signal corresponding to the received reflected light to the outside via the wiring board 163.
  • the wiring board 163 is configured by, for example, a flexible printed wiring board (FPC (Flexible Printed Circuit)).
  • the wiring board 163 is formed in an L shape, and has a straight portion and a protruding portion 164 protruding from the straight portion. As illustrated in FIG. 3, a connector portion 165 is provided on the end surface of the protruding portion 164.
  • the first rotating member 11 has a wiring groove 114 adapted to the shape of the wiring board 163 so that the wiring board 163 can be pulled out from the internal space.
  • the wiring groove portion 114 extends linearly from the second surface portion 112 including the recess 115 to the side wall portion 113 and has substantially the same length as the straight portion of the wiring substrate 163.
  • the portion located on the side wall 113 of the wiring groove 114 is adjacent to the connecting portion 21.
  • the straight portion of the wiring board 163 is aligned with the wiring groove 114, and the protruding portion 164 is folded toward the connecting portion 21, so that the bottom portion 214 of the groove portion 211 of the connecting portion 21 is formed.
  • a protrusion 164 can be disposed.
  • the protruding portion 164 of the wiring substrate 163 is bonded to the bottom portion 214. That is, the connector part 165 of the wiring board 163 is disposed in the groove part 211 of the connecting part 21.
  • the link 17 is connected to the wiring board 163 by connecting the cable 17 extending from a device (for example, a control device that controls the actuator) that uses the rotation angle data detected by the detection element 162. It can be along the groove 314 of the member 31. That is, as illustrated in FIG. 3, after the cord portion of the cable 17 is embedded in the groove portion 314 of the link member 31, the connector portion 171 of the cable 17 is connected to the connector portion of the wiring board 163 in the groove portion 211 of the connecting portion 21. 165 can be connected.
  • the encoder 16 can detect the relative rotation angle of the adjacent rotating members (11, 12). That is, since the board 142 is positioned by the protrusion 128 of the second rotating member 12 being fitted in the hole 143, when the second rotating member 12 rotates about the axis, the scale 161 rotates the second time. The member 12 rotates around the axis by the same amount as the rotation around the axis. Similarly, since the detection element 162 is attached to the bottom surface of the recess 115, when the first rotating member 11 rotates about the axis, the detecting element 162 is equivalent to the rotation of the first rotating member 11 about the axis. Rotate around the axis.
  • the scale 161 and the detection element 162 rotate relatively around the axis by the relative rotation of the first rotating member 11 and the second rotating member 12.
  • a scale is formed on the end surface of the scale 161 so that the reflectance of light periodically changes in the circumferential direction.
  • the scale (reflected light) can be read by the detection element 162. Therefore, the relative rotation angle of the adjacent rotating members (11, 12) can be specified from the output of the detection element 162 (electric signal corresponding to the reflected light).
  • FIG. 4 is a partially enlarged view schematically illustrating the connecting portion 21 of the joint structure 1 according to this embodiment.
  • FIG. 5A is a cross-sectional view schematically illustrating a state before the link member 31 is connected to the connecting portion 21.
  • FIG. 5B is a cross-sectional view schematically illustrating a state after the link member 31 is connected to the connecting portion 21.
  • FIG. 6 schematically illustrates a connection state between the end surface 210 of the connecting portion 21 and the end surface 310 of the link member 31.
  • each connecting portion 21 has a shape in which the arc portion of the side wall portion (113, 123) of each rotating member is cut out in the tangential direction.
  • the connecting portion 21 of each rotating member (11, 12) has a flat end surface 210 that is perpendicular to the radial direction, and a groove 211 is formed from the end surface 210 inward in the radial direction.
  • the groove portion 211 penetrates in a tangential direction perpendicular to the radial direction, and a thick portion 212 that protrudes inward is provided at each of the upper ends of the pair of groove walls of the groove portion 211.
  • the groove part 211 is formed in the cross-section substantially reverse T shape.
  • the end face 210 is provided with four rectangular protrusions 213 protruding outward in the radial direction.
  • the link member 31 has groove portions 314 along the longitudinal direction on both side surface portions. Thereby, the link member 31 is formed in the cross-sectional substantially H shape. In addition, since the edge part 315 of a pair of groove wall which comprises each groove part 314 protrudes mutually inside, each groove part 314 is formed in cross-sectional substantially reverse T shape. 5A and 5B, the link member 31 has a hole 311 extending in the longitudinal direction from the end surface 310 at the center of the flat end surface 310.
  • the link member 31 is, for example, a metal frame material such as aluminum or titanium, or a resin frame material such as engineering plastic. However, the material of the link member 31 is not limited to these, and may be appropriately selected according to the embodiment.
  • the wedge member 32 includes a rectangular head portion 321 having substantially the same size as the wide portion of the groove portion 211 of the connecting portion 21 and a rectangular trunk portion 322 having substantially the same size as the narrow portion of the groove portion 211. And. Thereby, the wedge member 32 is formed in a substantially T-shaped cross section.
  • the wedge member 32 is arranged so that the head 321 fits into the groove 211 of the connecting portion 21. Accordingly, as illustrated in FIG. 5A, the wedge member 32 is in a state in which the head 321 is locked to the thick portion 212 of the groove 211 and the body 322 protrudes from the groove 211.
  • a portion protruding from the groove portion 211 of the body portion 322 has a cylindrical through-hole 323 having a slightly larger diameter than the male screw portion 333 of the screw 33 so that the screw 33 can be inserted.
  • a taper portion 324 that fits the taper portion 332 of the screw 33 is provided on the side of the through hole 323 that receives the screw 33.
  • the link member 31 has a through-hole 312 that passes through the hole 311 in the width direction (vertical direction in FIGS. 5A and 5B) from the upper surface of the drawing, A through hole 313 penetrating in the width direction is provided on the lower surface.
  • the through hole 312 since the screw 33 is inserted from the through hole 312 side, the through hole 312 has substantially the same diameter as the outer diameter of the head 331 of the screw 33.
  • the through hole 313 has substantially the same diameter as the outer diameter of the male screw portion 333 of the screw 33, and a female screw for screwing the male screw portion 333 is formed on the inner peripheral wall thereof. . Accordingly, as illustrated in FIG.
  • the screw 33 is fastened with the head portion 321 of the wedge member 32 fitted into the groove portion 211 of the connecting portion 21 and the body portion 322 inserted into the hole portion 311 of the link member 31. By doing so, the connection part 21 and the link member 31 can be connected.
  • the distance WA from the end surface 210 of the connecting portion 21 to the through hole 323 in a state where the head portion 321 of the wedge member 32 is fitted in the groove portion 211 is determined by the male screw portion 333 of the screw 33 from the end surface 310 of the link member 31. It is slightly shorter than the distance WB to the through hole 313 to be screwed. Therefore, when the male screw portion 333 of the screw 33 is screwed into the through hole 313, the taper portion 332 of the screw 33 is in contact with the taper portion 324 of the through hole 323 of the wedge member 32, and the wedge member 32 is connected to the link member. Pull to 31 side.
  • the connecting portion 21 and the link member 31 are firmly connected by the action of the tension.
  • the connecting portion 21 and the link member 31 are connected in the radial direction by the force acting on the inner peripheral wall 312).
  • the link member 31 extends along the radial direction of each rotating member (11, 12), that is, the radial direction of each rotating member (11, 12) matches the longitudinal direction of the link member 31.
  • the link member 31 can be connected to the connecting portion 21 of each rotating member (11, 12) by simple fastening using the wedge member 32 and the screw 33 as described above.
  • the wedge member 32 moves in the tangential direction. Then, the head 321 may come out of the groove 211 in the tangential direction.
  • four projecting portions 213 are provided on the end surface 210 of the connecting portion 21.
  • each protrusion 213 is arranged in a rectangular square so as to be engaged with each edge 315 of the link member 31.
  • each edge portion 315 of the link member 31 is locked to each protruding portion 213, so that the wedge member 32 connecting the connecting portion 21 and the link member 31.
  • the movement in the tangential direction (vertical direction in FIG. 6) can be suppressed.
  • each protrusion part 213 is contact
  • each protrusion 213 corresponds to the shape near each edge 315 of the link member 31, so that each protrusion 213 can also be used for alignment of the link member 31.
  • each rotating member (11, 12) As illustrated in FIGS. 2, 5A, and 5B, the thickness of each rotating member (11, 12) according to the present embodiment, in other words, the height of each side wall (113, 123) is Each link member 31 has the same thickness (the length in the left-right direction in FIG. 2). As a result, when the rotating members (11, 12) rotate, the link members 31 connected to the rotating members (11, 12) do not interfere with each other. Note that “same” means that the thickness of each rotating member (11, 12) is completely the same as the thickness of each link member 31 and that the reinforcing plates 51 described later do not interfere with each other or can be disposed. The state where the thickness of each rotating member (11, 12) is larger than the thickness of each link member 31 is included.
  • FIGS. 7A and 7B are a perspective view and a side view schematically illustrating the robot 400 according to this usage example.
  • the reference numerals 408a to 408f are attached to the joint structures for the convenience of explanation, and the joint structures 408a to 408f are the joint structures 1.
  • the joint structures 408a to 408f are arranged such that the second rotating member is on the front side of the sheet.
  • the reference numerals 407 a to 407 h are attached to the link members for convenience of explanation, and the link members 407 a to 407 h are the link members 31.
  • the robot 400 includes a rectangular base 401 placed on the ground and a prismatic column 402 extending vertically from the upper surface of the base 401.
  • a pair of actuators (403, 404) are attached to the support column 402 so as to be separated from each other in the vertical direction.
  • two movable parts (405, 406) are attached between the pair of actuators (403, 404) so as to be movable (slidable) in the vertical direction.
  • Each actuator (403, 404) moves the movable part (405, 406) in the vertical direction by driving the output rod in the vertical direction.
  • the actuator 403 arranged on the upper side moves the movable part 405 in the vertical direction
  • the actuator 404 arranged on the lower side moves the movable part 406 in the vertical direction. That is, each movable part (405, 406) can move up and down independently of each other.
  • each actuator (403, 404) may be appropriately selected according to the embodiment as long as the output rod can be driven in the vertical direction.
  • each actuator (403, 404) may be a linear actuator, an electric actuator, a hydraulic actuator, a pneumatic actuator, a hybrid actuator, or the like.
  • the type of each movable portion (405, 406) may be appropriately selected according to the embodiment as long as it can move in the vertical direction.
  • a linear bearing may be used for each movable part (405, 406).
  • a link member 407a extending in the horizontal direction is attached to the movable portion 405.
  • two link members (407b and 407c) extending in the horizontal direction are attached to the movable portion 406 so as to be spaced apart from each other in the vertical direction.
  • Each of the link members 407a to 407c is configured to be short.
  • the joint structure 408a is attached to the end of the link member 407a opposite to the movable part 405. Specifically, the link member 407a is connected to the connection portion of the first rotating member of the joint structure 408a. In addition, a link member 407d that is longer in the longitudinal direction than the link member 407a is connected to the connecting portion of the second rotating member of the joint structure 408a.
  • link member 407b opposite to the movable portion 406 is connected to the connecting portion of the second rotating member of the joint structure 408b.
  • link member 407e that is longer in the longitudinal direction than the link member 407b is connected to the connecting portion of the first rotating member of the joint structure 408b.
  • Both link members (407d, 407e) are connected to the joint structure 408d.
  • the link member 407e is connected to the connecting part of the first rotating member of the joint structure 408d
  • the link member 407d is connected to the connecting part of the second rotating member.
  • a link member 407g having the same length as the link member 407e is connected to the other connecting portion of the first rotating member of the joint structure 408d.
  • the Scott Russell mechanism is constructed by the three joint structures (408a, 408b, 408d) and the five link members (407a, 407b, 407d, 407e, 407g).
  • the end of the link member 407g opposite to the joint structure 408d is connected to the connection portion of the first rotation member of the joint structure 408e.
  • a link member 407h having the same length as the distance between the upper and lower directions of the two joint structures (408b, 408c) adjacent to the movable part 406 is connected to the connecting portion of the second rotating member of the joint structure 408e. It is connected.
  • the end of the link member 407h opposite to the joint structure 408e is connected to the connection portion of the second rotation member of the joint structure 408f.
  • a tip 409 such as an end effector is attached to the link member 407h.
  • the end of the link member 407c arranged on the lower side of the link member 407b opposite to the movable portion 406 is connected to the connecting portion of the second rotating member of the joint structure 408c.
  • a link member 407f having the same length as the total length of the two link members (407e, 407g) and the joint structure 408d disposed above is connected to the connecting portion of the first rotating member of the joint structure 408c. It is connected.
  • the end of the link member 407f opposite to the joint structure 408c is connected to the connection portion of the first rotation member of the joint structure 408f.
  • a pair of link members (407e, 407g) and a link member 407f are parallel to each other, and a parallelogram is formed by a link connecting four joint structures (408b, 408c, 408f, 408e). Formed (parallel link). Therefore, the robot 400 drives the actuators (403, 404) and moves the movable parts (405, 406) up and down by moving the movable parts (405, 406) up and down according to the characteristics of the Scott Russell mechanism (FIG. 7B). In the direction of the arrow). In addition, even if the robot 400 drives each actuator (403, 404) and moves the tip 409 attached to the link member 407h up and down and back and forth according to the characteristics of the parallel link, the tip 409 Can be kept level.
  • each rotation member of another joint structure should just have at least 1 connection part, and other connection parts may be abbreviate
  • each rotation member which each link member connects may not be limited to said example, and may be suitably selected according to embodiment.
  • FIG. 8 is a perspective view schematically illustrating a robot 410 having three joint structures 412 driven by wire drawing.
  • the reference numerals 412A and 412B are attached to the joint structures for convenience of explanation, and the joint structures (412A and 412B) are the joint structures 1.
  • “412A” is attached to the joint structure using the first rotating member 11 facing the front side of the paper, and the second rotating member 12 is used facing the front side of the paper.
  • “412B” is attached to the joint structure.
  • the reference numeral 411 is attached to each link member for convenience of explanation, and each link member 411 is the link member 31.
  • each link member 411 is appropriately connected to a connecting portion of each joint structure 412. Specifically, the first rotating member of the joint structure 412B and the second rotating member of the joint structure 412A disposed below the joint structure 412B are connected by the link member 411. Further, the second rotating member of the joint structure 412B and the first rotating member of the joint structure 412A arranged above the joint structure 412B are connected by a link member 411. Above each joint structure 412, a pair of fixtures (413, 414) is fixed to the groove of each link member 411.
  • each wire (415, 416) is fixed to each fixture (413, 414). Specifically, the end of the wire 415 is fixed to the fixing tool 413, and the end of the wire 416 is fixed to the fixing tool 414.
  • Each wire (415, 416) is a Bowden cable, and is disposed along the wire driving groove 129, and then passes through a binding tool 417 disposed below each joint structure 412 to be provided outside. Connected to the drive source.
  • the drive source is, for example, a pneumatic actuator or a motor.
  • the robot 410 according to this use example operates as follows by having such a configuration. That is, when the wire 415 is pulled by an external drive source, the force acts on the fixture 413, and the link member 411 above the joint structure 412 to be driven is pulled in the direction of arrow A1. Thereby, the rotating member connected to the link member 411 rotates. Similarly, when the wire 416 is pulled by an external drive source, the force acts on the fixture 414, and the link member 411 above the joint structure 412 to be driven is pulled in the arrow A2 direction. Thereby, the rotating member connected to the link member 411 rotates. In the robot 410 according to this use example, the joint structure 412 can be driven by such wire drawing.
  • each joint structure 412A is used in an inverted state with respect to an axis perpendicular to the axial direction with respect to the joint structure 412B.
  • the first rotating member of the joint structure 412B and the second rotating member of the joint structure 412A arranged below the joint structure 412B are connected by the link member 411.
  • a second rotating member of the joint structure 412B and a first rotating member of the joint structure 412A arranged above the joint structure 412B are connected by a link member 411.
  • the two joint structures (412A, 412B) adjacent via the link member 411 are arranged so that the rotating members face each other in a direction perpendicular to the axial direction. Therefore, the robot 410 according to this use example is compact in the axial direction.
  • each joint structure may not be limited to such an example.
  • the radial bearing may be arranged with an intermediate fit that provides a slight gap between the shaft body and the inner wall of the through hole, instead of being fitted to either the shaft body or the inner wall of the through hole.
  • fasteners and the like can be arranged in one direction, so it is necessary to increase the bearing grease or adjust the pressure. Even in such a case, it is possible to construct a link mechanism capable of maintaining each joint structure from one direction.
  • FIG. 9A is a perspective view schematically illustrating a delta robot 420 according to this usage example.
  • the reference numerals 424 are given to the joint structures for the convenience of explanation, and each joint structure 424 is the joint structure 1.
  • Delta robot 420 has a triangular frame-shaped base 421.
  • a rotation motor 422 is attached to the center of each side of the base 421, and a link member 423a is connected to the rotation motor 422.
  • the link member 423a is the link member 31.
  • the joint structure 424 is connected to the other end of the link member 423a.
  • a T-shaped link member 423b is connected to the joint structure 424.
  • the link member 423b forms a parallel link with the four joint structures 424, the two link members (423c, 423d) having the same length, and the T-shaped link member 423e.
  • Each link member (423c, 423d) is the link member 31 described above.
  • each end portion of the T-shaped link member (423b, 423e) has the same configuration as the end portion of the link member 31.
  • the T-shaped link members (423b, 423e) can be manufactured by appropriately welding or bonding the two link members 31.
  • Each link member 423a to 423e is appropriately connected to the connection portion of each joint structure 424.
  • the joint structure 424 is also connected to the remaining end of the T-shaped link member 423e, and a triangular frame-shaped tip 425 is connected to a total of three joint structures 424 arranged at the lowermost position. Is attached. Specifically, a link portion 426 having the same configuration as the end portion of the link member 31 is provided at each corner of the tip portion 425, and the tip portion 425 is connected to each joint via each link portion 426. The structure 424 is connected.
  • the delta robot 420 operates as follows by having such a configuration.
  • the parallel link mechanism is connected to each of the three rotary motors 422 arranged on the base 421. Therefore, by driving all or a part of the three rotary motors 422, the parallel link mechanism connected to the driven rotary motor 422 can be moved in the vertical direction, thereby maintaining the horizontal state, The tip 425 can be moved in each direction.
  • FIG. 9B is a perspective view schematically illustrating a delta robot 420A using a linear motor 427 that drives an output rod in the vertical direction as an actuator.
  • the delta robot 420A has the same configuration as the delta robot 420 except that the rotary motor 422 is replaced with a linear motion linear motor 427.
  • the delta robot 420A can operate in the same manner as the delta robot 420 by moving the output rod of each linear motor 427 up and down.
  • each rotating member (11, 12) is connected to each other so as to be rotatable around the axis.
  • each rotating member (11, 12) includes two connecting portions 21 for connecting the link members 31 constituting the robot link. Therefore, as shown in the above use example, a plurality of link members 31 can be connected via the joint structure 1 by connecting different link members 31 to different rotating members (11, 12). Furthermore, when the link member 31 fluctuates due to an external force applied from an actuator or the like, each rotating member (11, 12) can rotate around the axis according to the fluctuation of the link member 31.
  • the joint structure 1 according to the present embodiment can be driven by an external force transmitted from the link member 31, and thereby the positional relationship between the link members 31 connected to different rotating members (11, 12). Can be changed.
  • the joint structure 1 can construct various link mechanisms as shown in the above use examples. Therefore, the joint structure 1 according to the present embodiment is modularized and can be used for general purposes.
  • concave portions (115, 126) are respectively provided in the facing surface portions (112, 121) of the rotating members (11, 12) adjacent in the axial direction, and formed by both concave portions (115, 126).
  • a thrust bearing 14 is disposed in the internal space. Therefore, the joint structure 1 according to the present embodiment has axial strength secured by the thrust bearing 14.
  • an encoder 16 capable of detecting the relative rotation angle of both the rotating members (11, 12) is further accommodated in the internal space formed by the both concave portions (115, 126). Therefore, in this embodiment, it is possible to prevent the encoder 16 from coming into contact with the outside without using an extra component such as a case, thereby significantly reducing the possibility of the encoder 16 being damaged by an external force. be able to.
  • the encoder 16 is disposed in the internal space, it is less susceptible to the deformation of the joint structure 1 than when it is disposed outside. That is, even if the outer shape of the joint structure 1 is deformed by an external force, the internal space formed by the two concave portions (115, 126) is not easily deformed. Therefore, even if the outer shape of the joint structure 1 is deformed, the positional relationship between the scale 161 and the detection element 162 constituting the encoder 16 hardly changes. Therefore, even if the joint structure 1 is used in a situation where an external force is applied, it is possible to stably detect the relative rotation angles of both the rotating members (11, 12).
  • the scale 161 is configured to rotate integrally with the second rotating member 12, and the detection element 162 is configured to rotate integrally with the first rotating member 11. Therefore, in the joint structure 1 according to the present embodiment, the backlash is compared with a method in which the rotation of each rotating member (11, 12) is measured by an external encoder via transmission parts such as a belt, a gear, and a coupling. Or, an error due to slip does not occur. Therefore, the joint structure 1 according to the present embodiment can accurately detect the relative rotation angles of the two rotating members (11, 12).
  • each rotating member (11, 12) has a cylindrical basic shape, and each connecting portion 21 is formed by cutting an arc portion in a tangential direction from the basic shape. That is, since each rotary member (11, 12) does not have a shape having a portion protruding from a circle, lathe processing can be applied to manufacture each rotary member (11, 12). Therefore, even when the rotating members (11, 12) are manufactured by processing, the rotating members (11, 12) can be manufactured very easily.
  • the joint structure 1 according to the present embodiment is an external drive type and does not require an essential structure of the joint structure with a built-in actuator, such as a housing with a built-in actuator, and thus is compact and lightweight. be able to.
  • the joint structure 1 according to the present embodiment does not have a complicated structure and can be easily manufactured with a simple design.
  • the first rotating member 11 and the second rotating member excluding the shaft body 13 are formed in substantially the same shape, so that each rotating member (11, 12) It is symmetrical in the axial direction.
  • the shape of each side surface portion (113, 123) is symmetric with respect to a plane perpendicular to the axial direction of the shaft body 13. Therefore, according to the joint structure 1 according to the present embodiment, it is easy to construct a link mechanism of a closed link.
  • a link mechanism can be constructed without increasing the bulk by alternately connecting the rotating members (11, 12) of the plurality of joint structures 1 with the link members 31.
  • the two connecting portions 21 provided on the rotating members (11, 12) are arranged on the side wall portions (113, 123) in a 180-degree relationship around the axis. Therefore, since each connection part 21 of each rotation member (11, 12) is arrange
  • the joint structure 1 is turned over and the link member 31 on the second rotating member 12 side is fixed. The same link mechanism can be constructed.
  • one of the two rotating members (11, 12) is integrally formed with the shaft body 13, and the other rotating member 12 has a through hole 124 through which the shaft body 13 is inserted. is doing. Then, the radial bearing 15 is fitted to the shaft body 13 with a tight fit on the inner peripheral wall of the through hole 124, or the shaft body 13 is fitted with a clearance fit on the inner peripheral wall of the through hole 124. Can be placed in. Thereby, for example, the following effects can be expected. That is, in the joint structure 1 according to the present embodiment, when the link member 31 on the first rotating member 11 side is fixed, the second rotating member 12 rotates, and the radial load of the outer ring rotation and the inner ring stationary is internally generated. Will work.
  • the diameter of the through hole 124 into which the radial bearing 15 is inserted is determined on the assumption of this radial load.
  • the radial bearing 15 is configured such that the inner ring has an interference fit and the outer ring has a clearance fit. That is, the radial bearing 15 having an inner diameter slightly smaller than the outer diameter of the shaft body 13 and having an outer diameter slightly smaller than the diameter of the through hole 124 is an interference fit with respect to the shaft body 13, and the through hole 124. Place it so that there is a clearance fit with respect to the inner peripheral wall. Therefore, the diameter of the through hole 124 is determined to be larger than the outer diameter of the radial bearing 15.
  • the joint structure 1 has a shape that allows the link member 31 to be used symmetrically.
  • the diameter of the through hole 124 or the diameter of the shaft body 13 can be increased by fixing the link member 31 on the second rotating member 12 side and applying a static load to the first rotating member 11. Even if the load conditions applied to the joint structure 1 according to the present embodiment are different without change, it can be directly applied to the link mechanism.
  • a link mechanism is constructed by a plurality of joint structures 1, the joint structure 1 in which the inner ring of the radial bearing 15 is an interference fit and the inner ring of the radial bearing 15 are a clearance fit. Both forms of the joint structure 1 may be used.
  • the axial structure is symmetrically used.
  • a link mechanism that is compact in the axial direction can be constructed.
  • the connecting portions are arranged symmetrically in the axial direction” means that the joint structure 1 is pivoted while maintaining the positional relationship of the plurality of link members 31 connected to both the rotating members (11, 12). It means that the connection relationship between both rotating members (11, 12) can be switched by reversing the axis by the axis perpendicular to the direction (axis SA or axis SB in FIG. 1). That is, when it is assumed that the joint structure 1 illustrated in FIG. 1 is reversed around the axis SA (y axis) or the axis SB (z axis), the link connected to the first rotating member 11 before the reversal.
  • the member 31 can be connected to the connecting portion 21 of the second rotating member 12 at the same position after being inverted.
  • the link member 31 that has been connected to the second rotating member 12 before reversing can be connected to the connecting portion 21 of the first rotating member 11 at the same position after reversing.
  • the joint structure 1 can be used as an inner ring rotation joint around which the first rotating member 11 rotates by changing the direction of the joint structure 1 used for the link mechanism without changing the structure of the link mechanism. It can be used as a joint for rotating the outer ring around which the second rotating member 12 rotates. Further, the position of the wiring groove 114 can be changed as appropriate.
  • the state in which “the connecting portions are symmetrically arranged in the axial direction” is limited to an example in which the two connecting portions provided in each rotating member (11, 12) are arranged in a 180 degree relationship around the axis. However, it may be appropriately designed according to the embodiment.
  • each connecting portion 21 is symmetrical about the axis. Therefore, the joint structure 1 according to the present embodiment can be used while maintaining the positional relationship of the link member even if it rotates around the axis. Accordingly, the position of the wiring groove 114 can be changed as appropriate.
  • the state in which each connecting portion is symmetric around the axis is not limited to an example in which the two connecting portions are arranged in a 180-degree relationship around the axis. You may design suitably according to a form.
  • the joint structure 1 according to the present embodiment can make not only the outer shape but also the overall weight balance symmetrical. Therefore, the following effects can be expected. That is, a conventional joint structure with a built-in actuator is driven by an electric motor. However, since the electric motor alone has high speed and low torque characteristics, it is not suitable for a robot drive source. Therefore, the electric motor is used with a reduction gear attached.
  • the conventional joint structure with a built-in actuator cannot make the overall weight balance symmetrical due to the difference in flow rate between the electric motor and the speed reducer. Therefore, in a link mechanism using such a joint structure, the weight balance is usually different between right and left. Thereby, since the twisting force generate
  • joint structures whose weight balance is not symmetrical are arranged alternately so that the weight balance of the entire link mechanism is symmetrical. Even in this case, when the joint structures are alternately arranged, the wirings extending from the joint structures are staggered, and the wiring of the entire link mechanism is deteriorated.
  • the joint structure 1 according to the present embodiment is an external drive type, and does not incorporate the electric motor and the speed reducer as described above. Therefore, by appropriately selecting the weight of each component, The weight balance can be made symmetrical. Therefore, in the link mechanism using the joint structure 1 (for example, the robot 400), the overall weight balance can be made substantially symmetrical, and the link members 31 before and after the joint structure 1 are in contact with each other. Can be prevented. In addition, since it is not necessary to alternately arrange the joint structures 1 in order to make the weight balance of the link mechanism symmetrical, it is possible to prevent the wiring of the entire link mechanism from being deteriorated. .
  • the joint structure 1 according to the above embodiment includes two rotating members (11, 12).
  • the number of rotating members included in the joint structure according to the present invention is not limited to the example of the above embodiment, and may be three or more.
  • FIG. 10 is a cross-sectional view schematically illustrating a joint structure 1A including three rotation members (11, 12, 18).
  • the joint structure 1 ⁇ / b> A according to the present modification is configured in substantially the same manner as the joint structure 1. That is, the third rotating member 18 has the same configuration as the second rotating member 12.
  • the thrust bearing 14 and the encoder are the same as in the above embodiment. Are appropriately arranged.
  • the shaft body 13A has the same configuration as that of the shaft body 13 according to the above-described embodiment except that the length in the axial direction is increased by attaching the third rotating member 18. Further, two radial bearings 15 are disposed between the second rotating member 12 and the shaft body 13A and between the third rotating member 18 and the shaft body 13A, respectively, as in the above embodiment.
  • the joint structure 1A includes three rotating members (11, 12, 18) that are connected to each other so as to be rotatable around an axis.
  • the number of second rotating members 12 attached to the shaft body can be adjusted by appropriately adjusting the length of the shaft body 13 in the axial direction.
  • the joint structure provided with three or more rotating members can be appropriately produced.
  • the method of manufacturing the joint structure including three or more rotating members is not limited to such an example, and can be selected as appropriate according to the embodiment, including modifications described later.
  • each surface part (111,112,121,122) of each rotation member (11,12) is formed in circular shape.
  • the shape of each rotating member (11, 12) may not be limited to such an example, and may be appropriately selected according to the embodiment.
  • each surface portion (111, 112, 121, 122) of each rotating member (11, 12) may be a polygon such as a hexagon, or may be an ellipse.
  • the outer shape of each rotating member (11, 12) may be formed symmetrically in the axial direction.
  • each rotating member (11, 12) has two connecting portions 21.
  • the number of connecting portions 21 included in each rotating member (11, 12) is not limited to two, and may be appropriately selected according to the embodiment.
  • the number of connecting portions 21 included in each rotating member (11, 12) may be one, or may be three or more.
  • each connection part 21 may be arrange
  • each connecting portion 21 is disposed on the side wall portion (113, 123) of each rotating member (11, 12).
  • positioning of each connection part 21 may not be limited to such an example, and may be arrange
  • FIG. 11 schematically illustrates a joint structure 1B having a connecting portion 21B on the first surface portion 111B of the first rotating member 11B.
  • the first rotating member 11 ⁇ / b> B has the same configuration as the first rotating member 11 except that the connecting portion 21 ⁇ / b> B is provided on the first surface portion 111 ⁇ / b> B.
  • the connecting part 21 ⁇ / b> B has the same configuration as the connecting part 21. Therefore, the link member 31 can be connected to the connecting portion 21B by the same connecting method as described above.
  • At least one rotating member of the plurality of rotating members includes at least one connecting portion on any one of the pair of surface portions, and the other rotating members of the plurality of rotating members.
  • the connecting portion provided on the surface portion for example, the connecting portion 21B of the first rotating member 11B
  • the connecting portion provided on the side wall portion for example, the connecting portion 21 of the second rotating member 12.
  • the connection direction can be changed. Therefore, the link connection direction can be changed without having a special structure, and the link mechanism to be constructed can be made compact as a whole.
  • the surface part which can provide a connection part is not necessarily limited to the 1st surface part of a 1st rotation member.
  • the connecting portion may be provided on the second surface portion side of the second rotating member.
  • a connection part may be provided via an attachment etc.
  • the two connecting portions 21 are arranged at a position of 180 degrees with respect to the center in the surface direction of each rotating member (11, 12) (hereinafter, this angle is referred to as “adjacent connecting portion” "Angle between parts”).
  • this angle is referred to as “adjacent connecting portion” "Angle between parts”).
  • the positional relationship of each connection part 21 may not be limited to such an example, and is suitably selected according to embodiment. It's okay.
  • the angle between adjacent connecting portions may be set to an obtuse angle or an acute angle.
  • the angle between adjacent connecting portions is one corner of the polygon so that the joint structure can be placed at each vertex. It may be set to be the same as the angle.
  • a boomerang-type parallel link mechanism as shown in FIG. 12 can be constructed by using a joint structure in which the angle between adjacent connecting portions is an obtuse angle.
  • FIG. 12 is a perspective view schematically illustrating a robot 400C using the joint structure 1C in which the angle between adjacent connecting portions is an obtuse angle.
  • the joint structure 408d disposed in the middle of the Scott Russell mechanism portion of the robot 400 is replaced with the joint structure 1C in which the angle between the adjacent connecting portions is an obtuse angle. Yes.
  • the two link members (407e and 407g) connected to the joint structure 1C constitute a link refracted in a boomerang shape. Accordingly, in this modification, the link member 407f of the robot 400 is replaced with the joint structure 1C and the two link members 31c.
  • Each link member 31c has the same configuration as the link member 31 and is configured to have the same length as each link member (407e, 407g). Thereby, the link comprised by the two link members 31c and the joint structure 1C becomes the same shape as the link comprised by the two link members (407e, 407g) and the joint structure 1C. That is, a boomerang type parallel link is configured.
  • the robot 400C in which the parallel link is a boomerang type can be constructed.
  • the link on the lower side may use a link member having the same shape as the boomerang-shaped link composed of two link members (407e, 407g) without using the joint structure 1C.
  • the link member 31 is connected to each rotating member so as to extend in the radial direction or the axial direction (perpendicular to each surface).
  • the direction in which the link member 31 is connected may not be limited to such an example, and may be appropriately selected according to the embodiment.
  • the end surface 210 of the connecting portion 21 (21B) may be inclined from the radial direction (axial direction).
  • the link member 31 can be connected with the connection part 21 (21B) so that it may incline from a radial direction or an axial direction with respect to each rotation member.
  • the shaft body 13 (13 ⁇ / b> A) is formed integrally with the first rotating member 11.
  • the shaft body 13 (13 ⁇ / b> A) may be formed integrally with a rotating member other than the first rotating member 11.
  • the shaft body 13 (13A) may be integrally formed with one of the two outermost rotating members.
  • the shaft body 13 (13A) may be formed integrally with any one of the two rotating members arranged on the outermost side.
  • the shaft body 13 (13A) is formed to extend in the axial direction from the surface portions on both sides of the rotating member.
  • the shaft body 13 (13A) may be formed integrally with each of the two rotating members arranged on the outermost side.
  • each shaft body 13 (13A) extending from each rotating member may be configured to be connectable by screw coupling or the like.
  • FIG. 13 is a perspective view schematically illustrating a joint structure 1D including a shaft body 13D formed separately from the first rotating member 11D.
  • each rotating member 11 ⁇ / b> D, 12 ⁇ / b> D, 18 ⁇ / b> D
  • the shaft body 13D includes an annular base portion 133 and a cylindrical portion 134 that extends from the base portion 133 in the axial direction.
  • the cylindrical portion 134 is configured in substantially the same manner as the shaft body 13 (13A). That is, the axial length of the cylindrical portion 134 corresponds to the total width of the rotating members (11D, 12D, 18D). Further, the outer diameter of the cylindrical portion 134 is smaller than the inner diameter of each rotating member (11D, 12D, 18D) to the extent that the radial bearing 15 can be disposed. Thereby, the radial bearing 15 is arrange
  • the outer diameter of the base portion 133 is larger than the outer diameter of the cylindrical portion 134.
  • the base 133 is not inserted into the through hole of each rotating member (11D, 12D, 18D).
  • the diameter of the concave portion 117 provided on the surface portion of the first rotating member 11D and the outer diameter of the base portion 133 are the same, and the base portion 133 is fitted in the concave portion 117 of the first rotating member 11D. It comes to include.
  • the base portion 133 may be fixed to the surface portion of the first rotating member 11D with a screw or the like. Note that the inner diameter of the base portion 133 and the inner diameter of the cylindrical portion 134 are the same.
  • the shaft body may be formed separately from each rotating member.
  • all the rotating members (11D, 12D, 18D) can be formed in the same shape. Therefore, the manufacturing cost of the joint structure can be reduced, and the robot link mechanism can be constructed at a lower cost.
  • each surface portion of each rotating member (11D, 12D, 18D) has a shape that can accommodate the thrust bearing 14 and the encoder 16 so that they can be accommodated when facing each other. You may provide the recessed part which has.
  • the shaft body 13 (13A, 13D) is formed in the hollow.
  • the shaft body 13 (13A, 13D) may be formed solid.
  • the shaft body 13D is coupled to the first rotating member 11, and thus the radial bearing 15 disposed in the through hole of the first rotating member 11 may be omitted.
  • the joint structure 1D may become heavier on the first rotating member 11 side by the amount that the base portion 133 of the shaft body 13D is disposed on the first rotating member 11 side.
  • the entire weight balance of the joint structure 1D can be easily made symmetrical.
  • each link member is individually connected with each rotation member.
  • the correspondence between the link member and the rotating member may not be limited to such an example.
  • the connecting portions of at least two rotating members may be connected to the same link member. .
  • FIG. 14 is a perspective view schematically illustrating a state in which the connecting portion of the first rotating member 11 (11D) and the connecting portion of the third rotating member 18 (18D) are connected to the same link member 34.
  • the “same link member” may be integrally formed as long as a plurality of rotating members can be driven simultaneously, or may be formed by combining a plurality of members.
  • the link member 34 As illustrated in FIG. 14, the link member 34 according to this modification is formed in a U-shape, and the end thereof has the same configuration as the link member 31.
  • the link member 34 can be manufactured by appropriately connecting the two link members 31 by welding or the like. And each edge part of the link member 34 is connected with the connection part of the 1st rotation member 11 (11D) and the 3rd rotation member 18 (18D). Thereby, the 1st rotation member 11 (11D) and the 3rd rotation member 18 (18D) can be connected to the same link member 34.
  • the number of rotating members connected to the same link member need not be limited to this example.
  • the connecting portions of three or more rotating members may be connected to the same link member.
  • the selection of the rotation member connected to the same link member may be appropriately selected according to the embodiment.
  • the connecting portions of two rotating members arranged on the outermost side may be connected to the same link member.
  • positioned between a pair of rotation members connected with the same link member can be received with the said pair of rotation members arrange
  • FIG. 15 is a cross-sectional view schematically illustrating a joint structure 1 ⁇ / b> E including a reinforcing plate 51 that reinforces the connection between the connecting portion 21 and the link member 31.
  • the joint structure 1E according to the present modification includes two rotating members (11E, 12E) as in the above embodiment.
  • each surface portion (111, 112, 121, 122) of each rotating member (11E, 12E) is for an annular reinforcing plate extending radially inward from the outer peripheral surface so that a substantially annular reinforcing plate 51 can be disposed.
  • Recesses 511 to 514 are provided. Except for this point, each rotating member (11E, 12E) has the same configuration as the rotating member (11, 12).
  • the inner diameters of the respective reinforcing plate recesses 511 to 514 are the same as the inner diameter of each reinforcing plate 51.
  • the inner diameter of each of the reinforcing plate recesses (512, 513) is set so that a partition wall is provided between each of the reinforcing plate recesses (512, 513) and each of the recesses (115, 126). , 126) is larger than the outer diameter.
  • the inner diameter of the reinforcing plate recess 514 is also larger than the outer diameter of the second recess 127.
  • each reinforcing plate 51 is disposed adjacent to each connecting portion 21 in the axial direction. Moreover, each reinforcement board 51 has an outer diameter larger than the outer diameter of each surface part (111,112,121,122) of each rotation member (11E, 12E). Therefore, as illustrated in FIG. 15, a pair of reinforcing plates 51 are arranged so as to be sandwiched and supported from the axial direction at each connecting portion between the connecting portion 21 and the link member 31. Accordingly, each reinforcing plate 51 can reinforce the connection between the connecting portion 21 and the link member 31.
  • the method of arranging the reinforcing plate 51 is not limited to such an example, and may be appropriately selected according to the embodiment.
  • the reinforcing plates 51 may be arranged so as to follow the surface portions (111, 112, 121, 122) of the rotating members (11E, 12E). Good.
  • Each reinforcing plate 51 may be integrally formed with the same member as each rotating member (11E, 12E).
  • a pair of reinforcing plates 51 are disposed on both sides of the connecting portion 21 in the axial direction.
  • the reinforcing method using the reinforcing plate 51 may not be limited to such an example.
  • one of the reinforcing plates 51 may be omitted. That is, the reinforcing plate 51 that supports the connecting portion is arranged on at least one of the axial sides of the connecting portion between each connecting portion 21 and the link member 31 that are arranged on the side wall portion of each rotating member (11E, 12E). By doing so, a joint structure strong against twisting can be produced.
  • the weight of the joint structure 1E may be biased toward the second rotating member 12E by the amount that the radial bearing 15 is provided on the second rotating member 12E.
  • the overall weight balance of the joint structure 1E is changed to the left and right. It can be made symmetrical.
  • connection part 21 and the link member 31 are connected via the wedge member 32.
  • the method of connecting the connecting portion 21 and the link member 31 is not limited to such an example, and may be appropriately selected according to the embodiment.
  • the connection between the connecting portion 21 and the link member 31 may be configured by a magnet.
  • FIG. 16A schematically illustrates the rotating member 19 in which the link member 31F and the connecting portion 21F are connected by a magnet.
  • 16B is a partial cross-sectional view taken along line CC of FIG. 16A.
  • the reference numeral 19 is attached to the rotating member for convenience of explanation, and the rotating member 19 is, for example, the second rotating member 12.
  • the connecting portion 21F of the rotating member 19 has the same shape as the connecting portion 21, and a rectangular soft magnetic plate 61 is attached to the groove 211 of the connecting portion 21F.
  • the link member 31F has the same shape as the link member 31, and a columnar permanent magnet 62 is disposed so as to straddle both the groove portions 314.
  • the permanent magnet 62 is disposed such that the N pole faces one of the groove portions 314.
  • rectangular soft magnetic pins (63, 64) are arranged so as to contact the permanent magnet 62. Both soft magnetic pins (63, 64) are fixed with non-magnetic bolts 65.
  • electromagnetic soft iron may be used for the material of the soft magnetic plate 61 and each soft magnetic body pin (63, 64).
  • the material of the soft magnetic plate 61 and each soft magnetic body pin (63, 64) may be appropriately selected from soft magnetic materials.
  • the material of the nonmagnetic bolt 65 may be appropriately selected from nonmagnetic materials.
  • each soft magnetic body pin (63, 64) and the soft magnetic plate 61 are arranged so as to be able to contact each other.
  • the soft magnetic plate 61 is disposed so that the end surface of the soft magnetic plate 61 is positioned near the end surface of the connecting portion 21F.
  • the soft magnetic pins (63, 64) are arranged so that the end surfaces of the soft magnetic pins (63, 64) are located near the end surfaces of the link member 31F.
  • each soft magnetic body pin (63, 64) and the soft magnetic plate 61 can be connected with moderate strength.
  • the connection between the connecting portion 21F and the link member 31F can be configured with a magnet in this way.
  • connection between the connecting portion 21F and the link member 31F is configured by a magnet, a robot link mechanism can be constructed without using a tool. This makes it possible to manufacture a robot very easily.
  • the connection with the magnet is easily broken. Therefore, for example, by using a coupling method using this magnet in a joint structure in which a force directly acts from an actuator such as the joint structure (408a, 408b, 408c) of the robot 400, the link mechanism is removed from the actuator at the time of overload. Can be separated. This can prevent an accident from occurring when an overload occurs.
  • a joint structure is used for an exoskeleton robot, it is possible to prevent an overload that damages the human body by using this magnet coupling method for a joint structure that acts on the human body. Can do.
  • the permanent magnet 62 is arranged on the link member 31F side.
  • the arrangement of the permanent magnets 62 may not be limited to such an example, and the permanent magnets 62 may be arranged on the rotating member 19 side.
  • the soft magnetic pins (63, 64) and the soft magnetic plate 61 may be partially formed of a non-magnetic material.
  • the shape of each component may be appropriately selected according to the embodiment.
  • the permanent magnet 62 may be formed in a rectangular shape.
  • connection part 21 and the link member 31 are connected in the state which faced the end surface 210 of the connection part 21, and the end surface 310 of the link member 31.
  • the connecting portion 21 and the link member 31 may be connected in a state where the link member 31 is inserted into the groove portion 211.
  • each connection part may connect with a link member by a different method.
  • the thrust bearing 14 is accommodated.
  • the bearing that can be disposed between the axially adjacent rotating members (11, 12) is not limited to such an example as long as it is an annular bearing that receives a force acting in the axial direction. It may be appropriately selected according to the embodiment.
  • an angular contact ball bearing capable of receiving forces in both the thrust direction and the radial direction may be accommodated between the adjacent rotating members (11, 12).
  • a recess having a shape capable of accommodating such a bearing between the rotating members adjacent in the axial direction for example, the recess 115 and the first embodiment in the above embodiment. 1 recess 126) is provided.
  • the concave portion that accommodates the bearing may be provided on both sides of the opposing surfaces of the adjacent rotating members (for example, the second surface portion 112 and the first surface portion 121 in the above embodiment), or may be provided on one side. .
  • the height of each recess is the same if the height of both recesses (the length in the left-right direction in FIG. 2) corresponds to the thickness of the bearing. But it may be different.
  • the scale 161 is arrange
  • the detection element 162 is arrange
  • the arrangement of the scale 161 and the detection element 162 is not limited to such an example, and may be switched. That is, the scale 161 may be disposed on the first rotating member 11 side, and the detection element 162 may be disposed on the second rotating member 12 side. In this case, the wiring groove 114 is provided on the second rotating member 12 side, and the output of the detection element 162 is taken out on the second rotating member 12 side.
  • the optical reflection type encoder 16 is used.
  • the type of encoder that can be incorporated in the joint structure 1 according to the present embodiment is not limited to this example, and may be appropriately selected according to the embodiment.
  • the joint structure 1 may incorporate an optically transmissive encoder.
  • This optical transmission encoder can be composed of, for example, a transmission scale whose light transmittance periodically changes in the circumferential direction, and a detection element including a light emitting unit and a light receiving unit.
  • the light emitting portion and the light receiving portion of the detection element are arranged so as to receive light emitted from one surface side of the transmission scale on the other surface side, so that the adjacent rotating members (11, 12) A relative rotation angle can be detected.
  • the joint structure 1 may include a magnetic or electric resistance encoder.
  • a magnetic encoder can be composed of a scale that changes the magnetic force in the circumferential direction and a detection element such as a Hall element that detects the magnetic force.
  • a magnetic encoder (model number: AEAT-6600-T16, etc.) manufactured by AVAGO can be used as a magnetic encoder.
  • a resolver (for example, manufactured by Tamagawa Seiki Co., Ltd .: Singlesyn (registered trademark)) can also be used as a magnetic encoder.
  • the scale 161 is attached to the board 142 separate from the thrust bearing 14.
  • the place where the scale 161 is attached is not limited to such an example, and the scale 161 may be attached to the thrust bearing 14.
  • the housing washer (not shown) of the thrust bearing 14 has the same shape as the disk 142
  • the scale 161 may be attached to the end surface of the housing washer.
  • the washer 141 may be omitted, and the axial washer of the thrust bearing 14 may be brought into contact with the bottom surface of the recess 115 as it is. Accordingly, since the encoder 16 can be configured by using a part of the thrust bearing 14, the number of parts and the assembly process can be reduced, and the components housed in the internal space of the joint structure 1 can be compact. Can be.
  • the scale 161 and the detection element 162 constituting the encoder 16 are arranged so as to face each other in the axial direction.
  • the arrangement of the encoder 16 may not be limited to such an example.
  • the scale 161 and the detection element 162 are arranged in the axial direction so that the outer peripheral wall of the shaft body 13 and the inner peripheral wall of the thrust bearing 14 are opposed to each other. May be arranged.
  • the annular gap 116 is secured so that the scale 161 and the detection element 162 face each other in the axial direction.
  • the shape of the gap portion 116 is not limited to such an example as long as the scale 161 and the detection element 162 can face each other in the axial direction, and may be appropriately selected according to the embodiment.
  • the gap 116 may have a fan shape in cross section.
  • a reflective or transmissive optical encoder is used as the encoder housed in the joint structure 1, an optical fiber is disposed in the internal space of the joint structure 1, and the optical fiber is used to project the scale. Light and light reception may be performed.
  • the detection element and the substrate can be disposed outside the joint structure 1.
  • the metal material can be removed from the components of the encoder built in the joint structure 1.
  • the other structural elements are also formed of a resin material, so that the joint structure 1 can be manufactured without using a metal material.
  • the detection element 162 transmits and receives electrical signals by wire via the wiring board 163.
  • the method in which the detection element 162 transmits and receives an electrical signal may not be limited to such an example.
  • the detection element 162 may wirelessly transmit and receive electrical signals.
  • the wiring board 163 can be omitted.
  • the wiring board 163 protrudes from the internal space to the outside via the wiring groove 114.
  • the route of the wiring board 163 may not be limited to such an example, and the wiring board 163 may come out through the hollow portion 132 of the shaft body 13.
  • connection of the connection part 21 and the link member 31 is strengthened by providing the four projection parts 213 in the end surface 210 of the connection part 21.
  • FIG. the number and shape of such protrusions may not be limited to the example of the above embodiment, and may be appropriately selected according to the embodiment.
  • the protrusion provided on the end surface of the connecting portion may be appropriately designed according to the end surface shape of the link member connected to the connecting portion.
  • each protrusion 213 is formed integrally with the end surface 210.
  • the configuration of each protrusion 213 is not limited to such an example, and may be appropriately selected according to the embodiment.
  • each protrusion 213 may be configured by providing a hole in the end surface 210 and inserting a pin into the hole.
  • each protrusion 213 is provided on the connecting portion 21.
  • the position where each projection 213 is provided is not limited to such an example, and each projection 213 may be provided on the end surface 310 of the link member 31.
  • the connection part 21 and the link member 31 can be connected in the same manner as described above by providing holes on the end surface 210 of the connection part 21 for receiving the protrusions 213.
  • the wiring board 163 of the encoder 16 is output outside from the 1st rotation member 11 side.
  • the direction in which the wiring board 163 is output to the outside may not be limited to such an example.
  • the second rotating member 12 is provided with a wiring groove portion similar to the wiring groove portion 114, and the wiring board 163 is externally provided from the second rotating member 12 side. You may make it appear in.
  • the wiring groove portions 114 may be provided in both the rotating members (11, 12) so that the direction in which the wiring substrate 163 is output to the outside can be selected according to the scene where the joint structure 1 is used.
  • each connection part 21 arrange
  • positioned at the side wall part (113, 123) of each rotation member (11, 12) is formed flat except the projection part 213.
  • FIG. 2 the shape of each connection part 21 does not need to be limited to such an example.
  • FIG. 17 shows a modification of the shape of each connecting portion 21.
  • the rotating member 11G shown in FIG. 17 is formed in the same manner as the first rotating member 11 except for the connecting portion 21G.
  • the connecting portion 21G is formed in the same manner as the connecting portion 21 except for the shape of the end face.
  • the link member 31G is formed in the same manner as the link member 31 except for the shape of the end face.
  • a concave portion is provided in the center of the end surface of the link member 31 so as to be depressed in the longitudinal direction.
  • the connecting portion 21G disposed on the side wall portion of the rotating member 11G is configured to have a convex portion 2101 protruding radially outward at the center in the tangential direction.
  • the portions on both sides of the convex portion 2101 are formed flat at a position slightly lower than the convex portion 2101, and each protruding portion 213 is disposed in this portion. Note that such a connecting portion 21G is applicable not only to the first rotating member 11 but also to the second rotating member 12.
  • the length of the thick portion in the radial direction can be shortened by the amount of the protrusion 2101 provided in each connecting portion 21G. Therefore, compared with the said embodiment, in this modification, the position of the groove part which inserts the head part 321 of the wedge member 32 can be made a little radially outward. Therefore, the internal space of the joint structure can be enlarged, and thereby, a bearing having a large diameter can be arranged inside, and the strength of the joint structure can be increased. Further, the joint structure can be reduced in weight by increasing the diameter of the hollow portion of the shaft body. Moreover, the rigidity of a shaft body can be improved by enlarging the outer diameter of a shaft body.
  • the thrust bearing 14 and the radial bearing 15 are used as the bearings arranged inside the joint structure 1.
  • the bearings that can be used are not limited to these, and may be appropriately selected according to the embodiment.
  • FIG. 18 shows a modification using a bearing different from the above embodiment.
  • a joint structure 1H illustrated in FIG. 18 includes a first rotating member 11H and a second rotating member 12H.
  • the first rotating member 11H is formed in substantially the same manner as the first rotating member 11, and the second rotating member 12H is formed in substantially the same manner as the second rotating member 12.
  • the concave portion 115 of the first rotating member 11H is formed in an annular shape, and an annular step portion 1152 extending radially inward from the inner peripheral surface 1151 is provided at the base of the inner peripheral surface 1151 of the concave portion 115.
  • an annular projecting portion 1211 having a smaller diameter than the concave portion 115 and the stepped portion 1152 is provided on the first surface portion 121 facing the concave portion 115 of the second rotating member 12 adjacent to the first rotating member 11H.
  • An annular stepped portion 1213 that extends radially outward from the outer peripheral surface 1212 of the projecting portion 1211 is provided at the base of the outer peripheral surface 1212 of the projecting portion 1211.
  • the annular cross roller bearing 71 includes the inner peripheral surface 1151 of the recess 115, the axial surface of the step 1152 of the recess 115, the outer peripheral surface 1212 of the protrusion 1211, and the protrusion. It arrange
  • the cross roller bearing 71 can receive axial and radial loads acting on the joint structure 1H.
  • the structure which incorporates such a bearing may be provided in each part between two adjacent rotation members.
  • the inner diameter of the cross roller bearing 71 is larger than the inner diameter of the thrust bearing. Therefore, in this modification, the area inside the bearing can be used widely. Thereby, for example, the rigidity of the shaft body 13 can be increased by increasing the outer diameter of the shaft body 13. In addition, the load received by the radial bearing 15 can be increased by using the radial bearing 15 having a large diameter. Further, the joint structure can be reduced in weight by increasing the diameter of the hollow portion of the shaft body 13.
  • Link member 1E ... joint structure, 11E ... 1st rotation member, 12E ... 2nd rotation member, 51 ... Reinforcing plate, 511-514 ... Reinforcing plate recess, 19: Rotating member, 21F ... Connecting part, 31F ... Link member, 61 ... Soft magnetic material plate, 62 ... Permanent magnet, 63 ⁇ 64 ... Soft magnetic pin, 65 ... Non-magnetic bolt

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Pivots And Pivotal Connections (AREA)
PCT/JP2017/004922 2016-02-10 2017-02-10 外部駆動型の関節構造体 Ceased WO2017138634A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN201780010911.4A CN109070343B (zh) 2016-02-10 2017-02-10 外部驱动型的关节结构体
JP2017530358A JP6220105B1 (ja) 2016-02-10 2017-02-10 外部駆動型の関節構造体
US16/077,349 US11325244B2 (en) 2016-02-10 2017-02-10 Externally-driven joint structure
EP17750355.4A EP3415283B1 (en) 2016-02-10 2017-02-10 Externally-driven joint structure
US17/658,166 US11794336B2 (en) 2016-02-10 2022-04-06 Externally-driven joint structure

Applications Claiming Priority (2)

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JP2016024182 2016-02-10
JP2016-024182 2016-02-10

Related Child Applications (2)

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US16/077,349 A-371-Of-International US11325244B2 (en) 2016-02-10 2017-02-10 Externally-driven joint structure
US17/658,166 Continuation US11794336B2 (en) 2016-02-10 2022-04-06 Externally-driven joint structure

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WO2017138634A1 true WO2017138634A1 (ja) 2017-08-17

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US (2) US11325244B2 (enExample)
EP (1) EP3415283B1 (enExample)
JP (2) JP6220105B1 (enExample)
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CN112368115A (zh) * 2018-03-15 2021-02-12 易格斯有限公司 具有关节和用于此的多功能型材的操纵器

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JP6565090B2 (ja) * 2016-02-10 2019-08-28 株式会社国際電気通信基礎技術研究所 回転構造、アシストシステム、および、ロボット
CN110076820B (zh) * 2019-03-13 2020-11-27 东北大学 一种含有并联弹性的仿生机器人关节
JP2021109253A (ja) * 2020-01-07 2021-08-02 株式会社人機一体 作業アーム
WO2024243877A1 (zh) * 2023-05-31 2024-12-05 江门市广利电子科技有限公司 一种关节定位结构、折叠组件及功能设备

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