WO2018164270A1 - 立体形状表現装置 - Google Patents

立体形状表現装置 Download PDF

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Publication number
WO2018164270A1
WO2018164270A1 PCT/JP2018/009268 JP2018009268W WO2018164270A1 WO 2018164270 A1 WO2018164270 A1 WO 2018164270A1 JP 2018009268 W JP2018009268 W JP 2018009268W WO 2018164270 A1 WO2018164270 A1 WO 2018164270A1
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WO
WIPO (PCT)
Prior art keywords
support member
rod
movable support
fixing mechanism
dimensional shape
Prior art date
Application number
PCT/JP2018/009268
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
真裕 山本
達実 多田
隆文 浦池
篤也 戸羽
睦郎 岩越
山本　強
Original Assignee
株式会社ウェザーコック
地方独立行政法人北海道立総合研究機構
国立大学法人北海道大学
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Application filed by 株式会社ウェザーコック, 地方独立行政法人北海道立総合研究機構, 国立大学法人北海道大学 filed Critical 株式会社ウェザーコック
Publication of WO2018164270A1 publication Critical patent/WO2018164270A1/ja

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/06—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes for surveying; for geography, e.g. relief models
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F19/00—Advertising or display means not otherwise provided for
    • G09F19/02—Advertising or display means not otherwise provided for incorporating moving display members
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F19/00—Advertising or display means not otherwise provided for
    • G09F19/12—Advertising or display means not otherwise provided for using special optical effects
    • G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • G09F9/30—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements
    • G09F9/37—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements being movable elements

Definitions

  • the present invention relates to an apparatus for expressing a three-dimensional shape. More specifically, the present invention relates to a three-dimensional shape expression device that expresses a three-dimensional surface shape by displacing a plurality of rods arranged in a lattice shape and supported so as to be displaceable in the length direction.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 62-278857
  • linear displacement display devices having displacement bodies supported so as to be movable and movable in one direction are arranged in a lattice pattern, and the displacement bodies are arranged between the displacement bodies.
  • a three-dimensional solid generation device configured by installing a surface material made of a material capable of following movement is disclosed.
  • Patent Document 2 Japanese Patent Application Laid-Open No.
  • a cubic curved surface expression device includes at least a control mechanism that can numerically control the amount of expansion and contraction of each telescopic rod of the sheet undulation mechanism.
  • Patent Document 3 Japanese Patent Application Laid-Open No. 2007-004529 discloses a sheet having flexibility and elasticity, and a sheet arranged in a matrix on the lower side of the sheet, for forming a desired shape on the sheet.
  • control rods arranged in a matrix form below the memory rods, movable in directions toward and away from the memory rods based on input control signals, and data from the computer And a means for controlling the position of each rod of the control rod, and a three-dimensional surface creation device capable of renewing the shape.
  • Patent Document 4 Japanese Patent Application Laid-Open No. 2008-2621264 discloses a three-dimensional shape display device that displays a three-dimensional shape based on predetermined data, and includes a plurality of first elements arranged two-dimensionally so as to be movable up and down.
  • a three-dimensional shape display device including a positioning mechanism for positioning the plurality of first modeling pins and the plurality of second modeling pins.
  • the conventional three-dimensional shape expression device is large-scale or otherwise lacks real-time performance. Therefore, the present invention provides a three-dimensional shape expression device that is small and light and has excellent real-time properties.
  • the present invention provides a three-dimensional shape expression device that expresses a three-dimensional surface shape.
  • the three-dimensional shape expression device includes a plurality of rods that can be displaced in the length direction and whose tip portion represents a three-dimensional shape.
  • the three-dimensional shape expression device includes a support member that includes a stationary support member provided at a fixed position, and one or a plurality of movable support members that can individually reciprocate in the length direction of the rod.
  • the three-dimensional shape expression device includes a movable support member driving unit that moves the movable support member.
  • Each of the support members includes a fixing mechanism that can fix the rod to the support member at a position corresponding to each of the rods.
  • each of the rods is fixed to the movable support member by the fixing mechanism corresponding to the rod included in one of the movable support members, and as the movable support member moves. It is configured to be displaced or to be fixed and stationary with respect to the stationary support member by the fixing mechanism corresponding to the rod provided in the stationary support member.
  • the fixing mechanism included in each of the support members can switch between a fixed state in which the corresponding rod is fixed to the support member and a released state in which the corresponding rod is released from the support member.
  • This is a switching type fixing mechanism that can be used.
  • the fixing mechanism included in any one of the support members is a stationary fixing mechanism that always exerts a certain resistance against the corresponding rod
  • the support members other than any one of the support members include
  • the fixing mechanism includes a switching type fixing mechanism capable of switching between a fixed state in which the corresponding rod is fixed to the support member with a force stronger than the resistance force and a released state in which the corresponding rod is released from the support member.
  • the switching type fixing mechanisms corresponding to each of the rods is in the fixed state
  • the rod is fixed to the support member including the switching type fixing mechanism in the fixed state, and corresponds to each of the rods.
  • the rod is configured to be fixed to a support member having a stationary type fixing mechanism.
  • a support member provided with a stationary type fixing mechanism is an immobile support member.
  • the stationary type fixing mechanism has a constant resistance by generating a frictional force against the sliding rod by fixing one end of the torsion spring to the support member and bringing the other end into contact with the rod. It is comprised so that it may have power.
  • the switching type fixing mechanism fixes the rod to the support member by gripping the rod and releases the rod from the support member by releasing the grip of the rod. It is a gripping mechanism that can.
  • the three-dimensional shape expression device includes only one movable support member.
  • a fixing mechanism fixes the rod to the movable support member when the movable support member is moving in the same direction as the direction in which the rod should be displaced, and releases the rod from the movable support member otherwise. As a result, the rod is displaced to a desired position.
  • the three-dimensional shape expression device includes two movable support members configured to move in opposite directions at any time.
  • the fixing mechanism displaces the rod to a desired position by fixing the rod in one movable support member moving in the same direction as the rod to be displaced and releasing the rod in the other movable support member.
  • the three-dimensional shape expression device includes a plurality of the movable support members having different moving speeds.
  • each of the movable support members is configured such that the moving distance of one reciprocating movement is a power of 2 of the unit length.
  • each movable support member is configured to repeat moving and stopping.
  • the fixed state and the released state of the fixing mechanism provided in the movable support member are configured to be performed on the rod that is fixed to the stationary support member and stationary when the movable support member is stopped. Is done.
  • the three-dimensional shape expression device includes at least three movable support members having different reciprocal movement phases. Switching between the fixed state and the released state of the fixing mechanism included in each of the movable support members is performed when the movable support member is moving and is fixed to another movable support member that is moving in the same direction. It is comprised so that it may be performed with respect to the said rod. Furthermore, in one embodiment, the three-dimensional shape expression device includes three movable support members whose reciprocating phases are different from each other by one third of a cycle.
  • the three-dimensional shape expression device further includes a control unit that controls the displacement of the rod based on given shape data so that the tip of the rod represents a three-dimensional shape according to the shape data. .
  • the rods are arranged in a grid.
  • each of the support members is plate-shaped, has a hole through which the rod passes, and is provided in parallel to each other so that the normal direction coincides with the length direction of the rod.
  • the three-dimensional shape expression device further includes a sheet that deforms following the tip of the rod. In one embodiment, the three-dimensional shape expression device further includes a projection unit that projects an image on a sheet.
  • the three-dimensional shape expression apparatus further includes a control mechanism including a main microprocessor and a plurality of individual microprocessors each for controlling a plurality of switching type fixing mechanisms.
  • a control mechanism including a main microprocessor and a plurality of individual microprocessors each for controlling a plurality of switching type fixing mechanisms.
  • Each of the individual microprocessors based on a command from the main microprocessor, continuously outputs signals corresponding to the number of the switching type fixing mechanisms controlled by the individual microprocessor, thereby enabling the switching type fixing. Control each of the mechanisms in real time.
  • the rod is fixed by a fixing mechanism provided in the movable support member, and is displaced along with the movement of the movable support member. Therefore, it is not necessary to provide a drive device for each rod. Therefore, compared with the apparatus provided with the drive device for each rod as shown in Patent Document 1 and Patent Document 2, significant reduction in size and weight is achieved.
  • the three-dimensional shape expression device according to the present invention can displace the rod over a plurality of reciprocations of the movable support member. Not subject to restrictions due to the length of range of motion of the member. Accordingly, a design that shortens the movable range of the movable support member without changing the ability of three-dimensional expression is possible, and in this respect, it is excellent in miniaturization.
  • the three-dimensional shape expression apparatus can displace all the rods simultaneously using the movable support member, and can also displace only the arbitrarily selected rods all at once.
  • the rods can be selected from forward, backward and stationary at the same time, and the rods can be continuously advanced and retracted beyond the movable range length of the movable support members. Therefore, the real-time property is further improved.
  • the three-dimensional shape expression device is installed so that the tip end side of the rod faces directly upward, the length direction of the rod is expressed as the vertical direction, and the direction of the rod tip in the vertical direction Expressed as upward.
  • the three-dimensional shape expression device does not necessarily have to be installed so that the tip end side of the rod faces directly above.
  • FIG. 1 is a conceptual diagram of the overall structure of a three-dimensional shape expression device 1 (hereinafter, device 1) according to an embodiment of the present invention.
  • the apparatus 1 includes a plurality of rods 2 extending in the vertical direction for expressing a three-dimensional shape at the tip.
  • the rods 2 are preferably arranged regularly in a lattice shape, and particularly preferably arranged to form a quadrangular lattice.
  • the present invention is not limited to this, and for example, the rods 2 may be arranged to form a triangular lattice.
  • the apparatus 1 includes a plurality of support members. One of them is a stationary support member 3 for supporting the rod 2 while keeping the position thereof constant, and is provided at a fixed position in the apparatus 1. Support members other than the immobile support member 3 are movable support members 4 for supporting the rod 2 while displacing it, and each can reciprocate in the vertical direction.
  • Each of the support members in the present embodiment has a generally plate shape and has a hole for allowing the rod 2 to pass therethrough.
  • Each hole is provided with a fixing mechanism 5, and the corresponding rod 2 can be fixed to the support member. Details of the fixing mechanism 5 will be described later. Accordingly, the position of the rod 2 is maintained when the rod 2 is fixed to the immobile support member 3, and the rod 2 is displaced along with the movement of the movable support member 4 when the rod 2 is fixed to the movable support member 4.
  • the support member is preferably substantially plate-shaped, but any member that can support the plurality of rods 2 may be used.
  • the fixing mechanism 5 corresponding to the rod 2 provided in the movable support member 4 is set in a fixed state.
  • the fixing mechanism 5 is brought into a released state.
  • the fixing mechanism 5 corresponding to the rod 2 provided in the stationary support member 3 is similarly controlled.
  • Various embodiments are possible for the number of movable support members 4 and the manner of movement. Some of those embodiments are described below.
  • the device 1 includes only one movable support member 4.
  • the movable support member 4 is configured to reciprocate up and down in the movable range.
  • the rod 2 is displaced upward, the rod 2 is released from the stationary support member 3 and fixed to the movable support member 4 while the movable support member 4 is moving upward.
  • the rod 2 is displaced upward with the movable support member 4 moving upward.
  • the rod is released from the stationary support member 3 and fixed to the movable support member 4 while the movable support member 4 is moving downward.
  • the rod 2 When the rod is not displaced, the rod 2 is released from the movable support member 4 and fixed to the stationary support member 3 while the movable support member 4 is moving in any direction. At this time, since the immobile support member 3 is always fixed to the apparatus 1, the rod 2 is stationary.
  • the switching of the support member to which the rod 2 is fixed is performed by temporarily stopping the movable support member 4 and switching between the fixed state and the released state of the fixing mechanism 5 in the meantime. More specifically, when the rod fixed to the stationary support member 3 and released from the movable support member 4 is released from the stationary support member 3 and fixed to the movable support member 4, the movable support member 4 is temporarily stopped. First, the rod 2 is fixed to the movable support member 4. As a result, the rod 2 is temporarily fixed to both the immobile support member 3 and the movable support member 4. Next, the rod is released from the stationary support member 3. Thereafter, the movement of the movable support member 4 is resumed. In this way, there is no moment when the rod 2 is released from all the support members.
  • the up and down movement of the movable support member 4 is driven by a movable support member drive unit 6 described later.
  • the movable support member driving unit 6 includes, for example, a stepping motor 602, and can raise or lower the movable support member by an arbitrary distance.
  • each of the rods 2 in the initial state is displaced to a desired position, and a specific example of the control method of the apparatus 1 for reaching the final state in which the target pattern is formed is shown in FIG.
  • FIG. 3A in the initial state, the two rods 2 (a) and 2 (b) are positioned at the lowest position. From this state, as shown in FIG. 3D, the left rod 2 (a) is displaced 1 cm upward from the initial state and the right rod 202 is displaced 2 cm upward from the initial state. .
  • step 1 as shown in FIG. 3B, the rods 2 (a) and 2 (b) are switched by switching the fixing mechanisms 5 (4a) and 5 (4b) included in the movable support member 4 to a fixed state.
  • the rods 2 (a) and 2 (b) are released from the stationary support member 3 by switching the fixing mechanisms 5 (3 a) and 5 (3 b) to the released state.
  • the movable support member 4 is raised by 1 cm.
  • the rods 2 (a) and 2 (b) are lifted as the movable support member 4 is lifted, and displaced from the lowest position to a position of 1 cm.
  • step 2 as shown in FIG. 3C, the fixing mechanism 5 (3a) is fixed to the immobile support member 3 by switching the fixing mechanism 5 (3a) to a fixed state, and then the fixing mechanism 5
  • the rod 2 (a) is released from the movable support member 4 by switching (4a) to the released state.
  • the movable support member 4 is further raised by 1 cm.
  • the rod 2 (b) further rises as the movable support member 4 rises, and is displaced from the lowest position to the position of 2 cm, while the rod 2 (a) is 1 cm upward from the lowest position. It is stationary at the position.
  • the final state shown in FIG. 3D can be reached.
  • a step of lowering the movable support member 4 while the rods 2 (a) and 2 (b) are stopped may be added between the step 1 and the step 2 described above.
  • the fixing mechanisms 5 (3 a) and 5 (3 b) are switched to a fixed state to fix the rods 2 (a) and 2 (b) to the immobile support member 3, and the fixing mechanism 5
  • the rods 2 (a) and 2 (b) are released from the movable support member 4 by switching (4 a) and 5 (4 b) to the released state. In this state, the movable support member 4 is lowered to the initial position.
  • step 2 can be performed to reach the final state.
  • step 2 by moving the movable support member 4 while stopping the rod 2 in the middle, the rod 2 is displaced and the three-dimensional shape is expressed without being restricted by the length of the movable range of the movable support member 4. can do.
  • the reciprocating distance of the movement of the movable support member 4 is controlled so as to be a power of 2 (1, 2, 4, 8,...) With respect to an appropriately set unit length.
  • the An upper limit of magnification is also provided as appropriate, for example, up to 32 times.
  • a more specific control method is as follows. First, the movable support member 4 is positioned at the lower end of the movable range. Then, after raising the unit length by 1 time, it is lowered to the lower end. Next, it is raised by twice the unit length and lowered again to the lower end. Similarly, this is repeated up to the upper limit distance of magnification.
  • each rod 2 can be raised by any multiple of the unit length.
  • the rod 2 that is desired to be raised by 10 times the unit length is fixedly raised to the movable support member 4 when the movable support member 4 is raised twice or 8 times the unit length, and otherwise it is raised. What is necessary is just to fix to the stationary support member 3 and to make it still.
  • the rod 2 when the rod 2 is to be fixed and lifted to the movable support member 4 is naturally determined by expressing in binary notation how many times the rod 2 is to be raised.
  • the movable support member 4 may be moved a distance 32 times the unit length as many times as necessary. Further, if the unit length is reduced without changing the distance as the upper limit of magnification, the height resolution can be increased with almost no sacrifice in the number of movements. In the above description, the movable support member 4 is moved in order from a small magnification. However, the present invention is not limited to this, and an arbitrary order may be used.
  • the device 1 includes two movable support members 4. Each movable support member 4 reciprocates up and down in the movable range, but one movable support member 41 and the other movable support member 42 are configured to move in opposite directions as needed.
  • FIG. 4 is a timing chart of the movement of the movable support members 41 and 42 in the present embodiment, where the horizontal axis represents time and the vertical axis represents the position of the movable support member.
  • the rod 2 when the rod 2 is displaced upward, the rod 2 is fixed to one of the two movable support members 41, 42 that is moving upward, and is released from the other and the immobile support member 3. As a result, the rod 2 is displaced upward with the movable support member 4 moving upward.
  • the device 1 includes three movable support members 4.
  • the three movable support members 4 are configured such that the phases of the reciprocating movements differ from each other by one-third cycle (that is, the reciprocating movement timing is shifted by one third of the time required for one reciprocation).
  • FIG. 5 is a timing diagram of the movement of the movable support members 41, 42, and 43 in the present embodiment, where the horizontal axis represents time and the vertical axis represents the position of the movable support member. T on the horizontal axis represents one cycle of reciprocal movement.
  • the movable support member 42 moves with a delay of one-third cycle from the movable support member 41
  • the movable support member 43 moves with a delay of one-third cycle from the movable support member 42.
  • the movable support member 41 moves with a delay of one third of the period from the movable support member 43.
  • the support member to which the rod 2 is fixed can be switched while the rod 2 is being raised and lowered. For example, as shown in FIG. 6 (A), the rod 2 is fixed to the moving support member 41 that is rising and is rising.
  • both the movable support members 41 and 42 are in a state of rising from when the movable support member 42 starts to rise until the movable support member 41 finishes raising.
  • the rod 2 is temporarily fixed to both the movable support members 41 and 42 and raised by setting the fixing mechanism 5 (42) to the fixed state. It will be in the state.
  • FIG. 6B the rod 2 is temporarily fixed to both the movable support members 41 and 42 and raised by setting the fixing mechanism 5 (42) to the fixed state. It will be in the state.
  • the rod 2 is released from the movable support member 41 by setting the fixing mechanism 5 (41) to the released state, but is fixed to the movable support member 42. Continue to rise. In this way, by switching the support member to which the rod 2 is fixed while the rod is being raised, the rod 2 can be continuously raised without being stopped midway. The same applies when the rod 2 is lowered.
  • the device 1 includes a plurality of movable support members 4, and each movable support member 4 moves in the same direction at different speeds as needed.
  • FIG. 7 is a timing chart of the movement of the movable support members 41 to 44 in the apparatus 1 having four movable support members 41 to 44 as an example, the horizontal axis represents time, and the vertical axis represents the position of the movable support member.
  • the movable support members 41 to 44 move at 1 time, 2 times, 3 times, and 4 times the unit speed, respectively.
  • the rod 2 is fixed to any one of the selected movable support members 4, and the rod 2 is displaced as the movable support member 4 moves.
  • a specific control method for displacing the rod 2 with the movement of the movable support member 4 is the same as the control method in the above-described embodiment A1.
  • the movable support member 4 having a low movement speed is selected.
  • the movable support member 4 having a high movement speed is selected.
  • the movable support member drive unit 6 included in the device 1 as one embodiment includes the following mechanism.
  • Female threaded holes 401 are provided at the four corners of the movable support member 4, and four male threaded columns 601 provided in parallel with the rod 2 pass therethrough so as to be screwed into the holes 401.
  • the movable support member 4 is supported by a column 601 and moves up and down by rotating the column 601 in synchronization.
  • the support column 601 is connected by a single belt 603 at the lower end. By driving the belt 603 with the stepping motor 602, the support column 601 rotates in synchronization.
  • the apparatus 1 includes two movable support members 4, and four support columns 601 are provided for each movable support member 4.
  • a support column 601 (shown by overlapping two in the depth direction in the figure) is provided.
  • some of the columns 601 are screwed into the holes 401 to support the movable support member 4 as male threaded columns, and the other columns 601 are guides.
  • the movable support member 4 may be configured to be movable up and down as a simple rod-shaped support. In this case, it suffices if the stepping motor 602 is configured to rotate only the male screw-shaped support.
  • the number of support columns 601 provided in the device 1 is desirably four for each movable support member 4, but is not limited to this, and an appropriate number of support columns 601 is provided depending on the scale of the device. Just design.
  • the fixing mechanism 5 can switch between a fixed state in which the rod 2 is fixed to the support member and a released state in which the rod 2 is released from the support member.
  • the switching type fixing mechanism more specifically, the rod 2 is fixed to the support member by gripping the rod 2, and the rod 2 is released from the support member by releasing the grip of the rod 2.
  • a gripping mechanism that can. As shown in FIG. 9, the gripping mechanism includes an arm 520 shared by a plurality of gripping mechanisms, and a ratchet mechanism 510 including a solenoid 511 and a torsion spring 512 for each gripping mechanism.
  • the torsion spring 512 is disposed in the loop 5121 so as to penetrate the rod 2, and one end 5122 is fixed to the support member.
  • the torsion spring 512 is tightened, the inner diameter of the loop 5121 is narrowed, and the rod 2 is fixed to the support member by tightening and gripping the outer peripheral surface of the rod 2.
  • the torsion spring 512 is loosened, the inner diameter of the loop 5121 increases and a gap is formed between the rod 2 and the rod 2 is released from the support member.
  • the plunger 5111 When the solenoid 511 is not energized, the plunger 5111 protrudes, and as shown in FIG. 10E, the plunger 5111 abuts against the other end 5123 of the torsion spring to tighten the torsion spring. Prevents 512 from loosening. In a state where the solenoid 511 is energized, the plunger 5111 is retracted, and the other end 5123 of the torsion spring can pass by the solenoid 511 as shown in FIGS. 10B and 10C.
  • one end of the arm 520 is connected to the rotation mechanism 522 via the crank mechanism 521, and reciprocates in the left-right direction in FIG. 9.
  • the tip of the other end 5123 of the torsion spring is engaged with the hole 523 provided in the arm 520, and when the arm 520 moves to the right, the arm 520 pulls the other end 5123 of the torsion spring to the right. Tighten torsion spring 512 with
  • FIG. 10A shows the gripping mechanism in the released state.
  • the arm 520 moves to the left in FIG. 10, and the plunger 5111 of the solenoid 511 protrudes.
  • the solenoid 511 is energized to retract the plunger 5111 (the plunger 5111 indicated by the broken line in FIGS. 10B and 10C is in the retracted state). Represents).
  • the arm 520 is moved to the right side.
  • FIG. 10E shows the gripping mechanism in a fixed state.
  • the arm 520 moves to the left side in the figure, and the plunger 5111 of the solenoid 511 protrudes.
  • the arm 520 is moved to the right side.
  • the other end 5123 of the torsion spring is pulled by the arm 520 and separated from the plunger 5111 so that the plunger 5111 can move.
  • the solenoid 511 is energized and the plunger 5111 is retracted.
  • the arm 520 is returned to the left side.
  • the other end 5123 of the torsion spring passes over the position of the plunger 5111 and returns to the released state.
  • the inner diameter of the loop 5121 of the torsion spring is expanded, and a gap is formed between the rod 2 and the rod 2 is released.
  • energization to the solenoid 511 is stopped, and the plunger 5111 is projected.
  • the fixing mechanism 5 included in one of the support members is a stationary fixing mechanism
  • the fixing mechanism 5 included in the other supporting members is the embodiment B1. It is the same as the switching type fixing mechanism.
  • the stationary type fixing mechanism is a mechanism that always tries to fix the rod 2 to the support member with a certain resistance force that is weaker than the force with which the switching type fixing mechanism fixes the rod 2.
  • the rod 2 is fixed to the support member including the stationary type fixing mechanism by the resistance force of the stationary type fixing mechanism.
  • the rod 2 is opposed to the support member having the stationary type fixing mechanism against the resistance force of the stationary type fixing mechanism. Will move.
  • the stationary type fixing mechanism is fixed by generating frictional force on the sliding rod 2 by fixing one end of the torsion spring to the support member and bringing the other end into contact with the rod 2. It is comprised so that it may have the following resistance force.
  • the stationary support member 3 includes a stationary fixing mechanism and the movable support member 4 includes a switching type fixing mechanism.
  • the embodiments of the present invention are not limited to these, but the embodiments A1 to A4 related to the movable support member 4 and the embodiments B1 to B2 related to the fixing mechanism 5 are arbitrarily combined. Can do.
  • the device 1 includes a control mechanism including a microprocessor that controls the three-dimensional shape represented by the device 1 based on the input shape data. Specifically, the control mechanism processes the shape data, obtains a position where each rod 2 should be displaced, and calculates an amount to be moved from the current position. Further, the control mechanism operates the movable support member driving unit 6 to switch the state of the switching type fixing mechanism as appropriate, thereby displacing each rod 2 to a desired position and expressing a three-dimensional shape. Further, the control mechanism enlarges or reduces, translates, or rotates a portion of the shape data represented by the device 1 based on an input from the user of the device 1 or other external input signal.
  • a control mechanism including a microprocessor that controls the three-dimensional shape represented by the device 1 based on the input shape data. Specifically, the control mechanism processes the shape data, obtains a position where each rod 2 should be displaced, and calculates an amount to be moved from the current position. Further, the control mechanism operates the movable support
  • the position of each rod 2 to be displaced can be recalculated, and based on this, the solid shape to be expressed can be changed in real time.
  • the apparatus 1 can be provided with a height sensor that detects the position of each rod 2, in which case the control mechanism corrects the position of each rod 2 in accordance with the input from the height sensor. Can be moved.
  • the device 1 can include a haptic feedback mechanism, in which case the control mechanism can control the haptic feedback mechanism.
  • control mechanism is for controlling the state of each of a plurality of (eg, four or eight) switching type fixing mechanisms in addition to the main microprocessor for controlling the entire apparatus.
  • each of the individual microprocessors controls each of the switching type fixing mechanisms in real time by continuously outputting signals corresponding to the number of the switching type fixing mechanisms to be controlled.
  • the main microprocessor and the individual microprocessor can be connected by serial communication, and the main processor has a unique identifier (i.e., assigned to each individual microprocessor). , Address) to identify one of the individual processors and send the data to send instructions to the individual processors.
  • the apparatus 1 can further include a sheet 8 that expresses a three-dimensional surface shape that deforms following the tip of the rod 2.
  • the apparatus 1 may further include a projection unit including a projector 9 that can project an image on the sheet 8 above the sheet 8.
  • the three-dimensional shape expression device may not include the sheet 8.
  • the displaced rod 2 itself represents a three-dimensional shape.
  • the tip of the rod 2 may emit light, or an image may be projected from the projector 9 onto the rod 2.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
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  • Accounting & Taxation (AREA)
  • General Engineering & Computer Science (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Human Computer Interaction (AREA)
  • Devices For Indicating Variable Information By Combining Individual Elements (AREA)
  • User Interface Of Digital Computer (AREA)
  • Instructional Devices (AREA)
  • Projection Apparatus (AREA)
PCT/JP2018/009268 2017-03-10 2018-03-09 立体形状表現装置 WO2018164270A1 (ja)

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JP2017045752A JP6782892B2 (ja) 2017-03-10 2017-03-10 立体形状表現装置

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JP7418006B2 (ja) * 2020-05-19 2024-01-19 株式会社ウェザーコック 把持器具、及び、把持器具を用いた直線移動機構
CN114927011B (zh) * 2022-05-27 2024-03-22 西安工程大学 一种多类型图形投影演示装置及其演示方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002149138A (ja) * 2000-08-08 2002-05-24 Semiconductor Energy Lab Co Ltd 液晶表示装置およびその駆動方法
US20050151761A1 (en) * 2004-01-08 2005-07-14 Hillis William D. Raised display apparatus
JP2007310345A (ja) * 2006-04-21 2007-11-29 Kenta Nakamura 重力を利用して駆動される３次元触覚ディスプレイ
JP2008020801A (ja) * 2006-07-14 2008-01-31 Fuji Xerox Co Ltd 立体表示システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002149138A (ja) * 2000-08-08 2002-05-24 Semiconductor Energy Lab Co Ltd 液晶表示装置およびその駆動方法
US20050151761A1 (en) * 2004-01-08 2005-07-14 Hillis William D. Raised display apparatus
JP2007310345A (ja) * 2006-04-21 2007-11-29 Kenta Nakamura 重力を利用して駆動される３次元触覚ディスプレイ
JP2008020801A (ja) * 2006-07-14 2008-01-31 Fuji Xerox Co Ltd 立体表示システム

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