WO2019167352A1

WO2019167352A1 - Wave propagation mechanism

Info

Publication number: WO2019167352A1
Application number: PCT/JP2018/041961
Authority: WO
Inventors: 茂男広瀬
Original assignee: 株式会社ハイボット
Priority date: 2018-03-01
Filing date: 2018-11-13
Publication date: 2019-09-06
Also published as: JP2021070062A

Abstract

Provided is a mechanism that uses a small number of drive sources, that is lightweight, and that is for operating a multi-jointed robot. This wave propagation mechanism (2) is provided with: a plurality of wires (10) that are stretched substantially in parallel to each other; a plurality of fixing tools (30) that are for fixing the plurality of wires (10) or cancelling the fixation thereof, and that are disposed at a prescribed interval; and an attitude restriction tool (60) which alternately restricts portions between adjacent fixing tools (30) such that each assumes a prescribed shape or cancels the restriction of the prescribed shape. The plurality of wires (10) are configured to have different lengths between the plurality of fixing tools (30) so as to be capable of keeping inter-fixing-tool portions in a bent state. The bent inter-fixing-tool portions and the inter-fixing-tool portions restricted in the prescribed shape are assumed to be a single unit, and the plurality of wires (10) are fixed by the fixing tools located at both ends of the unit, while fixation is cancelled at intermediate fixing tools. The attitude restriction tool (60) is able to propagate a bent position by restricting a bent inter-fixing-tool portion in a prescribed shape and then cancelling the restriction at the inter-fixing-tool portion restricted in the prescribed shape.

Description

Wave propagation mechanism

The present invention relates to a wave propagation mechanism that arbitrarily deforms an arm by propagating a bend. In particular, the present invention relates to a wave propagation mechanism that propagates deformation of an end portion.

Conventionally, it is known to use an articulated robot to move in a narrow passage. In an articulated robot, a motor is provided for each joint to move the joint (for example, see Patent Document 1).

Such an articulated robot uses a large number of motors, so that the weight increases, the control system for controlling these motors becomes complicated, and the cost increases.

Japanese Patent Laid-Open No. 11-347970

Accordingly, an object of the present invention is to provide a lightweight mechanism for moving an articulated robot using a small number of drive sources.

In order to solve the above-described problem, the wave propagation mechanism according to the first aspect of the present invention includes a plurality of wires 10 stretched substantially in parallel as shown in FIG. And a plurality of fixtures 30 arranged at predetermined intervals to be fixed; coupling tools 70 and 72 (see FIG. 2) for connecting adjacent fixtures 30 so as to be bendable; and a plurality of wires 10 and a posture restraining tool 60 that alternately restrains between a plurality of adjacent fixing tools 30 in a predetermined shape or releases a restraint of the predetermined shape; and the plurality of wires 10 are adjacent to each other. The fixing tools 30 can be held in a bent state by being different in length from each other; between the bent fixing tools 30 and between the bent fixing tools 30 in a predetermined shape. As a group between the restraining fixtures 30, A plurality of wires 10 are fixed at the fixtures 30 at both ends of the ends, and the fixing is released at the intermediate fixture 30; between the fixed fixtures 30, the posture restraint device 60 is bent. By constraining the gap to a predetermined shape and releasing the constraint between the fixtures 30 that are restricted to the predetermined shape, the position between the bent fixtures 30 is propagated. Here, the term “substantially parallel” of the plurality of wires means that they are substantially parallel, but include a portion that is bent, so that it is not parallel in a complete sense.

With this configuration, a plurality of wires can be fixed to each other by a fixing tool, and a bending position can be propagated by moving a position constrained to a predetermined shape by a posture restraining tool. With a lightweight mechanism, the articulated robot can be moved.

In the wave propagation mechanism according to the second aspect of the present invention, for example, as shown in FIG. 5, the posture restraint device 100 is fixed to the

flat plates

102 and 104 disposed between the fixtures 30 and the

flat plates

102 and 104. A plurality of cylinders 106 are provided; the cylinder 106 extends the rod 108 to constrain the space between the fixing tool 30 and a predetermined shape, and the cylinder 106 contracts to release the predetermined shape. With this configuration, the fixture can be restrained to a predetermined shape by extending the cylinder, and the restraint of the predetermined shape can be released by contracting the cylinder. The position to be moved can be moved.

In the wave propagation mechanism according to the third aspect of the present invention, for example, as shown in FIG. 3, the fixture 30 expands with a ring-shaped frame 32 and a plurality of brake members 34 that contact the inner surface of the frame 32. And a tube 36 that presses the plurality of brake members 34 against the inner surface of the frame 32; the plurality of wires 10 are disposed on the inner surface of the frame 32, and the brake members 34 are pressed against the inner surface of the frame 32. It is fixed by. With this configuration, the fixing device fixes the wires arranged on the inner surface of the frame by the force with which the brake member expands the tube and presses the frame, so that a plurality of wires can be fixed with a simple configuration, and Even if the fixing tool is far away, it can be fixed securely at the same time.

In the wave propagation mechanism according to the fourth aspect of the present invention, for example, as shown in FIGS. 2 and 5, the first tube which is a tube of every other fixing tool 30-1 of the plurality of fixing tools 30. A first fluid tube 42 communicating with 36-1; a tube of every other fixture 30-2 out of the fixture 30-1 having the first tube 36-1 among the plurality of fixtures 30; A second fluid tube 44 communicating with the second tube 36-2, and a first cylinder 106-1 which is a cylinder of every other posture restraint 100-1 among the plurality of posture restraints 100 A third fluid tube 46 that communicates with each other; a cylinder of every other posture restraint 100 that is different from the posture restraint 100-1 having the first cylinder 106-1 among the plurality of posture restraints 100-2 The second cylinder 1 And a fourth fluid tube 48 which communicates with the 6-2. In FIG. 2, the third fluid tube 46 and the fourth fluid tube 48 communicate with the posture restraining device 80, but the third fluid tube 46 and the fourth fluid tube 48 are connected to the posture restraining device 100 (cylinder 106) shown in FIG. 5. The fluid tube 48 may be communicated. If comprised in this way, the operation | movement which restrains a some wire mutually with a fixture and cancels | releases restraint can be easily performed with respect to every other fixture. Further, since the operation is performed using the fluid tube, even if the distance becomes long or further bent in the middle, it can be easily performed at the same time. Further, it is possible to easily move the position where the posture restraint is restrained to a predetermined shape by extending and contracting the cylinders of every other posture restraint. Further, since the operation is performed using the fluid tube, even if the distance becomes long or further bent in the middle, it can be easily performed at the same time.

In the wave propagation mechanism according to the fifth aspect of the present invention, for example, as shown in FIG. 4, a traction force generating tube 96 connected to the wire 10, the diameter of which is increased and the length is reduced by introducing a compressed fluid. The generation tube 96 is further provided, and by shortening the length of the traction force generation tube 96, the length of the wire 10 between the fixtures 30 at the tip 6 of the wave propagation mechanism is reduced, and the fixtures 30 are bent. If comprised in this way, the tip node of a wave propagation mechanism can be bent easily, and it becomes a wave propagation mechanism which propagates the bending sequentially. In particular, since it is operated using a traction force generating tube that contracts with compressed air, it can be easily operated even if the distance becomes longer or even when a bend enters the middle.

According to the present invention, the plurality of wires are fixed to each other by the fixing tool, the restriction at the position where the plurality of wires are restricted to the predetermined shape by the posture restriction tool is released, and the bent position is restricted to the predetermined shape. Since the bending position can be propagated, it is possible to provide a wave propagation mechanism that can move the articulated robot with light weight using a small number of drive sources.

FIG. 1 is a diagram for explaining the principle of operation of the wave propagation mechanism according to the present invention, and shows a position where the bending portion moves by exchanging a rigid portion and a flexible portion. 2A and 2B are diagrams for explaining an example of the configuration of the wave propagation mechanism according to the present invention. FIG. 2A shows a state in which the fixture and the posture restraint are arranged side by side, and FIG. It shows how it is doing. 3A and 3B are diagrams showing a detailed structure of the wave propagation mechanism shown in FIG. 2, wherein FIG. 3A is a side view of the fixture and the posture restraint device, and FIG. 3B is a cross-sectional view of the fixture shown in FIG. (C) shows a BB cross-sectional view of the universal joint portion of the posture restraint shown in (a). 4 is a diagram showing a detailed structure of the distal end portion of the wave propagation mechanism shown in FIG. 2, wherein (a) is a side view, (b) is a front view seen from the distal end side, and (c) is a distal end node. Shows the state of bending. FIG. 5 is a side sectional view showing the detailed structure of the posture restraint device different from that shown in FIG. 3, (a) is a front view, (b) is a sectional view, (c) is a back view, d) shows a cross-sectional side view. FIG. 6 is a side sectional view showing a detailed structure of a fixture different from that shown in FIG. 3, wherein (a) shows a state where the fixing is released, and (b) shows a state where the fixing is fixed. Show.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding devices are denoted by the same reference numerals, and redundant description is omitted.

First, the principle of wave propagation according to the present invention will be described with reference to FIG. FIG. 1 shows a plurality of wires 10 stretched substantially in parallel (upper and lower two in the figure), a plurality of fixtures 30 for fixing and releasing the plurality of wires 10, and a plurality of wires 10. It is the schematic of the wave propagation mechanism 2 provided with the attitude | position restraint tool 60 which is pinched | interposed, restrains between the fixing tools 30 to a predetermined shape, and cancels | releases restraint of a predetermined shape. In the wave propagation mechanism 2, the fixtures 30 are arranged at equal intervals. The posture restraint tool 60 alternately includes a rigid portion 62 that restrains in a predetermined shape between adjacent fixtures 30 and a flexible portion 64 that releases the restraint of the predetermined shape. In FIG. 1, the predetermined shape is a linear shape, but may be a shape other than the linear shape. In the wave propagation mechanism 2, every other fixing tool 30 fixes a plurality of wires 10 to each other (hereinafter referred to as “fixed state”), and then releases the fixation (hereinafter referred to as “released state”). Therefore, the fixing tool 30 is given a different sign from the front end (right end) alternately to 30-1, 30-2, 30-1, 30-2.

FIG. 1A shows an initial state where the tip of the wave propagation mechanism 2 (the right end in FIG. 1) is bent. Between the fixtures 30 at the tip (A), the lengths of the plurality of wires 10 are not uniform, so they are bent. The posture restraining device 60 has a flexible portion 64 between the fixing devices 30 at the tip (A) and a rigid portion 62 between the following fixing devices 30 (B). Here, the other fixing tool 30-1 from the tip and the other fixing tool 30 is set to the fixed state, and the other fixing tool 30-2 is set to the released state. Next, as shown in FIG. 1 (b), the rigid portion 62 and the flexible portion 64 of the posture restraint tool 60 are exchanged. That is, the rigid portion 62 on the distal end side moves between the distal end fixing tool 30-1 and the next fixing tool 30-2 (B). At this time, the length of the wire 10 between the fixed fixtures 30-1 is fixed, and the space (A) between the front fixture 30-1 and the next fixture 30-2 has a predetermined shape. By making the lengths of the plurality of wires 10 equal, the length of the plurality of wires 10 between the fixture 30-2 and the next fixture 30-1 that were originally in a predetermined shape (B) is reduced. It becomes uneven and bends. That is, the bending propagates.

In this state, the fixing tool 30-1 is set to the released state and the fixing tool 30-2 is set to the fixed state. Next, as shown in FIG.1 (c), the rigid part 62 and the flexible part 64 of the attitude | position restraint tool 60 are replaced. Then, a portion (B) between the bent fixture 30-2 and the next fixture 30-1 has a predetermined shape, and the unevenness of the plurality of wires 10 is different from that of the next fixture 30-1. Furthermore, it moves to (C) between the next fixing tools 30-2, and the bending propagates. Here, by pulling a part of the plurality of wires 10 from the distal end side, the distal end side (A) is bent with an uneven length.

In this state, the fixing tool 30-1 is set to the fixed state, and the fixing tool 30-2 is set to the released state. Next, as shown in FIG.1 (d), the rigid part 62 and the flexible part 64 of the attitude | position restraint tool 60 are replaced again. Then, the bending of the distal end side (A) propagates between the next fixture 30-2 and the next fixture 30-1 (B), and the fixture 30-1 and further the next fixture 30. -C during (-2) propagates further between (D) between the next fixture 30-2 and the next fixture 30-1.

In this state, the fixing tool 30-1 is set to the released state and the fixing tool 30-2 is set to the fixed state. Next, as shown in FIG.1 (e), the rigid part 62 and the flexible part 64 of the attitude | position restraint tool 60 are replaced again. Then, the bend between the fixtures 30 (B) propagates between the next fixtures (C), and the bend between the fixtures 30 (D) propagates between the next fixtures 30 (E). In addition, since it is not made to bend in the front end side (A), propagation of a bending does not occur.

In this state, the fixing tool 30-1 is set to the fixed state, and the fixing tool 30-2 is set to the released state. Next, as shown in FIG.1 (f), the rigid part 62 and the flexible part 64 of the attitude | position restraint tool 60 are replaced again. Then, the bending between the fixtures 30 (C) propagates to the next fixture (D), and the bending between the fixtures 30 (E) propagates to the next fixture 30 (F).

In this way, after fixing the fixing devices 30 that fix the plurality of wires 10 to each other in a fixed state or a released state, the space between the fixing devices 30 is constrained to a predetermined shape, and the restriction of the predetermined shape is released. By repeating this, the bent state can be propagated. That is, according to the present invention, it is possible to propagate waves using a small number of drive sources.

Next, a specific configuration example of the wave propagation mechanism 1 will be described with reference to FIGS. As shown in the conceptual side view of the wave propagation mechanism 1 in FIG. 2, the illustrated wave propagation mechanism 1 includes four substantially parallel wires 10 and a plurality of fixtures through which the four wires 10 pass. , And an arm 70 and a universal joint 72 as connecting tools for flexibly connecting the adjacent joint plates 30. The wire 10 may be a thread, a string, a rope, or the like as long as the length between the joint plates 30 can be defined.

As shown in the cross-sectional view of FIG. 3B, the joint plate 30 includes four brake members 34 that can slide with respect to the frame 32 inside a square frame 32, and tubes that are in contact with the inside of the four brake members 34. 36. When the tube 36 is filled with compressed air, the tube 36 expands and presses the brake member 34 outward. The four wires 10 penetrate the corner inner surfaces at the four corners of the frame 32. As the tube 36 expands and the brake member 34 abuts against the inner surface of the corner of the frame 32, the wire 10 is fixed. A spring 38 is disposed between the frame 32 and the brake member 34, and the brake member 34 is slightly separated from the inner surface of the corner portion of the frame 32 when the force from the tube 36 does not act. Therefore, when the tube 36 is not filled with compressed air, the four wires 10 are not fixed to each other. The joint plate 30 may have a ring-shaped frame including a polygon or a circle instead of the square frame 32, and the brake member has a shape that presses the inner surface of the ring-shaped frame. Just do it. In such a case, the wire 10 should just be arrange | positioned in the position which a brake member presses a ring-shaped frame instead of a corner | angular part.

As shown in the side view of FIG. 3A and the cross-sectional view of FIG. 3C, the universal joint 72 has an octagonal ring 74 disposed in the center between adjacent joint plates 30. The ring 74 is connected to the opposing position (180 ° relationship) by a pair of arms 70, and the other joint plate 30 and the octagonal ring 74 are a pair of positions rotated by 90 ° with respect to the previous pair of arms 70. The arm 70 is used for connection. Note that other known configurations such as using a ball joint may be used.

Between the adjacent joint plates 30, a cylindrical airbag 80 is disposed as a posture restraint. The airbag 80 is inflated when compressed air is filled therein, and constrains the space between adjacent joint plates 30 to a predetermined shape, in this case, a straight line. When the compressed air is released, the restriction of the predetermined shape is released, and the adjacent joint plates 30 can be bent by the arm 70 and the universal joint 72.

As shown in FIG. 2, the first fluid tube 42 and the second fluid tube 44 for supplying compressed air to the tubes 36-1 and 36-2 of the alternate joint plates 30-1 and 30-2, respectively. It is good to have. When compressed air is supplied to the first fluid tube 42 from a compressed air source (not shown), the joint plate 30-1 restrains the four wires 10 from each other. When compressed air is supplied to the second fluid tube 44, the joint plate 30-2 restrains the four wires 10 from each other. Further, a third fluid tube 46 and a fourth fluid tube 48 for supplying compressed air to the other airbags 80-1 and 80-2 may be provided. When compressed air is supplied to the third fluid tube 46 from a compressed air source (not shown), the airbag 80-1 restrains the joint plate 30 between a predetermined shape. When compressed air is supplied to the fourth fluid tube 48, the airbag 80-2 restrains the space between the joint plates 30 in a predetermined shape. By simply switching the

fluid tubes

42, 44, 46, and 48 that supply compressed air, the fixing state and the releasing state of the fixture 30 are changed, and the space between the fixtures 30 is restricted to a predetermined shape. The position can be moved. Therefore, the bent state, that is, the wave can be propagated. Furthermore, the

fluid tubes

42, 44, 46, and 48 can have a flexible structure, and compressed air is transmitted without resistance even if the path is bent. In addition, what is supplied to each

fluid tube

42, 44, 46, 48 is not restricted to compressed air, Other compressed gas or compressed liquid may be sufficient.

As shown in FIG. 4, a first pulley 90 and a second pulley 92 are disposed at the tip 6 of the wave propagation mechanism 1. The first pulley 90 is biased by a spring 98 so that the wire 10 is wound with a constant force. The second pulley 92 changes the direction of the wire 10, that is, returns the wire 10 reaching the tip from the hand side to the hand side. A traction force generating tube 96 is connected to the tip of the wire 10 returned by the second pulley 92. The traction force generating tube 96 is formed of, for example, a rubbertuator. The rabatuator is a structure used for artificial muscles, etc., in which the diameter expands and the length decreases by applying pressure to the inside. That is, the traction force generation tube 96 contracts by supplying compressed air to the inside and pulls the wire 10.

The wave propagation mechanism 1 includes two pairs of a first pulley 90 and a second pulley 92 that face each other. Then, an internal pressure is applied to the two traction force generation tubes 96 so as to generate a traction force that balances the winding of the wire 10 by the first pulley 90 biased by the spring 98. In this state, the tip of the wave propagation mechanism 1 is not bent. When the second pulley 92 is bent, the internal pressure of the traction force generation tube 96 is increased. That is, the supply of compressed air is increased. On the other hand, when bending toward the first pulley 90 side, the internal pressure of the traction force generating tube 96 is lowered. That is, the supply of compressed air is reduced. Therefore, the tip 6 of the wave propagation mechanism 1 can be arbitrarily bent by increasing or decreasing the amount of compressed air supplied to the two traction force generation tubes 96. Note that the wire 10 returned by the second pulley 92 may be connected to another known configuration that generates traction force, for example, a pulley around which the wire 10 is wound, a linear motor, or the like. Further, the first pulley 90 may not be provided, and all the wires 10 may be coupled to the traction force generation tube 96 via the second pulley 92. The plurality of wires 10 may be wound around the tip 6 by the rotation of an electric motor (not shown) and pulled to bend between the fixtures 30 at the tip.

As explained so far, according to the wave propagation mechanism 1, a wave that can move an articulated robot is light because it uses only compressed air as a drive source and does not require a power source or the like at the tip or joint part. It becomes a propagation mechanism.

Here, FIG. 5 shows another embodiment of the posture restraint device 100. The posture restraint device 100 is disposed at the center between the fixtures 30 like a universal joint 72 shown in FIG. 3. The posture restraining device 100 includes a central member 103 between the first flat plate 102 and the second flat plate 104. The first flat plate 102, the second flat plate 104, and the central member 103 may be connected to the arm 70 instead of the universal joint 72. The first flat plate 102, the second flat plate 104, and the central member 103 are formed with fluid tube through holes 110 through which the first to fourth

fluid tubes

42, 44, 46, and 48 pass. In addition, the posture restraining device 100 includes four cylinders 106 and a piston 108 as a rod. Compressed air is sent from the third fluid tube 46 or the fourth fluid tube 48 to the cylinder 106 to extend the piston 108. When the piston 108 extends, the fixing tool 30 is pushed as shown in FIG. As a result, the posture of the fixture 30 is determined, that is, the adjacent fixtures 30 can be constrained to a predetermined shape. Since the arm 70 is connected by the first flat plate 102, the second flat plate 104, and the central member 103 as a universal joint, the posture of the fixture 30 can be maintained even by pushing with two pistons 108 on one side. Determined. However, when the arm and the universal joint are not provided, it is preferable to determine the posture of the fixture 30 by using, for example, a double piston type cylinder, or having three or more cylinders and pistons on one side.

The central member 103 includes a piston drive fluid tube connection hole 118 for sending compressed air from the third fluid tube 46 or the fourth fluid tube 48 to the cylinder 106, a piston drive fluid connection hole 116, and an intermediate for the piston drive fluid. Hole 114 and piston drive fluid groove 112 are formed. That is, when compressed air is sent from one

fluid tube

46, 48 to the piston driving fluid tube connection hole 118, it is branched into two at the piston driving fluid connection hole 116, and further, at the piston driving fluid intermediate hole 114, respectively. It is branched into two and sent from the piston driving fluid groove 112 to the cylinder 106 to drive the four pistons 108.

Subsequently, a wave propagation mechanism 2 as a configuration example different from the wave propagation mechanism 1 will be described with reference to FIG. 1 again. As described above, the wave propagation mechanism 2 includes a plurality of wires 10 stretched substantially in parallel, a plurality of fixtures 30 that fix and release the plurality of wires 10 to each other, and a plurality of wires 10. A posture restraining device 60 is provided that is sandwiched and restrains the fixture 30 in a predetermined shape and releases the restraint of the predetermined shape. Unlike the wave propagation mechanism 1, the wave propagation mechanism 2 does not include an arm or a universal joint. Therefore, if the wire 10 does not have an appropriate rigidity, not only the fixture 30 is bent but also its shape is Since it becomes undefined, it is difficult to use a string or a rope instead of the wire 10. The wave propagation mechanism 2 includes four wires 10.

As shown in FIG. 6, the wave propagation mechanism 2 has a fixing plate 50 that is different from the joint plate as the fixing tool 30. The fixing plate 50 includes a link 54 having an end that can be pressed against the inner surface of the frame 52 inside the square frame 52, and an airbag 56 disposed on the top of the link 54. Further, a spring 58 is provided to bias the link 54 so as to be V-shaped, that is, to shorten the length of the link 54. The air bag 56 expands when it is filled with compressed air, presses the top of the V-shaped link 54, and deforms the link 54 into a shape close to a straight line. Since the link 54 has a shape close to a straight line, the length is increased, and the inner surface of the frame 52 is pressed at both ends thereof. A plate 57 is disposed between the top of the link 54 and the airbag 56 so that the force generated by the inflation of the airbag 56 acts on the top of the link 54 in a concentrated manner. The four wires 10 are arranged between the inner surface of the frame 52 and the end portion of the link 54, and when the link 54 presses the inner surface of the frame 52, the four wires 10 are sandwiched between the frame 52 and the link 54 and fixed to each other. The By extracting the compressed air inside the airbag 56, the top of the link 54 is not pressed, and it returns to the V shape by the urging force of the spring 58, so that the end does not press the inner surface of the frame 52. That is, the fixing of the wire 10 is released.

The posture restraint 60 is a single line 66 having a rigid portion 62 and a flexible portion 64. Therefore, the rigid portion 62 and the flexible portion 64 can be interchanged by pushing and pulling the line 66 and alternately moving the line 66 by the length between the fixed plates 50. Note that at the tip, there may be a portion where the line 66 does not exist, and this portion is not restricted to a predetermined shape, and is equivalent to the presence of the flexible portion 64. Therefore, the portion where the line 66 does not exist is also considered to have the flexible portion 64. Since the rigid portion 62 and the flexible portion 64 can be interchanged simply by pushing and pulling the line 66, driving is easy. As the line 66, a flexible tube in which the space between the rigid portion 62 and the flexible portion 64 is closed may be used, and only a portion corresponding to the rigid portion 62 may be filled with compressed air to be constrained to a predetermined shape.

The configurations of the

fixtures

30 and 50, the

posture restrainers

60, 80 and 100, the end portions 6 and the like of the wave propagation mechanism 1 and the wave propagation mechanism 2 described above may be individually replaced. It can also be used for other configurations.

In the description so far, the rigid portion 62 and the flexible portion 64 are assumed to have a length between the adjacent fixtures 30, but may have a length between the plurality of fixtures 30. Further, the lengths of the rigid portion 62 and the flexible portion 64 may be different. In such a case, if the fixed portions 30 at both ends of the combination of the rigid portion 62 and the flexible portion 64 are in the fixed state, the fixed portion 30 between them is in the released state, and the position of the rigid portion 62 is shifted, the bending propagates. be able to.

In the above description, the wave propagation mechanisms 1 and 2 have been described as including four wires 10 and the

fixtures

30 and 50 being square, but the number of wires 10 may be other than four. The

fixtures

30 and 50 may be polygonal or circular. The universal joint 72 may not be the octagonal ring 74.

1, 2 Wave propagation mechanism 6 Wave propagation mechanism tip 10 Wire (wire)
30 Joint plate (fixture)
32 Frame 34 Brake member 36 Tube 38 Spring 42 First fluid tube 44 Second fluid tube 46 Third fluid tube 48 Fourth fluid tube 50 Fixing plate (fixing tool)
52 Frame 54 Link 56 Airbag 57 Plate 58 Spring 60 Posture restraint tool 62 Rigid part 64 Flexible part 66 Line 70 Arm 72 Universal joint 74 Octagonal ring 80 Airbag (posture restraint tool)
90 first pulley 92 second pulley 96 traction force generating tube 98 spring 100 posture restraint 102 first flat plate 103 central member 104 second flat plate 106 cylinder 108 piston (rod)
110 Fluid tube through hole 112 Piston drive fluid groove 114 Piston drive fluid intermediate hole 116 Piston drive fluid connection hole 118 Piston drive fluid tube connection hole

Claims

A plurality of wires stretched substantially parallel;
A plurality of fixtures arranged at predetermined intervals to fix and release the plurality of wires;
A connecting device that connects the adjacent fixing devices in a bendable manner;
A posture restraining tool that is sandwiched between the plurality of wires and alternately constrains the adjacent fixtures to a predetermined shape or releases the restraint of the predetermined shape;
The plurality of wires can be held in a bent state between the adjacent fixtures by being different in length from each other;
A plurality of the fixtures at both ends of the bundle are obtained by combining the fixtures that are bent and the fixtures that are adjacent to each other and that are constrained in a predetermined shape. Fixing the wire of the book and unfixing it with the fixing device in the middle;
The posture restraint tool restrains the bent fixtures in a predetermined shape and releases the restraints between the fixtures constrained to the predetermined shape between the fixed fixtures. To propagate the position between the bent fixtures;
Wave propagation mechanism.
The posture restraint device includes a flat plate disposed between the fixtures and a plurality of cylinders fixed to the flat plate, and the cylinders extend a rod to restrain the fixtures in a predetermined shape. And releasing the constraint of the predetermined shape by contracting the cylinder;
The wave propagation mechanism according to claim 1.
The fixture includes a ring-shaped frame, a plurality of brake members that are in contact with the inner surface of the frame, and a tube that presses the plurality of brake members against the inner surface of the frame by expanding;
The plurality of wires are disposed on an inner surface of the frame, and are fixed by pressing the brake member against the inner surface of the frame;
The wave propagation mechanism according to claim 1 or 2.
A first fluid tube communicating with a first tube that is the tube of every other fixture of the plurality of fixtures;
A second fluid tube communicating with a second tube that is the tube of every other fixture different from the fixture having the first tube among the plurality of fixtures;
A third fluid tube communicating with a first cylinder that is the cylinder of every other posture restraint of the plurality of posture restraints;
A fourth fluid tube communicating with the second cylinder, which is the cylinder of every other posture restraint different from the posture restraint having the first cylinder among the plurality of posture restraints;
The wave propagation mechanism according to claim 3.
A traction force generating tube connected to the wire, further comprising a traction force generating tube that expands in diameter and contracts in length by introducing a compressed fluid;
Reducing the length of the traction force generating tube, thereby reducing the length of the wire between the fixtures at the tip of the wave propagation mechanism and bending between the fixtures;
The wave propagation mechanism according to any one of claims 1 to 4.