WO2021200819A1 - Robot device - Google Patents

Robot device Download PDF

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Publication number
WO2021200819A1
WO2021200819A1 PCT/JP2021/013279 JP2021013279W WO2021200819A1 WO 2021200819 A1 WO2021200819 A1 WO 2021200819A1 JP 2021013279 W JP2021013279 W JP 2021013279W WO 2021200819 A1 WO2021200819 A1 WO 2021200819A1
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WO
WIPO (PCT)
Prior art keywords
link
robot device
artificial muscle
actuators
actuator
Prior art date
Application number
PCT/JP2021/013279
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French (fr)
Japanese (ja)
Inventor
雅史 高巣
智己 石川
Original Assignee
アイシン・エィ・ダブリュ株式会社
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Application filed by アイシン・エィ・ダブリュ株式会社 filed Critical アイシン・エィ・ダブリュ株式会社
Priority to JP2022512208A priority Critical patent/JP7243921B2/en
Publication of WO2021200819A1 publication Critical patent/WO2021200819A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type

Definitions

  • This disclosure relates to a robot device.
  • the first and second artificial muscles are fixed to the first support and the second support, generally when the fluid pressure is not acting on the first and second artificial muscles, , At least one of the first and second artificial muscles is curved. Therefore, the curved artificial muscle of the first and second artificial muscles may come into contact with surrounding members such as a support member and another adjacent artificial muscle, which may affect the durability of the artificial muscle.
  • the main purpose of the robot device of the present disclosure is to suppress bending of the artificial muscle when no fluid pressure is applied to the artificial muscle.
  • the robot device of the present disclosure has adopted the following means in order to achieve the above-mentioned main purpose.
  • the robot device of the present disclosure operates by receiving a supply of a fluid, a first link, a second link rotatably supported by the first link via a joint, and the first link. It is a robot device including at least one artificial muscle that relatively rotates the second link, and the gist is that the robot device includes an urging portion that urges the artificial muscle to a side away from the second link. do.
  • the robot device of the present disclosure includes an urging portion that urges the artificial muscle on the side away from the second link. As a result, it is possible to suppress the bending of the artificial muscle when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as a support member or another adjacent artificial muscle and affecting the durability of the artificial muscle.
  • FIG. 1 is a schematic configuration diagram of the robot device 10 of the present disclosure.
  • the robot device 10 is configured as a device that rotates an arm member 70 such as a robot arm around a rotation shaft 13 supported by a base member 11 via a support shaft 12.
  • the robot device 10 is rotatable by a base member 11 and a support shaft 12 as a first link, a rotation shaft 13 as a joint attached to the support shaft 12, and a rotation shaft 13.
  • the pulley 14 as the second link to be supported, the wire 16 as the winding mediation node wound around the pulley 14, and the first and first to apply a tensile force (force on the side separated from the pulley 14) to the wire 16.
  • Actuators 20 and 30 as artificial muscles and a fluid supply device 60 for supplying working fluid to the actuators 20 and 30 are provided.
  • a belt, a rope, a chain, or the like may be used instead of the wire 16.
  • a hydraulic oil is used as the hydraulic fluid.
  • a liquid such as water other than the hydraulic oil or a gas such as air may be used.
  • the arm member 70 is rotatably supported by the rotation shaft 13 and is connected to the pulley 14, and rotates around the rotation shaft 13 together with the pulley 14.
  • Actuators 20 and 30 are arranged parallel to each other.
  • the actuators 20 and 30 are configured as Macchiben-type artificial muscles and have the same specifications as each other.
  • Actuators 20 and 30 include tubes 21 and 31 that expand and contract due to the pressure of the working fluid, and braided sleeves 22 and 32 that cover the tubes 21 and 31.
  • the tubes 21 and 31 are formed in a cylindrical shape by an elastic material such as a rubber material having high resistance to a fluid.
  • the ends of the tubes 21 and 31 on the wire 16 side (pulley 14 side) are sealed by the sealing members 23 and 33, and the ends on the side separated from the wire 16 are the sealing members (first and second axes). Part) It is sealed by 24 and 34.
  • the sealing members 23, 24, 33, 34 are formed in a cylindrical or tubular shape, and the sealing members 23, 24 are attached to the actuator 20 so as to extend in the axial direction of the actuator 20 (tube 21).
  • the sealing members 33 and 34 are attached to the actuator 30 so as to extend in the axial direction of the actuator 30 (tube 31).
  • One end 16a of the wire 16 is fixed to the sealing member 23, and the other end 16b of the wire 16 is fixed to the sealing member 33.
  • the sealing members 24 and 34 are formed with inlets and outlets 24a and 34a for working fluids communicating with the tubes 21 and 31.
  • the sealing members 24 and 34 are inserted into the through holes 11a and 11b formed in the base member 11.
  • the braided sleeves 22 and 32 are formed in a cylindrical shape by knitting a plurality of cords oriented in a predetermined direction so as to intersect each other, and can be contracted in the axial direction and the radial direction.
  • a braided cord, a high-strength fiber, a metal cord composed of ultrafine filaments, or the like is used as the cord forming the braided sleeves 22 and 32.
  • actuators 20 and 30 when the working fluid is supplied from the fluid supply device 60 into the tubes 21 and 31 via the inlets and outlets 24a and 34a and the pressure of the working fluid in the tubes 21 and 31 increases, the tubes 21 and 31 are moved. Due to the action of the braided sleeves 22 and 32, the braided sleeves 22 and 32 expand in the radial direction and contract in the axial direction.
  • Bottomed cylindrical stopper members 25 and 35 are fixed to the tips of the sealing members 24 and 34 (the ends on the side separated from the tubes 21 and 31).
  • the stopper members 25 and 35 extend in a direction orthogonal to the bottoms (first and second extending portions) 26 and 36, such as a circular shape and a quadrangular shape, and the outer circumferences of the bottom portions 26 and 36 to the bottom portions 26 and 36. It has cylindrical tubular portions (first and second specified portions) 27 and 37.
  • the center of the bottom portions 26, 36 is fixed to the axial end faces of the sealing members 24, 34 so that the cylindrical portions 27, 37 are closer to the base member 11 than the bottom portions 26, 36. Therefore, the bottom portions 26 and 36 extend in the direction orthogonal to the axial direction of the actuators 20 and 30, and the tubular portions 27 and 37 extend in the axial direction of the actuators 20 and 30.
  • Spring (first and second elastic bodies) 28 and 38 are arranged between the base member 11 and the bottoms 26 and 36 of the stopper members 25 and 35 so as to surround the outer circumferences of the sealing members 24 and 34. ..
  • the springs 28 and 38 for example, coil springs are used. The springs 28 and 38 are compressed more than the free length and urge the bottoms 26 and 36 on the side away from the base member 11 (right side in FIG. 1).
  • the fluid supply device 60 controls a tank for storing the working fluid, a pump for sucking and discharging the working fluid in the tank, an accumulator for storing the working fluid discharged from the pump, a plurality of solenoid valves, and a plurality of solenoid valves. It is equipped with a control device.
  • the actuators 20 and 30 are in an assembled state in which the fluid (fluid pressure) is not supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30. Is free length, and the bottoms 26, 36 of the stopper members 25, 35 are urged to the side separated from the pulley 14 by the elastic force of the springs 28, 38, and the tubular portion 27 of the stopper members 25, 35. , 37 are separated from the base member 11.
  • the actuators 20 and 30 contract in the axial direction as shown in FIG.
  • the initial pressure is determined so that the axial contraction force of the actuators 20 and 30 overcomes the elastic force of the springs 28 and 38.
  • the sealing members 24 and 34 and the stopper members 25 and 35 move to the pulley 14 side (left side in FIG. 2), and the actuators 20 and 30 move in a predetermined amount (10) in the axial direction.
  • the tip surfaces of the stopper members 25 and 35 come into contact with the base member 11.
  • the positions of the actuators 20 and 30 in the axial direction are defined.
  • the state in which the actuators 20 and 30 are contracted by a predetermined amount in the axial direction is referred to as an "initial state".
  • the initial pressure is the pressure of the fluid supplied into the tubes 21 and 31 for the actuators 20 and 30 to be in the initial state.
  • the actuators 20 and 30 are generally used in the assembled state. At least one of them is curved. Therefore, the curved actuator of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and another actuator, which may affect the durability of the actuator. It may also affect the durability of the buckled (bent) portion of the curved actuator.
  • the bottoms 26, 36 of the stopper members 25, 35 are urged to the side separated from the pulley 14 by the springs 28, 38, so that they are integrated with the stopper members 25, 35.
  • the actuators 20 and 30 are urged to the side separated from the pulley 14.
  • the fluid supply device 60 supplies the initial pressure into the tubes 21 and 31 of the actuators 20 and 30, and when the actuators 20 and 30 contract by a predetermined amount in the axial direction, the actuators 20 and 30 are subjected to the initial pressure.
  • the tip surfaces of the tubular portions 27, 37 of the stopper members 25, 35 fixed to the attached sealing members 24, 34 come into contact with the base member 11. Thereby, the positions of the actuators 20 and 30 in the axial direction (left-right direction in FIG. 2) can be defined.
  • the stopper members 25 and 35 and the actuators 20 and 30 are urged to the side separated from the pulley 14 by the springs 28 and 38.
  • the present invention is not limited to this, and for example, as shown in the robot device 10B of FIG. 4, a pulley rotatably supported by stopper members 25 and 35 (actuators 20 and 30) by a base member 11 and the like.
  • the mass bodies 42 and 52 may be connected via the wires 41 and 51 wound around the 40 and 50.
  • the pulleys 40 and 50 are arranged so that the wires 41 and 51 extend from the stopper members 25 and 35 to the side opposite to the pulley 14 in the axial direction of the actuators 20 and 30 and are wound around the pulleys 40 and 50. .. Even in this case, the mass bodies 42 and 52 can urge the stopper members 25 and 35 (actuators 20 and 30) to the side separated from the pulley 14. As a result, it is possible to prevent the actuators 20 and 30 from bending in the assembled state of the robot device 10B.
  • the stopper members 25 and 35 are formed in a bottomed cylindrical shape, and when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30, the stopper members 25 and 35 have a tubular shape.
  • the positions of the actuators 20 and 30 in the axial direction are defined by the abutting surfaces of the portions 27 and 37 in contact with the base member 11.
  • the groove portions 45 and 55 formed on the side surface of the sealing members 24 and 34 on the front end side (right side in FIG. 5) with respect to the base member 11, and the groove portions 45 by the spring. , 55 pressed members 48, 58 may be provided.
  • the robot device 10C of FIG. 5 is different from the robot device 10B of FIG.
  • the actuators 20 and 30 have wall surfaces 47 and 57 extending in a direction orthogonal to the axial direction (vertical direction in FIG. 5).
  • the robot device 10C is as shown in FIG. 5 in the assembled state.
  • the actuators 20 and 30 are urged by the mass bodies 42 and 52 to the side separated from the pulley 14, but the robot device 10 of FIG. Similarly, the springs 28 and 38 may urge the bottoms 26 and 36 of the stopper members 25 and 35 and the actuators 20 and 30 to the side separated from the pulley 14.
  • a link member (second link) 114 may be provided instead of the pulley 14 and the wire 16 of the robot device 10 of FIG.
  • the same configurations as those of the robot device 10 of FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the arm member 70 is rotatably supported by the rotation shaft 13 and connected to the link member 114, and rotates around the rotation shaft 13 together with the link member 114.
  • the central portion of the link member 114 in the longitudinal direction is rotatably supported by the rotating shaft 13 attached to the support shaft 12.
  • One end 114a of the link member 114 in the longitudinal direction is rotatably connected to the sealing member 23 attached to the actuator 20, and the other end 114b is rotatably connected to the sealing member 33 attached to the actuator 30. Will be done.
  • the actuators 20 and 30 have free lengths as shown in FIG. 6 in an assembled state in which fluid (fluid pressure) is not supplied from the fluid supply device 60 to the actuators 20 and 30.
  • the elastic forces of the springs 28 and 38 urge the bottoms 26 and 36 of the stopper members 25 and 35 to separate from the pulley 14, so that the tip surfaces of the tubular portions 27 and 37 of the stopper members 25 and 35 are urged. It is separated from the base member 11.
  • the actuators 20 and 30 At least one of them is curved.
  • the actuator 20 of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and another actuator, which may affect the durability of the actuator.
  • the stopper members 25 are urged by the springs 28 and 38 to urge the bottoms 26 and 36 of the stopper members 25 and 35 to be separated from the link member 114.
  • 35 and the actuators 20 and 30 are urged to the side separated from the link member 114.
  • the actuators 20 and 30 contract in the axial direction, and the sealing members 24 and 34 and the stoppers are accompanied by this.
  • the members 25 and 35 move to the pulley 14 side and the actuators 20 and 30 contract in the axial direction by a predetermined amount (about 10% to 20%)
  • the tips of the tubular portions 27 and 37 of the stopper members 25 and 35 The surface comes into contact with the base member 11 and is in the initial state. In this way, the axial positions of the actuators 20 and 30 can be defined.
  • the actuators 20 and 30 on the side where the fluid pressure is higher contracts further in the axial direction.
  • the link member 114 and the arm member 70 rotate around the rotation shaft 13, and the actuator on the side where the fluid pressure is small expands in the axial direction.
  • the arm member 70 can be rotated around the rotation shaft 13.
  • the actuators 20 and 30 are driven in an antagonistic manner so as to rotate the link member 114 relative to the base member 11 and the support shaft 12.
  • the actuators 20 and 30 are urged to the side separated from the link member 114 by the same configuration as the robot device 10 in FIG.
  • the actuators 20 and 30 may be urged to the side separated from the link member 114 by the same configuration as the robot device 10B of FIG.
  • the robot device 110 defines the axial positions of the actuators 20 and 30 when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30 by the same configuration as the robot device 10 of FIG. And said. However, with the same configuration as the robot device 10C of FIG. 5, when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30, the positions of the actuators 20 and 30 in the axial direction may be defined. ..
  • the robot device 10 of the embodiment is provided with actuators 20 and 30 as the first and second artificial muscles.
  • actuators 20 and 30 as the first and second artificial muscles.
  • only one actuator 220 as an artificial muscle may be provided.
  • the same configuration as that of the robot device 10 of FIG. 1 is designated by the same reference numerals, and detailed description thereof will be omitted.
  • the robot device 210 of FIG. 7 includes a base member 11 and a support shaft 12 as a first link, a rotation shaft 213 as a joint, a support member 214 as a second link, an actuator 220, and a stopper member 25.
  • a spring 28 and a weight 230 are provided.
  • the support shaft 12 is rotatably supported by a rotation shaft 213 attached to the support member 214.
  • the sealing member 23 attached to the actuator 220 is rotatably connected to the support member 214.
  • the weight 230 is attached to the end of the base member 11 opposite to the through hole 11a with respect to the support shaft 12.
  • the actuator 220 has a free length as shown in FIG. 7 in an assembled state in which the fluid (fluid pressure) is not supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuator 220.
  • the bottom 26 of the stopper member 25 is urged to the side separated from the support member 214 by the elastic force of the spring 28, and the tip surface of the tubular portion 27 of the stopper member 25 is separated from the base member 11.
  • the actuator 220, the weight 230, etc. they rotate clockwise with respect to the support member 214 (on the right side in FIG. 7).
  • the actuator 220 is integrally supported with the stopper member 25 by urging the bottom portion 26 of the stopper member 25 to the side separated from the support member 214 by the spring 28. Bounce to the side away from. As a result, it is possible to prevent the actuator 220 from bending in the assembled state of the robot device 210. As a result, it is possible to prevent the actuator 220 from coming into contact with surrounding members such as the support shaft 12 and another actuator to affect the durability of the actuator 220.
  • the actuator 220 contracts in the axial direction, and the sealing member 24 and the stopper member 25 move to the support member 214 side accordingly.
  • the actuator 220 moves and contracts by a predetermined amount (about 10% to 20%) in the axial direction, the tip surface of the tubular portion 27 of the stopper member 25 comes into contact with the base member 11 to be in the initial state. In this way, the axial position of the actuator 220 can be defined.
  • the actuator 220 when a pressure higher than the initial pressure of the fluid is supplied from the fluid supply device 60 into the tube 21 of the actuator 220, the actuator 220 further contracts in the axial direction, and accordingly, the base member 11 and the support shaft 12
  • the actuator 220 or the like rotates counterclockwise in FIG. 7 with respect to the support member 214. In other words, the actuator 220 rotates the support member 214 relative to the base member 11 and the support shaft 12.
  • the actuator 220 is urged to the side separated from the support member 214 by the same configuration as the robot device 10 in FIG.
  • the actuator 220 may be urged to the side separated from the support member 214 by the same configuration as the robot device 10B of FIG.
  • the robot device 210 has the same configuration as the robot device 10 of FIG. 1, and defines the axial position of the actuator 220 when the initial pressure is supplied into the tube 21 of the actuator 220. However, with the same configuration as the robot device 10C of FIG. 5, when the initial pressure is supplied into the tube 21 of the actuator 220, the position of the actuator 220 in the axial direction may be defined.
  • the actuators 20 and 30 as artificial muscles include tubes 21 and 31 that expand in the radial direction and contract in the axial direction when a working fluid is supplied, and a braided sleeve 22 that covers the tubes 21 and 31. , 32 and is assumed to be a Macchiben type artificial muscle, but the present invention is not limited to this.
  • the actuators 20 and 30 include an inner cylindrical member formed of an elastic body, an outer cylindrical member formed of the elastic body and coaxially arranged outside the inner tubular member, and an inner tubular member.
  • An axial fiber reinforced actuator having a fiber layer arranged between the outer tubular member may be used.
  • the actuators 20 and 30 may be fluid cylinders having a cylinder and a piston.
  • the robot device of the present disclosure is rotatably supported by the first link (11, 12) via the first link (11, 12) and the joint (13, 213).
  • the two links (14,114,214) operate by receiving the supply of fluid, and the second link (14,114,214) is rotated relative to the first link (11,12).
  • the gist is to provide an urging portion (28, 38, 42, 52) that urges the side away from it.
  • the robot device of the present disclosure includes an urging portion that urges the artificial muscle on the side away from the second link. As a result, it is possible to suppress the bending of the artificial muscle when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as a support member or another adjacent artificial muscle and affecting the durability of the artificial muscle.
  • a defining portion (27, 37, 47, 48) that defines the position of the artificial muscle (20, 30, 220) when an initial pressure is applied to the artificial muscle (20, 30, 220).
  • , 57, 58) may be further provided. In this way, the position of the artificial muscle when the initial pressure is applied to the artificial muscle can be defined.
  • the artificial muscle (20, 30, 220) is fixed to the end of the artificial muscle (20, 30, 220) on the side away from the second link (14, 114, 214) and the artificial muscle (20, 30, 220). ), And the shaft portion (24,34) extending in the axial direction and being inserted into the insertion holes (11a, 11b) formed in the first link (11,12), and the shaft portion (24,34). Further provided with an extension portion (26, 36) extending in a direction orthogonal to the axial direction at a position separated from the artificial muscle (20, 30, 220) than the first link (11, 12) of the above.
  • the urging portion (28,38) is arranged between the first link (11,12) and the extending portion (26,36), and the extending portion (26,36) is connected to the extending portion (26,36). It may have an elastic body (28, 38) that urges the side away from the first link (11, 12). In this way, the urging force of the elastic body can urge the artificial muscle to the side away from the second link.
  • the first link extends from the extending portion (26, 36) to the first link (11, 12) side and when the initial pressure acts on the artificial muscle (20, 30, 220).
  • a defining portion (27, 37) that abuts on (11, 12) and defines the position of the artificial muscle (20, 30, 220) may be further provided. In this way, when the initial pressure acts on the artificial muscle, the defining portion abuts on the first link to define the position of the artificial muscle.
  • the artificial muscles (20, 30, 220) may have tubes (21, 31) that expand in the radial direction and contract in the axial direction when a fluid is supplied.
  • This disclosure can be used in the robot device manufacturing industry and the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)

Abstract

In the present invention, bending of an artificial muscle is suppressed when fluid pressure is not applied to the artificial muscle. This robot device comprises: a first link; a second link rotatably supported by the first link via a joint; and at least one artificial muscle that operates upon supply of fluid and that causes the second link to rotate relative to the first link. The robot device further comprises a biasing part that biases the artificial muscle to a side away from the second link. Accordingly, bending of the artificial muscle can be suppressed when fluid pressure is not applied to the artificial muscle.

Description

ロボット装置Robot device
　本開示は、ロボット装置に関する。 This disclosure relates to a robot device.
　従来、この種の技術としては、棒状の支持部材と、支持部材の一端部に固定されると共に支持部材の長手方向と直交して延びる棒状の第１支持体と、支持部材の他端部に対して関節軸と同心に回動できる円板型の第２支持体と、流体の供給を受けて作動すると共に第２支持体（関節軸）を回動駆動するように拮抗駆動される第１、第２弾性膨張収縮構造体（人工筋肉）と、を有する２自由度のロボットアームである弾性体アクチュエータ駆動機構が提案されている（例えば、特許文献１参照）。この弾性体アクチュエータ駆動機構では、第１、第２人工筋肉は、それぞれ、一端部が第１支持部材に固定されると共に他端部が第２支持部材に固定されている。 Conventionally, as this kind of technology, a rod-shaped support member, a rod-shaped first support fixed to one end of the support member and extending perpendicular to the longitudinal direction of the support member, and the other end of the support member have been used. On the other hand, a disk-shaped second support that can rotate concentrically with the joint shaft and a first that operates by receiving a fluid supply and is antagonistically driven so as to rotate and drive the second support (joint shaft). , A second elastic expansion / contraction structure (artificial muscle), and an elastic actuator drive mechanism which is a robot arm having two degrees of freedom have been proposed (see, for example, Patent Document 1). In this elastic actuator drive mechanism, one end of each of the first and second artificial muscles is fixed to the first support member and the other end is fixed to the second support member.
国際公開第１２／０８１１９７号International Publication No. 12/081197
　上述のロボット装置では、第１、第２人工筋肉が第１支持体と第２支持体とに固定されているため、第１、第２人工筋肉に流体圧が作用していないときに、一般に、第１、第２人工筋肉のうちの少なくとも１つが湾曲する。このため、第１、第２人工筋肉のうち湾曲した人工筋肉が支持部材や隣り合う別の人工筋肉などの周りの部材に接触し、人工筋肉の耐久性に影響を与える可能性がある。 In the above-mentioned robot device, since the first and second artificial muscles are fixed to the first support and the second support, generally when the fluid pressure is not acting on the first and second artificial muscles, , At least one of the first and second artificial muscles is curved. Therefore, the curved artificial muscle of the first and second artificial muscles may come into contact with surrounding members such as a support member and another adjacent artificial muscle, which may affect the durability of the artificial muscle.
　本開示のロボット装置は、人工筋肉に流体圧が作用していないときに、人工筋肉が湾曲するのを抑制することを主目的とする。 The main purpose of the robot device of the present disclosure is to suppress bending of the artificial muscle when no fluid pressure is applied to the artificial muscle.
　本開示のロボット装置は、上述の主目的を達成するために以下の手段を採った。 The robot device of the present disclosure has adopted the following means in order to achieve the above-mentioned main purpose.
　本開示のロボット装置は、第１リンクと、関節を介して前記第１リンクにより回動自在に支持される第２リンクと、流体の供給を受けて作動すると共に前記第１リンクに対して前記第２リンクを相対的に回動させる少なくとも１つの人工筋肉と、を備えるロボット装置であって、前記人工筋肉を前記第２リンクから離間する側に付勢する付勢部を備えることを要旨とする。 The robot device of the present disclosure operates by receiving a supply of a fluid, a first link, a second link rotatably supported by the first link via a joint, and the first link. It is a robot device including at least one artificial muscle that relatively rotates the second link, and the gist is that the robot device includes an urging portion that urges the artificial muscle to a side away from the second link. do.
　本開示のロボット装置では、人工筋肉を第２リンクから離間する側に付勢する付勢部を備える。これにより、人工筋肉に流体圧が作用していないときに、人工筋肉が湾曲するのを抑制することができる。この結果、人工筋肉が支持部材や隣り合う別の人工筋肉などの周りの部材に接触して人工筋肉の耐久性に影響を与えるのを抑制することができる。 The robot device of the present disclosure includes an urging portion that urges the artificial muscle on the side away from the second link. As a result, it is possible to suppress the bending of the artificial muscle when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as a support member or another adjacent artificial muscle and affecting the durability of the artificial muscle.
ロボット装置１０の概略構成図である。It is a schematic block diagram of a robot apparatus 10. ロボット装置１０の動作を説明するための説明図である。It is explanatory drawing for demonstrating the operation of the robot apparatus 10. ロボット装置１０の動作を説明するための説明図である。It is explanatory drawing for demonstrating the operation of the robot apparatus 10. ロボット装置１０Ｂの概略構成図である。It is a schematic block diagram of the robot apparatus 10B. ロボット装置１０Ｃの概略構成図である。It is a schematic block diagram of the robot device 10C. ロボット装置１１０の概略構成図である。It is a schematic block diagram of a robot apparatus 110. ロボット装置２１０の概略構成図である。It is a schematic block diagram of a robot apparatus 210.
　次に、図面を参照しながら、本開示の発明を実施するための形態について説明する。 Next, a mode for carrying out the invention of the present disclosure will be described with reference to the drawings.
　図１は、本開示のロボット装置１０の概略構成図である。ロボット装置１０は、ベース部材１１に支持軸１２を介して支持された回動軸１３周りにロボットアームなどのアーム部材７０を回動させる装置として構成されている。このロボット装置１０は、図示するように、第１リンクとしてのベース部材１１および支持軸１２と、支持軸１２に取り付けられた関節としての回動軸１３と、回動軸１３により回動自在に支持される第２リンクとしてのプーリ１４と、プーリ１４に巻き掛けられる巻掛け媒介節としてのワイヤ１６と、ワイヤ１６に引張力（プーリ１４から離間する側の力）を付与する第１，第２人工筋肉としてのアクチュエータ２０，３０と、アクチュエータ２０，３０に作動流体を供給する流体供給装置６０とを備える。ここで、巻掛け媒介節としては、ワイヤ１６に代えて、ベルトやロープ、チェーンなどが用いられてもよい。作動流体としては、作動油が用いられる。なお、作動油に代えて、作動油以外の水などの液体や、空気などの気体が用いられてもよい。アーム部材７０は、回動軸１３に回動自在に支持されると共にプーリ１４に連結されており、プーリ１４と共に回動軸１３周りに回動する。 FIG. 1 is a schematic configuration diagram of the robot device 10 of the present disclosure. The robot device 10 is configured as a device that rotates an arm member 70 such as a robot arm around a rotation shaft 13 supported by a base member 11 via a support shaft 12. As shown in the figure, the robot device 10 is rotatable by a base member 11 and a support shaft 12 as a first link, a rotation shaft 13 as a joint attached to the support shaft 12, and a rotation shaft 13. The pulley 14 as the second link to be supported, the wire 16 as the winding mediation node wound around the pulley 14, and the first and first first to apply a tensile force (force on the side separated from the pulley 14) to the wire 16. 2 Actuators 20 and 30 as artificial muscles and a fluid supply device 60 for supplying working fluid to the actuators 20 and 30 are provided. Here, as the winding mediating node, a belt, a rope, a chain, or the like may be used instead of the wire 16. A hydraulic oil is used as the hydraulic fluid. In addition, instead of the hydraulic oil, a liquid such as water other than the hydraulic oil or a gas such as air may be used. The arm member 70 is rotatably supported by the rotation shaft 13 and is connected to the pulley 14, and rotates around the rotation shaft 13 together with the pulley 14.
　アクチュエータ２０，３０は、互いに平行に配置されている。アクチュエータ２０，３０は、マッキベン型の人工筋肉として構成されており、互いに同一の諸元を有する。アクチュエータ２０，３０は、作動流体の圧力により膨張および収縮するチューブ２１，３１と、チューブ２１，３１を覆う編組スリーブ２２，３２とを備える。チューブ２１，３１は、流体に対する高い耐性を有する例えばゴム材等の弾性材により円筒状に形成されている。チューブ２１，３１のワイヤ１６側（プーリ１４側）の端部は、封止部材２３，３３により封止され、ワイヤ１６から離間した側の端部は、封止部材（第１，第２軸部）２４，３４により封止されている。封止部材２３，２４，３３，３４は、円柱状または筒状に形成されており、封止部材２３，２４は、アクチュエータ２０（チューブ２１）の軸方向に延びるようにアクチュエータ２０に取り付けられ、封止部材３３，３４は、アクチュエータ３０（チューブ３１）の軸方向に延びるようにアクチュエータ３０に取り付けられている。封止部材２３には、ワイヤ１６の一端部１６ａが固定され、封止部材３３には、ワイヤ１６の他端部１６ｂが固定されている。封止部材２４，３４には、チューブ２１，３１内に連通する作動流体の出入口２４ａ，３４ａが形成されている。封止部材２４，３４は、ベース部材１１に形成された貫通孔１１ａ，１１ｂに挿通される。編組スリーブ２２，３２は、所定方向に配向された複数のコードを互いに交差するように編み込むことにより円筒状に形成されており、軸方向および径方向に収縮可能である。編組スリーブ２２，３２を形成するコードとしては、編組コード、高強度繊維、極細のフィラメントにより構成される金属製コードなどが用いられる。こうしたアクチュエータ２０，３０では、流体供給装置６０から出入口２４ａ，３４ａを介してチューブ２１，３１内に作動流体が供給されてチューブ２１，３１内の作動流体の圧力が高くなると、チューブ２１，３１は、編組スリーブ２２，３２の作用により、径方向に膨張すると共に軸方向に収縮する。 Actuators 20 and 30 are arranged parallel to each other. The actuators 20 and 30 are configured as Macchiben-type artificial muscles and have the same specifications as each other. Actuators 20 and 30 include tubes 21 and 31 that expand and contract due to the pressure of the working fluid, and braided sleeves 22 and 32 that cover the tubes 21 and 31. The tubes 21 and 31 are formed in a cylindrical shape by an elastic material such as a rubber material having high resistance to a fluid. The ends of the tubes 21 and 31 on the wire 16 side (pulley 14 side) are sealed by the sealing members 23 and 33, and the ends on the side separated from the wire 16 are the sealing members (first and second axes). Part) It is sealed by 24 and 34. The sealing members 23, 24, 33, 34 are formed in a cylindrical or tubular shape, and the sealing members 23, 24 are attached to the actuator 20 so as to extend in the axial direction of the actuator 20 (tube 21). The sealing members 33 and 34 are attached to the actuator 30 so as to extend in the axial direction of the actuator 30 (tube 31). One end 16a of the wire 16 is fixed to the sealing member 23, and the other end 16b of the wire 16 is fixed to the sealing member 33. The sealing members 24 and 34 are formed with inlets and outlets 24a and 34a for working fluids communicating with the tubes 21 and 31. The sealing members 24 and 34 are inserted into the through holes 11a and 11b formed in the base member 11. The braided sleeves 22 and 32 are formed in a cylindrical shape by knitting a plurality of cords oriented in a predetermined direction so as to intersect each other, and can be contracted in the axial direction and the radial direction. As the cord forming the braided sleeves 22 and 32, a braided cord, a high-strength fiber, a metal cord composed of ultrafine filaments, or the like is used. In such actuators 20 and 30, when the working fluid is supplied from the fluid supply device 60 into the tubes 21 and 31 via the inlets and outlets 24a and 34a and the pressure of the working fluid in the tubes 21 and 31 increases, the tubes 21 and 31 are moved. Due to the action of the braided sleeves 22 and 32, the braided sleeves 22 and 32 expand in the radial direction and contract in the axial direction.
　封止部材２４，３４の先端部（チューブ２１，３１から離間した側の端部）には、有底筒状のストッパ部材２５，３５が固定される。ストッパ部材２５，３５は、円形状や四角形状などの底部（第１，第２延在部）２６，３６と、底部２６，３６の外周から底部２６，３６に直交する方向に延在された円筒状の筒状部（第１，第２規定部）２７，３７とを有する。底部２６，３６の中央は、筒状部２７，３７が底部２６，３６よりもベース部材１１側となるように封止部材２４，３４の軸方向端面に固定される。したがって、底部２６，３６は、アクチュエータ２０，３０の軸方向に直交する方向に延在し、筒状部２７，３７は、アクチュエータ２０，３０の軸方向に延在する。 Bottomed cylindrical stopper members 25 and 35 are fixed to the tips of the sealing members 24 and 34 (the ends on the side separated from the tubes 21 and 31). The stopper members 25 and 35 extend in a direction orthogonal to the bottoms (first and second extending portions) 26 and 36, such as a circular shape and a quadrangular shape, and the outer circumferences of the bottom portions 26 and 36 to the bottom portions 26 and 36. It has cylindrical tubular portions (first and second specified portions) 27 and 37. The center of the bottom portions 26, 36 is fixed to the axial end faces of the sealing members 24, 34 so that the cylindrical portions 27, 37 are closer to the base member 11 than the bottom portions 26, 36. Therefore, the bottom portions 26 and 36 extend in the direction orthogonal to the axial direction of the actuators 20 and 30, and the tubular portions 27 and 37 extend in the axial direction of the actuators 20 and 30.
　ベース部材１１とストッパ部材２５，３５の底部２６，３６との間には、封止部材２４，３４の外周を包囲するようにスプリング（第１，第２弾性体）２８，３８が配置される。スプリング２８，３８としては、例えばコイルスプリングが用いられる。スプリング２８，３８は、自由長よりも圧縮されており、底部２６，３６をベース部材１１から離間する側（図１における右側）に付勢する。 Spring (first and second elastic bodies) 28 and 38 are arranged between the base member 11 and the bottoms 26 and 36 of the stopper members 25 and 35 so as to surround the outer circumferences of the sealing members 24 and 34. .. As the springs 28 and 38, for example, coil springs are used. The springs 28 and 38 are compressed more than the free length and urge the bottoms 26 and 36 on the side away from the base member 11 (right side in FIG. 1).
　流体供給装置６０は、作動流体を貯留するタンクや、タンク内の作動流体を吸引して吐出するポンプ、ポンプから吐出された作動流体を蓄えるアキュムレータ、複数のソレノイドバルブ、複数のソレノイドバルブを制御する制御装置を備える。 The fluid supply device 60 controls a tank for storing the working fluid, a pump for sucking and discharging the working fluid in the tank, an accumulator for storing the working fluid discharged from the pump, a plurality of solenoid valves, and a plurality of solenoid valves. It is equipped with a control device.
　こうして構成されたロボット装置１０では、流体供給装置６０からアクチュエータ２０，３０のチューブ２１，３１内に流体（流体圧）が供給されていない組立状態で、図１に示すように、アクチュエータ２０，３０が自由長になっており、且つ、スプリング２８，３８の弾性力によってストッパ部材２５，３５の底部２６，３６がプーリ１４から離間する側に付勢されてストッパ部材２５，３５の筒状部２７，３７の先端面がベース部材１１から離間している。 In the robot device 10 configured in this way, as shown in FIG. 1, the actuators 20 and 30 are in an assembled state in which the fluid (fluid pressure) is not supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30. Is free length, and the bottoms 26, 36 of the stopper members 25, 35 are urged to the side separated from the pulley 14 by the elastic force of the springs 28, 38, and the tubular portion 27 of the stopper members 25, 35. , 37 are separated from the base member 11.
　続いて、流体供給装置６０からアクチュエータ２０，３０のチューブ２１，３１内に初期圧が供給されると、図２に示すように、アクチュエータ２０，３０が軸方向に収縮する。初期圧は、アクチュエータ２０，３０の軸方向の収縮力がスプリング２８，３８の弾性力に打ち勝つように定められる。アクチュエータ２０，３０が軸方向の収縮に伴って封止部材２４，３４およびストッパ部材２５，３５がプーリ１４側（図２における左側）に移動し、アクチュエータ２０，３０が軸方向に所定量（１０％～２０％程度）だけ収縮したときに、ストッパ部材２５，３５の先端面がベース部材１１に当接する。これにより、アクチュエータ２０，３０の軸方向（図２の左右方向）における位置が規定される。以下、アクチュエータ２０，３０が軸方向に所定量だけ収縮した状態を「初期状態」という。言い換えれば、初期圧は、アクチュエータ２０，３０が初期状態になるためにチューブ２１，３１内に供給される流体の圧力である。 Subsequently, when the initial pressure is supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30, the actuators 20 and 30 contract in the axial direction as shown in FIG. The initial pressure is determined so that the axial contraction force of the actuators 20 and 30 overcomes the elastic force of the springs 28 and 38. As the actuators 20 and 30 contract in the axial direction, the sealing members 24 and 34 and the stopper members 25 and 35 move to the pulley 14 side (left side in FIG. 2), and the actuators 20 and 30 move in a predetermined amount (10) in the axial direction. When contracted by (% to 20%), the tip surfaces of the stopper members 25 and 35 come into contact with the base member 11. Thereby, the positions of the actuators 20 and 30 in the axial direction (left-right direction in FIG. 2) are defined. Hereinafter, the state in which the actuators 20 and 30 are contracted by a predetermined amount in the axial direction is referred to as an "initial state". In other words, the initial pressure is the pressure of the fluid supplied into the tubes 21 and 31 for the actuators 20 and 30 to be in the initial state.
　そして、流体供給装置６０からアクチュエータ２０，３０のチューブ２１，３１内に供給される流体の圧力が互いに異なると、図３に示すように、流体の圧力が大きい側のアクチュエータ（図３ではアクチュエータ２０）が更に軸方向に収縮し、これに伴ってワイヤ１６が引っ張られて流体の圧力が小さい側のアクチュエータ（図３ではアクチュエータ３０）が軸方向に膨張する。このとき、ワイヤ１６が掛け渡されたプーリ１４およびプーリ１４に連結されたアーム部材７０が回動軸１３周りに一体に回動する。このようにしてアーム部材７０を回動軸１３周りに回動させることができる。言い換えれば、アクチュエータ２０，３０は、ベース部材１１および支持軸１２に対してプーリ１４を相対的に回動させるように拮抗駆動される。 When the pressures of the fluids supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30 are different from each other, as shown in FIG. 3, the actuator on the side where the fluid pressure is large (actuator 20 in FIG. 3). ) Further contracts in the axial direction, and the wire 16 is pulled accordingly, and the actuator on the side where the fluid pressure is small (actuator 30 in FIG. 3) expands in the axial direction. At this time, the pulley 14 on which the wire 16 is hung and the arm member 70 connected to the pulley 14 rotate integrally around the rotation shaft 13. In this way, the arm member 70 can be rotated around the rotation shaft 13. In other words, the actuators 20 and 30 are driven in an antagonistic manner so as to rotate the pulley 14 relative to the base member 11 and the support shaft 12.
　実施形態のロボット装置１０の奏する効果について説明する。ロボット装置１０のストッパ部材２５，３５やスプリング２８，３８を備えずに封止部材２４，３４がベース部材１１に固定される比較形態のロボット装置では、組立状態で、一般に、アクチュエータ２０，３０のうちの少なくとも１つが湾曲する。このため、アクチュエータ２０，３０のうち湾曲したアクチュエータが支持軸１２や別のアクチュエータなどの周りの部材に接触し、アクチュエータの耐久性に影響を与える可能性がある。また、湾曲したアクチュエータの座屈（屈曲）部分の耐久性に影響を与える可能性もある。これらに対して、実施形態のロボット装置１０では、スプリング２８，３８によってストッパ部材２５，３５の底部２６，３６をプーリ１４から離間する側に付勢することにより、ストッパ部材２５，３５と一体にアクチュエータ２０，３０をプーリ１４から離間する側に付勢する。これにより、ロボット装置１０の組立状態で、アクチュエータ２０，３０が湾曲するのを抑制することができる。この結果、アクチュエータ２０，３０が支持軸１２や別のアクチュエータなどの周りの部材に接触して第１、第２アクチュエータ２０，３０の耐久性に影響を与えるのを抑制することができる。また、アクチュエータの座屈（屈曲）により耐久性に影響を与えるのを抑制することもできる。更に、実施形態のロボット装置１０では、スプリング２８，３８によってアクチュエータ２０，３０をプーリ１４から離間する側に付勢することにより、ロボット装置１０の組立状態で、アクチュエータ２０，３０に接続されるワイヤ１６がプーリ１４に対して緩んでしまうのを抑制することができる。この結果、ロボット装置１０の組立状態でワイヤ１６がプーリ１４から外れてしまったり、その後にアクチュエータ２０，３０のチューブ２１，３１内に初期圧が作用したときにプーリ１４やアーム部材７０の初期回動位置がずれてしまう（図２の回動位置からずれてしまう）のを抑制することができる。 The effect of the robot device 10 of the embodiment will be described. In a comparative robot device in which the sealing members 24 and 34 are fixed to the base member 11 without providing the stopper members 25 and 35 and the springs 28 and 38 of the robot device 10, the actuators 20 and 30 are generally used in the assembled state. At least one of them is curved. Therefore, the curved actuator of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and another actuator, which may affect the durability of the actuator. It may also affect the durability of the buckled (bent) portion of the curved actuator. On the other hand, in the robot device 10 of the embodiment, the bottoms 26, 36 of the stopper members 25, 35 are urged to the side separated from the pulley 14 by the springs 28, 38, so that they are integrated with the stopper members 25, 35. The actuators 20 and 30 are urged to the side separated from the pulley 14. As a result, it is possible to prevent the actuators 20 and 30 from bending in the assembled state of the robot device 10. As a result, it is possible to prevent the actuators 20 and 30 from coming into contact with surrounding members such as the support shaft 12 and another actuator and affecting the durability of the first and second actuators 20 and 30. In addition, it is possible to suppress the influence of the buckling (bending) of the actuator on the durability. Further, in the robot device 10 of the embodiment, the wires connected to the actuators 20 and 30 in the assembled state of the robot device 10 by urging the actuators 20 and 30 to the side separated from the pulley 14 by the springs 28 and 38. It is possible to prevent the 16 from loosening with respect to the pulley 14. As a result, when the wire 16 is disengaged from the pulley 14 in the assembled state of the robot device 10, or when an initial pressure is subsequently applied to the tubes 21 and 31 of the actuators 20 and 30, the initial rotation of the pulley 14 and the arm member 70 It is possible to prevent the moving position from shifting (shifting from the rotating position in FIG. 2).
　また、実施形態では、流体供給装置６０によりアクチュエータ２０，３０のチューブ２１，３１内に初期圧を供給して、アクチュエータ２０，３０が軸方向に所定量だけ収縮したときに、アクチュエータ２０，３０に取り付けられた封止部材２４，３４に固定されたストッパ部材２５，３５の筒状部２７，３７の先端面がベース部材１１に当接する。これにより、アクチュエータ２０，３０の軸方向（図２の左右方向）における位置を規定することができる。 Further, in the embodiment, the fluid supply device 60 supplies the initial pressure into the tubes 21 and 31 of the actuators 20 and 30, and when the actuators 20 and 30 contract by a predetermined amount in the axial direction, the actuators 20 and 30 are subjected to the initial pressure. The tip surfaces of the tubular portions 27, 37 of the stopper members 25, 35 fixed to the attached sealing members 24, 34 come into contact with the base member 11. Thereby, the positions of the actuators 20 and 30 in the axial direction (left-right direction in FIG. 2) can be defined.
　実施形態のロボット装置１０では、スプリング２８，３８によりストッパ部材２５，３５およびアクチュエータ２０，３０をプーリ１４から離間する側に付勢するものとした。しかし、これに限定されるものではなく、例えば、図４のロボット装置１０Ｂに示すように、ストッパ部材２５，３５（アクチュエータ２０，３０）に、ベース部材１１などにより回動自在に支持された滑車４０，５０に巻き掛けられたワイヤ４１，５１を介して質量体４２，５２が連結されるものとしてもよい。ここで、滑車４０，５０は、ワイヤ４１，５１がストッパ部材２５，３５からアクチュエータ２０，３０の軸方向におけるプーリ１４とは反対側に延びて滑車４０，５０に巻き掛けられるように配置される。この場合でも、質量体４２，５２によりストッパ部材２５，３５（アクチュエータ２０，３０）をプーリ１４から離間する側に付勢することができる。これにより、ロボット装置１０Ｂの組立状態で、アクチュエータ２０，３０が湾曲するのを抑制することができる。 In the robot device 10 of the embodiment, the stopper members 25 and 35 and the actuators 20 and 30 are urged to the side separated from the pulley 14 by the springs 28 and 38. However, the present invention is not limited to this, and for example, as shown in the robot device 10B of FIG. 4, a pulley rotatably supported by stopper members 25 and 35 (actuators 20 and 30) by a base member 11 and the like. The mass bodies 42 and 52 may be connected via the wires 41 and 51 wound around the 40 and 50. Here, the pulleys 40 and 50 are arranged so that the wires 41 and 51 extend from the stopper members 25 and 35 to the side opposite to the pulley 14 in the axial direction of the actuators 20 and 30 and are wound around the pulleys 40 and 50. .. Even in this case, the mass bodies 42 and 52 can urge the stopper members 25 and 35 (actuators 20 and 30) to the side separated from the pulley 14. As a result, it is possible to prevent the actuators 20 and 30 from bending in the assembled state of the robot device 10B.
　実施形態のロボット装置１０では、ストッパ部材２５，３５が有底筒状に形成され、アクチュエータ２０，３０のチューブ２１，３１内に初期圧が供給されたときに、ストッパ部材２５，３５の筒状部２７，３７の先端面がベース部材１１に当接することにより、アクチュエータ２０，３０の軸方向における位置を規定するものとした。しかし、図５のロボット装置１０Ｃに示すように、封止部材２４，３４のベース部材１１よりも先端部側（図５の右側）の側面に形成された溝部４５，５５と、スプリングにより溝部４５，５５側に押圧される被押圧部材４８，５８とを有するものとしてもよい。図５のロボット装置１０Ｃは、ストッパ部材２５，３５が溝部４５，５５および被押圧部材４８，５８に置き換えられた点で、図４のロボット装置１０Ｂとは異なる。図５のロボット装置１０Ｃの溝部４５，５５は、封止部材２４，３４の先端側に向かうにつれて深くなる（外周面から離間する）傾斜面４６，５６と、傾斜面４６，５６の最深部からアクチュエータ２０，３０の軸方向に直交する方向（図５における上下方向）に延在する壁面４７，５７とを有する。このロボット装置１０Ｃは、組立状態では図５のようになっている。続いて、流体供給装置６０によりアクチュエータ２０，３０のチューブ２１，３１内に初期圧を供給すると、アクチュエータ２０，３０が軸方向に収縮するのに伴って、封止部材２４，３４がプーリ１４側（図５における左側）に移動し、アクチュエータ２０，３０が軸方向に所定量だけ収縮したときに、被押圧部材４８，５８の壁面４７，５７側の端面が壁面４７，５７に当接する。これにより、アクチュエータ２０，３０の軸方向（図５の左右方向）における位置が規定される。図５のロボット装置１０Ｃでは、図４のロボット装置１０Ｂと同様に、質量体４２，５２によりアクチュエータ２０，３０をプーリ１４から離間する側に付勢するものとしたが、図１のロボット装置１０と同様に、スプリング２８，３８によりストッパ部材２５，３５の底部２６，３６およびアクチュエータ２０，３０をプーリ１４から離間する側に付勢するものとしてもよい。 In the robot device 10 of the embodiment, the stopper members 25 and 35 are formed in a bottomed cylindrical shape, and when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30, the stopper members 25 and 35 have a tubular shape. The positions of the actuators 20 and 30 in the axial direction are defined by the abutting surfaces of the portions 27 and 37 in contact with the base member 11. However, as shown in the robot device 10C of FIG. 5, the groove portions 45 and 55 formed on the side surface of the sealing members 24 and 34 on the front end side (right side in FIG. 5) with respect to the base member 11, and the groove portions 45 by the spring. , 55 pressed members 48, 58 may be provided. The robot device 10C of FIG. 5 is different from the robot device 10B of FIG. 4 in that the stopper members 25 and 35 are replaced with the groove portions 45 and 55 and the pressed members 48 and 58. The grooves 45, 55 of the robot device 10C of FIG. 5 become deeper (separated from the outer peripheral surface) toward the tip ends of the sealing members 24, 34, and from the deepest portions of the inclined surfaces 46, 56. The actuators 20 and 30 have wall surfaces 47 and 57 extending in a direction orthogonal to the axial direction (vertical direction in FIG. 5). The robot device 10C is as shown in FIG. 5 in the assembled state. Subsequently, when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30 by the fluid supply device 60, the sealing members 24 and 34 are moved to the pulley 14 side as the actuators 20 and 30 contract in the axial direction. (Left side in FIG. 5) When the actuators 20 and 30 contract by a predetermined amount in the axial direction, the end faces of the pressed members 48 and 58 on the wall surfaces 47 and 57 come into contact with the wall surfaces 47 and 57. Thereby, the positions of the actuators 20 and 30 in the axial direction (left-right direction in FIG. 5) are defined. In the robot device 10C of FIG. 5, similarly to the robot device 10B of FIG. 4, the actuators 20 and 30 are urged by the mass bodies 42 and 52 to the side separated from the pulley 14, but the robot device 10 of FIG. Similarly, the springs 28 and 38 may urge the bottoms 26 and 36 of the stopper members 25 and 35 and the actuators 20 and 30 to the side separated from the pulley 14.
　実施形態のロボット装置１０では、図１に示したように、第１リンクとしてのベース部材１１および支持軸１２と、関節としての回動軸１３と、第２リンクとしてのプーリ１４と、ワイヤ１６と、第１，第２人工筋肉としてのアクチュエータ２０，３０とを備えるものとした。しかし、図６のロボット装置１１０に示すように、図１のロボット装置１０のプーリ１４およびワイヤ１６に代えて、リンク部材（第２リンク）１１４を備えるものとしてもよい。図６のロボット装置１１０のうち図１のロボット装置１０と同一の構成については、同一の符号を付し、詳細な説明を省略する。 In the robot device 10 of the embodiment, as shown in FIG. 1, a base member 11 and a support shaft 12 as a first link, a rotation shaft 13 as a joint, a pulley 14 as a second link, and a wire 16 And the actuators 20 and 30 as the first and second artificial muscles. However, as shown in the robot device 110 of FIG. 6, a link member (second link) 114 may be provided instead of the pulley 14 and the wire 16 of the robot device 10 of FIG. Of the robot devices 110 of FIG. 6, the same configurations as those of the robot device 10 of FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.
　図６のロボット装置１１０では、アーム部材７０は、回動軸１３に回動自在に支持されると共にリンク部材１１４に連結されており、リンク部材１１４と共に回動軸１３周りに回動する。リンク部材１１４の長手方向における中央部は、支持軸１２に取り付けられた回動軸１３により回動自在に支持される。リンク部材１１４の長手方向における一端部１１４ａは、アクチュエータ２０に取り付けられた封止部材２３に回転自在に連結され、他端部１１４ｂは、アクチュエータ３０に取り付けられた封止部材３３に回転自在に連結される。 In the robot device 110 of FIG. 6, the arm member 70 is rotatably supported by the rotation shaft 13 and connected to the link member 114, and rotates around the rotation shaft 13 together with the link member 114. The central portion of the link member 114 in the longitudinal direction is rotatably supported by the rotating shaft 13 attached to the support shaft 12. One end 114a of the link member 114 in the longitudinal direction is rotatably connected to the sealing member 23 attached to the actuator 20, and the other end 114b is rotatably connected to the sealing member 33 attached to the actuator 30. Will be done.
　こうして構成されたロボット装置１１０では、流体供給装置６０からアクチュエータ２０，３０に流体（流体圧）が供給されていない組立状態で、図６に示すように、アクチュエータ２０，３０が自由長になっており、且つ、スプリング２８，３８の弾性力によってストッパ部材２５，３５の底部２６，３６がプーリ１４から離間する側に付勢されてストッパ部材２５，３５の筒状部２７，３７の先端面がベース部材１１から離間している。ロボット装置１１０のストッパ部材２５，３５やスプリング２８，３８を備えずに封止部材２４，３４がベース部材１１に固定される比較形態のロボット装置では、組立状態で、一般に、アクチュエータ２０，３０のうちの少なくとも１つが湾曲する。例えば、ベース部材１１とリンク部材１１４の一端部１１４ａとの距離がベース部材１１とリンク部材１１４の他端部１１４ｂとの距離に比して短い場合、アクチュエータ２０，３０のうち少なくともアクチュエータ２０が湾曲する。このため、アクチュエータ２０，３０のうち湾曲したアクチュエータが支持軸１２や別のアクチュエータなどの周りの部材に接触し、アクチュエータの耐久性に影響を与える可能性がある。これに対して、ロボット装置１１０では、ロボット装置１０と同様に、スプリング２８，３８によってストッパ部材２５，３５の底部２６，３６をリンク部材１１４から離間する側に付勢することにより、ストッパ部材２５，３５と一体にアクチュエータ２０，３０をリンク部材１１４から離間する側に付勢する。これにより、ロボット装置１１０の組立状態で、アクチュエータ２０，３０が湾曲するのを抑制することができる。この結果、アクチュエータ２０，３０が支持軸１２や別のアクチュエータなどの周りの部材に接触してアクチュエータ３０，３０の耐久性に影響を与えるのを抑制することができる。 In the robot device 110 configured in this way, the actuators 20 and 30 have free lengths as shown in FIG. 6 in an assembled state in which fluid (fluid pressure) is not supplied from the fluid supply device 60 to the actuators 20 and 30. In addition, the elastic forces of the springs 28 and 38 urge the bottoms 26 and 36 of the stopper members 25 and 35 to separate from the pulley 14, so that the tip surfaces of the tubular portions 27 and 37 of the stopper members 25 and 35 are urged. It is separated from the base member 11. In the robot device of the comparative form in which the sealing members 24 and 34 are fixed to the base member 11 without providing the stopper members 25 and 35 and the springs 28 and 38 of the robot device 110, in the assembled state, generally, the actuators 20 and 30 At least one of them is curved. For example, when the distance between the base member 11 and one end 114a of the link member 114 is shorter than the distance between the base member 11 and the other end 114b of the link member 114, at least the actuator 20 of the actuators 20 and 30 is curved. do. Therefore, the curved actuator of the actuators 20 and 30 may come into contact with surrounding members such as the support shaft 12 and another actuator, which may affect the durability of the actuator. On the other hand, in the robot device 110, similarly to the robot device 10, the stopper members 25 are urged by the springs 28 and 38 to urge the bottoms 26 and 36 of the stopper members 25 and 35 to be separated from the link member 114. , 35 and the actuators 20 and 30 are urged to the side separated from the link member 114. As a result, it is possible to prevent the actuators 20 and 30 from bending in the assembled state of the robot device 110. As a result, it is possible to prevent the actuators 20 and 30 from coming into contact with surrounding members such as the support shaft 12 and another actuator and affecting the durability of the actuators 30 and 30.
　続いて、流体供給装置６０からアクチュエータ２０，３０のチューブ２１，３１内に初期圧が供給されると、アクチュエータ２０，３０が軸方向に収縮し、これに伴って封止部材２４，３４およびストッパ部材２５，３５がプーリ１４側に移動し、アクチュエータ２０，３０が軸方向に所定量（１０％～２０％程度）だけ収縮したときに、ストッパ部材２５，３５の筒状部２７，３７の先端面がベース部材１１に当接して初期状態となる。このようにして、アクチュエータ２０，３０の軸方向における位置を規定することができる。 Subsequently, when the initial pressure is supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30, the actuators 20 and 30 contract in the axial direction, and the sealing members 24 and 34 and the stoppers are accompanied by this. When the members 25 and 35 move to the pulley 14 side and the actuators 20 and 30 contract in the axial direction by a predetermined amount (about 10% to 20%), the tips of the tubular portions 27 and 37 of the stopper members 25 and 35 The surface comes into contact with the base member 11 and is in the initial state. In this way, the axial positions of the actuators 20 and 30 can be defined.
　そして、流体供給装置６０からアクチュエータ２０，３０のチューブ２１，３１内に供給される流体の圧力が互いに異なると、アクチュエータ２０，３０のうち流体の圧力が大きい側のアクチュエータが更に軸方向に収縮し、これに伴ってリンク部材１１４およびアーム部材７０が回動軸１３周りに回動し、流体の圧力が小さい側のアクチュエータが軸方向に膨張する。このようにしてアーム部材７０を回動軸１３周りに回動させることができる。言い換えれば、アクチュエータ２０，３０は、ベース部材１１および支持軸１２に対してリンク部材１１４を相対的に回動させるように拮抗駆動される。 When the pressures of the fluids supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuators 20 and 30 are different from each other, the actuators 20 and 30 on the side where the fluid pressure is higher contracts further in the axial direction. Along with this, the link member 114 and the arm member 70 rotate around the rotation shaft 13, and the actuator on the side where the fluid pressure is small expands in the axial direction. In this way, the arm member 70 can be rotated around the rotation shaft 13. In other words, the actuators 20 and 30 are driven in an antagonistic manner so as to rotate the link member 114 relative to the base member 11 and the support shaft 12.
　ロボット装置１１０では、図１のロボット装置１０と同様の構成により、アクチュエータ２０，３０をリンク部材１１４から離間する側に付勢するものとした。しかし、図４のロボット装置１０Ｂと同様の構成により、アクチュエータ２０，３０をリンク部材１１４から離間する側に付勢するものとしてもよい。 In the robot device 110, the actuators 20 and 30 are urged to the side separated from the link member 114 by the same configuration as the robot device 10 in FIG. However, the actuators 20 and 30 may be urged to the side separated from the link member 114 by the same configuration as the robot device 10B of FIG.
　ロボット装置１１０では、図１のロボット装置１０と同様の構成により、アクチュエータ２０，３０のチューブ２１，３１内に初期圧が供給されたときに、アクチュエータ２０，３０の軸方向における位置を規定するものとした。しかし、図５のロボット装置１０Ｃと同様の構成により、アクチュエータ２０，３０のチューブ２１，３１内に初期圧が供給されたときに、アクチュエータ２０，３０の軸方向における位置を規定するものとしてもよい。 The robot device 110 defines the axial positions of the actuators 20 and 30 when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30 by the same configuration as the robot device 10 of FIG. And said. However, with the same configuration as the robot device 10C of FIG. 5, when the initial pressure is supplied into the tubes 21 and 31 of the actuators 20 and 30, the positions of the actuators 20 and 30 in the axial direction may be defined. ..
　実施形態のロボット装置１０では、図１に示したように、第１，第２人工筋肉としてのアクチュエータ２０，３０を備えるものとした。しかし、図７のロボット装置２１０に示すように、人工筋肉としてのアクチュエータ２２０を１つだけを備えるものとしてもよい。図７のロボット装置２１０のうち図１のロボット装置１０と同一の構成については、同一の符号を付し、詳細な説明を省略する。 As shown in FIG. 1, the robot device 10 of the embodiment is provided with actuators 20 and 30 as the first and second artificial muscles. However, as shown in the robot device 210 of FIG. 7, only one actuator 220 as an artificial muscle may be provided. Of the robot device 210 of FIG. 7, the same configuration as that of the robot device 10 of FIG. 1 is designated by the same reference numerals, and detailed description thereof will be omitted.
　図７のロボット装置２１０は、第１リンクとしてのベース部材１１および支持軸１２と、関節としての回動軸２１３と、第２リンクとしての支持部材２１４と、アクチュエータ２２０と、ストッパ部材２５と、スプリング２８と、錘２３０とを備える。支持軸１２は、支持部材２１４に取り付けられた回動軸２１３により回動自在に支持される。アクチュエータ２２０に取り付けられた封止部材２３は、支持部材２１４に回動自在に連結される。錘２３０は、ベース部材１１の支持軸１２に対して貫通孔１１ａとは反対側の端部に取り付けられる。 The robot device 210 of FIG. 7 includes a base member 11 and a support shaft 12 as a first link, a rotation shaft 213 as a joint, a support member 214 as a second link, an actuator 220, and a stopper member 25. A spring 28 and a weight 230 are provided. The support shaft 12 is rotatably supported by a rotation shaft 213 attached to the support member 214. The sealing member 23 attached to the actuator 220 is rotatably connected to the support member 214. The weight 230 is attached to the end of the base member 11 opposite to the through hole 11a with respect to the support shaft 12.
　こうして構成されたロボット装置２１０では、流体供給装置６０からアクチュエータ２２０のチューブ２１，３１内に流体（流体圧）が供給されていない組立状態で、図７に示すように、アクチュエータ２２０が自由長になっており、且つ、スプリング２８の弾性力によってストッパ部材２５の底部２６が支持部材２１４から離間する側に付勢されてストッパ部材２５の筒状部２７の先端面がベース部材１１から離間しており、且つ、ベース部材１１や支持軸１２、アクチュエータ２２０，錘２３０等の重量によってこれらが支持部材２１４に対して鉛直方向よりも時計回り（図７における右側）に回動している。ロボット装置２１０でも、ロボット装置１０，１１０と同様に、スプリング２８によってストッパ部材２５の底部２６を支持部材２１４から離間する側に付勢することにより、ストッパ部材２５と一体にアクチュエータ２２０を支持部材２１４から離間する側に付勢する。これにより、ロボット装置２１０の組立状態で、アクチュエータ２２０が湾曲するのを抑制することができる。この結果、アクチュエータ２２０が支持軸１２や別のアクチュエータなどの周りの部材に接触してアクチュエータ２２０の耐久性に影響を与えるのを抑制することができる。 In the robot device 210 configured in this way, the actuator 220 has a free length as shown in FIG. 7 in an assembled state in which the fluid (fluid pressure) is not supplied from the fluid supply device 60 into the tubes 21 and 31 of the actuator 220. The bottom 26 of the stopper member 25 is urged to the side separated from the support member 214 by the elastic force of the spring 28, and the tip surface of the tubular portion 27 of the stopper member 25 is separated from the base member 11. Moreover, due to the weight of the base member 11, the support shaft 12, the actuator 220, the weight 230, etc., they rotate clockwise with respect to the support member 214 (on the right side in FIG. 7). In the robot device 210 as well, similarly to the robot devices 10 and 110, the actuator 220 is integrally supported with the stopper member 25 by urging the bottom portion 26 of the stopper member 25 to the side separated from the support member 214 by the spring 28. Bounce to the side away from. As a result, it is possible to prevent the actuator 220 from bending in the assembled state of the robot device 210. As a result, it is possible to prevent the actuator 220 from coming into contact with surrounding members such as the support shaft 12 and another actuator to affect the durability of the actuator 220.
　続いて、流体供給装置６０からアクチュエータ２２０のチューブ２１内に初期圧が供給されると、アクチュエータ２２０が軸方向に収縮し、これに伴って封止部材２４およびストッパ部材２５が支持部材２１４側に移動し、アクチュエータ２２０が軸方向に所定量（１０％～２０％程度）だけ収縮したときに、ストッパ部材２５の筒状部２７の先端面がベース部材１１に当接して初期状態となる。このようにして、アクチュエータ２２０の軸方向における位置を規定することができる。 Subsequently, when the initial pressure is supplied from the fluid supply device 60 into the tube 21 of the actuator 220, the actuator 220 contracts in the axial direction, and the sealing member 24 and the stopper member 25 move to the support member 214 side accordingly. When the actuator 220 moves and contracts by a predetermined amount (about 10% to 20%) in the axial direction, the tip surface of the tubular portion 27 of the stopper member 25 comes into contact with the base member 11 to be in the initial state. In this way, the axial position of the actuator 220 can be defined.
　そして、流体供給装置６０からアクチュエータ２２０のチューブ２１内に流体の初期圧よりも高い圧力が供給されると、アクチュエータ２２０が更に軸方向に収縮し、これに伴ってベース部材１１や支持軸１２、アクチュエータ２２０等が支持部材２１４に対して図７における反時計回りに回動する。言い換えれば、アクチュエータ２２０は、ベース部材１１および支持軸１２に対して支持部材２１４を相対的に回動させる。 Then, when a pressure higher than the initial pressure of the fluid is supplied from the fluid supply device 60 into the tube 21 of the actuator 220, the actuator 220 further contracts in the axial direction, and accordingly, the base member 11 and the support shaft 12 The actuator 220 or the like rotates counterclockwise in FIG. 7 with respect to the support member 214. In other words, the actuator 220 rotates the support member 214 relative to the base member 11 and the support shaft 12.
　ロボット装置２１０では、図１のロボット装置１０と同様の構成により、アクチュエータ２２０を支持部材２１４から離間する側に付勢するものとした。しかし、図４のロボット装置１０Ｂと同様の構成により、アクチュエータ２２０を支持部材２１４から離間する側に付勢するものとしてもよい。 In the robot device 210, the actuator 220 is urged to the side separated from the support member 214 by the same configuration as the robot device 10 in FIG. However, the actuator 220 may be urged to the side separated from the support member 214 by the same configuration as the robot device 10B of FIG.
　ロボット装置２１０では、図１のロボット装置１０と同様の構成により、アクチュエータ２２０のチューブ２１内に初期圧が供給されたときに、アクチュエータ２２０の軸方向における位置を規定するものとした。しかし、図５のロボット装置１０Ｃと同様の構成により、アクチュエータ２２０のチューブ２１内に初期圧が供給されたときに、アクチュエータ２２０の軸方向における位置を規定するものとしてもよい。 The robot device 210 has the same configuration as the robot device 10 of FIG. 1, and defines the axial position of the actuator 220 when the initial pressure is supplied into the tube 21 of the actuator 220. However, with the same configuration as the robot device 10C of FIG. 5, when the initial pressure is supplied into the tube 21 of the actuator 220, the position of the actuator 220 in the axial direction may be defined.
　上述の実施形態では、人工筋肉としてのアクチュエータ２０，３０は、作動流体が供給された際に径方向に膨張し且つ軸方向に収縮するチューブ２１，３１と、チューブ２１，３１を覆う編組スリーブ２２，３２とを有するマッキベン型の人工筋肉であるものとしたが、これに限定されるものではない。例えば、アクチュエータ２０，３０は、弾性体により形成された内側筒状部材と、弾性体により形成されると共に内側筒状部材の外側に同軸に配置された外側筒状部材と、内側筒状部材と外側筒状部材との間に配置された繊維層とを有する軸方向繊維強化型のアクチュエータ（例えば、特開２０１１－１３７５１６号公報参照）であってもよい。また，アクチュエータ２０，３０は、シリンダおよびピストンを有する流体シリンダであってもよい。 In the above-described embodiment, the actuators 20 and 30 as artificial muscles include tubes 21 and 31 that expand in the radial direction and contract in the axial direction when a working fluid is supplied, and a braided sleeve 22 that covers the tubes 21 and 31. , 32 and is assumed to be a Macchiben type artificial muscle, but the present invention is not limited to this. For example, the actuators 20 and 30 include an inner cylindrical member formed of an elastic body, an outer cylindrical member formed of the elastic body and coaxially arranged outside the inner tubular member, and an inner tubular member. An axial fiber reinforced actuator having a fiber layer arranged between the outer tubular member (see, for example, Japanese Patent Application Laid-Open No. 2011-137516) may be used. Further, the actuators 20 and 30 may be fluid cylinders having a cylinder and a piston.
〔本実施形態のまとめ〕
　以上説明したように、本開示のロボット装置は、第１リンク（１１，１２）と、関節（１３，２１３）を介して前記第１リンク（１１，１２）により回動自在に支持される第２リンク（１４，１１４，２１４）と、流体の供給を受けて作動すると共に前記第１リンク（１１，１２）に対して前記第２リンク（１４，１１４，２１４）を相対的に回動させる少なくとも１つの人工筋肉（２０，３０，２２０）と、を備えるロボット装置（１０，１０Ｂ，１０Ｃ，１１０，２１０）であって、前記人工筋肉（２０，３０，２２０）を前記第２リンク（１４，１１４，２１４）から離間する側に付勢する付勢部（２８，３８，４２，５２）を備えることを要旨とする。 [Summary of this embodiment]
As described above, the robot device of the present disclosure is rotatably supported by the first link (11, 12) via the first link (11, 12) and the joint (13, 213). The two links (14,114,214) operate by receiving the supply of fluid, and the second link (14,114,214) is rotated relative to the first link (11,12). A robot device (10, 10B, 10C, 110, 210) including at least one artificial muscle (20, 30, 220), wherein the artificial muscle (20, 30, 220) is attached to the second link (14). , 114, 214), the gist is to provide an urging portion (28, 38, 42, 52) that urges the side away from it.
　本開示のロボット装置では、人工筋肉を第２リンクから離間する側に付勢する付勢部を備える。これにより、人工筋肉に流体圧が作用していないときに、人工筋肉が湾曲するのを抑制することができる。この結果、人工筋肉が支持部材や隣り合う別の人工筋肉などの周りの部材に接触して人工筋肉の耐久性に影響を与えるのを抑制することができる。 The robot device of the present disclosure includes an urging portion that urges the artificial muscle on the side away from the second link. As a result, it is possible to suppress the bending of the artificial muscle when the fluid pressure is not acting on the artificial muscle. As a result, it is possible to prevent the artificial muscle from coming into contact with surrounding members such as a support member or another adjacent artificial muscle and affecting the durability of the artificial muscle.
　本開示のロボット装置において、前記人工筋肉（２０，３０，２２０）に初期圧が作用したときの前記人工筋肉（２０，３０，２２０）の位置を規定する規定部（２７，３７，４７，４８，５７，５８）を更に備えるものとしてもよい。こうすれば、人工筋肉に初期圧が作用したときの人工筋肉の位置を規定することができる。 In the robot device of the present disclosure, a defining portion (27, 37, 47, 48) that defines the position of the artificial muscle (20, 30, 220) when an initial pressure is applied to the artificial muscle (20, 30, 220). , 57, 58) may be further provided. In this way, the position of the artificial muscle when the initial pressure is applied to the artificial muscle can be defined.
　本開示のロボット装置において、前記人工筋肉（２０，３０，２２０）の前記第２リンク（１４，１１４，２１４）から離間した側の端部に固定されると共に前記人工筋肉（２０，３０，２２０）の軸方向に延在し、前記第１リンク（１１，１２）に形成された挿通孔（１１ａ，１１ｂ）に挿通される軸部（２４，３４）と、前記軸部（２４，３４）の前記第１リンク（１１，１２）よりも前記人工筋肉（２０，３０，２２０）から離間した位置で前記軸方向に直交する方向に延在する延在部（２６，３６）とを更に備え、前記付勢部（２８，３８）は、前記第１リンク（１１，１２）と前記延在部（２６，３６）との間に配置されると共に前記延在部（２６，３６）を前記第１リンク（１１，１２）から離間する側に付勢する弾性体（２８，３８）を有するものとしてもよい。こうすれば、弾性体の付勢力により、人工筋肉を第２リンクから離間する側に付勢することができる。 In the robot apparatus of the present disclosure, the artificial muscle (20, 30, 220) is fixed to the end of the artificial muscle (20, 30, 220) on the side away from the second link (14, 114, 214) and the artificial muscle (20, 30, 220). ), And the shaft portion (24,34) extending in the axial direction and being inserted into the insertion holes (11a, 11b) formed in the first link (11,12), and the shaft portion (24,34). Further provided with an extension portion (26, 36) extending in a direction orthogonal to the axial direction at a position separated from the artificial muscle (20, 30, 220) than the first link (11, 12) of the above. The urging portion (28,38) is arranged between the first link (11,12) and the extending portion (26,36), and the extending portion (26,36) is connected to the extending portion (26,36). It may have an elastic body (28, 38) that urges the side away from the first link (11, 12). In this way, the urging force of the elastic body can urge the artificial muscle to the side away from the second link.
　この場合、前記延在部（２６，３６）から前記第１リンク（１１，１２）側に延出されると共に前記人工筋肉（２０，３０，２２０）に初期圧が作用したときに前記第１リンク（１１，１２）に当接して前記人工筋肉（２０，３０，２２０）の位置を規定する規定部（２７，３７）を更に備えるものとしてもよい。こうすれば、人工筋肉に初期圧が作用したときに、規定部が第１リンクに当接して人工筋肉の位置を規定することができる。 In this case, the first link extends from the extending portion (26, 36) to the first link (11, 12) side and when the initial pressure acts on the artificial muscle (20, 30, 220). A defining portion (27, 37) that abuts on (11, 12) and defines the position of the artificial muscle (20, 30, 220) may be further provided. In this way, when the initial pressure acts on the artificial muscle, the defining portion abuts on the first link to define the position of the artificial muscle.
　本開示のロボット装置において、前記人工筋肉（２０，３０，２２０）は、流体が供給された際に径方向に膨張し且つ軸方向に収縮するチューブ（２１，３１）を有するものとしてもよい。 In the robot device of the present disclosure, the artificial muscles (20, 30, 220) may have tubes (21, 31) that expand in the radial direction and contract in the axial direction when a fluid is supplied.
　以上、本開示を実施するための形態について説明したが、本開示はこうした実施形態に何等限定されるものではなく、本開示の要旨を逸脱しない範囲内において、種々なる形態で実施し得ることは勿論である。 Although the embodiments for carrying out the present disclosure have been described above, the present disclosure is not limited to these embodiments, and can be implemented in various forms without departing from the gist of the present disclosure. Of course.
　本開示は、ロボット装置の製造産業などに利用可能である。 This disclosure can be used in the robot device manufacturing industry and the like.

Claims (5)

  1. 　第１リンクと、
    　関節を介して前記第１リンクにより回動自在に支持される第２リンクと、
    　流体の供給を受けて作動すると共に前記第１リンクに対して前記第２リンクを相対的に回動させる少なくとも１つの人工筋肉と、
    　を備えるロボット装置であって、
    　前記人工筋肉を前記第２リンクから離間する側に付勢する付勢部、
    　を備えるロボット装置。     The first link and
    A second link rotatably supported by the first link via a joint,
    At least one artificial muscle that operates by receiving a fluid supply and rotates the second link relative to the first link.
    It is a robot device equipped with
    An urging portion that urges the artificial muscle to a side away from the second link,
    A robot device equipped with.
  2. 　請求項１記載のロボット装置であって、
    　前記人工筋肉に初期圧が作用したときの前記人工筋肉の位置を規定する規定部、
    　を更に備えるロボット装置。     The robot device according to claim 1.
    A defining part that defines the position of the artificial muscle when the initial pressure acts on the artificial muscle,
    A robot device further equipped with.
  3. 　請求項１記載のロボット装置であって、
    　前記人工筋肉の前記第２リンクから離間した側の端部に固定されると共に前記人工筋肉の軸方向に延在し、前記第１リンクに形成された挿通孔に挿通される軸部と、
    　前記軸部の前記第１リンクよりも前記人工筋肉から離間した位置で前記軸方向に直交する方向に延在する延在部と、
    　を更に備え、
    　前記付勢部は、前記第１リンクと前記延在部との間に配置されると共に前記延在部を前記第１リンクから離間する側に付勢する弾性体を有する、
    　ロボット装置。     The robot device according to claim 1.
    A shaft portion fixed to an end portion of the artificial muscle on a side away from the second link, extending in the axial direction of the artificial muscle, and being inserted into an insertion hole formed in the first link.
    An extending portion extending in a direction orthogonal to the axial direction at a position separated from the artificial muscle from the first link of the shaft portion, and an extending portion.
    Further prepare
    The urging portion has an elastic body that is arranged between the first link and the extending portion and urges the extending portion to a side away from the first link.
    Robot device.
  4. 　請求項３記載のロボット装置であって、
    　前記延在部から前記第１リンク側に延出されると共に前記人工筋肉に初期圧が作用したときに前記第１リンクに当接して前記人工筋肉の位置を規定する規定部、
    　を更に備えるロボット装置。     The robot device according to claim 3.
    A defining portion that extends from the extending portion to the first link side and abuts on the first link when an initial pressure acts on the artificial muscle to define the position of the artificial muscle.
    A robot device further equipped with.
  5. 　請求項１ないし４のうちの何れか１つの請求項に記載のロボット装置であって、
    　前記人工筋肉は、流体が供給された際に径方向に膨張し且つ軸方向に収縮するチューブを有する、
    　ロボット装置。     The robot device according to any one of claims 1 to 4.
    The artificial muscle has a tube that expands radially and contracts axially when fluid is supplied.
    Robot device.
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Cited By (1)

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CN115488871A (en) * 2022-09-14 2022-12-20 清华大学深圳国际研究生院 Light-weight high-torque tendon-driven single-degree-of-freedom mechanical joint device

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