WO2022071599A1 - 連結構造 - Google Patents
連結構造 Download PDFInfo
- Publication number
- WO2022071599A1 WO2022071599A1 PCT/JP2021/036514 JP2021036514W WO2022071599A1 WO 2022071599 A1 WO2022071599 A1 WO 2022071599A1 JP 2021036514 W JP2021036514 W JP 2021036514W WO 2022071599 A1 WO2022071599 A1 WO 2022071599A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- insertion portion
- hole
- clamp
- outer peripheral
- peripheral surface
- Prior art date
Links
- 238000003780 insertion Methods 0.000 claims abstract description 246
- 230000037431 insertion Effects 0.000 claims abstract description 246
- 230000002093 peripheral effect Effects 0.000 claims description 60
- 239000012530 fluid Substances 0.000 claims description 19
- 230000007423 decrease Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 description 56
- 239000010720 hydraulic oil Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 238000009751 slip forming Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B13/00—Dowels or other devices fastened in walls or the like by inserting them in holes made therein for that purpose
- F16B13/04—Dowels or other devices fastened in walls or the like by inserting them in holes made therein for that purpose with parts gripping in the hole or behind the reverse side of the wall after inserting from the front
- F16B13/10—Dowels or other devices fastened in walls or the like by inserting them in holes made therein for that purpose with parts gripping in the hole or behind the reverse side of the wall after inserting from the front with separate gripping parts moved into their final position in relation to the body of the device by a separate operation
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B1/00—Constructions in general; Structures which are not restricted either to walls, e.g. partitions, or floors or ceilings or roofs
- E04B1/38—Connections for building structures in general
- E04B1/48—Dowels, i.e. members adapted to penetrate the surfaces of two parts and to take the shear stresses
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B17/00—Connecting constructional elements or machine parts by a part of or on one member entering a hole in the other and involving plastic deformation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B5/00—Joining sheets or plates, e.g. panels, to one another or to strips or bars parallel to them
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2/00—Friction-grip releasable fastenings
- F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
- F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action
Definitions
- the present invention relates to a connecting structure for connecting two members.
- Japanese Unexamined Patent Publication No. 2018-192607 discloses an industrial robot that performs cable replacement work.
- Japanese Unexamined Patent Publication No. 2017-40594 discloses a transport robot that transports cargo.
- Japanese Unexamined Patent Publication No. 2018-153542 discloses a walking support robot that supports a user's walking.
- An object of the present invention is to provide a connecting structure capable of easily connecting a plurality of members.
- the present invention is a connecting structure for connecting the first member and the second member, and extends over a first hole formed in the first member and a second hole formed in the second member.
- the rod-shaped part includes a rod-shaped part to be accommodated, and the rod-shaped part has a first insertion portion inserted into the first hole of the first member and a second insertion portion inserted into the second hole of the second member.
- the first insertion portion and the first member are fixed by applying an external force to the first insertion portion
- the second insertion portion and the second member are fixed by applying an external force to the second insertion portion. Further provided with fixing means.
- connection structure which concerns on 1st Embodiment of this invention, and shows the state which the 1st member and 2nd member are not connected. It is a conceptual diagram of the connection structure which concerns on 1st Embodiment of this invention, and shows the state which 1st member and 2nd member are connected. It is a side view of the connection structure which concerns on 1st Embodiment of this invention, and shows the state which the 1st member and 2nd member are not connected. It is a perspective view of the 1st member and a dowel material. It is a top view of the first member and a dowel material. It is a figure which shows the modification of 1st Embodiment of this invention, and is the figure which corresponds to FIG.
- connection structure which concerns on 2nd Embodiment of this invention, and shows the state which the 1st member and 2nd member are not connected. It is an exploded perspective view of a dowel material. It is a perspective view which shows the state in the process of connecting a 1st member and a 2nd member. It is a front view of the connection structure which concerns on 2nd Embodiment of this invention. It is a top view of the connection structure which concerns on 2nd Embodiment of this invention. It is a side view of the module robot connected by the connection structure which concerns on embodiment of this invention.
- connection structure 100 is a structure for connecting two members (first member 10 and second member 20).
- FIG. 1 is a conceptual diagram of the connected structure 100 and shows a state in which the first member 10 and the second member 20 are not connected
- FIG. 2 is a conceptual diagram of the connected structure 100 and shows the first member 10 and the first member 20. It shows a state where two members 20 are connected.
- the first hole 12 and the second hole 22 are formed on the surfaces 11 and 21 of the first member 10 and the second member 20 facing each other, respectively.
- the connecting structure 100 includes a dowel material 30 as a rod-shaped part accommodated over the first hole 12 and the second hole 22.
- the first member 10 and the second member 20 are connected via a dowel material 30.
- the dowel material 30 is a columnar member having a first insertion portion 31 inserted into the first hole 12 of the first member 10 and a second insertion portion 32 inserted into the second hole 22 of the second member 20. Is.
- the dowel material 30 is made of metal or resin.
- the connecting structure 100 fixes the first insertion portion 31 and the first member 10 by applying an external force to the first insertion portion 31, and also applies an external force to the second insertion portion 32 to form a second insertion portion 32.
- a fixing means for fixing the second member 20 is provided.
- the fixing means is configured to tighten and fix the dowel material 30 by using hydraulic pressure.
- the fixing means is provided on the first clamp 13 provided on the first member 10 and facing the outer peripheral surface of the first insertion portion 31, and on the outer peripheral surface of the second insertion portion 32 provided on the second member 20.
- the second clamp 23 facing each other, the first piston 14 provided on the first member 10 and pressing the first clamp 13 against the outer peripheral surface of the first insertion portion 31 by receiving hydraulic pressure, and the hydraulic pressure provided on the second member 20. It has a second piston 24 that presses the second clamp 23 against the outer peripheral surface of the second insertion portion 32 by receiving.
- the first clamp 13 is movably accommodated in the clamp accommodating chamber 15 formed in the first member 10.
- the first piston 14 is slidably housed in the pressure chamber 16 and advances by the pressure of the hydraulic oil supplied to the pressure chamber 16 to come into contact with the first clamp 13, and the first clamp 13 is inserted into the first insertion portion 31. Press against the outer peripheral surface of.
- the second clamp 23 is movably accommodated in the clamp accommodating chamber 25 formed in the second member 20.
- the second piston 24 is slidably housed in the pressure chamber 26, advances by the pressure of the hydraulic oil supplied to the pressure chamber 26, comes into contact with the second clamp 23, and puts the second clamp 23 into the second insertion portion 32. Press against the outer peripheral surface of.
- the first member 10 is formed with a supply passage 17 that guides the hydraulic oil from the pump 1 as a hydraulic pressure supply source to the pressure chamber 16, and the second member 20 guides the hydraulic oil from the pump 1 to the pressure chamber 26.
- the supply passage 27 is formed.
- Tapered portions 31a and 32a extending toward the tip are formed on the outer peripheral surfaces of the first insertion portion 31 and the second insertion portion 32.
- a tapered portion 13a corresponding to the tapered portion 31a of the first insertion portion 31 is formed on the surface of the first clamp 13 facing the outer peripheral surface of the first insertion portion 31.
- a tapered portion 23a corresponding to the tapered portion 32a of the second insertion portion 32 is formed on the surface of the second clamp 23 facing the outer peripheral surface of the second insertion portion 32.
- the tapered portion 31a of the first insertion portion 31 and the tapered portion 13a of the first clamp 13 are formed at substantially the same angle, and when the first clamp 13 is pressed against the outer peripheral surface of the first insertion portion 31, when the first clamp 13 is pressed against the outer peripheral surface of the first insertion portion 31 A force in the direction of being inserted into the first hole 12 acts along the first clamp 13 on the first insertion portion 31.
- the tapered portion 32a of the second insertion portion 32 and the tapered portion 23a of the second clamp 23 are formed at substantially the same angle and the second clamp 23 is pressed against the outer peripheral surface of the second insertion portion 32. A force in the direction of being inserted into the second hole 12 acts on the second insertion portion 32 along the second clamp 23.
- the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 are inserted into the first hole 12 of the first member 10 and the second hole 22 of the second member 20, respectively. That is, the dowel material 30 is accommodated over the first hole 12 of the first member 10 and the second hole 22 of the second member 20.
- the first piston 14 of the first member 10 is pressured.
- the pressure of the chamber 16 advances to abut the first clamp 13, and the first clamp 13 is pressed against the outer peripheral surface of the first insertion portion 31, and the second piston 24 of the second member 20 presses the pressure chamber 26.
- the second clamp 23 is brought into contact with the second clamp 23, and the second clamp 23 is pressed against the outer peripheral surface of the second insertion portion 32.
- a force in the direction of being inserted into the first hole 12 acts on the first insertion portion 31 along the first clamp 13, and a force acts on the second insertion portion 32 along the second clamp 23.
- a force in the direction of being inserted into the second hole 12 acts.
- the first member 10 and the second member 20 receive a force in a direction approaching each other, and the surfaces 11 and 21 facing each other are brought into contact with each other and connected (state shown in FIG. 2). In this way, the first member 10 and the second member 20 are connected via the dowel material 30.
- the first insertion portion 31 and the first member 10 are formed by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 by using hydraulic pressure.
- the second insertion portion 32 and the second member 20 are fixed, and the first member 10 and the second member 20 are connected.
- the first member 10 and the second member 20 are connected so that the surfaces 11 and 21 facing each other are in surface contact with each other, and the dowel material 30 is entirely axially over the first hole 12 and the second hole 22.
- the first member 10 and the second member 20 may be connected with a gap. In that case, a part of the dowel material 30 is exposed from the first hole 12 and the second hole 22.
- supply passage 17 of the first member 10 and the supply passage 27 of the second member 20 may be configured to communicate with each other through a passage that penetrates the dowel material 30 in the axial direction.
- the hydraulic oil in the pressure chambers 16 and 26 is discharged to each of the first member 10 and the second member 20 when the connection between the first member 10 and the second member 20 is released. You may form a discharge passage for this.
- the tapered portions 31a and 32a are formed in the first insertion portion 31 and the second insertion portion 32, and the tapered portions 13a and 23a are formed in the first clamp 13 and the second clamp 23.
- the tapered portions 31a, 32a, 13a, 23a are not essential configurations. Even when the tapered portions 31a, 32a, 13a, 23a are not formed, the first insertion portion 31 and the first member 10 are fixed by pressing the first clamp 13 against the outer peripheral surface of the first insertion portion 31. At the same time, the second clamp 23 is pressed against the outer peripheral surface of the second insertion portion 32 to fix the second insertion portion 32 and the second member 20, so that the first member 10 and the second member 20 are connected. be able to.
- the working fluid may be compressed air, a water-soluble substitute liquid, or the like, in addition to the hydraulic oil.
- FIG. 3 is a side view showing a state in which the first member 10 and the second member 20 are not connected
- FIG. 4 is a perspective view of the first member 10 and the dowel material 30
- FIG. 5 is a perspective view of the first member 10. It is a top view of the dowel material 30.
- the same reference numerals are given to the configurations having the same functions.
- the first member 10 and the second member 20 are connected via four dowel members 30.
- the inlet portions 17a and 27a of the supply passages 17 and 27 are formed by opening on the side surfaces of the first member 10 and the second member 20. As shown in FIG. 5, two pressure chambers 16 communicate with each other in the supply passage 17, and the first piston 14 is slidably housed in the pressure chamber 16.
- the first clamp 13 is a pair of clamps 13A formed in a C shape and arranged so as to surround the outer peripheral surface of the first insertion portion 31 and a pair of clamps protruding from both ends of the band portion 13A at intervals. It has an attachment portion 13B and.
- the tip portion of the first piston 14 is arranged so as to face the tightening portion 13B.
- the tip portions of one first piston 14 face each other over the tightening portions 13B of the two first clamps 13. Therefore, two first pistons 14 are provided for the four first clamps 13.
- the first piston 14 advances due to the pressure of the pressure chamber 16 and comes into contact with the tightening portion 13B of the first clamp 13, so that the gap between them becomes smaller. Press the pair of tightening portions 13B. As a result, the band portion 13A is pressed against the outer peripheral surface of the first insertion portion 31 and deformed so as to tighten the outer peripheral surface of the first insertion portion 31. Since tapered portions 13a and 31a are formed on the inner peripheral surface of the band portion 13A and the outer peripheral surface of the first insertion portion 31, respectively, the first insertion portion 31 has a first hole 12 along the first clamp 13. A force in the direction of being inserted inside acts. Although the description is omitted, a force in the direction of being inserted into the second hole 22 also acts on the second insertion portion 32. In this way, the first member 10 and the second member 20 are connected by receiving a force in a direction approaching each other.
- connection structure 101 since the first piston 14 simultaneously presses the tightening portions 13B of the two first clamps 13, the two first clamps 13 can be tightened together by one first piston 14.
- the inlet portion 17a of the supply passage 17 of the first member 10 is formed by opening to the surface 18 (see FIG. 3) opposite to the surface 11 of the first member 10.
- Four pressure chambers 16 communicate with each other in the supply passage 17, and the first piston 14 is slidably accommodated in the pressure chamber 16.
- the first piston 14 is provided for each of the four first clamps 13.
- the first member 10 and the second member 20 are provided via the dowel material 30 by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 by using hydraulic pressure. Therefore, the first member 10 and the second member 20 can be easily connected as compared with the case where the two members are connected by using a bolt or the like.
- protrusions such as pins for connecting the first member 10 and the second member 20 are provided on the facing surfaces 11 and 21 of the first member 10 and the second member 20. Since it does not exist, the handleability of the first member 10 and the second member 20 during transportation and assembly is good.
- connection structure 200 is a structure for connecting two members (first member 10 and second member 20), and the first member 10 and the second member 20 are It is connected via a dowel material 30 as a rod-shaped part.
- FIG. 7 is a side view in a state where the first member 10 and the second member 20 are not connected
- FIG. 8 is an exploded perspective view of the dowel material 30
- FIG. 9 is an exploded perspective view of the first member 10 and the second member 20. It is a perspective view which shows the state in the middle of connection
- FIG. 10 is a front view of the connection structure 200 (the first member 10 and the second member 20 are shown in the cross section)
- FIG. 11 is a plan view (first) of the connection structure 200.
- the member 10 is shown in cross section).
- the connecting structure 200 fixes the first insertion portion 31 and the first member 10 by applying an external force to the first insertion portion 31, and also applies an external force to the second insertion portion 32 to the second insertion portion 32.
- the fixing means for fixing the second member 20 is different from that of the first embodiment. In the second embodiment, the fixing means is configured to expand the diameter of the dowel material 30 by an external force and fix it. This will be described in detail below.
- the dowel material 30 is inserted into the first insertion portion 31 inserted into the first hole 12 of the first member 10 and the second hole 22 inserted into the second hole 22 of the second member 20. It has an insertion portion 32 and.
- no tapered portion is formed on the outer peripheral surfaces of the first insertion portion 31 and the second insertion portion 32, and the outer diameter of the outer peripheral surface is substantially uniform.
- the outer diameter of the outer peripheral surface of the first insertion portion 31 and the second insertion portion 32 is slightly smaller than the inner diameter of the first hole 12 and the second hole 22.
- the outer periphery of the tip of the first insertion portion 31 is formed in a tapered shape to guide the insertion of the first insertion portion 31 into the first hole 12.
- the outer periphery of the tip of the second insertion portion 32 is also formed in a tapered shape.
- the dowel material 30 is a cylindrical member having a C-shaped cross section having a hollow portion 33 penetrating in the axial direction and an opening 34 formed over the outer peripheral surface and the hollow portion 33.
- the opening 34 is formed over the entire axial direction of the dowel material 30.
- the connecting structure 200 has a first radial hole 35 formed radially in the opening 34 of the first insertion portion 31 and an opening of the second insertion portion 32 as fixing means.
- a second radial hole 36 formed in the portion 34 in the radial direction, a first insertion part 41 inserted into the first radial hole 35, and a second insertion part 42 inserted into the second radial hole 36.
- the first bolt 43 as the first diameter expander for press-fitting the first insertion part 41 into the first radial hole 35 to expand the diameter of the first insertion portion 31, and the second insertion part 42 for the second radial hole. It has a second bolt 44 as a second diameter expander that is press-fitted into 36 to expand the diameter of the second insertion portion 32.
- the dowel material 30, the first insertion part 41, and the second insertion part 42 are made of metal or resin.
- the first radial hole 35 is formed over the outer peripheral surface of the first insertion portion 31 and the hollow portion 33 so as to overlap a part of the opening 34.
- the first radial hole 35 is composed of a pair of groove portions 35a and 35b formed on the end faces facing each other forming the opening 34.
- the second radial hole 36 is formed over the outer peripheral surface of the second insertion portion 32 and the hollow portion 33 so as to overlap a part of the opening 34.
- the second radial hole 36 is composed of a pair of groove portions 36a and 36b formed on the end faces facing each other forming the opening 34.
- the first radial hole 35 is formed in a tapered shape in which the width in the circumferential direction decreases from the outer peripheral surface of the first insertion portion 31 toward the hollow portion 33. That is, the first radial hole 35 is formed in a tapered shape in which the distance between the bottom portions of the groove portions 35a and 35b becomes smaller toward the center of the dowel material 30. Similarly, the second radial hole 36 is also formed in a tapered shape in which the distance between the bottom portions of the groove portions 36a and 36b becomes smaller toward the center of the dowel material 30.
- the first insertion part 41 is formed in a block shape having six outer surfaces, and is non-rotatably inserted into the first radial hole 35.
- the first insertion part 41 is formed in a tapered shape in which the distance between the side surfaces 41a and 41b becomes smaller toward the hollow portion 33.
- the central angle formed by the side surfaces 41a and 41b of the first insertion part 41 is larger than the central angle of the first radial hole 35 (the angle formed by the bottom portions of the groove portions 35a and 35b).
- the second insertion part 42 is formed in a block shape having six outer surfaces and is non-rotatably inserted into the second radial hole 36.
- the second insertion part 42 is formed in a tapered shape in which the distance between the side surfaces 42a and 42b becomes smaller toward the hollow portion 33.
- the central angle formed by the side surfaces 42a and 42b of the second insertion part 42 is larger than the central angle formed by the bottoms of the groove portions 36a and 36b in the second radial direction hole 36.
- the first insertion part 41 is formed through a fastening hole 41c to which the first bolt 43 is fastened.
- a female screw into which a male screw formed on the outer peripheral surface of the first bolt 43 is screwed is formed.
- the second insertion part 42 is formed through a fastening hole 42c to which the second bolt 44 is fastened.
- a female screw into which a male screw formed on the outer peripheral surface of the second bolt 44 is screwed is formed on the inner peripheral surface of the fastening hole 42c.
- a hole 37 is provided so as to be coaxial with the fastening hole 41c of the first insertion part 41 in a state where the first insertion part 41 is inserted into the first radial hole 35. It is formed.
- the hole 37 is formed so as to penetrate in the radial direction over the outer peripheral surface of the first insertion portion 31 and the hollow portion 33.
- the second insertion part 42 is inserted into the second radial hole 36 so as to be coaxial with the fastening hole 42c of the second insertion part 42.
- a hole 38 (see FIG. 7) is formed.
- the hole 38 is formed so as to penetrate radially over the outer peripheral surface of the second insertion portion 32 and the hollow portion 33.
- the first member 10 is formed at right angles to the first hole 12 into which the first insertion portion 31 of the dowel material 30 is inserted, and a hole 19 communicating with the inner peripheral surface of the first hole 12 is formed (FIG. 7 and FIG. 11).
- the second member 20 is formed at right angles to the second hole 22 into which the second insertion portion 32 of the dowel material 30 is inserted, and a hole 29 communicating with the inner peripheral surface of the second hole 22 is formed. (See Fig. 7).
- the first bolt 43 is fastened to the fastening hole 41c of the first insertion part 41 through the hole 19 of the first member 10 and the hole 37 of the first insertion portion 31. ..
- the second bolt 44 is fastened to the fastening hole 42c of the second insertion part 42 through the hole 29 of the second member 20 and the hole 38 of the second insertion portion 32.
- a storage hole 19a in which the head 43a of the first bolt 43 is housed is continuously formed in the hole 19.
- a storage hole 29a in which the head 44a of the second bolt 44 is housed is continuously formed in the hole 29.
- the first bolt 43 and the second bolt 44 do not interfere with other members because the heads 43a and 44a are accommodated in the accommodating holes 19a and 29a and do not protrude from the surfaces of the first member 10 and the second member 20.
- the first insertion portion 31 and the second insertion portion of the dowel material 30 are inserted, respectively.
- the portion 32 is inserted into the first hole 12 of the first member 10 and the second hole 22 of the second member 20, respectively. That is, the dowel material 30 is accommodated over the first hole 12 of the first member 10 and the second hole 22 of the second member 20.
- the first bolt 43 is sequentially inserted into the hole 19 of the first member 10 and the hole 37 of the first insertion portion 31, and screwed into the fastening hole 41c of the first insertion part 41.
- the head portion 43a of the first bolt 43 comes into contact with the bottom surface of the accommodating hole 19a of the first member 10.
- the first insertion part 41 advances in the first radial hole 35, and both side surfaces 41a and 41b are the bottom portions of the groove portions 35a and 35b of the first radial hole 35. It is press-fitted into the first radial hole 35 in close contact with the hole (states shown in FIGS. 9 and 11).
- the first insertion portion 31 When the first insertion part 41 is press-fitted into the first radial hole 35, the first insertion portion 31 is deformed so that the opening width of the opening 34 is widened, and the outer diameter is increased. As a result, the outer peripheral surface of the first insertion portion 31 is in close contact with the inner peripheral surface of the first hole 12 of the first member 10, and the first insertion portion 31 and the first member 10 are fixed.
- the second bolt 44 is sequentially inserted into the hole 29 of the second member 20 and the hole 38 of the second insertion portion 32, and screwed into the fastening hole 42c of the second insertion part 42.
- the head portion 44a of the second bolt 44 comes into contact with the bottom surface of the accommodating hole 29a of the second member 20.
- the second insertion part 42 advances in the second radial hole 36, and both side surfaces 42a and 42b are the bottom portions of the groove portions 36a and 36b of the second radial hole 36. It is press-fitted into the second radial hole 36 in close contact with.
- the second insertion part 42 When the second insertion part 42 is press-fitted into the second radial hole 36, the second insertion portion 32 is deformed so that the opening width of the opening 34 is widened, and the outer diameter is increased. As a result, the outer peripheral surface of the second insertion portion 32 is in close contact with the inner peripheral surface of the second hole 22 of the second member 20, and the second insertion portion 32 and the second member 20 are fixed.
- the first insertion part 41 is press-fitted into the first radial hole 35, whereas the second insertion part 42 is in a state before being press-fitted into the second radial hole 36. Shows.
- the first member 10 and the second member 20 are connected via the dowel material 30 (state shown in FIG. 10).
- the first insertion portion 31 and the first member 10 are fixed and the second insertion portion is inserted by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 to expand the diameter.
- the portion 32 and the second member 20 are fixed, and the first member 10 and the second member 20 are connected.
- connection between the first member 10 and the second member 20 is released by releasing the fastening of the first bolt 43 to the first insertion part 41 and the fastening of the second bolt 44 to the second insertion part 42.
- an annular groove 39 for partitioning the first insertion portion 31 and the second insertion portion 32 is formed on the outer peripheral surface of the dowel material 30.
- the annular groove 39 faces the facing surfaces 11 and 21 of the first member 10 and the second member 20. Due to the annular groove 39, the deformation of the first insertion portion 31 by the first bolt 43 does not affect the second insertion portion 32, and the deformation of the second insertion portion 32 by the second bolt 44 affects the first insertion portion 31. do not.
- the deformation of the first insertion portion 31 and the deformation of the second insertion portion 32 do not affect each other due to the presence of the annular groove 39.
- the first member 10 can be inserted from the first insertion portion 31 by simply releasing the fastening of the first bolt 43 to the first insertion part 41 (with the second bolt 44 fastened to the second insertion part 42). It becomes possible to separate.
- annular rib may be formed on the outer peripheral surface of the first insertion portion 31. ..
- the connecting structure 200 connects the first member 10 and the second member 20 via the dowel material 30 by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 to expand the diameter. Therefore, the first member 10 and the second member 20 can be easily connected as compared with the case where the two members are connected by using bolts or the like.
- protrusions such as pins for connecting the first member 10 and the second member 20 are provided on the facing surfaces 11 and 21 of the first member 10 and the second member 20. Since it does not exist, the handleability of the first member 10 and the second member 20 during transportation and assembly is good.
- connection structure 100 according to the first embodiment and the connection structure 200 according to the second embodiment described above can be used, for example, in a module robot assembled by connecting a plurality of modules. Specifically, it can be used as a connecting structure between modules.
- the first member 10 and the second member 20 are the housings of the modules.
- An example of connecting modules to each other will be described below.
- the connection of the three modules 301 (301A, 301B, 301C) constituting the module robot 300 will be described.
- the three modules 301A, 301B and 301C are the same.
- the same module means that the parts constituting the module are the same as each other, and the shapes and dimensions of those parts are the same as each other. That is, the same module can be said to be the same standard product.
- the module 301A has a first link 302A, a second link 303A connected to the first link 302A so as to be relatively movable, and a fluid pressure cylinder 304A for relatively moving the first link 302A and the second link 303A.
- the first link 302A and the second link 303A are rotatably connected via the rotation shaft 305A.
- the fluid pressure cylinder 304A expands and contracts with the working fluid supplied from the fluid pressure supply source.
- the expansion / contraction operation of the fluid pressure cylinder 304A is controlled by a controller (not shown).
- the cylinder of the fluid pressure cylinder 304A is non-rotatably fixed to the first link 302A. That is, the cylinder of the fluid pressure cylinder 304A constitutes a part of the first link 302A.
- a third link 306A is rotatably connected to the piston rod of the fluid pressure cylinder 304A and the second link 303A.
- the third link 306A is not an indispensable configuration, and the piston rod of the fluid pressure cylinder 304A and the second link 303A may be directly connected rotatably directly.
- a plurality of holes 307A into which the dowel material 30 for connecting to other modules is inserted are formed in the first link 302A and the second link 303A.
- the hole 307A corresponds to the first hole 12 or the second hole 22.
- the plurality of holes 307A formed in the first link 302A are equidistant to each other
- the plurality of holes 307A formed in the second link 303A are equidistant to each other, and are formed in the first link 302A.
- the distance between the plurality of holes 307A and the distance between the plurality of holes 307A formed in the second link 303A are the same. As a result, the modules 301 can be easily connected to each other via the dowel material 30.
- the cylinder of the fluid pressure cylinder 304A may be configured to be exposed from the first link 302A, and a hole 307A may be formed on the surface of the cylinder of the fluid pressure cylinder 304A.
- the cylinder of the fluid pressure cylinder 304A corresponds to the first member 10 or the second member 20.
- FIG. 12 shows an example in which modules 301A, 301B, and 301C are connected so as to correspond to ankle joints, knee joints, and hip joints, respectively, to form a leg robot.
- the rotation axes 305A, 305B, 305C of the modules 301A, 301B, and 301C correspond to the ankle joint, the knee joint, and the hip joint, respectively.
- the second link 303A of the module 301A functions as a foot.
- each module 301A, 301B, 301C constitutes a single-joint module, and has three degrees of freedom as a whole.
- the first link 302A of the module 301A corresponds to the first member 10
- the second link 303B of the module 301B corresponds to the second member 20.
- the first link 302A of the module 301A and the second link 303B of the module 301B are connected via the dowel material 30.
- the first link 302B of the module 301B corresponds to the first member 10
- the first link 302C of the module 301C corresponds to the second member 20. do.
- the first link 302B of the module 301B and the first link 302C of the module 301C are connected via the dowel material 30.
- the module robot 300 is not limited to the leg robot shown in FIG.
- the module robot 300 by fixing the second link 303A of the module 101A to the ground or the base and attaching a bucket, a rod, or a hand as an attachment to the second link 303C of the module 301C, the module robot 300 has various uses and functions. be able to.
- a humanoid robot can be configured by further connecting a plurality of modules 301. In this way, various robots according to applications and functions can be easily configured simply by connecting a plurality of modules 301.
- modules to be connected do not have to be the same (same standard).
- modules having different shapes and dimensions of the first link may be connected to each other, or modules having fluid pressure cylinders having different stroke lengths may be connected to each other. That is, a plurality of modules having different standards may be prepared, and the modules may be freely connected according to the desired movement of the module robot, the application and function of the module robot.
- a module robot can be manufactured at low cost by connecting a plurality of modules of the same standard to form a module robot.
- the modules 301 can be easily connected to each other, so that the operation of the module robot 300 is started. You can save time. Further, since the modules 301 are connected to each other via the dowel material 30 inserted into the holes 307A, 307B, 307C formed on the surface, there are no protrusions on the surface of the module 301. Therefore, when transporting a plurality of modules 301, the modules 301 can be transported in an overlapping manner, so that the transport efficiency is good.
- the connecting structures 100 and 200 for connecting the first member 10 and the second member 20 are accommodated over the first hole 12 formed in the first member 10 and the second hole 22 formed in the second member 20.
- the dowel material 30 (bar-shaped part) is provided, and the dowel material 30 is inserted into the first insertion portion 31 inserted into the first hole 12 of the first member 10 and the second hole 22 of the second member 20.
- the connecting structures 100 and 200 have two insertion portions 32, and the connecting structures 100 and 200 fix the first insertion portion 31 and the first member 10 by applying an external force to the first insertion portion 31, and also fix the first insertion portion 31 and the first member 10 to the second insertion portion 32. Further, a fixing means for fixing the second insertion portion 32 and the second member 20 by applying an external force is provided.
- the first insertion portion 31 and the first member 10 are fixed by applying an external force to the first insertion portion 31 of the dowel material 30, and an external force is applied to the second insertion portion 32 of the dowel material 30. Since the fixing means for fixing the second insertion portion 32 and the second member 20 is provided, the first member 10 and the second member 20 can be easily connected via the dowel material 30. Therefore, a plurality of members can be easily connected.
- the fixing means is provided on the first member 10, the first clamp 13 facing the outer peripheral surface of the first insertion portion 31, and the fixing means provided on the second member 20 and facing the outer peripheral surface of the second insertion portion 32.
- the second clamp 23, the first piston 14 provided on the first member 10 and pressing the first clamp 13 against the outer peripheral surface of the first insertion portion 31 by receiving fluid pressure, and the second member 20 are provided. It has a second piston 24 that presses the second clamp 23 against the outer peripheral surface of the second insertion portion 32 by receiving fluid pressure.
- the first member 10 and the second member 20 are connected via the dowel material 30 by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 by using the fluid pressure. Therefore, the first member 10 and the second member 20 can be easily connected.
- tapered portions 31a and 32a extending toward the tip portion are formed on the outer peripheral surfaces of the first insertion portion 31 and the second insertion portion 32, and the tapered portion 31a of the first insertion portion 31 is formed on the first clamp 13.
- the tapered portion 13a corresponding to the above is formed, and the second clamp 23 is characterized in that the tapered portion 23a corresponding to the tapered portion 32a of the second insertion portion 32 is formed.
- the dowel material 30 is a cylindrical member having a C-shaped cross section having a hollow portion 33 penetrating in the axial direction and an opening 34 formed over the outer peripheral surface and the hollow portion 33, and the fixing means is the first.
- a first radial hole 35 formed radially in the opening 34 of the insertion portion 31, a second radial hole 36 formed radially in the opening 34 of the second insertion portion 32, and a first radial hole.
- the first insertion part 41 to be inserted into the hole 35, the second insertion part 42 to be inserted into the second radial hole 36, and the first insertion part 41 are press-fitted into the first radial hole 35 to form the first insertion portion. It has a first diameter expander for expanding the diameter of 31 and a second diameter expander for expanding the diameter of the second insertion portion 32 by press-fitting the second insertion part 42 into the second radial hole 36.
- the first member 10 and the second member 20 are connected via the dowel material 30 by applying an external force to the first insertion portion 31 and the second insertion portion 32 of the dowel material 30 to expand the diameter. Therefore, the first member 10 and the second member 20 can be easily connected.
- first diameter expander is a first bolt 43 to be fastened to the fastening hole 41c formed in the first insertion part 41
- second diameter expander is a fastening hole formed in the second insertion part 42. It is a second bolt 44 fastened to 42c.
- the external force for expanding the diameter of the first insertion portion 31 and the second insertion portion 32 is generated by tightening the first bolt 43 and the second bolt 44 to the first insertion part 41 and the second insertion part 42, respectively. Therefore, the first member 10 and the second member 20 can be easily connected.
- first radial hole 35 is formed in a tapered shape in which the width in the circumferential direction decreases from the outer peripheral surface of the first insertion portion 31 toward the hollow portion 33
- second radial hole 36 is formed in the second insertion portion.
- the first insertion part 41 and the second insertion part 42 are formed in a tapered shape in which the width in the circumferential direction decreases from the outer peripheral surface of the 32 toward the hollow portion 33, and the first insertion part 41 and the second insertion part 42 have both side surfaces 41a, 41b, 42a toward the hollow portion 33.
- the first insertion part 31 and the second insertion part 32 can be brought into close contact with the first radial hole 35 and the second radial hole 36, respectively, so that the first insertion portion 31 and the second insertion portion 32 can be brought into close contact with each other.
- the diameter can be easily expanded.
- connection structures 100 and 200 are used for connecting a plurality of modules 301 constituting the module robot 300.
- the modules 301 can be easily connected to each other, so that the time until the start of operation of the module robot 300 can be shortened.
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Abstract
Description
本発明は、複数の部材を容易に連結することができる連結構造を提供することを目的とする。
図1~図6を参照して、本発明の第1実施形態に係る連結構造100について説明する。連結構造100は、2つの部材(第1部材10と第2部材20)を連結するための構造である。
次に、図7~図11を参照して、本発明の第2実施形態に係る連結構造200について説明する。上記第1実施形態と同様の機能を有する構成には、同一の符号を付して説明する。第1実施形態に係る連結構造100と同様に、連結構造200は2つの部材(第1部材10と第2部材20)を連結するための構造であり、第1部材10と第2部材20は棒状パーツとしてのダボ材30を介して連結される。
Claims (7)
- 第1部材と第2部材を連結するための連結構造であって、
前記第1部材に形成された第1穴と前記第2部材に形成された第2穴とにわたって収容される棒状パーツを備え、
前記棒状パーツは、
前記第1部材の前記第1穴に挿入される第1挿入部と、
前記第2部材の前記第2穴に挿入される第2挿入部と、を有し、
前記連結構造は、前記第1挿入部に外力を付与することによって前記第1挿入部と前記第1部材を固定すると共に、前記第2挿入部に外力を付与することによって前記第2挿入部と前記第2部材を固定する固定手段をさらに備える連結構造。 - 請求項1に記載の連結構造であって、
前記固定手段は、
前記第1部材に設けられ、前記第1挿入部の外周面に対向する第1クランプと、
前記第2部材に設けられ、前記第2挿入部の外周面に対向する第2クランプと、
前記第1部材に設けられ、流体圧を受けることによって前記第1クランプを前記第1挿入部の外周面に押し当てる第1ピストンと、
前記第2部材に設けられ、流体圧を受けることによって前記第2クランプを前記第2挿入部の外周面に押し当てる第2ピストンと、
を有する連結構造。 - 請求項2に記載の連結構造であって、
前記第1挿入部及び前記第2挿入部の外周面には、先端部に向かって広がるテーパ部が形成され、
前記第1クランプには、前記第1挿入部の前記テーパ部に対応するテーパ部が形成され、
前記第2クランプには、前記第2挿入部の前記テーパ部に対応するテーパ部が形成される連結構造。 - 請求項1に記載の連結構造であって、
前記棒状パーツは、軸方向に貫通する中空部と、外周面と前記中空部にわたって形成された開口部と、を有する断面C字状の円筒部材であり、
前記固定手段は、
前記第1挿入部の前記開口部に径方向に形成された第1径方向穴と、
前記第2挿入部の前記開口部に径方向に形成された第2径方向穴と、
前記第1径方向穴に挿入される第1挿入パーツと、
前記第2径方向穴に挿入される第2挿入パーツと、
前記第1挿入パーツを前記第1径方向穴に圧入させて前記第1挿入部を拡径させる第1拡径具と、
前記第2挿入パーツを前記第2径方向穴に圧入させて前記第2挿入部を拡径させる第2拡径具と、
を有する連結構造。 - 請求項4に記載の連結構造であって、
前記第1拡径具は、前記第1挿入パーツに形成された締結穴に締結される第1ボルトであり、
前記第2拡径具は、前記第2挿入パーツに形成された締結穴に締結される第2ボルトである連結構造。 - 請求項4に記載の連結構造であって、
前記第1径方向穴は、前記第1挿入部の外周面から前記中空部に向かって周方向の幅が小さくなるテーパ状に形成され、
前記第2径方向穴は、前記第2挿入部の外周面から前記中空部に向かって周方向の幅が小さくなるテーパ状に形成され、
前記第1挿入パーツ及び前記第2挿入パーツは、前記中空部に向かって両側面の間隔が小さくなるテーパ状に形成され、
前記第1挿入パーツ及び前記第2挿入パーツの前記両側面が成す中心角は、それぞれ前記第1径方向穴及び前記第2径方向穴の中心角と比較して大きい連結構造。 - 請求項1に記載の連結構造であって、
モジュールロボットを構成する複数のモジュールの連結に用いられる連結構造。
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Citations (6)
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JPH04112026U (ja) * | 1991-03-19 | 1992-09-29 | 古野電気株式会社 | 物品の載置固定具 |
JP2015054208A (ja) * | 2013-09-13 | 2015-03-23 | 天馬株式会社 | 連結部材、及び組立収納 |
JP2017040594A (ja) * | 2015-08-20 | 2017-02-23 | 株式会社Zmp | 距離センサー及びそれを用いた搬送用ロボット |
JP2018153542A (ja) * | 2017-03-21 | 2018-10-04 | パナソニック株式会社 | 歩行支援ロボット及び歩行支援方法 |
JP2018192607A (ja) * | 2017-05-22 | 2018-12-06 | ファナック株式会社 | 産業用ロボット |
JP2019520536A (ja) * | 2016-04-25 | 2019-07-18 | ハーフェレ ゲーエムベーハー ウント コー カーゲー | 2つのパーツを突き合わせて接合するためのダブルコネクタ |
-
2021
- 2021-10-01 WO PCT/JP2021/036514 patent/WO2022071599A1/ja active Application Filing
- 2021-10-01 CN CN202180063795.9A patent/CN116457585A/zh active Pending
- 2021-10-01 JP JP2022554157A patent/JP7426048B2/ja active Active
- 2021-10-01 US US18/245,294 patent/US20230366423A1/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH04112026U (ja) * | 1991-03-19 | 1992-09-29 | 古野電気株式会社 | 物品の載置固定具 |
JP2015054208A (ja) * | 2013-09-13 | 2015-03-23 | 天馬株式会社 | 連結部材、及び組立収納 |
JP2017040594A (ja) * | 2015-08-20 | 2017-02-23 | 株式会社Zmp | 距離センサー及びそれを用いた搬送用ロボット |
JP2019520536A (ja) * | 2016-04-25 | 2019-07-18 | ハーフェレ ゲーエムベーハー ウント コー カーゲー | 2つのパーツを突き合わせて接合するためのダブルコネクタ |
JP2018153542A (ja) * | 2017-03-21 | 2018-10-04 | パナソニック株式会社 | 歩行支援ロボット及び歩行支援方法 |
JP2018192607A (ja) * | 2017-05-22 | 2018-12-06 | ファナック株式会社 | 産業用ロボット |
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