JP5517195B2 - Rotating device, rotating control system, and fluid supply control method for rotating device - Google Patents

Description

  The present invention makes it possible to rotate the rotating member in the same direction by using a total of two actuators operated by fluid supply, and to obtain various rotating states by controlling the fluid supply state to each actuator. The present invention relates to a rotation device, a rotation control system, and a fluid supply control method for the rotation device.

  2. Description of the Related Art Conventionally, there is a rotating device that rotates a rotating member using an actuator that operates by supplying a fluid such as air or liquid. Actuators applied to this type of rotating device are generally of the type called McKinben type or fluid pressure type actuators, and expand in the radial direction by supplying fluid, while contracting in the full length direction. The object is driven by using the force accompanying the contraction. In the rotation device, such a fluid pressure type actuator is connected to the rotation member by a wire, and the actuator pulls the rotation member through the wire to rotate the rotation member.

  The rotation device configured as described above is often applied to a robot hand device corresponding to a human hand, a gripping device (chucking device) in the FA (factory automation) field, a transport device, or the like.

  In addition, some rotating devices include a plurality of actuators depending on applications. For example, in the following Patent Document 1, an actuator is arranged on both sides of a rotating member, and the actuators on both sides are alternately operated, so that the rotating member can rotate so as to swing in both directions. It is disclosed. Moreover, in the following Patent Document 2, each side of the base member (the abdomen side surface of the finger and the back side surface of the finger) applied to the location corresponding to the base part of the finger in the robot hand device is described. By arranging the actuators and alternately actuating the actuators on both sides, the operation of bending the finger and the operation of extending the finger can be switched.

JP-A 61-249292 JP 2008-32140 A

  The rotating device is used for various applications, and a two-step rotating operation may be required depending on the application. For example, a gripping device (chucking device) in the FA field may require a gripping operation in which an object is lightly gripped in the first stage and the object is gripped in the next stage. Further, when a heavy object and a light object are appropriately switched as objects to be grasped, it may be required to increase the grasping force only when grasping a heavy object. Furthermore, there are cases where both agile movement and movement of gripping a heavy object are required. However, there is a problem that such various requests cannot be handled by a conventional rotating device.

  On the other hand, there is a problem that an actuator of a size having a necessary operating amount or operating force cannot be arranged at a required location because the arrangement space of the actuator is limited. For example, there is no space for placing a large-sized actuator near the fingertip in a robot hand device, so the actuator placed near the fingertip inevitably becomes a small-sized actuator. Or although the operation amount seems to be insufficient, the conventional rotating device cannot cope with such a problem.

  The present invention has been made in view of such circumstances, and by using a total of two actuators, it is possible to meet various operation requirements and to secure a necessary operation amount or operation force even when the arrangement space is limited. An object of the present invention is to provide a rotation device, a rotation control system, and a fluid supply control method for the rotation device.

  In order to solve the above-mentioned problems, a rotating device according to the present invention is arranged on a base member, a rotating member rotatably attached to the base member, and the base member, and is operated by fluid supply. A first actuator, a second actuator disposed on the base member and actuated by fluid supply; a first wire connecting the first actuator and the rotating member; and the second actuator and the rotating member. The rotating direction of the rotating member by traction through the first wire of the first actuator operated by fluid supply including the second wire to be connected is via the second wire of the second actuator operated by fluid supply. The direction of rotation of the rotating member is the same as the direction of rotation of the rotating member.

In the rotating device according to the present invention, the outer surface of the base member on the arrangement side of the first actuator is different from the outer surface of the base member on the arrangement side of the second actuator with respect to the base member. It is characterized in that the outer surface is oriented in the direction.
Further, in the rotating device according to the present invention, the base member is a unit in which a plurality of unit members are rotatably connected, and the first actuator is connected to one unit member among the plurality of unit members. The second actuator is arranged on another unit member among the plurality of unit members.

Furthermore, the rotating device according to the present invention is characterized in that the first actuator is different in operating amount from the second actuator.
Further, in the rotating device according to the present invention, the second actuator has an operation amount larger than that of the first actuator, and a wire length dimension of the second wire is longer than that of the first wire. It is characterized by becoming.

The rotation control system according to the present invention includes the above-described rotation device, fluid supply to either the first actuator or the second actuator, and fluid to both the first actuator and the second actuator. Supply switching means for switching to supply is provided.
The rotation control system according to the present invention includes the above-described rotation device, completion detection means for detecting completion of fluid supply to the first actuator, and fluid supply to the first actuator by the completion detection means. And fluid supply control means for performing control to start fluid supply to the second actuator when the completion of is detected.

The fluid supply control method to the rotating device according to the present invention includes the fluid supply to either the first actuator or the second actuator of the rotating device, and the first actuator and the second actuator. Switching control with fluid supply to both is performed.
Moreover, the fluid supply control method to the rotating device according to the present invention includes a step of supplying fluid to the first actuator of the rotating device described above, and a step of detecting completion of fluid supply to the first actuator. And a step of starting supply of fluid to the second actuator when completion of fluid supply to the first actuator is detected.

  In the present invention, the rotation direction of the rotation member by the operation of the first actuator and the rotation direction of the rotation member by the operation of the second actuator are the same direction. In any case, the rotation member can be rotated in one rotation direction. Therefore, there are two types of rotation states: rotating the rotating member with either the first actuator or the second actuator, and rotating the rotating member with both the first actuator or the second actuator. When the actuator is rotated by both actuators, the operating force can be increased as compared with the case where the actuator is rotated by either one of the actuators.

  In the present invention, since the first actuator and the second actuator are respectively arranged on the outer surfaces of the base member in different directions, the degree of freedom of the arrangement position of each actuator is increased, and accordingly, the arrangement space of the actuator is limited. Even in such a case, it is possible to secure a total of two actuator placement locations, and accordingly, it is possible to secure a required operating amount or operating force.

  In the present invention, since the base member is formed by connecting a plurality of unit members so as to be rotatable, the base member itself can also be rotated around the connecting position of the unit members, thereby further bending. A rotating form with a high degree can be obtained. Furthermore, since the first actuator and the second actuator are arranged in different unit members, it becomes easy to cope with a case where the arrangement location of each actuator is dispersed and the arrangement space of the actuator is limited, and accordingly, A required operating amount or operating force can be secured.

  In the present invention, since the operation amounts of the first actuator and the second actuator are made different, a two-step rotation operation can be realized. That is, actuators that are actuated by fluid supply generally have a small actuation amount (eg, a smaller overall length than the other or a smaller diameter than the other), and an actuator that can operate quickly. On the other hand, an actuator has a small operating force (a force that pulls the rotating member), while an actuator has a large operating amount (for example, the full length is larger than the other or the diameter is larger than the other). On the other hand, since it has a characteristic that agile operation is inferior, using two actuators with different operation amounts makes it possible to respond to the demands of various rotation states, and accordingly, various gripping operations can be realized. Become.

  In the present invention, the second actuator is arranged so that the wire length dimension of the second wire is longer than that of the first wire, and the amount of operation of the second actuator is larger than that of the first actuator. The first actuator having a small operation amount is arranged closer to the rotating member. Therefore, it is possible to secure a suitable actuator arrangement for the robot hand device (a small-sized actuator is arranged near the fingertip and a large-sized actuator is arranged near the finger base), and the second actuator can Since the actuating force or actuating amount of one actuator can be supplemented, the required actuating force or actuating amount can be secured.

  In the present invention, since the fluid supply to either the first actuator or the second actuator and the fluid supply to both the first actuator and the second actuator are switched, two-stage rotation is performed. It is possible to realize the required operating force or operating force by supplementing the operating force of one actuator with the operating force of the other actuator by switching the fluid supply destination, and various rotations It becomes possible to correspond to the state.

  In the present invention, since the fluid supply to the second actuator is started after the completion of the fluid supply to the first actuator is detected, the two-stage rotation state can be reliably performed. For example, when the operating amount of the first actuator is smaller than the operating amount of the second actuator, first, the rotating member is quickly rotated by the first actuator, and then the rotational force of the rotating member is rotated by the second actuator. Rotation control that compensates for this becomes possible. In addition, when the operation amount of the first actuator is larger than the operation amount of the second actuator, first the rotation member is largely rotated by the first actuator, and then the rotation member is slightly rotated by the second actuator. It is possible to control the rotation so as to be moved.

In the present invention, the rotation direction of the rotation member by the operation of the first actuator and the rotation direction of the rotation member by the operation of the second actuator are the same direction. In any case, the rotation member can be rotated in one rotation direction, thereby realizing various rotation states.
In the present invention, since the first actuator and the second actuator are respectively arranged on the outer surfaces of the base member in different directions, even in a situation where the arrangement space of the actuator is limited, a total of two actuators Placement location can be secured.

Furthermore, in the present invention, the base member is formed by rotatably connecting a plurality of unit members, and the first actuator and the second actuator are arranged on different unit members. It is possible to obtain a turning form with a high degree of flexion suitable for the finger portion, and to easily secure the arrangement space of each actuator.
Furthermore, in the present invention, since the operation amounts of the first actuator and the second actuator are made different, a two-step rotation state can be realized, and a range that can meet the specification requirements regarding various rotations. Can be increased.

  In the present invention, the second actuator is arranged so that the wire length of the second wire is longer than that of the first wire, and the operation amount of the second actuator is made larger than that of the first actuator. Therefore, it is possible to secure a suitable actuator arrangement form for the finger portion in the robot hand device, and to secure a sufficient turning force and rotation range for the rotation member corresponding to the fingertip portion.

Furthermore, in the present invention, since the fluid supply to either the first actuator or the second actuator and the fluid supply to both the first actuator and the second actuator are switched, two-stage operation is performed. A rotating state, a state in which the operating force or operating amount of one actuator is supplemented by the other actuator and the rotating member is rotated can be realized, and various rotating states can be dealt with.
Furthermore, in the present invention, since the fluid supply to the second actuator is started after the completion of the fluid supply to the first actuator is detected, the two-stage rotation state can be reliably performed. it can.

BRIEF DESCRIPTION OF THE DRAWINGS It is a rotation apparatus which concerns on embodiment of this invention, (a) is a side view, (b) is a top view. It is an actuator applied to the rotation device of the embodiment, (a) is a cross-sectional view showing a state where no fluid is supplied, (b) is a cross-sectional view showing a state where the fluid is supplied and swells to the maximum. . It is a through-hole which attaches the hose for fluid supply, (a) is sectional drawing which shows the state before attachment, (b) is sectional drawing which shows an attachment state. It is a principal part perspective view which shows attachment of a wire. It is a principal part perspective view which shows the several guide member which guides a wire. It is a block diagram which shows the structure of a rotation control system. (A) is a schematic side view showing a state where only the first actuator is operated, (b) is a schematic side view showing a state where both actuators are operated, and (c) is a state where only the second actuator is operated. It is a schematic side view shown. It is a rotation device of a modification, (a) is a schematic side view showing a state where only the first actuator is operated, (b) is a schematic side view showing a state where both actuators are operated, and (c) is a first side view. It is a schematic side view which shows the state which actuated only two actuators. It is the rotation apparatus of another modification which has arrange | positioned two actuators, (a) is a side view which shows the state which act | operated only the 1st actuator, (b) is a top view, (c) is a bottom view. . (A) is a plan view of a rotating device of a modified example in which two actuators having the same operation amount are arranged in parallel, and (b) is a rotation of the modified example in which two actuators having different operating amounts are arranged in parallel. It is a top view of a moving device. It is a schematic plan view which shows the rotation apparatus of the modification applied to the finger | toe part of the robot hand apparatus.

  1A and 1B show a rotating device 1 according to an embodiment of the present invention. The rotation device 1 of the present embodiment has a structure corresponding to exactly one finger portion of the robot hand device, and a total of three first unit members 3 to 3 connected in series to be rotatable. A rotating member 6 corresponding to the fingertip portion is rotatably connected to the distal end side of the base member 2 constituted by the three unit members 5. Further, the rotation device 1 arranges the first actuator 10 on the third unit member 5 that is directly connected to the rotation member 6, and the second unit member 3 on the first unit member 3 farthest from the rotation member 6. An actuator 20 is arranged. Hereinafter, the rotation device 1 will be described in detail. Note that the X-axis direction shown in FIGS. 1A and 1B represents a direction parallel to the longitudinal direction of the rotation device 1, and the Y-axis direction shown in FIG. The Z-axis direction shown in FIG. 1A is orthogonal to both the X-axis and Y-axis directions, and represents the direction perpendicular to the direction and parallel to the width direction of the rotation device 1. It represents a direction parallel to the thickness direction. Each direction of these X, Y, and Z axes shows the same direction also in other figures.

  The first unit member 3, the second unit member 4, and the third unit member 5 constituting the base member 2 are all plate-like members, and synthetic resin members are used in this embodiment. These materials are also applicable. As shown in FIG. 1B, the tip 3c of the first unit member 3 is formed in a concave shape near the center in the width direction (Y-axis direction), and the rear of the second unit member 4 is formed in the concave portion. The convex part of the center part of the width direction (Y-axis direction) in the edge part 4d is located. Then, the first rotation shaft 7a is passed through the convex portions of the front end portion 3c of the first unit member 3 and the rear end portion 4d of the second unit member 4, and both the members 3 and 4 are rotatably connected. doing.

  The second rotating member 4 and the third rotating member 5 are also connected in the same manner as described above, and the convex portion of the rear end portion 5d of the third unit member 5 is formed on the concave portion of the front end portion 4c of the second unit member 4. The two portions 4 and 5 are rotatably connected by the second rotating shaft 7b penetrating both of them.

  Further, the rotating member 6 connects the rear end portion 6d in the same manner as the unit members described above. Specifically, the rotating member 6 is connected to the concave portion of the distal end portion 5c of the third unit member 5. The convex portion of the rear end portion 6d is located, and the members 5 and 6 are rotatably connected by the third rotation shaft 7c penetrating both. Note that the front end 6c of the rotating member 6 has a gentle arcuate outline.

  2A and 2B show the first actuator 10 disposed on the first surface (upper surface) 5b of the third unit member 5 in the base member 2 described above. The first actuator 10 is a fluid pressure type actuator that operates (swells) by supplying a fluid. FIG. 2 (a) shows a state in which no fluid is supplied, and FIG. It shows the state of being stuck (actuated state).

  The first actuator 10 is configured to cover an internal bag body 11 with a covering body 12, and the first hose T <b> 1 for supplying fluid is inserted into the opening end 11 b on the opposite side of the front end 11 a of the bag body 11, and the bag The opening end 11b is fastened and fixed to the first hose T1 with a heat shrinkable tube 13 placed over the opening end 11b of the body 11. Then, the base portion 12 b of the cylindrical covering 12 is covered from above the heat shrinkable tube 13 and bound and fixed by the binding wire 14. Further, the first actuator 10 has a first wire 21 wound around the tip 12a of the covering 12 and is bound, and the tip of the first wire 21 is connected to the rotating member 6 as will be described later. .

  The bag 11 applied to the first actuator 10 can be made of various materials as long as the bag 11 swells when supplied with a fluid, and has elasticity (for example, a material including a rubber component). Stretchable (elastically deformable)) or non-elastic (for example, non-rubber material that does not stretch (not elastically deformed), specifically polyethylene bags) Either of these can be applied. In addition, as shown in FIG. 2A, the bag body 11 has a tip 11a that is separated from the inside of the tip 12a of the covering body 12 in a state where no fluid is supplied, as shown in FIG. Is selected, after the tip 11a of the bag body 11 touches the inside of the covering body 12 due to the supply of fluid, the linear operating characteristics of the first actuator 10 (the degree of contraction in the X-axis direction) are obtained. Therefore, it is preferable.

  Further, the covering 12 applied to the first actuator 10 is a tubular, flexible knitted fabric. In this embodiment, the polyester multifilament yarn, which is an ester-based yarn, is knitted by a bag making machine using a string making machine. It has been. At the time of knitting, the stitches are diamond-shaped (bias), and the longitudinal direction of the diamond-shaped (bias) is knitted so as to coincide with the longitudinal direction of the covering 12 (direction parallel to the X-axis), and parallel to the X-axis. Can be expanded and contracted (elastically deformable) in any of the above directions and the direction orthogonal to the X axis (the direction in which the first actuator 10 expands in diameter).

  In the state where the fluid is not supplied (non-operating state), the first actuator 10 has a total length of L3 in the X-axis direction as shown in FIG. Following the expansion of the body 11, the covering body 12 expands and contracts (shrinks in the X-axis direction and extends in a direction perpendicular to the X-axis direction), and the overall length of the first actuator 10 is contracted to L4 (L4 <L3). . As a result, the first actuator 10 pulls the first wire 21 in the direction of the arrow shown in FIG. 2B by the contraction dimension (L3-L4).

  Such a first actuator 10 has a dimension in the X-axis direction (for example, L4 shown in FIG. 2 (b)) when the diameter is expanded to the maximum within a range that does not rupture, and L3 shown in FIG. 2 (a). The ratio is the shrinkage rate. 2A and 2B, the hydraulic actuator of the type shown in FIG. 2A generally has a shorter overall length L3 in the state where the fluid is not supplied as shown in FIG. The other conditions are the same in the case where only the full length dimensions are compared), and the operation amount (distance to pull the first wire 21) becomes small. For this reason, since the amount of fluid supplied until it expands to the maximum extent within a range that does not rupture can be reduced, the operating force (the force that pulls the first wire 21) is reduced, but on the other hand, agile operation is achieved. It has the characteristics obtained.

  On the other hand, the 2nd actuator 20 arrange | positioned in the 1st surface (upper surface) 3b of the 1st unit member 3 in the base member 2 shown to Fig.1 (a) (b) is the same as the 1st actuator 10 mentioned above. The configuration is different in dimensions. That is, the second actuator 20 is applied with a total length dimension (dimension parallel to the X-axis direction) larger than the total length dimension L3 of the first actuator 10 without supplying the fluid shown in FIG. doing. Therefore, the operation amount of the second actuator 20 in the rotation device 1 of the present embodiment is larger than that of the first actuator 10.

  Since the first actuator 10 is shorter than the second actuator 20 in a state in which no fluid is supplied, the first actuator 10 swells even with a small amount of fluid compared to the second actuator 20 and can ensure agile operating characteristics (however, The operation amount and the operation force are inferior to those of the second actuator 20). In addition, since the second actuator 20 has a longer overall length than the first actuator 10 in a state in which no fluid is supplied, the second actuator 20 can ensure a larger operation amount than the first actuator 10 (the distance at which the wire can be pulled). Large), a large amount of fluid is required to swell, so that a large operating force can be secured (however, agile operating characteristics are inferior to the first actuator 10). Thus, in the rotating device 1 of the present embodiment, the first actuator 10 and the second actuator 20 having different operation characteristics are used.

  FIGS. 3A and 3B show a cross section of the main part of the first hose T <b> 1 extending from the rear end of the first actuator 10 and the third unit member 5. The third unit member 5 is formed with a through hole 5e penetrating from the first surface (upper surface) 5b to the second surface (bottom surface) 5a. The through-hole 5e penetrates the third unit member 5 at an angle of 45 degrees with respect to the X-axis direction so as to bisect the angle formed by the X-axis direction and the Z-axis direction. Is formed to be uneven. And the internal-diameter dimension in the convex part (mountain part) in the uneven | corrugated inner peripheral surface of the through-hole 5e is d1.

  The first hose T1 is a synthetic resin hose, has a certain flexibility, and has an outer diameter d2 (d2> d1). When the first hose T1 is press-fitted into the through hole 5e, the outer diameter of the first hose T1 is bent, so that the through hole 5e is inserted. Then, as shown in FIGS. 1A and 1B, the first hose T <b> 1 is pulled so that the first actuator 10 is disposed at an appropriate position with respect to the third unit member 5, so that the second through hole 5 e is formed. Pass to the surface (bottom surface) 5a side. In the state of passing in this way, as shown in FIG. 3B, the first hose T1 is held (clamped) by the convex portion (mountain portion) of the inner peripheral surface of the through hole 5e. The position of the first actuator 10 is also fixed.

  The second hose T2 of the second actuator 20 is also held in the same manner as described above. Specifically, the second hose T2 is held (clamped) by a through-hole formed in the first unit member 3, thereby The second actuator 20 is positioned at an appropriate position with respect to the first unit member 3.

  FIG. 4 shows a state in which the first wire 21 extending from the tip of the first actuator 10 is attached to the rotating member 6. The first wire 21 is a wire connecting the first actuator 10 and the rotating member 6, and the rotating member 6 is formed with a mounting hole 6 e through which the first wire 21 is attached. A screw hole 6 i communicating from the side of the mounting hole 6 e is formed in the side surface 6 h of the rotating member 6. As shown in FIG. 1B, the mounting hole 6e is formed at a location separated from the rotation center of the third rotation shaft 7c that connects the rotation member 6 and the third unit member 5 by a dimension L1. Yes.

  The first wire 21 is attached to the rotating member 6 by inserting the first wire 21 from the distal end 21a, and the first wire 21 extending from the first actuator 10 disposed on the third unit member 5 is tightly stretched. The first wire 21 is pulled in until it reaches the closed state, and in that state, a set screw 9 (thread screw) is screwed into the screw hole 6i, and the first wire 21 is attached to the inner peripheral surface of the mounting hole 6e at the tip of the set screw 9. By pressing and fixing, the leading end 21 a side of the first wire 21 is connected to the rotating member 6.

  Note that the two second wires 22a and 22b connecting the second actuator 20 and the rotating member 6 are attached to the rotating member 6 in the same manner as in the case of the first wire 21 described above. As shown in (a) and (b), since two second wire rods 22a and 22b extend from the second actuator 20, a total of two mounting holes 6f and 6g are also provided on the rotating member 6. Forming. These attachment holes 6f and 6g are formed at a location separated from the rotation center of the third rotation shaft 7c by a dimension L2 (L2> L1), as shown in FIG. 1 (b). The screw holes 6j and 6k for set screws are formed in the side surface 6h of the rotating member 6 so as to communicate with the mounting holes 6f and 6g, as in the case of the first wire 21 described above. Yes (see FIG. 4).

  Further, in order to prevent the second wire rods 22a and 22b from interfering with the first actuator 10, as shown in FIGS. 1B and 5, in the width direction (Y-axis direction) of the rotating device 1, The guide members 25a to 25h for guiding the second wire rods 22a and 22b in this way are guided so as to pass through the both sides of the members 4 to 6, and the second unit member 4, the third unit member 5 and the turn unit. It is attached to the upper surface 4b, 5b, 6b of the moving member. Each of the guide members 25a to 25h is a split pin-like member having a ring portion, the tip end side of the split pin shape is embedded in each of the members 4, 5, and 6, and the second wire rods 22a and 22b are embedded in the ring portion. By letting it pass, the wiring of the second wire rods 22a and 22b is guided (see FIG. 5). By guiding each of the second wire rods 22a and 22b in this way, interference with the first actuator arranged at the center in the width direction (Y-axis direction) of the rotating device 1 (third unit member 5) can be avoided. .

  Since the first wire 21 and each of the second wires 22a and 22b are wired to the rotating device 1 in the above-described form, the second wire 20 is disposed on the first unit member 3 farthest from the rotating member 6. The two second wire rods 22a and 22b that extend are considerably longer than the first wire rod 21 that extends from the first actuator 10 disposed on the third unit member 5 that is closest to the rotating member 6. It has become.

  Further, as shown in FIG. 1A, the rotating device 1 includes a total of three first tension coil springs 8a to third tension coil springs on the side (bottom surface side) opposite to the arrangement side of the actuators 10 and 20. 8c is attached. Specifically, the first tension coil spring 8 a is attached so as to connect the second surface (bottom surface) 3 a of the first unit member 3 and the second surface (bottom surface) 4 a of the second unit member 4. The coil spring 8b is attached to connect the second surface (bottom surface) 4a of the second unit member 4 and the second surface (bottom surface) 5a of the third unit member 5, and the third tension coil spring 8c is A second surface (bottom surface) 5 a of the third unit member 5 and a second surface (bottom surface) 6 a of the rotating member 6 are attached to each other.

  By attaching the tension coil springs 8a to 8c in this way, in the state where the actuators 10 and 20 are not supplied with fluid (non-actuated state), the biasing forces (spring tension forces) of the tension coil springs 8a to 8c are used. The unit members 3 to 5 and the rotating member 6 can maintain a straight lined posture.

  FIG. 6 shows a rotation control system 30 that includes the rotation device 1 described above, and includes a fluid supply system circuit that supplies fluid to the rotation device 1 and a control system circuit related to fluid supply. The rotation control system 30 includes a fluid pressure generation source 31, a distributor 32, a first switching valve 33 (corresponding to supply switching means), a first flow sensor 34, and a second switching valve as main components of the fluid supply system circuit. 35 (corresponding to supply switching means) and a second flow rate sensor 36, and a control device 37 (corresponding to completion detection means and fluid supply control means) and an operation unit 38 as main components of the control system circuit. ing. In FIG. 6, the circuit of the power supply system is not shown.

  The fluid pressure generating source 31 supplies a fluid having a predetermined supply pressure, and in the present embodiment, a compressor is applied to supply air having a predetermined pressure to the distributor 32. Although not shown in FIG. 6, it is assumed that devices such as a regulator used in a general pneumatic circuit are attached between the fluid pressure generation source 31 and the distributor 32. The distributor 32 divides the air supplied from the fluid generation source 31 into two systems (in this embodiment, the system of the first actuator 10 and the system of the second actuator 20).

  The first switching valve 33 connected to one system of the distributor 32 has a valve driven by a solenoid coil inside, and this valve is appropriately driven, so that the IN side on the distributor 32 side. The state of the port 33b and the out side port 33a connected to the first flow sensor 34 can be switched to a total of three types of states. The first of the three states is a state where the in-side port 33b and the out-side port 33a communicate with each other, the second is a state where both are blocked, and the third is a state where the in-side port 33b is closed and the out-side port 33b is closed. In other words, the side port 33a is opened to the atmosphere. The switching state of the first switching valve 33 is controlled by the control device 37, and the first switching valve 33 is connected to the control device 37 by the first control line C1 for control.

  The first flow rate sensor 34 measures the flow rate of the fluid (air) passing through itself from the start of supply to the stop of supply (during continuous supply). It is sent to the control device 37 as needed through the signal line S1. The first flow sensor 34 is connected to the first actuator 10 through the first hose T1.

  The configuration of the other system of the distributor 32 (system of the second actuator 20) is the same as that of the above-described one system (system of the first actuator 10), and the distributor 32 is connected to the input of the second switching valve 35. Connected to the side port 35b, the out side port 35a of the second switching valve 35 is connected to the second flow rate sensor 36, and the second flow rate sensor 36 is connected to the second actuator 20 through the second hose T2.

  The second switching valve 35 is capable of the same valve driving state (three types of switching states) as the first switching valve 33 described above, and is connected to the control device 37 by the second control line C2. The second flow sensor 36 is also the same as the first flow sensor 34 described above, and sends the measurement result to the control device 37 through the second signal line S2.

  The control device 37 is a programmable controller for FA (factory automation), has a built-in CPU, a built-in memory 37a for defining a control program, setting values, and the like, and an operation unit 38 for receiving operations from an operator. doing. The memory 37a of the present embodiment stores in advance a control program for controlling the supply / non-supply of fluid to the actuators 10 and 20 of the rotation device 1, and the maximum supply amount of fluid to the first actuator 10 as a set value. It is assumed that the (first set value) and the maximum fluid supply amount (second set value) to the second actuator 20 are stored in advance.

  The control program stored in the memory 37a defines the control contents of the CPU of the control device 37, and has a total of three types of fluid supply control patterns. In the first mode, the fluid is supplied to the first actuator 10 and then the fluid is supplied to the second actuator 20. The second mode supplies fluid to the first actuator 10 and the second actuator 20 simultaneously. The third mode supplies fluid to the first actuator 10 after supplying fluid to the second actuator 20.

  The specific contents of the first mode of the control program are as follows: first, the out-side port 33b and the in-side port 33a of the first switching valve 33 are brought into communication, and the second switching valve 35 is connected to the out-side port 35b and the in-side. It is defined that the opening 35a is in a shut-off state, and as a result, the fluid is supplied only to the first actuator 10. Next, in the first mode, the measurement result sent from the first flow sensor 34 is compared with the first set value stored in the memory 37a, and the measurement result becomes equal to the first set value ( When it is detected that the fluid supply to the first actuator 10 has been completed), it is specified that the out side port 33b and the in side port 33a of the first switching valve 33 are switched from the communication state to the cutoff state. One actuator 10 is maintained in a state where it is expanded most.

  Then, the first mode defines that the fluid supply to the second actuator 20 is started by switching the out-side port 35b and the in-side port 35a of the second switching valve 35 from the shut-off state to the communication state. Then, the measurement result sent from the second flow sensor 36 is compared with the second set value stored in the memory 37a, and the measurement result becomes equal to the second set value (to the second actuator 20). When it is detected that the fluid supply is complete, it is defined that the out side port 35b and the in side port 35a of the second switching valve 35 are switched from the communication state to the cutoff state. The swollen state will be maintained. According to the regulation of the first mode of the control program, the rotating device 1 is first operated in a state where only the first actuator 10 is expanded most, and then the second actuator 20 starts to operate and expands most. A two-stage operating state is achieved, which leads to a dead state.

  In the second mode of the control program, first, the out-side port 33b and the in-side port 33a of the first switching valve 33 are brought into communication, and the second switching valve 35 is also connected to the out-side port 35b and the in-side port 35a. The communication state is defined so that fluid is supplied to both the first actuator 10 and the second actuator 20. Next, in the second mode, the measurement result sent from the first flow sensor 34 is compared with the first set value stored in the memory 37a, and the measurement result sent from the second flow sensor 36. Is compared with the second set value stored in the memory 37a.

  When the measurement result of the first flow sensor 34 becomes equal to the first set value, the second mode defines that the out-side port 33b and the in-side port 33a of the first switching valve 33 are switched from the communication state to the cutoff state. As a result, the first actuator 10 is maintained in the most expanded state. Similarly, when the measurement result of the second flow sensor 36 becomes equal to the second set value, the second mode is to switch the out side port 35b and the in side port 35a of the second switching valve 35 from the communication state to the cutoff state. Thus, the state in which the second actuator 20 is expanded most greatly is maintained. According to the regulation of the second mode of the control program, the rotating device 1 starts the operation of the first actuator 10 and the second actuator 20 at the same time and reaches the state where the two actuators 10, Compared with the case where only one actuator is operated by the 20 simultaneous operations, the rotating device 1 can obtain a large operating force.

  Further, the third mode of the control program is to perform control in the reverse order to the case of the first mode described above. The first actuator 10 is actuated. That is, in the third mode, the out-side port 35b and the in-side port 35a of the second switching valve 35 are in communication with each other, and the first switching valve 33 sets the out-side port 33b and the in-side port 33a in a shut-off state. Is stipulated. Next, the measurement result sent from the second flow sensor 36 is compared with the second set value stored in the memory 37a, and when the measurement result becomes equal to the second set value, the second switching valve 35 is out. The third mode defines that the side port 35b and the in-side port 35a are switched from the communication state to the cutoff state. Then, in the third mode, the out side port 33b and the in side port 33a of the first switching valve 33 are switched from the shut-off state to the communication state, and the measurement result sent from the first flow sensor 34 and the memory 37a are stored. The first set value is compared, and when the measurement result is equal to the first set value, it is specified that the out side port 33b and the in side port 33a of the first switching valve 33 are switched from the communication state to the cutoff state. Yes.

  In addition to the first mode to the third mode described above, the control program also includes a reset mode for returning the rotating device 1 to the reset state (origin state). In the reset mode of the control program, the out side port 33b of the first switching valve 33 is closed to open the in side port 33a, and the out side port 35b of the second switching valve 35 is closed to close the in side port. 35a is defined as being open to the atmosphere. Due to the provision of the reset mode, the fluid is discharged from the first actuator 10 and the second actuator 20, and the rotating device 1 puts both the actuators 10 and 20 into the non-operating state as shown in FIG. Thus, each of the unit members 3 to 5 and the rotating member 6 return to a straight lined posture (the posture in the origin state).

  The operation unit 38 connected to the control device 37 includes a selection button for allowing the user to appropriately select the first mode, the second mode, the third mode, or the reset mode of the control program described above. . When the selection button is operated by the user, the operation unit 38 notifies the control device 37 of the mode selected by the operation. In this case, the CPU of the control device 37 activates the mode of the control program corresponding to the mode transmitted from the operation unit 38 and executes the specified contents of each mode of the control program described above.

  Next, the actual movement of the rotating device 1 in each mode described above will be described with reference to FIGS. 7A to 7C, in order to clearly represent the movements of the members 2 to 6 of the rotating device 1, the middle portions of the second wires 22a and 22b and the first tension coil springs 8a to 8c. The three tension coil springs 8c and the like are not shown.

  First, FIG. 7A shows a state where only the first actuator 10 is operated and swells most greatly in the first stage of the first mode. In this state, the actuated first actuator 10 pulls the rotating member 6 through the first wire 21, so that the rotating member 6 has the third rotating shaft 7c as the center of rotation, as shown in FIG. ) To rotate clockwise. Although the operation amount of the first actuator 10 is smaller than that of the second actuator 20, as shown in FIG. 1B, from the rotation center of the third rotation shaft 7 c to the rotation member 6 of the first wire 21. Since the distance L1 to the connected location is shorter than the distance L2 to the location connected to the rotating member 6 of the second wire rods 22a and 22b (L1 is about 1/3 of L2), Even with a small operating amount, the rotation member 6 rotates to a certain angle θ1 (about 45 degrees) with respect to the bottom surface 5a of the third rotation member 5.

  Next, when the second actuator 20 is activated and swells most greatly in the second stage of the second mode, a state as shown in FIG. In the state shown in FIG. 7B, the second actuator 20 that has been actuated pulls the rotating member 6 via the second wire rods 22 a and 22 b, thereby connecting the second unit 20 connected to the distal end side from the first unit member 3. The total three members of the unit member 4, the third unit member 5 and the rotation member 6 are rotated in an interlocking manner so as to be bent. Specifically, the second unit member 4 rotates in the clockwise direction in FIG. 7B with the first rotation shaft 7a as the rotation center, and the third unit member 5 rotates the second rotation shaft 7b. The rotation member 6 is rotated in the clockwise direction in FIG. 7B about the rotation center, and the rotation member 6 is rotated in the clockwise direction (the first actuator 10 in FIG. 7B about the third rotation shaft 7c. Rotate in the same direction as traction by In this state, the rotation member 6 has an angle θ2 with respect to the bottom surface 5a of the third unit member 5 increased from the state shown in FIG. 7A (θ2> θ1).

  The movement of the rotating device 1 in such a first mode is because the rotating member 6 is first pulled by the first actuator 10 having a small operating amount, so that the response to the fluid supply through the first hose T1 is good ( The rotating member 6 can be rotated to the angle θ1 quickly. Thereafter, by pulling the rotating member 6 with the second actuator having a large operation amount, the three units of the second unit member 4, the third unit member 5 and the rotating member 6 are slowly rotated and rotated. The member 6 can be rotated to the angle θ2, and in this state (the state shown in FIG. 7B), the rotation of the rotating member 6 is maintained by the operating force of both the first actuator 10 and the second actuator 20. The force to be applied is greatly increased from the state in which only the first actuator 10 shown in FIG.

  Due to the operational characteristics of the first mode as described above, the first mode of the rotating device 1 is used to perform an operation of quickly grasping an object first and then slowly grasping the object being grasped. It is suitable for a robot hand device or a gripping device (chucking device).

  Further, in the second mode, since both the actuators 10 and 20 are simultaneously operated in the rotating device 1, both actuators 10 and 20 are not passed through the state shown in FIG. 7A as shown in FIG. , 20 are both in the largest inflated state. Due to the operational characteristics of the second mode, the second mode of the rotation device 1 is suitable for a robot hand device or a gripping device (chucking device) for use in gripping an object with a large force from the beginning. Become.

  Further, in the third mode, as shown in FIG. 7C, at the first stage, only the second actuator 20 having a large operation amount is operated and is in a state of being swelled to the greatest extent. In this state, the actuated second actuator 20 pulls the rotating member 6 via the second wires 22a and 22b, so that the second unit member 4, the third unit member 5 and the first unit member 3 The rotating member 6 is interlocked and rotated in the clockwise direction in FIG. 7C, and the rotating member 6 is rotated to the angle θ 3 with respect to the bottom surface 5 a of the third unit member 5.

  Then, in the second mode, the first actuator 10 having a small operation amount is operated and is expanded most greatly at the second stage, and the state becomes as shown in FIG. 7B. In the state shown in FIG. 7B, the actuated first actuator 10 pulls the rotating member 6 through the first wire 21, so that the rotating member 6 has the third rotating shaft 7c as the center of rotation. 7 (b), the angle with respect to the bottom surface 5a of the third unit member 5 is increased from the state shown in FIG. 7 (c) to an angle θ2 (θ2> θ3).

  From the operation characteristics of the third mode as described above, the third mode of the rotating device 1 is an operation in which the object is first strongly gripped, and then the object being gripped is adjusted with an increased grip. It is suitable for a robot hand device or a gripping device (chucking device) used for Note that the first mode to the third mode described above can be switched as appropriate by the user operating the operation unit 38.

  Moreover, this invention is not limited to the form of the rotation apparatus 1 mentioned above, A various modified example can be considered. For example, the first actuator 10 and the second actuator 20 may have the same operation amount depending on the application. Further, the first actuator 10 has a larger operation amount than the second actuator 10. In such a case, the dimension in the X-axis direction of the member (the first unit member 3 and the third unit member 5) on which the actuators 10 and 20 are arranged is also set to the size of the actuator. The combined one will be used.

  FIGS. 8A to 8C show a rotating device 41 of a modified example in which the base member 42 is integrally formed instead of a plurality of unit members. In the rotation device 41 of this modification, a rotation member 43 is rotatably connected to the tip 42 c side of the base member 42 via a rotation shaft 44, and the first actuator 45 having a small operation amount is connected to the base member 42. The second actuator 46 having a large operation amount is disposed on the first surface (upper surface) 42b on the rear stage 42d side of the base member 42, while being disposed on the first surface (upper surface) 42b on the tip 42c side. Other portions are the same as those of the rotating device 1 shown in FIGS. 1A and 1B, but also in FIGS. 8A to 8C, the bottom surface 42a of the base member 42 and the bottom surface of the rotating member 43 are connected. Illustration of the tension coil springs to be connected is omitted.

  FIG. 8A shows that the fluid is supplied only to the first actuator 45 via the first hose T11, so that the first actuator 45 is in the most swelled state and pulls the first wire 47, and the rotating member. Reference numeral 43 denotes a state in which the base member 42 is rotated by an angle θ4 with respect to the bottom surface 42a of the base member 42.

  FIG. 8B shows that both the actuators 45 and 46 are supplied by supplying fluid to the first actuator 45 via the first hose T11 and supplying the fluid to the second actuator 46 via the second hose T12. The first wire rod 47 and the second wire rods 48a and 48b are pulled and the rotating member 43 is rotated at an angle θ5 (θ5> θ4) with respect to the bottom surface 42a of the base member 42. Show.

  Further, in FIG. 8C, by supplying the fluid only to the second actuator 46 via the second hose T12, the second actuator 46 is in the most swelled state and pulls the second wires 48a and 48b. The rotation member 43 is rotated by an angle θ6 (θ6 <θ5) with respect to the bottom surface 42a of the base member 42.

  Therefore, also in the rotation device 41 of the modified example, in the first mode, the state shown in FIG. 8A is obtained at the first stage, and the state shown in FIG. 8B is operated at the second stage. . Further, in the second mode, the rotating device 41 according to the modification is in a state shown in FIG. Further, in the third mode, the state shown in FIG. 8C is obtained in the first stage, and the state shown in FIG. 8B is operated in the second stage. In the rotation device 41 of such a modification, it is necessary to arrange the two actuators 45 and 46 in series due to the layout specification, and it is not necessary to bend the base member 42, and only the rotation member 43 is required. It is suitable for an application that appropriately switches the rotation of the lens at a required angle.

  FIGS. 9A to 9C show a rotating device 51 of another modification. In the rotation device 51 of this modification example, the first actuator 55 is disposed on the first surface (upper surface) 52b of the base member 52, while the second surface (bottom surface) of the base member 52 has a direction different from that of the first surface 52b. The second actuator 56 is arranged on the outer surface 52a. That is, the first actuator 55 is disposed on the first surface 52 b of the base member 52 on the side where the rotation member 53 is rotatably connected via the rotation shaft 54, and is rotated via the first wire 57. The moving member 53 can be pulled.

  On the other hand, the second actuator 56 having a larger operation amount than the first actuator 55 has the base portion of the second hose T22 fixed to the second surface 52a of the base member 52 by the mounting bracket 60. Further, the two second wire rods 58a and 58b extending from the front end side of the second actuator 56 are formed by two pulleys 59a and 59b attached to both sides in the width direction of the end surface of the rear end 52d of the base member 52. The direction is changed to the first surface 52b side of the member 52, and thereafter, similarly to the rotating device 1 shown in FIGS. 1 (a) and 1 (b), it is wired and connected to the rotating member 53. Since the second wire rods 58a and 58b are wired as described above, the second wire rods 58a and 58b have a longer length than the first wire rod 57. The rotating device 51 of this modification has the same configuration as that of the rotating device 1 of FIGS.

  The rotation device 51 of such a modification can also operate in the first mode to the third mode described above. And since the rotation apparatus 51 of this modification is a structure as mentioned above, it is suitable with respect to the layout specification which cannot set the dimension of a X-axis direction long.

  10 (a) and 10 (b) show rotating devices 61 and 71 of still another modification. The rotating device 61 of FIG. 10A has a configuration in which the first actuator 65 and the second actuator 66 having the same operation amount are arranged in parallel on the first surface 62 b of the base member 62. Further, on the rotating member 63 that is rotatably connected to the base member 62 by the rotating shaft 64, the distal ends of the first wire 67 and the second wire 68 extending from the actuators 65, 66 are attached to the mounting holes 63e. Is attached. The rotation device 61 having such a configuration has the same configuration as the rotation device 1 of FIGS. 1A and 1B except for the above-described portions, and can operate in the above-described first mode to third mode. However, since the operation amounts of the actuators 65 and 66 are the same, the operation modes of the rotating members in the first mode and the third mode are the same, so there are two types of substantial operation modes ( 1 mode or 3rd mode, and 2nd mode in total). Note that the rotation device 61 having such a configuration is suitable for a case in which the dimension in the X-axis direction cannot be set long due to layout specifications and the actuator cannot be disposed on the second surface (bottom surface) side of the base member 62. It becomes.

  The rotating device 71 shown in FIG. 10B has two actuators 75 and 76 arranged on the base member 72 in parallel. The operating amount of the first actuator 75 is smaller than the operating amount of the second actuator 76. It has become a feature. The first wire 77 extending from the first actuator 75 is attached to the first mounting hole 73 e of the rotating member 73 rotatably connected to the base member 72, and extends from the second actuator 76. The two-wire member 78 is attached to the second attachment hole 73 f of the rotating member 73. The distance from the first attachment hole 73e to the rotation center of the rotation shaft 77 is L3, and the distance from the second attachment hole 73f to the rotation center of the rotation shaft 77 is L4 (L4> L3. L3 is L4). By setting the dimensions of L3 and L4 in this way, as with L1 and L2 of the rotating device 1 in FIG. Even with one actuator 75, the rotation member 73 can be rotated at a required angle. Note that the second wire rod 78 has a longer wire length than the first wire rod 77 due to the difference in dimensions between L3 and L4. The rotating device 71 of the modified example has the same configuration as that of the rotating device 1 shown in FIGS.

  Even in the rotation device 71 having such a configuration, the above-described operations of the first mode to the third mode are possible. By appropriately operating the actuators 75 and 76, the operations shown in FIGS. The rotating member 73 can be rotated in the state shown in FIG. Therefore, the rotating device 71 shown in FIG. 10B is a case where the rotating member 73 needs to be rotated in various states, and the layout specification cannot set the dimension in the X-axis direction long, This is suitable for the case where the actuator cannot be arranged on the second surface (bottom surface) side of the base member 62.

  FIG. 11 shows a rotation device 80 of a modification applied to the index finger 153 portion of the robot hand device 150. The rotation device 80 of this modified example includes a wrist member 157 of the robot hand device 150 and a root member 82 corresponding to the root portion of the back of the hand, a first unit member 83 corresponding to the palm portion 156, and a first portion member corresponding to the finger base side. The base member 82 is formed by a total of four members including the two unit members 84 and the third unit member 85 corresponding to the middle portion of the finger, and a rotating member 86 corresponding to the fingertip portion is rotatably connected to the tip thereof. Yes. The first unit member 83 to the third unit member 85 and the rotation member 86 are the same as the first unit member 3 to the third unit member 5 and the rotation member 6 of the rotation device 1 shown in FIGS. Similarly, the first unit member 83 is rotatably connected to the distal end surface 82 a of the root member 82 via a connecting member 87.

  Moreover, the 1st actuator 90 is arrange | positioned at the 3rd unit member 85 similarly to the rotation apparatus 1 of Fig.1 (a) (b) so that the rotation member 86 can be pulled through the 1st wire 101. FIG. It has become. Further, the second actuator 100 is disposed on the root member 82 so that the rotating member 86 can be pulled through a total of two second wires 102a and 102b. Then, the rotation device 80 arranges the third actuator 110 on the third unit member 83 and the fourth on the second unit member 84 in order to enable the operation of each joint part of the index finger 153 of the robot hand device 150. The actuator 120 is arranged, the third wire 111 extending from the tip of the third actuator 110 is connected to the second unit member 84, and the fourth wire 121 extending from the tip of the fourth actuator 120 is connected to the first unit member 83. Are connected. The rotating device 80 of the modified example has the same configuration as the rotating device 1 shown in FIGS. 1A and 1B except for the above-described portions.

  The rotation device 80 having such a configuration appropriately supplies a fluid to the first actuator 90 via the first hose T51 or appropriately supplies a fluid to the second actuator 100 via the second hose T52. The rotating device 80 can be operated in any one of the first mode to the third mode described above. In addition, the rotation device 80 can appropriately supply the fluid to the third actuator 110 through the third hose T53 and can also supply the fluid to the fourth actuator 120 through the fourth hose T54. It becomes possible to rotate the two unit members 84 and to rotate the first unit member 90. Note that the rotation control system for the rotation device 80 requires a switching valve for the third actuator 110, a switching valve for the fourth actuator 120, and the like.

  Due to the various rotating states of the rotating device 80 of the modified example as described above, the robot hand device 150 can perform a complex refraction operation with respect to the index finger 153 so that it can cope with various applications. In addition, the robot hand device 150 can provide an operation equivalent to that of a human finger by applying the same configuration as the above-described rotation device 80 to the other fingers 151, 152, 154, and 155.

  The present invention can be suitably used for a robot hand device that requires various gripping forms or a gripping device chucking device in the FA field.

DESCRIPTION OF SYMBOLS 1 Rotating device 2 Base member 3 1st unit member 4 2nd unit member 5 3rd unit member 6 Rotating member 10 1st actuator 20 2nd actuator 21 1st wire 22a, 22b 2nd wire 30 Rotation control system 33 1st switching valve 34 1st flow sensor 35 2nd switching valve 36 2nd flow sensor 37 Control device 38 Operation part

Claims (9)

A base member;
A rotating member rotatably attached to the base member;
A first actuator disposed on the base member and actuated by fluid supply;
A second actuator disposed on the base member and actuated by fluid supply;
A first wire connecting the first actuator and the rotating member;
With two of the second wire member connecting the second actuator and the rotary member
The two second wire rods are guided so as to pass through different locations, avoiding the first actuator,
Rotational direction of the rotary member by pulling through a first wire of the first actuator operating fluid supply, by pulling through the two second wire rod of the second actuator operating fluid supply A rotating device characterized in that it is in the same direction as the rotating direction of the rotating member.
  2. The outer surface of the base member on the arrangement side of the first actuator is an outer surface in a different direction from the outer surface of the base member on the arrangement side of the second actuator. The rotation device described. The base member is a unit in which a plurality of unit members are rotatably connected.
The first actuator is disposed on one unit member of the plurality of unit members,
The rotating device according to claim 1, wherein the second actuator is disposed on another unit member among the plurality of unit members.   The rotating device according to any one of claims 1 to 3, wherein the first actuator has an operation amount different from that of the second actuator. The second actuator has a larger operation amount than the first actuator,
The rotating device according to any one of claims 1 to 4, wherein a wire length dimension of the second wire rod is longer than that of the first wire rod. The turning device according to any one of claims 1 to 5,
Supply switching means for switching between fluid supply to either the first actuator or the second actuator and fluid supply to both the first actuator and the second actuator Rotation control system. The turning device according to claim 4 or 5,
Completion detecting means for detecting completion of fluid supply to the first actuator;
A rotation control system comprising: a fluid supply control unit that performs control to start fluid supply to the second actuator when the completion detection unit detects completion of fluid supply to the first actuator. .   The fluid supply to any one of said 1st actuator or said 2nd actuator of the rotation apparatus of any one of Claim 1 thru | or 5, and to both said 1st actuator and said 2nd actuator The fluid supply control method to the rotating device is characterized in that switching control with the fluid supply is performed. Supplying a fluid to the first actuator of the turning device according to claim 4 or 5,
Detecting completion of fluid supply to the first actuator;
A fluid supply control method for a rotating device, comprising: starting supply of fluid to the second actuator when completion of fluid supply to the first actuator is detected.

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