Shape adaptation mechanism and shape adaptation device

Abstract

To provide a shape adaptation mechanism that can output not only a curving shape but also a flat shape, and a shape adaptation device having the shape adaptation mechanism.SOLUTION: The shape adaptation mechanism includes a plurality of scissor mechanisms (12, 12c) having the same structure and serially connected to one another. Each scissor mechanism has first links (18, 18c) and second links (20, 20c) in a mirror symmetry to each other. Each first link and each second link have a bending point (A, D) bending at a predetermined angle and are connected together at the bending points to be rotatable for each other. The lengths (a, b) from the bending point to both edges of the link are different for each link.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates generally to shape adaptation mechanisms, and more particularly to shape adaptation devices applicable to applications such as mounting flexible displays on both flat and curved surfaces. [Background technology]

[0002] In recent years, with the increasing size and diversification of display devices, a technique has become known in which large-area, flexible thin-film electronic devices, such as organic electroluminescence (EL) displays, are fixed to the curved surface of a cylinder, etc. As a related prior art, a technique has been disclosed in which multiple flexible display panels are fixed to the surface of a cylinder to form a ring-shaped display area (see, for example, Patent Document 1).

[0003] Furthermore, a technology has been proposed for fixing a flexible display to a curved surface without causing wrinkles or breakage. For example, Patent Document 2 describes an organic EL display panel that includes a flexible substrate and a plurality of light-emitting elements arranged on the substrate, and that can be formed into a three-dimensional curved shape by making the rigidity of a first region of the substrate located below the light-emitting elements greater than the rigidity of a second region other than the first region of the substrate. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-073504 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-191138 Summary of the Invention [Problem to be solved by the invention]

[0005] There is a demand for technology that can uniformly attach large-area, flexible thin-film electronic devices, such as organic light-emitting diode (OLED) displays, to curved surfaces (objects) with relatively large curvatures. To achieve this, research and development is being conducted on devices that combine a shape-adaptive mechanism that can deform according to the curvature of the object with a display-holding means, such as an electrostatic adsorption module, attached to the shape-adaptive mechanism.

[0006] In such devices, it is required that the deviation between the shape output by the device (i.e., the shape of the display) and the shape of the target object be within a certain tolerance. Although it is possible to provide the gripping means itself with an error absorption function, errors exceeding a certain amount cannot be absorbed by the gripping means alone, making it difficult to properly attach the display.

[0007] Furthermore, it is desirable for the shape adaptation mechanism to be able to output not only curved shapes but also completely flat shapes, so that it can be applied to a wider range of applications. [Means for solving the problem]

[0008] One aspect of the present disclosure is a shape adaptive mechanism that includes a plurality of scissor mechanisms that have the same structure and are connected in series, each of the plurality of scissor mechanisms having a first link and a second link that are mirror images of each other, each of the first link and the second link having a bending point that bends at a predetermined angle, the first link and the second link being rotatably connected to each other at the bending point, and the lengths from the bending point to both ends of each link being different from each other.

[0009] Another aspect of the present disclosure is a shape adaptation device having a shape adaptation mechanism according to the above aspect, a plurality of gripping portions that grip both ends of the shape adaptation mechanism, and a movable portion that can change the distance between the plurality of gripping portions. [Effects of the Invention]

[0010] According to the present disclosure, in a structure in which multiple scissor mechanisms each consisting of a pair of links are connected, the pairs of links are mirror-symmetrical to each other and the distance from the bending point to both ends of each link is different, thereby providing a shape adaptation mechanism that can output not only curved surfaces but also completely straight shapes, and a shape adaptation device equipped with this shape adaptation mechanism. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic perspective view of a shape adapting device according to a first embodiment. [Figure 2] FIG. 2 is a perspective view of a scissor mechanism that constitutes the shape adaptation device of FIG. 1. [Figure 3] FIG. 2 is a schematic diagram of a scissor mechanism according to the first embodiment. [Figure 4] FIG. 10 is a schematic diagram of a downwardly convex scissor mechanism. [Figure 5] FIG. 10 is a schematic diagram of an upwardly convex scissor mechanism. [Figure 6] FIG. 6 is a schematic diagram of the scissor mechanism of FIG. 5. [Figure 7] 4A to 4C are diagrams illustrating a motion analysis of the scissor mechanism of FIG. 3. [Figure 8] FIG. 8 is a diagram showing an example of an output speed of a link based on the motion analysis of FIG. 7. [Figure 9] 10A and 10B are diagrams illustrating examples of curves output by a scissor mechanism that are convex downward and bend downward. [Figure 10] 10A and 10B are diagrams illustrating examples of curves output by a scissor mechanism that are convex downward and bend upward. [Figure 11] 10A and 10B are diagrams illustrating examples of curves output by a scissors mechanism that are convex upward and bend downward. [Figure 12] 10A and 10B are diagrams illustrating examples of curves output by a scissors mechanism that are convex and bend upward. [Figure 13] FIG. 10 is a schematic diagram of a shape adapting device according to a comparative example. [Figure 14] 14 is a schematic diagram of a scissor mechanism that constitutes the shape adaptation device of FIG. 13. [Figure 15]15A to 15C are diagrams illustrating a motion analysis of the scissor mechanism of FIG. 14. [Figure 16] FIG. 6 is a diagram showing an example of an output speed of a link based on the motion analysis of FIG. 5. [Figure 17] 10A and 10B are diagrams illustrating interference between links in a scissor mechanism. [Figure 18] FIG. 10 is a schematic perspective view of a shape adapting device according to a second embodiment. [Figure 19] FIG. 10 is a perspective view of a scissor mechanism that constitutes a shape adaptation device according to a second embodiment. [Figure 20] FIG. 20 is a schematic diagram of the scissor mechanism of FIG. 19. [Figure 21] 21 is a graph showing the relationship between the base length and the minimum output radius of the T-shaped link shown in FIG. 20. [Figure 22] FIG. 10 is a diagram showing an example in which the output radius is 200 mm in the shape adaptation device according to the second embodiment. [Figure 23] FIG. 10 is a diagram showing an example in which the output radius is minimum in the shape adaptation device according to the second embodiment. [Figure 24] FIG. 10 is a schematic diagram showing a shape adaptation device according to a third embodiment. [Figure 25] 11 is a flowchart showing an example of a process for determining the distance between both ends of a shape adaptive mechanism according to the third embodiment. [Figure 26] FIG. 10 is a diagram showing an example of an output shape of a shape adaptation device according to a third embodiment. [Figure 27] FIG. 10 is a diagram showing another example of an output shape of the shape adaptation device according to the third embodiment. [Figure 28] FIG. 10 is a schematic diagram showing an example in which an adsorption device is attached to a shape adapting device. [Figure 29] FIG. 10 is a schematic diagram showing a shape adaptation device according to a fourth embodiment. [Figure 30] 30 is a schematic diagram showing the shape adaptive device of FIG. 29 in a deformed state. [Figure 31] FIG. 10 is a schematic diagram of a basic mechanism according to a fourth embodiment. [Figure 32] FIG. 32 is a schematic diagram showing an example in which a plurality of basic mechanisms shown in FIG. 31 are provided. [Figure 33]FIG. 10 is a schematic diagram of a basic mechanism according to a fifth embodiment. [Figure 34] 34 is a schematic diagram showing the shape adaptive device of FIG. 33 in a deformed state. [Figure 35] FIG. 10 is a schematic diagram showing the basic concept of a basic mechanism according to a fifth embodiment. [Figure 36] FIG. 10 is a schematic diagram showing the basic concept of a basic mechanism according to a fifth embodiment. [Figure 37] FIG. 10 is a schematic diagram of a basic mechanism according to a fifth embodiment. [Figure 38] FIG. 38 is a schematic diagram showing an example in which a plurality of basic mechanisms shown in FIG. 37 are provided. [Figure 39] 10 is a graph showing the relationship between the distance between both ends of the device and the inner radius of curvature in the first embodiment. [Figure 40] 10 is a graph showing the relationship between the distance between both ends of the device and the inner radius of curvature in the fourth embodiment. [Figure 41] 13 is a graph showing the relationship between the distance between both ends of the device and the inner radius of curvature in the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (First Example) 1 shows a schematic configuration of a shape adaptation device 10 according to a first embodiment. The shape adaptation device 10 has a shape adaptation mechanism including a plurality of scissor mechanisms 12 that have the same structure and are connected in series, a plurality of (here, two) gripping units (e.g., robot hands) 14a, 14b that grip the scissor mechanisms 12a, 12b at both ends of the plurality of scissor mechanisms 12, respectively, and movable units (e.g., robot arms) 16a, 16b that can change the distance between the gripping units (the relative position of gripping unit 16b with respect to gripping unit 14a). In other words, the robot arms 16a, 16b act as active pairs (corresponding to reference numeral 19 in FIG. 24, described later) that can change the distance between the scissor mechanisms 12a, 12b.

[0013] The movable parts 16a and 16b may be those of a single robot, or may be provided respectively on two robots. Further, a robot (not shown) having the movable parts 16a and 16b is controlled by a robot control device (not shown) provided with a processor or the like.

[0014] FIG. 2 shows a structural example of each of the scissor mechanisms 12 in FIG. 1, and FIG. 3 schematically shows two adjacent scissor mechanisms 12 and 12c. The scissor mechanism 12 has a pair of links 18 and 20 (hereinafter also referred to as the first link 18 and the second link 20), each link having a bending point that bends at a predetermined angle (an obtuse angle in the illustrated example), and the lengths a and b from the bending point to both ends are different from each other (here, a < b). The first link 18 and the second link 20 are rotatably connected to each other by a rotary pair (joint) A at their bending points. Further, the end of the first link 18 is rotatably connected to the end of one of a pair of links 18c and 20c (hereinafter also referred to as the first link 18c and the second link 20c) constituting the scissor mechanism 12c (here, the link 20c) by a rotary pair B, and similarly, the end of the link 20 is rotatably connected to the end of the link 18c by a rotary pair C. The links 18c and 20c are rotatably connected to each other by a rotary pair D at their bending points.

[0015] The first link 18 and the second link 20 are in a mirror-symmetrical (left-handed) relationship, specifically satisfying the following formula (1). However, as described above, a < b and |α| < β.

[0016]

Number

[0017] FIG. 4 is a diagram showing an example of the links 18 and 20 that satisfy the formula (1), showing the case where α is positive (α > 0). Also, as described above, the link 18 is symmetrical to the link 20. The scissor 12 that is symmetrical to each other and α > 0 is here referred to as the "downwardly convex scissor" for convenience.

[0018] 5-6 show a modified example of Fig. 4, specifically a scissor mechanism 12' consisting of links 18' and 20' that satisfy formula (1). Scissor mechanism 12' differs from scissor mechanism 12 in that links 18' and 20' are bent at an acute angle, in other words, α is negative (α<0), but may be otherwise similar. For convenience, scissors 12' that are symmetrical to each other and have α<0 will be referred to as "upward convex scissors."

[0019] Here, we will perform a motion analysis of the downward convex scissor mechanism 12 using screw theory, which expresses the rotational and translational motion of a rigid body with six-dimensional vectors. First, as shown in Figure 7, we consider the loops formed by four links 18, 20, 18c, and 20c and four rotation pairs AD, specifically clockwise loop 1 and counterclockwise loop 2.

[0020] Here, as shown in Figure 7, the pair D (Pe) is used as the reference point of the output node, and the output node velocity is V Pe (=(ωx ωy ωz vx vy vz) T ) and the velocity components of each joint screw are i,j is expressed by the following equation (2).

[0021]

number

[0022] Next, in loop i, the velocity component of each pair $ i,j Reciprocal screw $ whose reciprocal product is 0 R,i,j is derived using the following equation (3). R,i,j The number of joint screws is i,j This is the number obtained by subtracting the number of

[0023]

number

[0024] $ obtained from two loops R,i,j represents the constraint on motion, specifically expressed as the following equation (4).

[0025]

number

[0026] From equations (2)-(4), the results of the motion analysis for loops 1 and 2 are given by the following equations (5) and (6), respectively. Note that m in equation (5) is R,1,4 is a coefficient to make the norm of 1, and similarly, n in equation (6) is R,2,4 is a coefficient to make the norm of 1.

[0027]

number

[0028]

number

[0029] The degrees of freedom of the scissor mechanism are independent $ R,i,j The number is obtained by subtracting the number of s from 6. Equations (5) and (6) are independent $ R,i,j This means that the number of degrees of freedom of the scissor mechanism is 5. That is, $ in equations (5) and (6) R,1,1 (=$ R,2,1 ), $ R,1,2 (=$ R,2,2 ) and $ R,1,3 (=$ R,2,3 ) value, the output node speed V Pe (=(ωx ωy ωz vx vy vz) T ) the condition that ωx, ωy, and vz are all zero is obtained, which indicates that the motion of the mechanism is in the xy plane. R,1,4 and $ R,2,4 represents the movement in the xy plane.

[0030] Next, we consider the motion of the scissor mechanism in the xy plane. The output node velocity V of joint D (Pe) Pe (=(ωx ωy ωz vx vy vz) T ), the following equation (7) holds:

[0031]

number

[0032] FIG. 8 shows the velocity of each output node based on equation (7). From equation (7) and FIG. 8, the output velocity is a linear direction toward a different point for each scissors while changing the relative posture between the links, and the movement of the entire mechanism is a one-degree-of-freedom movement that can output an arc shape. That is, in the mechanism shown in FIG. 1, once the distance between scissors 12a and 12b at both ends (the distance between hands 14a and 14b) is determined, an arc shape with a uniquely determined curvature is output. However, in the first embodiment, by using scissors with a > b and consisting of mirror-symmetric links, it is possible to output a curve with infinite curvature, i.e., a straight line shape as shown in FIG. 1.

[0033] Although the above analysis was performed on downwardly convex scissors, a similar analysis of upwardly convex scissors reveals that arcs and straight lines can also be output.

[0034] Figures 9-12 explain variations of shape adaptive mechanisms consisting of scissors mechanisms. First, in the mechanism shown in Figure 9, the downwardly convex scissors 12 are bent downward, and multiple positions corresponding to the pairs C of each scissors represent arcs 22 as the output shape. Similarly, in the mechanism shown in Figure 10, the downwardly convex scissors 12 are bent upward, and multiple positions corresponding to the pairs A and D of each scissors represent arcs 24 as the output shape.

[0035] In the mechanism shown in Fig. 11, the above-mentioned upwardly convex scissors 12' are bent downward, and multiple positions corresponding to pairs C of each scissors represent arc 22' as the output shape. Similarly, in the mechanism shown in Fig. 12, the above-mentioned upwardly convex scissors 12' are bent upward, and multiple positions corresponding to pairs A and D of each scissors represent arc 24' as the output shape.

[0036] 9-12 can output both straight and curved (arc) shapes regardless of the convex or bent direction. Furthermore, by changing the distance between scissors 12a and 12b (the distance between robot hands 14a and 14b) in Fig. 1, each mechanism can output an arc with a variable center point, radius, and central angle.

[0037] 13 shows, as a comparative example, a shape adaptation device 100 capable of outputting a curved shape. The shape adaptation device 100 has a plurality of scissor mechanisms 102 that have the same structure and are arranged and connected in series, and robot arms 106a and 106b equipped with robot hands 104a and 104b that respectively grasp the scissor mechanisms 102a and 102b at both ends of the plurality of scissor mechanisms 102. Here, the robot arms 106a and 106b act as an active joint 109 that changes the distance Lin between the scissor mechanisms 102a and 102b.

[0038] FIG. 14 schematically illustrates two adjacent scissor mechanisms 102 and 102c. The scissor mechanism 102 has a pair of links 108 and 110, each bent at a predetermined angle (an obtuse angle in the illustrated example) at its center, with lengths a and b from the center to both ends being equal. Links 108 and 110 have identical shapes and dimensions, and are rotatably connected to each other at their centers (bending points) by revolute pair (joint) A. The end of link 108 is rotatably connected to the end of one of a pair of links 108c and 110c (here, link 110c) that make up the scissor mechanism 102c by revolute pair B. Similarly, the end of link 110 is rotatably connected to the end of link 108c by revolute pair C. Links 108c and 110c are rotatably connected to each other at their centers (bending points) by revolute pair D.

[0039] Figures 15-16 show the motion analysis of the scissor mechanism 102. Here, the joint D (Pe) is the reference point of the output node, and the output node velocity V Pe (=(ωx ωy ωz vx vy vz) T ), the following equation (8) holds:

[0040]

number

[0041] Equation (8) shows that the direction of the output velocity of joint D of the scissor mechanism 102 is expressed by a straight line L that passes through the same point O, regardless of the posture of the scissor mechanism 102. In other words, as can be seen from the fact that ωz is zero in the scissor mechanism 102, the output velocity of the output node D is in the direction of a straight line that passes through the same point, regardless of the posture of the mechanism, so the output shape of the output node has one degree of freedom, more specifically, an arc in the xy plane, and a completely linear shape cannot be realized. Therefore, for example, if a gripping means such as a suction hand is provided at the position of joint C of the scissor mechanism and the gripping means grips a flexible display, the flexible display can be deformed into a curved shape, but cannot be made completely flat.

[0042] In contrast, as can be seen from the shape adaptation device according to the first embodiment, since ωz (the relative angular velocity between the links) is not zero (∵ a < b) as shown in Equation (7) and it includes a mirror-symmetrical structure, in addition to a certain curved shape, it can also output a complete straight shape. Therefore, for example, when gripping means such as a suction hand is provided at the position of the dual C of the scissor mechanism 12 in FIG. 9 and the flexible display is gripped by the gripping means, the flexible display can be deformed into a curved surface shape or made into a complete plane. Therefore, according to the first embodiment, it is possible to provide a device with a wider range of applications, such as gripping both ends of a display placed in a planar shape with two robot hands, changing the distance between the robot hands to deform the display into a curved surface shape, and then attaching it to a cylinder or the like.

[0043] (Second Embodiment) FIG. 17 illustrates an example of interference between links in the scissor mechanism. When the mechanism including the scissors 12 and 12c is deformed such that the respective links 18 and 20 overlap, since each link actually has a thickness and width as shown in FIG. 2, the links interfere with each other at the portion 26, and a desired output shape may not be obtained.

[0044] Therefore, in the second embodiment, instead of directly connecting the scissors 12 and 12c as in the first embodiment shown in FIG. 1, a T-link mechanism 28 is arranged between adjacent scissors as in the shape adaptation device 10' shown in FIG. 18. Since the other components of the shape adaptation device 10' may be the same as those of the shape adaptation device 10 in FIG. 1, the same reference numerals are assigned to the same components, and detailed descriptions are omitted.

[0045] 18-19 show a specific structural example of the T-link mechanism 28. The T-link mechanism 28 has a first plate-like link 30 rotatably connected to the end (joint B) of the first link 18 of the scissors 12 and the end (joint B') of the second link 20c of the scissors 12c, a second plate-like link 32 rotatably connected to the end (joint C) of the second link 20 of the scissors 12 and the end (joint C') of the first link 18c of the scissors 12c, and a rod-like link 34 connected to the second plate-like link 32 to form a T-link and displaceable in one direction (up and down in FIG. 20) relative to the first plate-like link 30.

[0046] The rod-shaped link 34 is preferably connected to the center of the second plate-shaped link 32 and extends perpendicular to the line CC' toward the first plate-shaped link 30. The rod-shaped link 34 is inserted into a hole provided in the first plate-shaped link 30 (preferably the center of the first plate-shaped link 30) and is configured to be slidable within the hole. Note that a groove or the like may be used instead of a hole, but the linear link 34 is configured to be movable relative to the first plate-shaped link 30 only in the direction perpendicular to the line BB'.

[0047] In the second embodiment, by interposing the plate-like links 30, 32 between the pairs of the scissors 12, 12c, pairs B and B' are spaced apart from each other, and pairs C and C' are also spaced apart from each other, so that it is possible to prevent interference between the links as explained with reference to Figure 17. On the other hand, since the movement direction of the T-shaped link is limited to one direction, the shape adaptive mechanism as a whole can output both circular arcs and straight lines, just like the first embodiment. Note that the length l of the linear motion link 34 h (See FIG. 20) is not particularly restricted, but it is necessary to set the length so that the rod-shaped link 34 does not slip out of the hole in the plate-shaped link 30 even when the distance between the plate-shaped links 30 and 32 is at its maximum. h It is preferable that a is greater than or equal to (a+b).

[0048] FIG. 21 shows the length l of the plate-shaped link 32. p10 is a graph showing the calculation results of the relationship between the distance between kinematic pairs C and C' and the minimum radius of curvature of the arc as the output shape output by the shape adaptation device 10'. Note that the calculation conditions here were a, b, θ, and the number of scissors, which were 30 mm, 40 mm, (π / 4), and 16, respectively.

[0049] From FIG. 21, the length l of the plate-shaped link 32 p It can be seen that the larger the value of l, the larger the minimum radius of curvature. p There are no particular restrictions on the size, and it is determined appropriately taking into consideration the application as a shape adapting device and the processing accuracy.

[0050] Figure 22 shows the results of the shape adaptation device under the conditions used in the calculation of Figure 21. p When the inner radius of curvature is 20 mm, in Figure 23 shows the state when the same shape adaptation device outputs a circular arc of 200 mm, and Figure 24 shows the state when the same shape adaptation device outputs a circular arc of 200 mm, and Figure 25 shows the state when the same shape adaptation device outputs a circular arc of 200 mm, and in This shows the state when an arc with a minimum curvature (=52.9 mm) is output. As described above, the shape adaptation device according to the second embodiment can output arc shapes and linear shapes with variable curvature, just like the first embodiment, and can also prevent interference between links when the scissor mechanism is deformed.

[0051] In the illustrated example, the T-link mechanisms 28 are provided between all adjacent scissors, but this embodiment is not limited to this. At least one such T-link mechanism is effective to a certain extent, and for example, the T-link mechanisms may be provided only between links where interference is likely to occur due to a change in the distance between the scissors at both ends (deformation of the shape adaptive mechanism).

[0052] Furthermore, when the shape adapting device 10' is used as a mounting device for a flexible display, the suction means such as a chuck module for holding the display can be attached to any position on the scissors mechanism. However, from the standpoint of ease of processing, it is preferable to provide it on the underside of the second plate-like link 32 (the side opposite to the side where the rod-like link 34 is attached).

[0053] (Third Example) While both the first and second embodiments described above can output both curved and linear shapes, the curved shapes are essentially circular arcs. Therefore, the following describes a third embodiment that can output complex curved shapes that are not simple circular arcs.

[0054] FIG. 24 is a schematic diagram showing a shape adaptive device 10″ according to a third embodiment. The third embodiment has at least one elastic translation element 40 in the first embodiment shown in FIG. 1. The other components of the shape adaptive device 10″ may be similar to those of the shape adaptive device 10 in FIG. 1, and therefore similar components are given the same reference numerals and will not be described in detail.

[0055] The elastic translation element 40 is disposed between the pair B of the scissors 12 and the pair B' of the scissors 12c adjacent to the scissors 12, and has a linear motion mechanism 42 such as a cylinder that can be displaced only in the direction of the straight line BB', and an elastic member (e.g., a spring) 44 that is connected to the linear motion mechanism 42 and can elastically deform in response to external forces acting on the scissors mechanism by the grippers 14a, 14b, etc. Therefore, the distance between the pairs B and B' is variable, and this distance is uniquely determined in response to external forces acting on the shape adaptation device 10".

[0056] The degree of freedom F of the shape adaptive device 10" can be calculated from the following formula (9). In this formula, N is the number of links, J is the number of pairs, and f i represents the degree of freedom of each link.

[0057]

number

[0058] For example, as shown in Figure 24, in a mechanism where the number of links N and the number of pairs J are 36 and 51, respectively, and the mechanism has one elastic translation element 40, the degree of freedom F is 3. This means that the degree of freedom of the distance Lin between the scissors at both ends and its direction (the position of arm 16b relative to arm 16a) is 2, and the degree of freedom of the elastic translation element 40 that displaces in one direction is 1. Therefore, the degree of freedom F changes depending on the number of elastic translation elements 40.

[0059] Figure 25 shows the force f applied to the robot arm between the scissors at both ends. ex 24 is a flowchart showing an example of a process for determining the distance Lin relative to the shape (curvature) of the scissors 12. First, in step S1, the angle θ1 (see FIG. 24) formed by the two links of the scissors 12 is set based on the shape (curvature) to be output.

[0060] Next, in step S2, the initial value γ0 (=(θ2, l) of the vector γ (=(θ2, l)) is calculated by the angle θ2 between the linear motion direction of the linear motion mechanism 42 and the link including the joint B, and the length l of the elastic translation element 40. 2,0 ,l0)).

[0061] In steps S3-S6, the input of the mechanism is continuously changed to obtain the virtual torque F v (=(f v ,τ v )) and F v The mechanically balanced shape where (γ) = 0 is found. First, in step S3, a displacement analysis is performed to derive the output shape of the mechanism when angles θ1 and γ0 are input. In the next step S4, a static analysis is performed on that shape to calculate the joint force and virtual torque F v Next, in step S5, the derived virtual torque F v is a sufficiently small threshold δF v Here, F v is the threshold δF v If it is equal to or greater than this, γ is changed by the calculation process in step S6, and F v is δF v Steps S3 and subsequent steps are repeated until the equation (2) becomes less than 0. In this way, the dynamic balance shape of the mechanism can be obtained.

[0062] Finally, in step S7, the distance Lin between the scissors (both arms) at both ends is derived from the values ​​of the parameters in the balanced shape.

[0063] In the example of FIG. 24, the shape adaptation device 10″ outputs an output shape 46 formed by two circular arcs with different curvatures connected by a kinematic pair C. Thus, according to the third embodiment, by arranging an appropriate number of elastic translation elements 40 at appropriate positions, it is possible to output a more complex curved shape.

[0064] Figure 26-27 shows the force f applied by the robot arm to the mechanism. ex An example of the output shape of the shape adaptation device 10″ obtained by the calculation process of FIG. 25 is shown under the condition that a is 5N. Here, a, b, β (see FIG. 4, etc.) when the shape adaptation mechanism outputs a linear shape, and n (the number of scissors) are set to 30 mm, 40 mm, (π / 4), and 16, respectively, and l is set as a design variable. n (natural length of spring 44), k (spring constant), and n1 (number indicating the number of scissors on which elastic translation element 40 is provided, counting from scissors 12a at one end).

[0065] In Figure 26, θ1, l n When θ1, l, and n1 are 0.5 deg, 30 mm, 6 N / mm, and 8, respectively, θ2, l, and Lin are 1.4 deg, 29.9 mm, and 141 mm, respectively, and the output shape of the mechanism and the input length at that time are derived. n When θ2, l, and Lin are 1.42°, 20.0 mm, and 458 mm, respectively, k, n1 are 0.7°, 20 mm, 4 N / mm, and 4 N / mm, respectively. In this way, the output shape can be changed significantly depending on the position and spring characteristics of the elastic translation element 40.

[0066] The features of the first to third embodiments described above may be combined as appropriate. For example, a shape adapting device including both the linear motion mechanism of the second embodiment and the elastic translation element of the third embodiment is also possible, and there are no particular limitations on the number of linear motion mechanisms or elastic translation elements. Furthermore, the linear motion mechanism and the elastic translation element may be provided in the same scissor mechanism.

[0067] FIG. 28 is a simplified diagram of a shape adaptable device 10 according to the present disclosure, showing a state in which a work attachment device 50, such as an electrostatic adsorption device, is attached to the shape adaptable device 10. In the first to third embodiments described above, the inner dimension of the joint d1 between the shape adaptable device 10 and the attachment device 50 may change in response to deformation of the shape adaptable device 10. Furthermore, the inner dimension of the portion d2 (here, the tip of the attachment device 50), which is offset a predetermined distance from the joint d1, may also change in response to deformation of the shape adaptable device 10. In such a case, in an application in which a held member 52, such as a flexible film, is held by the tip of the attachment device 50 and attached to a predetermined portion 54, a tangential force acts on the film 52 in response to deformation of the shape adaptable device 10, which may result in undesirable deformation, such as stretching or compressing, of the film 52.

[0068] Therefore, in the embodiment described below, a mechanism will be described in which even if the shape adapting device is deformed, no tangential force is substantially applied to an article such as a film held by the device.

[0069] (Fourth Example) FIG. 29 shows a schematic configuration of a shape adaptation device 200 according to the fourth embodiment. The shape adaptation device 200 has a shape adaptation mechanism including a plurality of basic mechanisms 202 that have the same structure and are connected in series. As with the first embodiment, the fourth embodiment also has a plurality (here, two) gripping units (such as robot hands) that grip both end mechanisms of the plurality of basic mechanisms 202, and a movable unit (such as a robot arm) that can change the distance between the gripping units. This allows the shape adaptation device 200 to output a linear shape 218 as shown in FIG. 29 and a curved shape 220 as shown in FIG. 30.

[0070] Figure 31 shows examples of the structure of each of the basic mechanisms 202 in Figure 29. The basic mechanism 202 is a six-joint mechanism having two closed circuits consisting of six links and seven pairs, and is a mechanism with one degree of freedom. Specifically, the basic mechanism 202 includes a first linear link 204, a second linear link 206 rotatably connected to one end of the first link 204 by a first revolute pair B1, a third linear link 208 rotatably connected to the other end of the first link 204 by a second revolute pair B2, a fourth linear link 210 rotatably connected to the second link 206 by a third revolute pair A1, and a fourth linear link 210 rotatably connected to the third link 208 by a fourth revolute pair A3. The first link 204 has a fifth linear link 212 connected to it, a sixth linear link 214 fixed to the center of the first link 204 so as to extend perpendicular to the longitudinal direction of the first link 204, a rectilinear pair D1 connected to the sixth link 214 so as to be displaceable in its longitudinal direction, and a connecting member 216 to which the rectilinear pair D1 is connected and to which the fourth link 210 is rotatably connected by a fifth revolute pair C1 and to which the fifth link 212 is rotatably connected by a sixth revolute pair E1.

[0071] 31, the rotation angle of the second link 206 relative to the first link 204 and the rotation angle of the third link 208 relative to the first link 204 are always the same angle (θ in the illustrated example). Therefore, by using the basic mechanism 202, it is possible to realize a shape adaptive device whose output shape is a straight line or a circular arc and whose dimension (length) is constant.

[0072] Figure 32 shows an application example of the fourth embodiment. Here, a basic mechanism 202a having the same structure as the basic mechanism 202 is further provided. Specifically, a fourth linear link 210a of the mechanism 202a is rotatably connected to a revolute pair A2 provided at the center of the first link 204. In relation to this, the mechanism 202 has a sixth link 214' having a shape (bifurcated shape in the illustrated example) that does not interfere with the center of the link 210. Note that the revolute pairs A1, A3, B1, B2, C1, D1, and E1 of the mechanism 202 correspond to the revolute pairs A2, A4, B2, B3, C2, D2, and E3 of the mechanism 202a, respectively.

[0073] Next, the output shape of the configuration in Figure 32 will be described. The mechanism constants here are link lengths a, b, and c, and the state variable representing the state of the mechanism is θ. As described above, in this mechanism, links 206, 204, 208, etc. are connected by rotational pairs with equal relative rotation angles, so the inside dimensions of the surfaces corresponding to B0B1, B1B2, B2B3, and B3B4 are constant. Furthermore, when the following equation (10) is satisfied, the mechanism forms an arc 220 that passes through the midpoints A1, A2, A3, and A4 of B0B1, B1B2, B2B3, and B3B4, respectively.

[0074]

number

[0075] Therefore, in the fourth embodiment, the arc 220 passing through A1, A2, A3, and A4 can be defined as the output curve, and its radius r in is expressed by the following equation (11).

[0076]

number

[0077] The stroke length h of the rectilinear joint D1 can be expressed by the following equation (12) using the state variable θ.

[0078]

number

[0079] In this embodiment, an input displacement can be applied by grasping and manipulating both ends of the mechanism shown in Fig. 32 with a robot arm or the like. If the number of basic mechanisms 202, etc. is n, the relationship between the distance Lin between both ends of the configuration consisting of n basic mechanisms and the state variable θ can be expressed by the following equations (13) and (14).

[0080]

number

[0081]

number

[0082] The configuration in Figure 32 allows for the output of a linear or arc shape with a constant inner dimension and a constant relative rotation angle between each link. In addition, by appropriately selecting the number of basic mechanisms, an output shape of a desired length can be obtained.

[0083] In the fourth embodiment, the inner dimensions of the shape adaptable device are constant and both linear and arc shapes can be output, but when an additional device such as an electrostatic adsorption device is added to the shape adaptable device and its dimensions cannot be ignored, as shown in Figure 28, it is desirable that the dimensions of the output shape of the additional device, rather than the shape adaptable device, be constant. Therefore, in the fifth embodiment described below, a mechanism will be described in which, even if the shape adaptable device deforms, no tangential force is substantially applied to an article such as a film held by the additional device of the shape adaptable device.

[0084] (Fifth Example) FIG. 33 shows a schematic configuration of a shape adaptation device 300 according to a fifth embodiment. The shape adaptation device 300 has a shape adaptation mechanism including multiple basic mechanisms 302 that have the same structure and are connected in series. An additional device 308, such as an electrostatic adsorption device, is provided on the underside of a link 304 of the basic mechanism 302. As with the first embodiment, the fifth embodiment also has multiple (here, two) gripping units (e.g., robot hands) that grip both ends of the multiple basic mechanisms 302, and a movable unit (e.g., robot arm) that can change the distance between the gripping units. This allows the shape adaptation device 300 to output a linear shape 342 as shown in FIG. 33 and a curved shape 344 as shown in FIG. 34.

[0085] 35 and 36 explain the basic concept of the fifth embodiment. Here, consider a mechanism in which electrostatic adsorption devices 308 and 310 with height H are attached to links 304 and 306, respectively.

[0086] Here, the fact that the dimensions of the output shapes of devices 308 and 310 are constant is synonymous with the tips 312 and 314 of each device (the surfaces formed by them) being connected by a rotational pair Q1, and to achieve this, it is necessary to simultaneously perform an expansion movement of Δl and a rotational movement of angle φ, and to satisfy the following equation (15).

[0087]

number

[0088] 36, a parallel link 316 that connects one end of links 304 and 306 to revolute pair Q1 can be considered as a specific means for satisfying equation (15). However, because devices 308 and 310 are attached below links 304 and 306, when parallel link 316 is actually used, link 318 of parallel link 316 that is connected to revolute pair Q1 may interfere with device 308 or 310.

[0089] Therefore, in the fifth embodiment, a basic mechanism that does not have links or kinematic pairs is used, which is located closer to the additional devices 308 and 310 than the links 304 and 306.

[0090] As shown in Figure 37, the basic mechanism 302 is composed of a four-bar parallel link mechanism and a six-bar mechanism, each of which has six links and seven pairs. Specifically, the basic mechanism 302 comprises a first linear link 304 and a second linear link 306 that are spaced apart from each other, a third linear link 322 that has one end rotatably connected to one end of the first link 304 by a first revolute pair B1, a fourth linear link 324 that has one end rotatably connected to one end of the second link 306 by a second revolute pair A1 and has a center rotatably connected to the center of the third link 322 by a third revolute pair E1, and a fourth linear link 324 that has one end rotatably connected to one end of the second link 306 by a second revolute pair A1 and .... The sixth linear link 328 is connected to the other end of the third link 322 by a revolute joint F1 and rotatably connected to a fifth linear link 326 extending vertically from one end of the second link 306 by a fifth revolute joint J1, and an eighth linear link 332 is connected to the other end of the fourth link 324 by a sixth revolute joint D1 and rotatably connected to a seventh linear link 330 extending vertically from one end of the first link 304 by a seventh revolute joint C1.

[0091] According to basic mechanism 302 in Figure 37, two links 304 and 306 can rotate relative to each other around an imaginary point Q1. Below, Figure 38 shows an application example in which this basic mechanism can be applied to three or more links connected in series. Here, a basic mechanism 202a having the same structure as basic mechanism 302 is further provided, and a rectilinear pair is provided between basic mechanisms 302 and 302a. Specifically, it has a ninth linear link 334 rotatably connected to the fourth revolute pair F1 of the basic mechanism 302, a tenth linear link 336 of the same length as the ninth link 334 rotatably connected to the sixth revolute pair D2 of the basic mechanism 302a, an eleventh linear link 338 fixed to the center of the second link 306 so as to extend perpendicular to the longitudinal direction of the second link 306, a rectilinear pair L1 connected to the eleventh link 338 so as to be displaceable in its longitudinal direction, and a connecting member 340 to which the rectilinear pair L1 is fixed and to which the ninth link 334 and the tenth link 336 are rotatably connected by the eighth revolute pair K1 and the ninth revolute pair N1, respectively. The kinematic pairs A1, B1, C1, D1, E1, F1, and J1 of the mechanism 302 correspond to the kinematic pairs A2, B2, C2, D2, E2, F2, and J2 of the mechanism 302a, respectively.

[0092] Next, we will explain the output shape of Example 5. Here, the number of basic mechanisms is n, the mechanism constants are link lengths a, b, c, and d, and the state variable representing the state of the mechanism is θ. The relative positional relationship of each point is expressed by the following equations (16)-(18).

[0093]

number

[0094]

number

[0095]

number

[0096] Therefore, the intersection Qn of the straight line CnBn and the straight line JnAn can be obtained from the following equations (19) and (20).

[0097]

number

[0098]

number

[0099] Therefore, |Q n -A n |=|Q n -B n |=b, so Q n does not depend on θ, and A n , B n From this, we can see that it exists at a position at a distance b. Furthermore, from the geometric relationships, the following equations (21)-(23) hold.

[0100]

number

[0101]

number

[0102]

number

[0103] From the above, |Q n+1 -Q n | is always constant regardless of θ, and as shown in Figure 37, a mechanism can be realized as if a rotational pair Q1 exists. Therefore, when an additional device such as an electrostatic adsorption device is attached to the shape adaptive mechanism, the internal dimensions of the tips 312, 314 of the additional device can be maintained constant. Furthermore, when the following equation (24) is satisfied, the mechanism can form an arc that passes through the midpoint of a surface where the internal dimensions are constant, and this is independent of the number of basic mechanisms.

[0104]

number

[0105] In the example of FIG. 38, the output curve can be defined as a circular arc 344 passing through the midpoint of the surface where the internal dimension is constant (the midpoint of Q1 and Q2 in FIG. 38). in is expressed by the following equation (25).

[0106]

number

[0107] The stroke length h of the rectilinear joint L1 can be expressed by the following equation (26) using the state variable θ.

[0108]

number

[0109] In this embodiment, an input displacement can be applied by grasping and manipulating both ends of the mechanism shown in Fig. 38 with a robot arm or the like. If the number of basic mechanisms 302, etc. is n, the relationship between the distance Lin between both ends of the configuration consisting of n basic mechanisms and the state variable θ is expressed as the following equations (27) and (28) using the above equations (17) and (21).

[0110]

number

[0111]

number

[0112] If the distances at both ends of the mechanism are known as input displacements, the corresponding angle parameter (θ) within the mechanism can be found by using equation (28), and the output shape at that time can also be found.

[0113] When the output curve is controlled by Lin, it is preferable that the shape of the mechanism by Lin is uniquely determined. As can be seen from equation (25), the output radius r in is uniquely determined for θ, the above condition is equivalent to Lin being uniquely determined for θ.

[0114] All of the above-described embodiments provide a shape-adaptive mechanism and a shape-adaptive device that includes a mechanism having multiple links connected by revolute pairs and that can output not only curves (curved surfaces) but also completely straight lines (flat surfaces). However, in the first to third embodiments, the inner dimension (d1 in FIG. 28) of the output section of the mechanism itself can change due to deformation of the mechanism, whereas in the fourth embodiment, d1 does not change. On the other hand, in the fifth embodiment, d1 can change, but the inner dimension (d2 in FIG. 28) of the output section (tip) of an additional device, such as an electrostatic adsorption device, attached to the mechanism does not change. In this way, each embodiment can be selected and used as appropriate depending on the application of the shape-adaptive device.

[0115] FIG. 39 shows the distance L between both ends of the shape adaptation mechanism (portions grasped by a robot arm, etc.) in the first embodiment. in and output radius r in This is a graph showing the results (theoretical values) obtained from kinematic analysis of the relationship between the parameters a, b, and l. p ,φ were set to 30 mm, 40 mm, 20 mm, and 7π / 9, respectively, and the number of scissor mechanisms was set to 5.

[0116] Similarly, Figures 40 and 41 show the fourth and fifth embodiments, respectively. in and r in 10 is a graph showing the results (theoretical values) obtained from kinematic analysis of the relationship between the parameters a, b, and c in the fourth embodiment, which were set to 17 mm, 47 mm, and 0 mm, respectively, and the number of basic mechanisms was set to 3. In the fifth embodiment, the parameters a, b, c, and d in the fifth embodiment were set to 14.1 mm, 37.7 mm, 42 mm, and 7.5 mm, respectively, and the number of basic mechanisms was set to 3.

[0117] As shown in these graphs, in each example, Lin If we define r in is uniquely determined, and the slope and shape of the graph differ considerably between the embodiments. Therefore, a suitable embodiment and parameters can be selected appropriately depending on the application of the shape adaptive device.

[0118] The application examples of the shape adaptation mechanism and shape adaptation device according to the present disclosure are not limited to the display mounting device described above. For example, if the suction chuck module described above is replaced with a brush or wiper, it can be used as a cleaning device for cleaning curved windows or glass. Alternatively, if the suction chuck module described above is replaced with various sensors, it can be used as an inspection device for inspecting the condition of the inner surface of a curved tunnel.

[0119] It is also preferable that the suction means be provided on all of the multiple scissor mechanisms, but if it is provided on at least two of the multiple scissor mechanisms, a certain degree of effect can be achieved in adapting (following) the display to the surface shape of the object. [Explanation of symbols]

[0120] 10, 10', 10", 200, 300 Shape adaptation device 12, 12a, 12b, 12c Scissor mechanism 14a, 14b grip part 16a, 16b moving parts 18, 18c, 20, 20c Link 22, 22', 24, 24', 36, 38, 46 output lines 28 T-link mechanism 30, 32 Plate links 34 Rod Link 40 Elastic translation element 42 Linear motion mechanism 44 Elastic member 50 Additional Devices 202, 302 Basic mechanism

Claims

1. A shape-adaptive mechanism with multiple links connected by revolute pairs that can output both curved and flat surfaces.

2. a plurality of scissor mechanisms having the same structure and connected in series; Each of the plurality of scissor mechanisms has a first link and a second link that are mirror images of each other, each of the first link and the second link has a bending point at which the first link bends at a predetermined angle, and the first link and the second link are rotatably connected to each other at the bending point; The shape adaptive mechanism according to claim 1 , wherein the lengths from the bending point to both ends of each link are different from each other.

3. A T-link mechanism is disposed between adjacent scissor mechanisms, and the T-link mechanism includes: a first plate-like link connected between an end of a first link of one of the adjacent scissor mechanisms and an end of a second link of the other of the adjacent scissor mechanisms; a second plate-like link connected between an end of the second link of one of the adjacent scissor mechanisms and an end of the first link of the other of the adjacent scissor mechanisms; 3. The shape adaptive mechanism according to claim 2, further comprising: a rod-shaped link connected to the second plate-shaped link and displaceable in one direction relative to the first plate-shaped link.

4. The rod-shaped link is 4. The shape adaptive mechanism according to claim 3, wherein the second plate-like link extends in a direction perpendicular to a straight line connecting an end of one first link of an adjacent scissor mechanism and an end of the other second link of the adjacent scissor mechanism, and is configured to be movable relative to the first plate-like link in a direction perpendicular to the straight line connecting the end of one second link of the adjacent scissor mechanism and the end of the other first link of the adjacent scissor mechanism.

5. 3. The shape adaptive mechanism according to claim 2, further comprising an elastic translation element connected between an end of the second link of one adjacent scissor mechanism and an end of the first link of the other adjacent scissor mechanism, the elastic translation element being capable of elastically varying the distance between said two ends.

6. The elastic translation element a linear motion mechanism that is connected between an end of one second link of an adjacent scissor mechanism and an end of the other first link of the adjacent scissor mechanism and is displaceable in one direction; The shape adaptive mechanism according to claim 5 , further comprising: an elastic member connected to the linear motion mechanism and elastically deformable in response to an external force.

7. A first link; a second link rotatably connected to one end of the first link by a first revolute pair; a third link rotatably connected to the other end of the first link by a second revolute pair; a fourth link rotatably connected to the second link by a third revolute pair; a fifth link rotatably connected to the third link by a fourth revolute pair; a sixth link fixed to the center of the first link so as to extend perpendicular to the longitudinal direction of the first link; 2. The shape adaptive mechanism according to claim 1, having a basic mechanism including: a rectilinear pair connected to the sixth link so as to be displaceable in its longitudinal direction; and a connecting member to which the rectilinear pair is connected, to which the fourth link is rotatably connected by a fifth revolute pair, and to which the fifth link is rotatably connected by a sixth revolute pair.

8. 8. The shape adaptive mechanism according to claim 7, comprising a plurality of the basic mechanisms, wherein the fourth link of a second basic mechanism is rotatably connected to a rotation pair provided at the center of the first link of a first basic mechanism.

9. a first link and a second link spaced apart from each other; a third link having one end rotatably connected to one end of the first link by a first revolute pair; a fourth link having one end rotatably connected to one end of the second link by a second revolute pair and a center thereof rotatably connected to the center of the third link by a third revolute pair; a sixth linear link connected to the other end of the third link by a fourth revolute pair and rotatably connected to a fifth linear link extending perpendicularly from one end of the second link by a fifth revolute pair; an eighth linear link (332) connected to the other end of the fourth link by a sixth revolute pair and rotatably connected to a seventh link extending perpendicularly from one end of the first link by a seventh revolute pair.

10. a ninth link rotatably connected to the fourth revolute pair of a first basic mechanism; a tenth link rotatably connected to the sixth revolute pair of the second basic mechanism, the tenth link having the same length as the ninth link; an eleventh link fixed to the center of the second link so as to extend perpendicular to the longitudinal direction of the second link; a rectilinear pair connected to the eleventh link so as to be displaceable in the longitudinal direction thereof; a connecting member in which the rectilinear pair is fixed and the ninth link and the tenth link are rotatably connected by an eighth revolute pair and a ninth revolute pair, respectively;

11. A shape adaptation mechanism according to any one of claims 1 to 10; a plurality of gripping portions that grip both ends of the shape adaptive mechanism; A shape adapting device having a movable part that can change the distance between the multiple gripping parts.

Images