Stiffness variable device, assist device, robot hand

Abstract

This enables the realization of variable rigidity devices and other equipment with a high degree of freedom in changing their shape. [Solution] The rigidity variable device (1) comprises a chainmail section (2) having a chainmail made up of a plurality of annular members connected together, a deformable bag section (3) that can seally house the chainmail section, and a gas volume variable section (5) that extracts gas from inside the bag section housing the chainmail section and supplies gas to the inside. The gas volume variable section increases the rigidity of the chainmail section and maintains the chainmail section 2 in a deformed state by extracting gas from inside the bag section while the chainmail section is deformed by an external force.

Description

Technical Field

[0001] The present invention relates to a rigidity variable device, an assist device using the same, and a robot hand.

Background Art

[0002] Conventionally, research has been conducted to achieve jamming by adopting a structure in which sheets with strong frictional force are stacked (for example, Non-Patent Document 1). In addition, assist devices worn by users (for example, Patent Document 1), robot hands having gripping parts (for example, Patent Document 2), and the like have also been proposed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the technique of Non-Patent Document 1 as described above has a problem in that, since it has a structure in which sheets are stacked, the degree of freedom in changing the shape is low. For example, when applied to an assist device, it is desired that the shape changes flexibly according to the movement of the user.

[0006] One aspect of the present invention aims to realize a variable rigidity device and the like that offers a high degree of freedom in changing its shape. [Means for solving the problem]

[0007] To solve the above problems, a rigidity variable device according to embodiment 1 of one aspect of the present invention comprises a chainmail section having a chainmail made up of a plurality of annular members connected together, a deformable bag section that can seally house the chainmail section, and a gas volume variable section that extracts gas from inside the bag section housing the chainmail section and supplies gas to the inside, wherein the gas volume variable section increases the rigidity of the chainmail section and maintains the chainmail section in a deformed state by extracting gas from inside the bag section while the chainmail section is deformed by an external force.

[0008] According to the above configuration, the chainmail section can deform while maintaining its original shape, such as planar or columnar, while being housed in the bag section. When the variable gas volume section removes gas from inside the bag section, jamming occurs in the chainmail section, maintaining its shape and achieving high rigidity. This makes it possible to realize a variable rigidity device with a high degree of freedom in changing its shape.

[0009] In the variable rigidity device according to embodiment 2 of the present invention, in embodiment 1, the chainmail portion may be planar in shape and may be provided with a shape-retaining portion that is arranged along the surface of the chainmail portion and maintains the planar shape of the chainmail portion.

[0010] With the above configuration, the shape-retaining part stably maintains the planar shape of the chainmail. This makes it possible to change the shape of the chainmail while maintaining its original planar shape.

[0011] In the variable rigidity device according to embodiment 3 of the present invention, in embodiment 2, the shape-holding portion may be arranged on both sides of the chainmail portion so as to sandwich the chainmail portion.

[0012] With the above configuration, the chainmail section is sandwiched in the shape-retaining section, which further enhances the effect of maintaining the flat shape of the chainmail section. This makes it possible to change the shape of the chainmail section while effectively maintaining its original flat shape.

[0013] In the variable rigidity device according to embodiment 4 of the present invention, in embodiment 2 or 3, the shape-holding portion may have a plurality of thin plate-like members arranged so as to overlap in part and lay out in a scale-like pattern.

[0014] According to the above configuration, the shape-retaining part can follow not only the bending of the chainmail part around an axis in one direction within the plane of the chainmail part, but also the bending of the chainmail part around an axis normal to the plane of the chainmail part.

[0015] In the variable rigidity device according to aspect 5 of the present invention, in aspect 2 or 3, the shape-holding portion may have a plurality of connected thin plate annular members.

[0016] According to the above configuration, the shape-retaining part can follow not only the bending of the chainmail part around an axis in one direction within the plane of the chainmail part, but also the bending of the chainmail part around an axis normal to the plane of the chainmail part.

[0017] In the variable rigidity device according to embodiment 6 of the present invention, in any of embodiments 2 to 5, the surface of the shape-retaining portion on the chainmail portion side may be processed to increase the frictional force.

[0018] According to the above configuration, the shape-retaining part and the chainmail part are less likely to shift, making it even easier to maintain the original shape of the chainmail part.

[0019] In the variable rigidity device according to embodiment 7 of the present invention, in any of embodiments 2 to 6, the chainmail portion may have a laminated structure in which the chainmail, which is connected in a planar manner, is arranged in a stacked manner, or the annular member is also connected in the direction normal to the surface of the chainmail portion.

[0020] According to the above configuration, rather than increasing the size of the annular member to increase the thickness in one layer, the rigidity of the chain curtain portion when degassed can be further enhanced.

[0021] In the rigidity variable device according to aspect 8 of the present invention, in the above aspect 1, the chain curtain portion may have a columnar shape and may include a pair of sleeve members that sandwich the chain curtain portion.

[0022] According to the above configuration, by being sandwiched between a pair of sleeve members, the columnar shape of the chain curtain portion is stably maintained. As a result, it becomes possible to change the shape of the chain curtain portion while maintaining the columnar shape which is the original shape.

[0023] The rigidity variable device according to aspect 9 of the present invention includes a planar or columnar chain curtain portion having a chain curtain formed by connecting a plurality of annular members of the rigidity variable device in a planar or columnar shape, a bag portion that can sealably accommodate the chain curtain portion, and a gas volume variable portion that extracts and feeds gas into the bag portion that houses the chain curtain portion. When the chain curtain portion has a planar shape, the bag portion enables bending of the chain curtain portion about at least one direction in the plane of the chain curtain portion and bending of the chain curtain portion about the normal direction of the surface of the chain curtain portion. When the chain curtain portion has a columnar shape, the first portion and the second portion located along the axis of the column of the chain curtain portion are relatively deformable in at least a first direction orthogonal to the axis of the column and a second direction orthogonal to the axis of the column and the first direction.

[0024] The assist device according to aspect 10 of the present invention includes any one of the rigidity variable devices according to aspects 2 to 7 above and a mounting member for mounting the rigidity variable device on a human body.

[0025] According to the above configuration, an assist device with a simple configuration can be realized.

[0026] A robot hand according to embodiment 11 of the present invention comprises a gripping portion having a gripping body for gripping an object, and a wrist portion attached to the gripping portion on the opposite side from the gripping body, wherein the wrist portion is equipped with a rigidity variable device as described in embodiment 8.

[0027] According to the above configuration, it can be suitably used as a robot hand for robots with high uncertainty, such as in dismantling work, where the positional deviation between the gripping body and the object does not fall within an acceptable range. [Effects of the Invention]

[0028] According to one aspect of the present invention, it is possible to realize a variable rigidity device and the like with a high degree of freedom in changing its shape. [Brief explanation of the drawing]

[0029] [Figure 1] This diagram shows the configuration of the variable rigidity device according to Embodiment 1. [Figure 2] This figure shows the planar chainmail section in the variable stiffness mechanism shown in Figure 1. [Figure 3] This figure shows another planar chainmail section in the chainmail part of the variable stiffness mechanism shown in Figure 1. [Figure 4] This figure shows the columnar chainmail section in the variable stiffness mechanism shown in Figure 1. [Figure 5] Figure 1 is an explanatory diagram illustrating the deformation possibilities of the bag portion in the variable rigidity mechanism shown. [Figure 6] This figure shows the arm assist device equipped with a rigidity variable device according to Embodiment 2, in a state where it is attached to a user, along with the user's movements. [Figure 7] This figure shows the back assist device equipped with a rigidity variable device according to Embodiment 2, in a state where it is attached to a user, along with the user's movements. [Figure 8] This figure shows the shoulder assist device equipped with a rigidity variable device according to Embodiment 2, in a state where it is attached to a user, along with the user's movements. [Figure 9]Figure 6 shows the configuration of the variable rigidity device included in the arm assist device, based on the manufacturing procedure. [Figure 10] This figure shows the configuration of the ring-shaped sheet in the variable rigidity device shown in Figure 9. [Figure 11] This is a diagram showing the structure of the scale-like sheet. [Figure 12] This figure shows the configuration of a robot hand equipped with a variable rigidity device according to Embodiment 3. [Figure 13] This figure shows the configuration of the columnar chainmail section of the chainmail mechanism provided in the variable rigidity device shown in Figure 12. [Figure 14] This figure shows the change in stiffness of the chainmail mechanism in the variable stiffness device shown in Figure 12. [Modes for carrying out the invention]

[0030] [Embodiment 1] One embodiment of the present invention will be described in detail below.

[0031] Figure 1 shows the configuration of the variable stiffness device 1 according to this embodiment. As shown in Figure 1, the variable stiffness device 1 comprises a chainmail section 2, a bag section 3, and a gas volume variable section 5. The chainmail section 2 and the bag section 3 constitute the chainmail mechanism 6.

[0032] The chainmail section 2 has a chainmail 10 (see Figures 2-4), which will be described later, in which a plurality of annular members are connected in a planar or columnar (three-dimensional) shape. The bag section 3 is designed to contain the chainmail section 2 in a sealed manner. The variable gas volume section 5 is a device that extracts gas from inside the bag section 3 containing the chainmail section 2 and supplies gas into the bag section 3.

[0033] (chain mail part) Figure 2 shows a planar chainmail 10A located on the chainmail section 2. Figure #201 in Figure 2 shows the entire chainmail 10A, and Figure #202 in Figure 2 shows a magnified view of the polyhedral annular member 11A, which, when connected, constitutes the chainmail 10A. Figure 3 shows another planar chainmail 10B located on the chainmail section 2. Figure #301 in Figure 3 shows the entire chainmail 10B, and Figure #302 in Figure 3 shows a magnified view of the spherical annular members 11B, 11B', which, when connected, constitute the chainmail 10B. Figure 4 shows a columnar chainmail 10C located on the chainmail section 2.

[0034] As shown in Figures 2 to 4, the chainmail 10A to 10C consists of a continuous series of annular members 11. The annular members 11 can be polyhedral annular members 11A or spherical annular members 11B and 11B', as long as they each have rigidity. As shown in Figure 3, in chainmail 10B, two types of spherical annular members 11B and 11B' are connected alternately.

[0035] By making the annular member 11 polyhedral or spherical, a tall (thick) structure can be created when constructing planar chainmail 10A and 10B. Furthermore, by connecting the annular members 11A and 11B (11B') in a stacked manner in the height direction, a columnar chainmail 10C as shown in Figure 4 can be easily created. Here, polyhedral and spherical annular members 11A and 11B (11B') are given as examples for the annular member 11, but a simple circular annular member may also be used.

[0036] The chainmail 10A to 10C are formed, for example, using a 3D printer. When formed using a 3D printer, the formation of the annular members 11A and 11B (11B') and the connection of the annular members 11A to each other or the connection of the annular members 11B and 11B' are performed simultaneously.

[0037] When chainmail 10A to 10C are formed using a 3D printer, the material of chainmail 10A to 10C will be synthetic resin, thermoplastic resin, or PLA (polylactic acid) resin, which are components of the 3D printer's filament. When chainmail 10A to 10C are created without using a 3D printer, the material is not limited to the above and may be metal or other materials.

[0038] (bag part) Figure 5 is an explanatory diagram illustrating the deformability of the bag portion 3. As shown in Figure #501 of Figure 5, the bag portion 3 allows for bending of the chainmail portion 2 around an axis in at least one direction within the plane of the chainmail portion 2, and also allows for bending of the chainmail portion 2 around an axis normal to the plane of the chainmail portion 2, when the chainmail portion 2 is planar.

[0039] In Figure #501, arrows Y1 to Y4 indicate one direction within the plane of the chainmail section 2. In Figure #501, arrow Y5, which penetrates the plane of the paper, indicates the normal direction to the plane of the chainmail section 2. In Figure #501, the state in which the chainmail section 2 is bent around the axis indicated by arrows Y1 to Y3 and Y5 is also shown.

[0040] Furthermore, as shown in Figure #502 of Figure 5, when the chainmail section 2 is columnar, the bag section 3 is made deformable relative to the first section 31 and the second section 32 located along the axis Z of the column of the chainmail section 2, in a first direction indicated by arrow Y6 perpendicular to the axis Z of the column and a second direction indicated by arrow Y7 perpendicular to the axis Z of the column and the first direction.

[0041] The first part 31 and the second part 32 correspond to any of the layers 30 of the annular members 11 that are connected in a planar manner in the columnar chainmail 10C shown in Figure 4, and are stacked in the direction of the column axis Z. Figure #502 also shows the state in which the second part 32 is deformed in the first direction indicated by arrow Y6 relative to the first part 31.

[0042] In this embodiment, the bag portion 3 is deformable in any direction. Therefore, the chainmail portion 2 can be bent with respect to any direction in the plane of the chainmail portion 2 shown in Figure #501 of Figure 5 as the axis. In addition, relative deformation of the first portion 31 and the second portion 32 is possible with respect to any direction perpendicular to the axis Z of the chainmail portion 2 shown in Figure #502 of Figure 5.

[0043] The material of the bag portion 3 can be, for example, vinyl, silicone, etc. If the material is vinyl, its thickness is preferably about 1 mm, although this depends on the thickness of the chainmail portion 2. If the thickness is too thin, it becomes difficult to maintain strength, and if it is too thick, it becomes impossible to bend it around the normal direction of the surface of the chainmail portion 2, indicated by arrow Y5 in Figure #501 of Figure 5.

[0044] In this embodiment, by being housed in a bag portion 3 that can be deformed in any direction, the chainmail portion 2 can be freely deformed while maintaining its original shape, such as being planar or columnar.

[0045] (Variable gas volume section) The variable gas volume unit 5, for example, is equipped with a pump to draw up (degas) the gas in the bag 3 and to supply (supply) gas into the bag 3. The gas may be air, or any other gas as long as it is non-flammable, stable, and harmless. The variable gas volume unit 5 and the bag 3 are connected by a flexible and deformable tube 4.

[0046] The variable gas volume unit 5 increases the rigidity of the chain mail unit 2 (by causing jamming in the chain mail unit 2) by extracting gas from the bag unit 3 while the chain mail unit 2 is deformed by an external force, thereby maintaining the chain mail unit in a deformed state.

[0047] Furthermore, the variable gas volume unit 5 may adjust the amount of gas extracted from the bag portion 3, or adjust the amount of gas supplied to the bag portion 3, thereby changing the degree of jamming of the chainmail portion 2 and altering its rigidity.

[0048] (Operation of the variable stiffness device) The chainmail mechanism 6, composed of a chainmail section 2 and a bag section 3, has the original shape of the chainmail section 2, such as being planar or columnar. When the inside of the bag section 3 is not degassed by the gas volume variable section 5, the chainmail mechanism 6 can be freely deformed while maintaining its original shape.

[0049] When the variable gas volume unit 5 degassed the inside of the bag portion 3, the bag portion 3 tightened around the chainmail portion 2 from the outside, maintaining the deformed shape of the chainmail portion 2. The chainmail portion 2 itself also became stiffer due to jamming caused by the degassing of the gas inside the bag portion 3, thus maintaining its deformed shape. In this state, when the variable gas volume unit 5 supplied air to the inside of the bag portion 3, the jamming of the chainmail portion 2 was relieved, its stiffness decreased, and it became possible to deform freely again while maintaining its original shape.

[0050] (effect) With the above configuration, the shape of the chain mail mechanism 6 can be freely deformed while maintaining the original shape of the chain mail section 2. By degassing the chain mail mechanism 6 in the variable gas volume section 5, jamming occurs in the chain mail section 2, increasing the rigidity of the chain mail section 2 while maintaining the deformed shape. By supplying air to the chain mail mechanism 6 in the variable gas volume section 5, the jamming of the chain mail section 2 is eliminated, reducing its rigidity, and it becomes possible to freely deform it again while maintaining its original shape. This makes it possible to realize a rigidity variable device 1 with a high degree of freedom in changing its shape.

[0051] Incidentally, the chainmail mechanism 6 may also have a configuration that includes, in addition to the chainmail section 2 and the bag section 3, a member for stably maintaining the original shape of the chainmail section 2, such as a planar or columnar shape.

[0052] For example, if the chainmail mechanism 6 has a planar chainmail section 2, it may be configured to include a shape-retaining section 20, which will be described later, that is arranged along the surface of the chainmail section 2 and maintains the planar shape of the chainmail section 2.

[0053] Furthermore, if the chainmail mechanism 6 has a columnar chainmail section 2, it may also be configured to include a pair of sleeve members 67 that are positioned to sandwich the chainmail section 2 from two directions and maintain the columnar shape of the chainmail section 2 (see Figure 13).

[0054] These configurations will be explained in Embodiments 2 and 3, along with examples of applications of the variable rigidity device 1.

[0055] [Embodiment 2] Other embodiments of the present invention are described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0056] In this embodiment, an assist device will be described as an example of the application of the rigidity variable device 1A of this embodiment.

[0057] Figure 6 shows the arm assist device 50 equipped with the rigidity variable device 1A of this embodiment being worn by a user, along with the user's movements. Figure #601 in Figure 6 shows the user with their arm extended, Figure #602 shows the user with their arm bent, and Figure #603 shows the user with their arm extended to the side from the elbow down while keeping their armpit close to their body.

[0058] Figure 7 shows the back assist device 52 equipped with the rigidity variable device 1A of this embodiment being worn by a user, along with the user's movements. Figure #701 in Figure 7 shows the user with their back straight, Figure #702 shows the user with their back rounded, and Figure #703 shows the user with their back bent laterally.

[0059] Figure 8 shows the shoulder assist device 53 equipped with the rigidity variable device 1A of this embodiment being worn by a user, along with the user's movements. Figure #801 in Figure 8 shows the user with both arms down, and Figure #802 in Figure 8 shows the user with both arms raised to the sides.

[0060] As shown in Figures 6 to 8, the assist devices 50, 52, and 53 each include a rigidity-adjustable device 1A equipped with a planar chainmail section 2 (planar chainmail mechanism 6), and a mounting member 51 for attaching the rigidity-adjustable device 1A to the human body. Note that the mounting member 51 is not shown in Figure 8.

[0061] In assist devices 50, 52, and 53, when flexibility is desired, the gas in the bag portion 3 of the rigidity variable device 1A (see diagrams P6 and P7 in Figure 9) is left in place. This allows for movements such as moving the arms, rounding the back, and moving the shoulders.

[0062] For example, with the arm assist device 50, when lifting a heavy load, the gas volume variable unit 5 is activated with the arm bent to release the gas from the bag portion 3 of the rigidity variable device 1A. This increases the rigidity of the chainmail portion 2, which conforms to the bent arm, allowing heavy loads to be lifted with less force.

[0063] The same applies to the back and shoulder assist devices 52 and 53. For example, with the shoulder assist device 53, when it is necessary to work with the arm raised, the gas volume variable unit 5 is activated with the arm raised to release the gas from the bag portion 3 of the rigidity variable device 1A. This increases the rigidity of the chainmail portion 2, which conforms to the shape of the shoulder when the arm is raised, making it easier to work with the arm raised.

[0064] Figure 9 shows the configuration of the rigidity variable device 1A of the arm assist device 50 shown in Figure 6, based on the manufacturing procedure. As shown in Figure 9, two flat, elongated chainmail pieces 10B are superimposed (P1, P2). The two superimposed flat chainmail pieces 10B correspond to the chainmail section 2.

[0065] Next, the chainmail section 2, consisting of two flat chainmail sheets 10B, is sandwiched between two ring-shaped sheets 20A (P3, P4). The ring-shaped sheets 20A will be described later.

[0066] Next, the chainmail section 2, which is sandwiched between two ring-shaped sheets 20A, is wrapped in a thin protective cloth 23 (P5), and then placed in a long bag section 3 having the same shape as the chainmail section 2 (P6).

[0067] Next, connectors 25 are attached to both ends in the longitudinal direction (P7). A tube 4 connected to the gas volume variable unit 5 is attached to one of the connectors 25. Then, it is covered with a protective outer cloth bag 27 (P8). This gives rise to the variable rigidity device 1A. By attaching the mounting member 51 shown in Figure 6 to this variable rigidity device 1A, an arm assist device 50 is obtained.

[0068] Figure 10 shows the structure of the ring-shaped sheet 20A. Figure #1001 in Figure 10 shows the side of the ring-shaped sheet 20A opposite to the chainmail portion 2, Figure #1002 shows the side of the ring-shaped sheet 20A opposite to the chainmail portion 2, and Figure #1003 shows a cross-section of the thin plate annular member 21.

[0069] As shown in Figure 10, the ring-shaped sheet 20A has a plurality of connected thin plate annular members 21. The ring-shaped sheet 20A is positioned along the surface of the chainmail section 2 and is an example of a shape-retaining section 20 that maintains the planar shape of the chainmail section 2. The shape-retaining sections 20 are positioned on both sides of the chainmail section 2 so as to sandwich the chainmail section 2.

[0070] By providing the shape-retaining part 20, the flat chainmail part 2 can be freely deformed while maintaining its original flat shape, making it easier to maintain its original shape. In other words, in a configuration without the shape-retaining part 20, if there is little clearance between the flat chainmail part 2 and the bag part 3, it is unlikely that the original shape will collapse as air is released. However, if there is clearance between the flat chainmail part 2 and the bag part 3, and the rigidity of the chainmail part 2 is low when jamming does not occur, it may be difficult to maintain the original shape.

[0071] By providing the shape-retaining part 20, it becomes easier to maintain the original shape even when there is a gap between the flat chainmail part 2 and the bag part 3, or when the rigidity of the chainmail part 2 is low.

[0072] By the way, if the rigidity of the chainmail section 2 is low, the shape-retaining section 20 could be a single sheet if the only purpose is to maintain the original shape. However, in the case of a single sheet, there is no problem with bending the chainmail section 2 around an axis in one direction within the plane of the chainmail section 2. However, if the elasticity is poor, it may be difficult to follow the bending of the chainmail section 2 around the axis normal to the plane of the chainmail section 2, as shown by arrow Y5 in Figure 5, and may hinder bending.

[0073] As shown in Figure 6, #602, when the user bends their arm, the bending is axial in one direction within the plane of the chainmail section 2. However, as shown in Figure 6, #603, when the user keeps their arm close to their side and extends their forearm to the side, the bending is axial in the direction normal to the plane of the chainmail section 2.

[0074] By using a ring-shaped sheet 20A as the shape-retaining part 20, it is possible to follow not only the bending of the chainmail part 2 around an axis in one direction within the plane of the chainmail part 2, but also the bending of the chainmail part 2 around an axis normal to the plane of the chainmail part 2.

[0075] Incidentally, the ring-shaped sheet 20A is suitable for configurations where the chainmail section 2 (chainmail mechanism 6) is elongated, such as in the arm assist device 50. However, in configurations where the chainmail section 2 has an arbitrary planar shape, the scale-shaped sheet 20B is suitable as the shape-retaining section 20.

[0076] Figure 11 shows the configuration of the scale-like sheet 20B. Figure #1101 shows a state in which one row of thin plate-like members 22 constituting the scale-like sheet 20B is attached to one side of the chainmail section 2, and Figure #1102 shows a state in which two rows of thin plate-like members 22 are attached.

[0077] As shown in Figure 11, the scale-like sheet 20B has a plurality of thin plate-like members 22 arranged so as to overlap in part and lay out in a scale-like pattern. The plurality of thin plate-like members 22 are individually fastened to the chainmail section 2 with some overlap. This makes it easier for the individual thin plate-like members 22 to maintain the original shape of the planar chainmail section 2, similar to the thin plate annular members 21 of the ring-shaped sheet 20A.

[0078] In the case of the scale-like sheet 20B, similar to the ring-shaped sheet 20A, it can follow not only the bending of the chainmail portion 2 around an axis in one direction within the plane of the chainmail portion 2, but also the bending of the chainmail portion 2 around an axis normal to the plane of the chainmail portion 2.

[0079] As shown in Figure 7, #702, when the user has their back bent, the chainmail section 2 is bent along an axis in one direction within its plane. However, as shown in Figure 7, #703, when the user has their back bent laterally, the chainmail section 2 is bent along an axis normal to the plane of its plane. Therefore, in the back assist device 52, it is preferable to use a scale-like sheet 20B as the shape-retaining section 20.

[0080] Furthermore, as shown in Figure 8, #802, even when the user has both arms raised to the sides, the chainmail portion 2 is bent around the axis normal to the surface. For this reason, it is preferable to use a scale-like sheet 20B as the shape-retaining portion 20 in the shoulder assist device 53 as well.

[0081] In this embodiment, a configuration in which the chainmail portion 2 is sandwiched between the shape-retaining portions 20 is illustrated, but a configuration in which one shape-retaining portion 20 is arranged along the surface of the chainmail portion 2 is also possible. Even with a configuration in which the shape-retaining portion 20 is provided on one side of the chainmail portion 2, it is possible to maintain the original shape of the planar chainmail portion 2 more easily than with a configuration in which the shape-retaining portion 20 is not provided.

[0082] Furthermore, in this embodiment, the shape-retaining portion 20 is positioned in direct contact with the chainmail portion 2, but the shape-retaining portion 20 may also be positioned outside the bag portion 3. In this case as well, it is possible to maintain the original shape of the flat chainmail portion 2 more easily than in a configuration without the shape-retaining portion 20.

[0083] The surface of the shape-retaining portion 20 on the chainmail portion 2 side may be processed to increase frictional force. In this embodiment, as shown in Figure #1003 of Figure 10, the thin plate annular member 21 is configured to include a resin plate 21a that constitutes the main body and a rubber material 21b bonded to the resin plate 21a.

[0084] By attaching a rubber material 21b with a high coefficient of friction to the surface on the chainmail portion 2 side, displacement between the ring-shaped sheet 20A, which consists of multiple thin annular members 21, and the chainmail portion 2 is suppressed. Displacement between individual thin annular members 21 in the ring-shaped sheet 20A is also suppressed. This makes it even easier to maintain the original shape.

[0085] Although not shown in the diagram, the same effect can be achieved by providing each thin plate-like member 22 in the scale-like sheet 20B with a resin plate that constitutes the main body and a rubber material bonded to the resin plate.

[0086] Furthermore, the processing to increase frictional force is not limited to the configuration of bonding rubber material 21b. Frictional force may also be increased by other processing methods, such as roughening the surface of the resin plate 21a.

[0087] Furthermore, as shown in P1 and P2 of Figure 9, when constructing a planar chainmail section 2, chainmail 10B (10A) connected in a planar manner may be stacked, or a stacked structure in which annular members 11 are connected in the direction normal to the chainmail section 2 may be present. If the thickness of the chainmail section 2 is the same, the rigidity of the chainmail section 2 when degassed can be further increased by reducing the size of the annular members 11 and stacking multiple annular members (multiple layers) in the thickness direction to increase the thickness, rather than increasing the size of the annular members 11 to increase the thickness with a single layer.

[0088] (size) Here, we will describe an example of the size of each component in the rigidity variable device 1A used in the assist devices 50, 52, and 53. Note that this is merely an example and the sizes are not limited to this example.

[0089] Thin annular member 21 of ring-shaped sheet 20A: Thickness: 2 mm, Outer diameter: 8 cm, Inner diameter: 4 cm Thin plate-like member 22 of the scale-like sheet 20B: 2 mm thick, 5 cm square Chainmail section 2: Two flat chainmail pieces 10B are stacked together to form a 21mm thick piece. [Embodiment 3] Other embodiments of the present invention are described below. For the sake of clarity, components having the same function as those described in the above embodiments will be denoted by the same reference numerals, and their descriptions will not be repeated.

[0090] In this embodiment, a robot hand will be described as an example of the application of the variable rigidity device 1B of this embodiment. The robot hand is attached, for example, to the tip of the robot arm of the robot body.

[0091] Figure 12 shows the configuration of a robot hand 60 equipped with the stiffness variable device 1B of this embodiment. Figure 13 shows the configuration of the columnar chainmail section 2 of the chainmail mechanism 6B equipped with the stiffness variable device 1B. Figure 14 shows the change in stiffness of the chainmail mechanism 6B equipped with the stiffness variable device 1B.

[0092] As shown in Figure 12, the robot hand 60 comprises a gripping section 61 having a gripping body 63 for gripping an object 70, and a wrist section 65 attached to the gripping section 61 on the opposite side from the gripping body 63, the wrist section 65 being equipped with a rigidity variable device 1B.

[0093] The gripping portion 61 has a gripping body portion 62 attached to one end of the wrist portion 65, and a pair of gripping bodies 63 attached to the tip of the gripping body portion 62. The gripping portion 61 grips the object 70 by sandwiching it between the pair of gripping bodies 63.

[0094] The variable rigidity device 1B constituting the wrist portion 65 comprises a columnar chainmail portion 2 having a columnar chainmail 10C, and a bag portion 3 in which the columnar chainmail portion 2 is housed. The columnar chainmail portion 2 and the bag portion 3 constitute the chainmail mechanism 6B.

[0095] As shown in Figure 13, the columnar chainmail section 2 is sandwiched between a pair of sleeve members 67 from two directions. The sleeve members 67 maintain the columnar shape of the chainmail section 2. The pair of sleeve members 67 may be created simultaneously with the formation of the columnar chainmail section 2 using a 3D printer.

[0096] The chainmail mechanism 6B is arranged such that one sleeve member 67 side of the chainmail section 2 is connected to the robot arm, and the other sleeve member 67 side is connected to the gripping section 61. The chainmail section 2, along with the pair of sleeve members 67, is housed in the bag section 3.

[0097] As shown in Figure 14, the chainmail mechanism 6B can be freely deformed while maintaining its original columnar shape when the inside of the bag portion 3 is not degassed by the variable gas volume section 5 (see Figure 1). When the variable gas volume section 5 degassses the inside of the bag portion 3, the chainmail mechanism 6B maintains its deformed shape and becomes highly rigid.

[0098] (Robot hand movements) The robot hand 60 accesses the object 70 with the chainmail mechanism 6B in the wrist portion 65 having low rigidity. The low-rigidity wrist portion 65 can freely change shape while maintaining its columnar shape, thus flexibly connecting the robot arm and the gripping portion 61 and not hindering the movement of the gripping portion 61.

[0099] When the robot hand 60 grasps the object 70 with the gripping section 61, the chainmail mechanism 6B in the wrist section 65 becomes highly rigid. As a result, the wrist section 65 maintains its shape and becomes highly rigid when it grasps the object 70 with the gripping section 61. The robot arm moves the robot hand 60 in the direction of pulling out the object 70. Because the wrist section 65 is highly rigid in the state when it grasps the object 70, the object 70 can be pulled out straight. The component indicated by reference numeral 69 in Figure 12 is an auxiliary wire for increasing the strength of the wrist section 65.

[0100] (effect) When performing assembly work using a robot equipped with a robot hand 60, the positional deviation between the gripping part 61 and the object 70 falls within an acceptable range. In contrast, when performing dismantling work using a robot equipped with a robot hand 60, the positional deviation is highly uncertain and does not fall within an acceptable range.

[0101] When using a robot hand with high overall rigidity to grasp an object 70 with high uncertainty in positional deviation, the gripping force between contact points can become excessively large, potentially causing jamming or wedge formation, and propagating to the point of damaging the robot body.

[0102] In contrast, by using a robot hand 60 equipped with a wrist portion 65 that utilizes a chainmail mechanism 6B with adjustable rigidity, the object 70 can be grasped without problems by adapting to the uncertainty with the low-rigidity wrist portion 65. This is particularly effective in dismantling operations with high uncertainty, and it is also possible to process highly uncertain dismantling operations without sensors.

[0103] The present invention is not limited to the embodiments described above, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0104] 1, 1A, 1B Stiffness Variable Device 2 Chain mail section 3 Bag part 4 tubes 5. Variable gas volume section 6, 6B Chain mail mechanism 10, 10A, 10B, 10C chain mail 11, 11A, 11B, 11B' annular members 20 Shape retention part 20A Ring-shaped sheet (shape-retaining part) 20B Scale-like sheet (shape-retaining part) 21 Thin plate annular member 22 Thin plate-like member 31 Part 1 32 Part 2 50, 52, 53 Assist devices 51 Mounting member 60 Robot Hands 61 Gripping part 63 Grip body 65 Wrist part 67 Sleeve component 70 Objects Z-axis of the column

Claims

1. A chainmail section having a chainmail made up of multiple annular members connected together, A deformable bag portion that can seally house the chainmail portion, The device comprises a variable gas volume unit that extracts gas from the bag containing the chainmail section and supplies gas into the bag, The variable gas volume section is a variable rigidity device that increases the rigidity of the chain mail section and maintains the chain mail section in a deformed state by extracting gas from the bag section while the chain mail section is deformed by an external force.

2. The chainmail portion is planar, The variable rigidity device according to claim 1, further comprising a shape-retaining portion arranged along the surface of the chainmail portion and maintaining the planar shape of the chainmail portion.

3. The rigidity variable device according to claim 2, wherein the shape-retaining parts are arranged on both sides of the chainmail part so as to sandwich the chainmail part.

4. The rigidity variable device according to claim 2, wherein the shape-retaining portion has a plurality of thin plate-like members arranged so as to overlap in part and lay out in a scale-like pattern.

5. The rigidity variable device according to claim 2, wherein the shape-retaining portion has a plurality of connected thin plate annular members.

6. The variable rigidity device according to claim 2, wherein the surface of the shape-retaining portion on the chainmail portion side is processed to increase the frictional force.

7. The variable rigidity device according to claim 2, wherein the chainmail portion has a laminated structure in which the chainmail, which is connected in a planar manner, is arranged in a stacked manner, or the annular member is also connected in the direction normal to the surface of the chainmail portion.

8. The chainmail portion is columnar in shape. The variable rigidity device according to claim 1, further comprising a pair of sleeve members for clamping the chainmail portion.

9. A planar or columnar chainmail section having a chainmail made up of multiple annular members connected in a planar or columnar shape, A bag portion that can seally house the chainmail portion, The device comprises a variable gas volume unit that extracts gas from the bag containing the chainmail section and supplies gas into the bag, The aforementioned bag portion is If the chainmail portion is planar, it is possible to bend the chainmail portion about an axis in at least one direction within the plane of the chainmail portion, and to bend the chainmail portion about an axis in the direction normal to the plane of the chainmail portion. A variable rigidity device that, when the chainmail portion is columnar, allows a first portion and a second portion of the chainmail portion, located along the axis of the column, to be deformable relative to each other in at least a first direction perpendicular to the axis of the column and a second direction perpendicular to the axis of the column and the first direction.

10. A variable rigidity device according to any one of claims 2 to 7, An assist device comprising a mounting member for attaching the aforementioned variable rigidity device to a human body.

11. A gripping part having a gripping body for gripping an object, The gripping portion comprises a wrist portion attached to the opposite side of the gripping body, The wrist portion is a robot hand equipped with the rigidity variable device described in claim 8.

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