Tensegrity structure and locking part of tensegrity structure

Abstract

To provide a tensegrity structure and a lock part for the tensegrity structure such that a tensegrity structure having a complicated structure can be easily constructed.SOLUTION: A tensegrity structure S1 comprises a three-dimensional rigid body 10C having a plurality of plate materials 10 combined, and a connection member 11 which mutually connects the plurality of rigid bodies 10C while tensing them.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to tensegrity structures and locking portions of tensegrity structures.

Background Art

[0002] Patent Document 1 discloses a rod-shaped member that holds both ends of two string-shaped members so as to connect both ends of the rod-shaped member. At both ends of this rod-shaped member, the string-shaped portions of other rod-shaped members can be locked, and thereby a tensegrity structure in which a plurality of rod-shaped members are connected via the string-shaped portions can be constructed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the rod-shaped member of Patent Document 1 has a structure that extends in one direction (i.e., one-dimensional), and there is a limit to constructing a tensegrity structure that expands three-dimensionally. Further, the rod-shaped member of Patent Document 1 is considered to be easily detached even when locking the string-shaped portion of another rod-shaped member, and is considered to be a factor that makes it difficult to construct a tensegrity structure.

[0005] The present invention has been made in view of the above conventional circumstances, and an object to be solved is to provide a tensegrity structure in which it is easy to construct a tensegrity structure having a complex structure, and a locking portion of the tensegrity structure.

Means for Solving the Problems

[0006] The tensegrity structure of the first invention is a three-dimensional rigid body formed by combining a plurality of plate materials, and A connecting member that connects multiple rigid bodies while applying tension, It is equipped with.

[0007] This tensegrity structure allows for the easy construction of complex tensegrity structures using three-dimensional rigid bodies formed by combining multiple plate materials.

[0008] The locking portion of the tensegrity structure of the second invention is A locking part of a tensegrity structure that locks connecting members that connect multiple plate materials together while applying tension, It comprises a pair of arms that form a gap through which the connecting member is inserted, A ring-shaped tube is inserted through at least one of the aforementioned arms, The connecting member inserted into the gap is in contact with the tube through which at least one of the arms is inserted.

[0009] The locking mechanism of this tensegrity structure generates friction between the contacting tubes and connecting members, preventing the connecting members from falling out of the gaps or shifting within the gaps. Therefore, complex tensegrity structures can be easily constructed. [Brief explanation of the drawing]

[0010] [Figure 1] This is a perspective view showing a tensegrity structure using the tensegrity structure of Example 1. [Figure 2] This is a perspective view showing two boards. [Figure 3] This is a perspective view showing an example of the order in which multiple connecting members, flanges, and tubes are attached to an arm. [Figure 4] This is a perspective view showing a tensegrity structure using the locking portion of the tensegrity structure of Example 2. [Figure 5] A plan view showing the connecting member attached to the plate material, and a magnified view showing the locking part are shown. [Figure 6]It is a partially enlarged perspective view showing a state where another connecting member is inserted into the locking portion of the plate material. [Figure 7] It is a partially enlarged perspective view showing a state where a tube is attached after inserting another connecting member into the locking portion of the plate material. [Figure 8] It is a plan view showing a plate material of another embodiment. [Figure 9] It is a partially enlarged plan view showing the locking portion of another embodiment. [Figure 10] It is a perspective view showing a rigid body of another embodiment.

Mode for Carrying Out the Invention

[0011] Preferred embodiments of the present invention will be described.

[0012] The connecting member of the tensegrity structure of the first invention can be an elastic body. According to this configuration, by stretching the connecting member, elastic energy can be stored in the connecting member, and the rigid bodies can be relatively displaced, so that tensegrity structures in more various forms can be constructed.

[0013] Slits are formed in each plate material of the tensegrity structure of the first invention, The rigid body can be formed by fitting the slits of each plate material. According to this configuration, a three-dimensional rigid body can be easily formed with a simple structure of fitting the slits together.

[0014] Each plate material of the tensegrity structure of the first invention can have the same shape. According to this configuration, the types of parts can be reduced, and the setup for manufacturing the parts can be minimized.

[0015] The locking portion of the tensegrity structure of the second invention is recessed in a direction approaching the gap, and a recess into which the tube fits can be formed. According to this configuration, by fitting the tube into the recess, it is possible to prevent the tube from falling off from the locking portion.

[0016] The tip surface of the recess of the locking portion of the tensegrity structure of the second invention may be inclined in the tip direction toward the bottom surface of the recess. According to this configuration, it becomes easier for the tube to catch on the tip surface of the recess, and it is possible to make it difficult for the tube to disengage from the recess.

[0017] The locking portion of the tensegrity structure of the second invention may have a tapered shape on the tip side rather than the recess. According to this configuration, it is possible to make it easier to fit the tube into the recess.

[0018] Next, Example 1 in which the tensegrity structure of the first invention is embodied and two Examples in which the locking portion of the tensegrity structure of the second invention are embodied will be described while referring to the drawings.

[0019] <Example 1> As shown in FIG. 1, the tensegrity structure 1 of Example 1 is constructed by a tensegrity structure S1 including a three-dimensional rigid body 10C formed by combining a plurality of plate members 10 and a connecting member 11.

[0020] [Regarding the plate material] The plurality of plate members 10 are produced, for example, by cutting out from a flat acrylic resin. Each plate member 10 has the same outer shape. As shown in FIG. 2, the plate member 10 has a form in which a pair of arms 10A extend in a V shape. The angle θ formed by the pair of arms 10A is 109.5°. The tip portions of each arm 10A are formed to have a smaller width dimension (dimension in a direction orthogonal to the longitudinal direction of the arm 10A) than the base portion. A slit 10B is formed in the central portion 10E of the plate member 10 where the pair of arms 10A are connected. The slit 10B extends in a direction away from the pair of arms 10A. The width dimension of the slit 10B is generally the same from the tip to the inner part. The width dimension of the slit 10B is formed to be slightly smaller than the thickness dimension of the plate member 10 (the plate thickness of the flat acrylic resin before cutting out).

[0021] [Regarding the rigid body] A rigid body 10C is formed by fitting together the slits 10B of two plate materials 10 (see Figure 1). The plate materials 10 are made of acrylic. Therefore, when the slits 10B are fitted together, the slits 10B are pushed outwards by the other plate material, and fit into the slits 10B of the other plate material 10, sandwiching the other plate material 10. As a result, the plate materials 10 whose slits 10B are fitted together cannot be easily separated. As shown in Figure 1, in one rigid body 10C, the four arms 10A are arranged to extend radially from the part where the slits 10B are fitted together (i.e., the central part 10E). The tip of each arm 10A of the rigid body 10C is positioned at a location corresponding to each vertex of a regular tetrahedron. The term "rigid body" here does not mean a strictly rigid body, but rather means that it does not deform significantly (effectively does not deform) when pressed.

[0022] [Regarding connecting members] The connecting member 11 has a shape that extends in one direction. The connecting member 11 is flexible. For example, an elastic material such as rubber or silicone resin is used for the connecting member 11. Locking holes 11A are formed through each end of the connecting member 11 (see Figure 3).

[0023] [An example of a tensegrity structure] An example of a tensegrity structure using a tensegrity structure S1 (rigid bodies 10C and connecting members 11) will be described. The tensegrity structure 1 shown in Figure 1 is composed of multiple rigid bodies 10C and multiple connecting members 11.

[0024] First, an annular flange portion 10D is inserted through the tip of each arm 10A of the rigid body 10C (see Figure 3). The flange portion 10D is made, for example, by cutting it out from the same flat acrylic resin used for the plate material 10. The flange portion 10D inserted through the tip of the arm 10A protrudes outwards in a flange shape from the tip of the arm 10A (see Figure 1).

[0025] As shown in Figure 1, the multiple rigid bodies 10C are arranged in the same orientation and in one direction. Specifically, the multiple rigid bodies 10C are positioned in the same orientation and arranged in a line so that their respective slits 10B are aligned in a straight line.

[0026] In each of the adjacent rigid bodies 10C, the tips of arms 10A in the same orientation are connected by a single connecting member 11. Specifically, one tip of an arm 10A in the same orientation and parallel to the slit 10B is inserted into each of the locking holes 11A at both ends of the single connecting member 11. Then, the tips of the arms 10A of opposing plate members 10 in the adjacent rigid bodies 10C are connected by the connecting member 11. The tips of the arms 10A of opposing plate members 10 in the adjacent rigid bodies 10C are positioned at each corner of the square. Of the arms 10A positioned at each corner of the square, the tips of adjacent arms 10A are connected by a single connecting member 11.

[0027] A flange portion 10D is inserted through the tip of the arm 10A to which the connecting member 11 is locked (see Figure 3). A tube 12 made of rubber or silicone resin is inserted through the tip of the arm 10A through which the flange portion 10D is inserted (see Figure 3). When the tube 12 is inserted through the tip of the arm 10A, it expands slightly in diameter. When a force is applied to the tube 12 in a direction that pulls it out of the tip of the arm 10A, a frictional force is generated between the tip of the arm 10A and the tube 12, which makes it difficult for the tube 12 to fall out of the tip of the arm 10A. In this way, the tensegrity structure 1 is constructed.

[0028] In the tensegrity structure 1, the connecting member 11 connects the rigid bodies 10C in a slightly stretched state (i.e., under tension). Since the connecting member 11 is an elastic body, by applying a force to one rigid body 10C while maintaining the orientation of the other rigid body 10C, the relative positions of the rigid bodies 10C can be changed. When the force applied to the other rigid body 10C is stopped, the relative positions of the rigid bodies 10C return to their original positions.

[0029] Next, the effects of Example 1 will be explained.

[0030] The tensegrity structure S1 comprises a three-dimensional rigid body 10C formed by combining multiple plate materials 10, and connecting members 11 that connect the multiple rigid bodies 10C while applying tension. With this configuration, a tensegrity structure 1 with a complex structure can be easily constructed using a three-dimensional rigid body 10C formed by combining multiple plate materials 10.

[0031] The connecting member 11 of the tensegrity structure S1 is an elastic body. With this configuration, by stretching the connecting member 11, elastic energy can be stored in the connecting member 11, allowing the rigid bodies 10C to be displaced relative to each other, and enabling the construction of a wider variety of tensegrity structures 1.

[0032] Each plate member 10 of the tensegrity structure S1 has a slit 10B formed in it, and the rigid body 10C is formed by fitting the slits 10B of each plate member 10 together. With this configuration, a three-dimensional rigid body 10C can be easily formed with a simple structure of fitting the slits 10B together.

[0033] Each plate 10 of the tensegrity structure S1 has the same shape. This configuration reduces the number of parts and minimizes the steps required to manufacture the parts.

[0034] <Example 2> As shown in Figure 4, the tensegrity structure S2 of Example 2 differs from that of Example 1 in terms of the external shape of the plate material 20, the external shape of the connecting member 21, etc. Components identical to those of Example 1 are denoted by the same reference numerals, and detailed descriptions are omitted.

[0035] [About board materials] Multiple plate materials 20 are manufactured, for example, by cutting them from a flat sheet of acrylic resin. Each plate material 20 has the same external shape. The plate material 20 is shaped to extend in one direction. Locking portions 22 are provided at each end of the plate material 20.

[0036] [Regarding the locking mechanism] As shown in Figure 5, the locking portion 22 is provided with a pair of arms 22A. The pair of arms 22A are parallel to each other and extend along the longitudinal direction of the plate material 20. The pair of arms 22A are arranged in the direction in which the flat acrylic resin expands before cutting. A gap 22B is formed between the pair of arms 22A. The width direction of the gap 22B is parallel to the direction in which the flat acrylic resin expands before cutting. The width dimension of the gap 22B is approximately the same from the tip to the back.

[0037] A pair of recesses 22D are formed in the locking portion 22. The recess 22D is formed by a front surface 22E, a bottom surface 22F, and a base surface 22G. The front surface 22E is located on the front side of the locking portion 22 in the recess 22D. The bottom surface 22F is connected to the end of the front surface 22E closest to the gap 22B and extends toward the base side of the locking portion 22 in the direction in which the gap 22B extends. The base surface 22G is connected to the base side of the bottom surface 22F and extends perpendicular to the direction in which the gap 22B extends and away from the gap 22B.

[0038] The leading edge surface 22E of the recess 22D is inclined to move toward the base end surface 22G of the recess 22D as it moves away from the bottom surface 22F of the recess 22D. In other words, the leading edge surface 22E of the recess 22D is inclined toward the bottom surface 22F of the recess 22D and toward the tip of the locking portion 22 (i.e., toward the tip). The direction in which the recess 22D is recessed is along the direction normal to each of the opposing surfaces of the gap 22B.

[0039] In the locking portion 22, the part of the locking portion 22 that is closer to the gap 22B has an inclined surface 22H formed on the tip side of the recess 22D. In the locking portion 22, the part of the locking portion 22 that is closer to the tip of the recess 22D has a tapered shape.

[0040] [Regarding connecting members] The connecting member 21 is annular in shape. The connecting member 21 is flexible. For example, rubber or silicone resin can be used for the connecting member 21. The connecting member 21 is inserted through the gaps 22B of each of the two locking parts 22 of one plate material 20 and is stretched across the two locking parts 22. In other words, the connecting member 21 is inserted through the gap 22B formed by the pair of arm parts 22A. The connecting member 21 is stretched across the two locking parts 22 in a slightly extended state. In this way, the tensegrity structure S2 is constructed.

[0041] An example of the procedure for connecting two tensegrity structures S2 will be described. First, as shown in Figure 6, the connecting member 21A of the other tensegrity structure S2 (hereinafter also simply referred to as the other connecting member 21A) is locked into the gap 22B of one locking portion 22 of one plate material 20. Then, as shown in Figure 7, the tube 12 is attached to the locking portion 22 to which the other connecting member 21A is locked. Specifically, the tube 12 is inserted through a pair of arm portions 22A and fitted into a recess 22D. At this time, the tube 12 is pushed out by the two inclined surfaces 22H to be inserted through the pair of arm portions 22A, and when it reaches the recess 22D, it shrinks in diameter. In this way, the tube 12 is fitted into the recess 22D.

[0042] In the longitudinal direction of the plate material 20, the dimension L1 in which the gap 22B and the recess 22D overlap is shorter than the axial dimension L2 of the tube 12. Therefore, when the tube 12 is attached to the locking portion 22 through which the other connecting member 21A is inserted, the other connecting member 21A is pressed against the tube 12. In other words, the tube 12 through which the arm portion 22A is inserted comes into contact with the other connecting member 21A inserted through the gap 22B. Therefore, if a force is applied to the other connecting member 21A to move relative to the gap 22B, a frictional force is generated between the tube 12 and the other connecting member 21A. This prevents the other connecting member 21A from shifting relative to the gap 22B.

[0043] The direction in which the tip surface 22E of the recess 22D extends intersects with the direction in which the other connecting member 21A is pulled out from the gap 22B. Therefore, even if the other connecting member 21A is pulled in a direction that removes it from the gap 22B (i.e., toward the tip of the arm portion 22A), the tube 12 attached to the recess 22D remains locked to the tip surface 22E of the recess 22D, thus preventing it from coming off the recess 22D. This prevents the other connecting member 21A from coming off the locking portion 22.

[0044] [An example of a tensegrity structure] By connecting multiple tensegrity structures S2 in this manner, a tensegrity structure 2, such as that shown in Figure 4, can be constructed. This tensegrity structure 2 uses three pairs of tensegrity structures S2 arranged in roughly parallel directions. Each pair of tensegrity structures S2 is positioned roughly perpendicular to the other pairs of tensegrity structures S2. In the tensegrity structure 2, a connecting member 21 is locked to the locking portion 22, which connects multiple plate members 20 together in a slightly stretched state (i.e., under tension).

[0045] Next, we will explain the effects of Example 2.

[0046] The locking portion 22 of the tensegrity structure S2 locks a connecting member 21 that connects multiple plate members 20 together while applying tension. This locking portion 22 has a pair of arms 22A that form a gap 22B through which the connecting member 21 is inserted, and an annular tube 12 is inserted through the pair of arms 22A, so that the tube 12 through which the pair of arms 22A is inserted comes into contact with the connecting member 21 that is inserted through the gap 22B. With this configuration, a frictional force is generated between the contacting tube 12 and the connecting member 21, so that the connecting member 21 does not fall out of the gap 22B or shift within the gap 22B.

[0047] The locking portion 22 of the tensegrity structure S2 is recessed in a direction that approaches the gap 22B, forming a recess 22D into which the tube 12 fits. With this configuration, the tube 12 can be prevented from falling out of the locking portion 22 by fitting it into the recess 22D.

[0048] The tip surface 22E of the recess 22D of the locking portion 22 of the tensegrity structure S2 is inclined toward the tip towards the bottom surface 22F of the recess 22D. With this configuration, the tube 12 can easily get caught on the tip surface 22E of the recess 22D, making it difficult for the tube 12 to detach from the recess 22D.

[0049] The locking portion 22 of the tensegrity structure S2 is tapered towards the tip of the recess 22D. This configuration makes it easier to fit the tube 12 into the recess 22D.

[0050] The present invention is not limited to Examples 1 and 2 described above in the description and drawings, and the following examples are also included in the technical scope of the present invention. (1) Unlike in each embodiment, some of the connecting members may be made of a material that is softer and more flexible than the other connecting members. In this case, the relative distance between the tips of the arms that are locked by the soft connecting members can be changed more easily than between the tips of the arms that are locked by the other connecting members. For this reason, by using soft connecting members, it becomes possible to construct a tensegrity structure that operates selectively in a predetermined direction. (2) The angle formed by the pair of arms is not limited to that disclosed in Example 1. (3) As shown in Figure 8, locking portions 22 may be provided at the tips of each of the two arms 110A of the plate material 110. (4) Unlike in Example 2, the tube may be inserted through only one arm. Also, only one recess or protrusion may be provided. In other words, the tube may be inserted through at least one arm. The tube that has been inserted through at least one arm may come into contact with the connecting member inserted through the gap. (5) Unlike in Example 2, the locking portion 32 may be in the form shown in Figure 9. Each of the pair of arm portions 32A that form the gap 32B has a drawing surface 32C formed at its tip. Each drawing surface 32C is inclined so that the distance between them increases as it approaches the tip of the arm portion 32A. This makes it easier to insert other connecting members or tubes into the gap 32B. (6) Unlike in Example 1, a rigid body may be constructed by combining multiple plate materials. For example, as shown in Figure 10, a rigid body 210C may be constructed by connecting two plate materials 10 with a plate material 30 having two slits 30B formed therein. In other words, the shapes of the plate materials do not have to be the same. (7) Unlike in each embodiment, the connecting member may be made of string, chain, or the like. (8) The material of the board is not limited to that of each embodiment. [Explanation of symbols]

[0051] S1, S2...Tensegrity structures 10,20,30,110…Plate material 10B, 30B... Slit 10C, 210C… Rigid body 11, 21, 21A… Connecting members 12... Tube 22, 32… Locking parts 22A,32A…Arm part 22B... Gap 22D…recess 22E…Tip surface 22F...Bottom

Claims

1. A three-dimensional rigid body made by combining multiple plate materials, A connecting member, which is an elastic body that connects multiple rigid bodies while applying tension, Equipped with, The plate material has a pair of arms that form a gap through which the connecting member is inserted, An annular tube is inserted into at least one of the aforementioned arms, A tensegrity structure in which the connecting member inserted through the gap is in contact with the tube through which at least one of the arms is inserted.

2. Each of the aforementioned plate materials has a slit formed in it. The rigid body is formed by fitting the slits of each of the plate materials together, as described in claim 1, for the tensegrity structure.

3. The tensegrity structure according to claim 1 or claim 2, wherein each of the aforementioned plate materials has the same shape.

4. A locking portion of a tensegrity structure according to claim 1, The pair of arms are provided, The connecting member inserted through the gap is a locking portion of a tensegrity structure, through which the tube, with at least one of its arms inserted, comes into contact.

5. The locking portion of the tensegrity structure according to claim 4, which is recessed in a direction approaching the gap and has a recess formed in which the tube fits.

6. The locking portion of the tensegrity structure according to claim 5, wherein the tip surface of the recess is inclined toward the tip toward the bottom surface of the recess.

7. The locking portion of the tensegrity structure according to claim 5 or claim 6, wherein the tip side of the recess is tapered.

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