JPH10235583A - Artificial joint unit - Google Patents
Artificial joint unitInfo
- Publication number
- JPH10235583A JPH10235583A JP5996797A JP5996797A JPH10235583A JP H10235583 A JPH10235583 A JP H10235583A JP 5996797 A JP5996797 A JP 5996797A JP 5996797 A JP5996797 A JP 5996797A JP H10235583 A JPH10235583 A JP H10235583A
- Authority
- JP
- Japan
- Prior art keywords
- bellows
- electroviscous fluid
- movable plate
- joint unit
- electrodes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、医療用介護装置や
産業ロボットなどに使用される人工関節ユニットに関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an artificial joint unit used for a medical care device, an industrial robot, or the like.
【０００２】[0002]
【発明が解決しようとする課題】医療用介護装置や産業
ロボットなどに使用される人工関節ユニットは、その方
向や角度を自由に変えられると共に、必要に応じて所定
の方向や角度でその姿勢を保持することが要求される。
このように、関節ユニットはその方向や角度を自由に変
える可動的要素と、その姿勢を保持する固定的要素の相
反する２つの要素を同時に満たすことが要求される。An artificial joint unit used for a medical care device, an industrial robot, or the like can freely change its direction and angle, and can change its posture in a predetermined direction and angle as needed. It is required to hold.
As described above, the joint unit is required to simultaneously satisfy two opposing elements of a movable element that freely changes its direction and angle and a fixed element that maintains its posture.
【０００３】従来のメカを中心とした技術で、このよう
な可動的要素と固定的要素を同時に満たすことはかなり
難しく、構造も複雑なものとなる。[0003] It is extremely difficult to satisfy such a movable element and a fixed element at the same time by a conventional technique centered on a mechanism, and the structure becomes complicated.
【０００４】電気粘性流体に電圧を印加すると、印加電
圧の大きさによってその粘性が広範囲にわたって増加
し、ある電圧値以上になると固化する。そこで本発明
は、このような電気粘性流体の特性に着目し、電気粘性
流体に印加する電圧を増減して電気粘性流体の流れを制
御し、この電気粘性流体の液圧で伸縮する伸縮体により
可動板を作動・静止して可動的要素と固定的要素を同時
に満たす人工関節ユニットを提供することを目的になさ
れたものである。When a voltage is applied to an electrorheological fluid, its viscosity increases over a wide range depending on the magnitude of the applied voltage, and solidifies when the voltage exceeds a certain voltage value. Therefore, the present invention focuses on such characteristics of the electrorheological fluid, controls the flow of the electrorheological fluid by increasing or decreasing the voltage applied to the electrorheological fluid, and uses an elastic body that expands and contracts by the liquid pressure of the electrorheological fluid. An object of the present invention is to provide an artificial joint unit in which a movable plate is activated and stopped to simultaneously satisfy a movable element and a fixed element.
【０００５】[0005]
【課題を解決するための手段】かかる目的を達成するた
めに、本発明は以下のように構成した。In order to achieve the above object, the present invention is configured as follows.
【０００６】すなわち、２部材の間を複数の伸縮体で連
結し、この伸縮体を電気粘性流体の循環経路の枝管の終
端に接続し、この枝管の分岐部にそれぞれ電極を配置
し、これらの電極に印加する電圧を増減して前記伸縮体
に加わる液圧を制御し、この液圧で前記複数の伸縮体が
伸縮する長さをそれぞれ個別に調節し、しかして前記２
部材の連結角度を変更することを特徴とする人工関節ユ
ニットである。That is, the two members are connected by a plurality of expandable members, and the expandable members are connected to the ends of the branch pipes in the circulation path of the electrorheological fluid, and electrodes are arranged at the branch portions of the branch pipes, respectively. The hydraulic pressure applied to the elastic body is controlled by increasing or decreasing the voltage applied to these electrodes, and the length of expansion and contraction of the plurality of elastic bodies is individually adjusted by the hydraulic pressure.
An artificial joint unit characterized by changing a connection angle of members.
【０００７】[0007]
【発明の実施の形態】以下に、図面を参照して本発明の
実施の形態について説明する。Embodiments of the present invention will be described below with reference to the drawings.
【０００８】図１に、本発明を実施した人工関節ユニッ
トの構成図を示す。人工関節ユニットは、ポンプ１の吐
出口１ａと吸入口１ｂに電気粘性流体を充填したパイプ
２を接続して電気粘性流体の循環経路を構成し、この循
環経路の枝管の終端に同じ長さの４本の伸縮体としての
ベローズ４を接続する。そして、この枝管の分岐部のポ
ンプ１の吐出口１ａ側と吸入口１ｂ側の流路に平行に対
面する電極３ａ、３ｂをそれぞれ配置する。なお、接続
するベローズ４は複数本で構成し、４本に限定するもの
ではない。FIG. 1 shows a configuration diagram of an artificial joint unit embodying the present invention. In the artificial joint unit, a pipe 2 filled with an electrorheological fluid is connected to a discharge port 1a and a suction port 1b of a pump 1 to form a circulation path of the electrorheological fluid, and the same length is provided at the end of a branch pipe of the circulation path. The bellows 4 as the four elastic bodies are connected. Then, electrodes 3a and 3b facing in parallel to the flow paths on the discharge port 1a side and the suction port 1b side of the pump 1 at the branch portion of the branch pipe are arranged. In addition, the bellows 4 to be connected is composed of a plurality of bellows, and is not limited to four.
【０００９】ベローズ４の先端には４本のベローズ４で
支持する可動板５を取付ける。ベローズ４の開口部はパ
イプ２に連通し、支持板６に穿設した通孔ａに挿通して
固定する。ベローズ４が支持する可動板５の反対側の面
にはアーム７を一体に植立する。A movable plate 5 supported by four bellows 4 is attached to the tip of the bellows 4. The opening of the bellows 4 communicates with the pipe 2 and is inserted and fixed in a through hole a formed in the support plate 6. An arm 7 is integrally erected on a surface opposite to the movable plate 5 supported by the bellows 4.
【００１０】電極３ａ、３ｂの一方には電極端子Ｐを取
付け、他方を接地する。電極３ａ、３ｂに印加する電圧
は、交流、直流のいずれでもよい。電極３ａ、３ｂに所
定の電圧値以上の電圧を印加すると、電極３を流れる電
気粘性流体が固化して流路が閉じられるので、電極３
ａ、３ｂはバルブの役割を果す。An electrode terminal P is attached to one of the electrodes 3a and 3b, and the other is grounded. The voltage applied to the electrodes 3a, 3b may be either AC or DC. When a voltage equal to or higher than a predetermined voltage value is applied to the electrodes 3a and 3b, the electrorheological fluid flowing through the electrode 3 is solidified and the flow path is closed.
a and 3b serve as valves.
【００１１】本発明の人工関節ユニットは以上のような
構成で、ベローズ４を伸長するときは、電極３ａに印加
する電圧を下降してポンプ１の吐出口１ａ側の流路を開
け、電極３ｂの電圧を上昇して吸入口１ｂ側の流路を閉
じる。これによりローズ４へ液圧を導く。When the bellows 4 is extended, the voltage applied to the electrode 3a is decreased to open the flow path on the discharge port 1a side of the pump 1 and to extend the electrode 3b. And the flow path on the suction port 1b side is closed. This guides the hydraulic pressure to the rose 4.
【００１２】ベローズ４を短縮するときは、電極３ａに
印加する電圧を上昇してポンプ１の吐出口１ａ側の流路
を閉じ、電極３ｂの電圧を下降して吸入口１ｂ側の流路
を開ける。これによりベローズ４の液圧をポンプ１へ戻
す。When the bellows 4 is shortened, the voltage applied to the electrode 3a is increased to close the flow path on the discharge port 1a side of the pump 1, and the voltage on the electrode 3b is lowered to change the flow path on the suction port 1b side. Open. Thereby, the hydraulic pressure of the bellows 4 is returned to the pump 1.
【００１３】ベローズ４の長さを保持するときは、電極
３ａと電極３ｂの両方の電圧を上昇してポンプ１の吐出
口１ａ側と吸入口１ｂ側の流路を同時に閉じる。これに
よりベローズ４から液圧が抜けないようにする。When the length of the bellows 4 is maintained, the voltage of both the electrodes 3a and 3b is increased to simultaneously close the flow paths on the discharge port 1a side and the suction port 1b side of the pump 1. This prevents the hydraulic pressure from being released from the bellows 4.
【００１４】なお、ポンプ１には、一定量以上の液圧を
逃がすリリーフ弁が設けられている。The pump 1 is provided with a relief valve for releasing a certain amount or more of hydraulic pressure.
【００１５】図２に示すように、４本のベローズ４の伸
縮量を制御してそれぞれ個別にベローズ４の長さを調節
することにより、４本のベローズ４の先端に取付けた可
動板５を任意の方向と角度で傾斜させることができる。As shown in FIG. 2, the movable plate 5 attached to the tips of the four bellows 4 is controlled by controlling the amount of expansion and contraction of the four bellows 4 and individually adjusting the length of the bellows 4. It can be tilted in any direction and angle.
【００１６】また、図３に示すように、アーム７の先端
に他の人工関節ユニットの支持板６を連結することによ
り、空間を自由に動く多関節のアームあるいはフィンガ
ーを実現することができる。Further, as shown in FIG. 3, by connecting the support plate 6 of another artificial joint unit to the tip of the arm 7, a multi-joint arm or finger that can freely move in space can be realized.
【００１７】[0017]
【発明の効果】本発明の人工関節ユニットは、電気粘性
流体の循環経路に複数の電極を配置し、これらの電極に
印加する電圧を増減して電気粘性流体の液圧で伸縮する
伸縮体に加わる液圧を制御する。従って、本発明によれ
ば、電気的なスイッチだけで伸縮体に加わる液圧を制御
するので、構造が簡単で、耐久性にも優れる。また、本
発明の人工関節ユニットは、複数の伸縮体の長さをそれ
ぞれ個別に調節して可動板を任意の方向と角度で傾斜さ
せる。従って、本発明によれば、伸縮体の伸縮により可
動板を傾斜させるので、動きが柔軟で、過度な力が発生
することもない。According to the artificial joint unit of the present invention, a plurality of electrodes are arranged in a circulation path of an electrorheological fluid, and a voltage applied to these electrodes is increased or decreased to expand and contract the body by the hydraulic pressure of the electrorheological fluid. Control the applied hydraulic pressure. Therefore, according to the present invention, since the hydraulic pressure applied to the telescopic member is controlled only by the electric switch, the structure is simple and the durability is excellent. Further, in the artificial joint unit of the present invention, the lengths of the plurality of elastic bodies are individually adjusted, and the movable plate is inclined at an arbitrary direction and angle. Therefore, according to the present invention, since the movable plate is inclined by the expansion and contraction of the expansion and contraction body, the movement is flexible and no excessive force is generated.
【図１】本発明の人工関節ユニットの構成図である。FIG. 1 is a configuration diagram of an artificial joint unit according to the present invention.
【図２】本発明の人工関節ユニットの可動板を傾斜させ
た斜視図である。FIG. 2 is a perspective view in which a movable plate of the artificial joint unit of the present invention is inclined.
【図３】本発明の人工関節ユニットを連結した多関節ア
ームの模式図である。FIG. 3 is a schematic view of an articulated arm to which the artificial joint unit of the present invention is connected.
１ ポンプ ２ パイプ ３ 電極 ４ ベローズ ５ 可動板 ６ 支持板 ７ アーム DESCRIPTION OF SYMBOLS 1 Pump 2 Pipe 3 Electrode 4 Bellows 5 Movable plate 6 Support plate 7 Arm
Claims (1)
の伸縮体を電気粘性流体の循環経路の枝管の終端に接続
し、この枝管の分岐部にそれぞれ電極を配置し、これら
の電極に印加する電圧を増減して前記伸縮体に加わる液
圧を制御し、この液圧で前記複数の伸縮体が伸縮する長
さをそれぞれ個別に調節し、しかして前記２部材の連結
角度を変更することを特徴とする人工関節ユニット。1. An elastic member is connected between two members by a plurality of expandable members, and the expandable member is connected to an end of a branch pipe in a circulation path of the electrorheological fluid, and an electrode is arranged at a branch portion of the branch pipe. The hydraulic pressure applied to the elastic body is controlled by increasing or decreasing the voltage applied to these electrodes, and the length of expansion and contraction of the plurality of elastic bodies is individually adjusted by the hydraulic pressure, thereby connecting the two members. An artificial joint unit characterized by changing an angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5996797A JPH10235583A (en) | 1997-02-27 | 1997-02-27 | Artificial joint unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5996797A JPH10235583A (en) | 1997-02-27 | 1997-02-27 | Artificial joint unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10235583A true JPH10235583A (en) | 1998-09-08 |
Family
ID=13128461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5996797A Withdrawn JPH10235583A (en) | 1997-02-27 | 1997-02-27 | Artificial joint unit |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10235583A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042535A (en) * | 2012-12-26 | 2013-04-17 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN109030581A (en) * | 2018-07-04 | 2018-12-18 | 南京铁道职业技术学院 | A kind of pantograph carbon slide surface damage detection charge converter of composite construction |
| US12018672B2 (en) | 2020-04-02 | 2024-06-25 | Idex Health And Science Llc | Precision volumetric pump with a bellows hermetic seal |
-
1997
- 1997-02-27 JP JP5996797A patent/JPH10235583A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103042535A (en) * | 2012-12-26 | 2013-04-17 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN109030581A (en) * | 2018-07-04 | 2018-12-18 | 南京铁道职业技术学院 | A kind of pantograph carbon slide surface damage detection charge converter of composite construction |
| CN109030581B (en) * | 2018-07-04 | 2024-04-16 | 南京铁道职业技术学院 | Composite construction's pantograph carbon slide surface damage detects and uses charge converter |
| US12018672B2 (en) | 2020-04-02 | 2024-06-25 | Idex Health And Science Llc | Precision volumetric pump with a bellows hermetic seal |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20040511 |