Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
First Claim
1. A laminated-type multi-joint portion drive mechanism comprising:
- a pneumatic drive source for providing pneumatic pressure;
a bone member having at least two elastically-deformable elastic deformation portions;
a laminated-type pneumatic tube member fixed on said bone member, said laminated-type pneumatic tube member having line-tubes separately connected to said pneumatic drive source; and
a planar-type joint-portion flexural deformation member fixed on said laminated-type pneumatic tube member, said planar-type joint-portion flexural deformation member having joint portions and pneumatic operation chambers at said joint portions, separately and respectively, with said joint portions being aligned with said at least two elastic deformation portions, respectively, and said pneumatic operation chambers being separately connected to said line-tubes, respectively,such that when pneumatic pressure is applied to one of said pneumatic operation chambers, a corresponding one of said joint portions is deformed.
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Accused Products
Abstract
A laminated-type multi-joint portion drive mechanism includes a bone member having at least two elastic deformation portions, a laminated-type pneumatic tube member having at least twoline-tubes which are stacked on the bone member and which are connected to a pneumatic drive source, and a planar-type joint-portion deformation member which is stacked on the laminated-type pneumatic tube member and has pneumatic operation chambers which are placed at joint portions confronting the deformation portions, respectively, and which are connected to the tubes, wherein when pneumatic pressure is applied to one of the pneumatic operation chambers, the joint portion corresponding to the pneumatic operation chamber to which the pneumatic pressure is applied is deformable.
58 Citations
22 Claims
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1. A laminated-type multi-joint portion drive mechanism comprising:
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a pneumatic drive source for providing pneumatic pressure; a bone member having at least two elastically-deformable elastic deformation portions; a laminated-type pneumatic tube member fixed on said bone member, said laminated-type pneumatic tube member having line-tubes separately connected to said pneumatic drive source; and a planar-type joint-portion flexural deformation member fixed on said laminated-type pneumatic tube member, said planar-type joint-portion flexural deformation member having joint portions and pneumatic operation chambers at said joint portions, separately and respectively, with said joint portions being aligned with said at least two elastic deformation portions, respectively, and said pneumatic operation chambers being separately connected to said line-tubes, respectively, such that when pneumatic pressure is applied to one of said pneumatic operation chambers, a corresponding one of said joint portions is deformed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A laminated-type multi-joint portion drive mechanism comprising:
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a pneumatic drive source for providing pneumatic pressure; a bone member having at least two elastically-deformable elastic deformation portions; a laminated-type pneumatic tube member fixed on said bone member, said laminated-type pneumatic tube member having line-tubes connected to said pneumatic drive source; and a planar-type joint-portion flexural deformation member fixed on said laminated-type pneumatic tube member, said planar-type joint-portion flexural deformation member having joint portions and pneumatic operation chambers at said joint portions, respectively, with said joint portions being aligned with said at least two elastic deformation portions, respectively, and said pneumatic operation chambers being connected to said line-tubes, respectively, wherein said planar-type joint-portion flexural deformation member includes a constrained layer for imparting a directivity of expandability and contractibility to said planar-type joint-portion flexural deformation member along a longitudinal direction, such that when pneumatic pressure is applied to one of said pneumatic operation chambers a corresponding one of said joint portions is expanded so as to perform a flexural operation by guidance of said bone member. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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22. A laminated-type multi-joint portion drive mechanism comprising:
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a pneumatic drive source for providing pneumatic pressure; a bone member having at least two elastically-deformable elastic deformation portions; molded organic films stacked one on another so as to form a laminated-type pneumatic tube member, said laminated-type pneumatic tube member being fixed on said bone member and having line-tubes, with said line-tubes being connected to said pneumatic drive source; and a planar-type joint-portion flexural deformation member fixed on said laminated-type pneumatic tube member, said planar-type joint-portion flexural deformation member having joint portions and pneumatic operation chambers at said joint portions, respectively, with said joint portions being aligned with said at least two elastic deformation portions, respectively, and said pneumatic operation chambers being connected to said line-tubes, respectively, such that when pneumatic pressure is applied to one of said pneumatic operation chambers, a corresponding one of said joint portions is deformed.
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Specification