JP7346213B2 - Vibration damping structure, method of manufacturing vibration damping structure, robot, hand - Google Patents

Description

The present invention relates to a vibration damping structure used as a component such as an arm portion of an industrial robot. The present invention also relates to a method of manufacturing a vibration damping structure using a three-dimensional modeling method.

BACKGROUND ART In recent years, lightweight and highly rigid structural parts have been required for equipment in a wide range of fields, including industrial robots, in order to improve the operating speed of the equipment and save the energy required for its operation. For example, if the structural parts of the arms and hands of industrial robots that perform tasks such as transportation and assembly can be made lighter, they will be able to operate at higher speeds and the cycle time required for the tasks will be shortened.

On the other hand, so-called 3D printers are being actively developed, and various methods are known, such as thermal fusion additive manufacturing, stereolithography using a photocurable resin, and powder lamination fusion. Although the use of 3D printers makes it possible to manufacture parts with shapes that are difficult to manufacture using conventional processing techniques, parts manufactured with 3D printers sometimes lack internal strength. Therefore, attempts are being made to increase the internal strength of objects manufactured using 3D printers.

For example, Patent Document 1 discloses that a bulk structure having a reinforcement hole for filling with a reinforcing material is manufactured by additive manufacturing method, and the reinforcement hole is filled with a fluid material and then hardened. A method of increasing internal strength is described.

Japanese Patent Application Publication No. 2015-134411

Although the method described in Patent Document 1 can produce objects with higher internal strength than conventional bulk structures manufactured with 3D printers, it does not directly contribute to the weight reduction required in fields such as industrial robots. It wasn't. Furthermore, in the field of industrial robots and the like, it is required not only to simply reduce the weight of structural parts, but also to be able to suppress vibrations that tend to occur during high-speed operation that accompanies weight reduction.
That is, in the field of industrial robots and the like, there has been a demand for structural components that are lightweight and have excellent vibration damping properties, that is, vibration damping structures.

A first aspect of the present invention has a three-dimensional lattice structure, and a space surrounded by walls connected to the three-dimensional lattice structure is made of a group consisting of a thermoplastic resin, a thermosetting resin, a rubber, an elastomer, and an asphalt. The damping structure is characterized in that any one type of damping material selected from the above is arranged, and the three-dimensional lattice structure is also provided in a space surrounded by the wall .

A second aspect of the present invention is a hand that is installed in a robot and includes a finger and a finger drive mechanism, wherein the finger drive mechanism includes a vibration damping structure, and the vibration damping structure includes: It has a three-dimensional lattice structure composed of members having spaces inside, the spaces are interconnected, and the spaces are filled with a material selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt. The hand is characterized in that any one type of damping material is arranged.

Further, a third aspect of the present invention is a method for manufacturing a vibration damping structure, which includes the steps of forming a powder layer made of raw material powder, and irradiating the powder layer with a laser. It is characterized by comprising the steps of integrally manufacturing a lattice structure and a space connected to the three-dimensional lattice structure and surrounded by a wall having holes, and injecting a damping material through the holes. This is a method of manufacturing a vibration damping structure .

A fourth aspect of the present invention is a method for manufacturing a vibration damping structure, which includes the steps of forming a powder layer made of raw material powder, and irradiating the powder layer with a laser. A vibration damping method comprising the steps of integrally manufacturing a three-dimensional lattice structure in which the space is made up of members that connect with each other, and the step of injecting a damping material into the space. This is a method for manufacturing a structure .

Further, a fifth aspect of the present invention is a hand that is installed in a robot and includes a finger and a finger drive mechanism, wherein the finger drive mechanism includes a vibration damping structure, and the vibration damping structure includes: Three-dimensional lattice structure,
a space surrounded by walls connected to the three-dimensional lattice structure, and in the interior of the space, one selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt. This hand is characterized by having seed vibration damping material arranged thereon.

INDUSTRIAL APPLICABILITY The present invention can provide a structural component, that is, a vibration damping structure, which is lightweight and has excellent vibration damping properties, and can be suitably used in fields such as robots (especially industrial robots, etc.).

FIG. 1 is a perspective view of a link component 1 as a vibration damping structure according to a first embodiment. (a) A front view of the link component 1. (b) A schematic cross-sectional view of the link component 1 taken along the line BB in FIG. 2(a). FIG. 1 is a schematic perspective view of a robot 100 including a link component 1. (a) A perspective view of a part of the hand with the exterior cover removed. (b) A schematic enlarged view of a part of the finger drive mechanism FU1. FIG. 3 is a schematic cross-sectional view of a link component 10 according to a second embodiment. FIG. 7 is a perspective view of a link component 11 as a vibration damping structure according to a third embodiment. (a) A plan view of the link component 11. (b) A front view of the link component 11. (a) A side view of the link component 11. (b) A schematic cross-sectional view of the link component 11 taken along line AA in FIG. 8(a). FIG. 4 is a perspective view of a link component 21 as a vibration damping structure according to a fourth embodiment. (a) A plan view of the link component 21. (b) A side view of the link component 21. (a) A front view of the link component 21. (b) A schematic cross-sectional view of the link component 21 taken along line GG in FIG. 11(a). (a) A perspective view showing a schematic cross-sectional shape of the link component 21 taken along line HH in FIG. 11(a). (b) An enlarged view of the portion 28 shown in FIG. 12(a). (a) A plan view showing a schematic cross-sectional shape of the link component 21 taken along line HH in FIG. 11(a). (b) A side view showing a schematic cross-sectional shape of the link component 21 taken along line HH in FIG. 11(a).

A damping structure and a method of manufacturing the damping structure according to an embodiment of the present invention will be described with reference to the drawings. In the drawings referred to in the description of the embodiments and examples below, unless otherwise specified, members designated with the same reference numerals have the same functions.

[Embodiment 1]
FIG. 1 is a perspective view of a link component 1 as a vibration damping structure according to the first embodiment. 2(a) is a front view of the link component 1, and FIG. 2(b) is a schematic cross-sectional view of the link component 1 taken along line BB in FIG. 2(a).
The link component 1 is used, for example, as a component of a robot hand or arm. FIG. 3 is a schematic perspective view of the robot 100 including the link component 1 as a vibration damping structure. The robot 100 includes an arm supported by a base 101 and a hand 106 attached to the tip of the arm. The arm section includes rotatable joint sections J1, J2, J3, J4, and J5, and link sections 102, 103, 104, and 105 that connect the respective joint sections. The hand 106 includes three fingers 107 that can be opened and closed. The robot 100 performs the work of, for example, grasping a workpiece W placed on a parts stand A with three fingers 107 and transporting it onto a workbench B.

Note that robots that can use the vibration damping structure according to Embodiment 1 as a component are not limited to the example shown in FIG. 3. For example, the robots may have different configurations, such as the number of joints, the direction of the rotation axis of each joint, or the number of fingers 107 included in the hand 106. Further, the vibration damping structure according to the first embodiment can be used not only as an industrial robot that transports workpieces, but also as a component of a robot that performs various operations such as assembly, processing, and inspection.

The link parts according to the first embodiment can be suitably used, for example, in the link parts 102, 103, 104, and 105 that constitute the arm part of the robot 100, and the finger drive mechanism of the hand 106. FIG. 4A is a perspective view of the portion surrounded by the dotted line 108 in FIG. 3, that is, a part of the hand 106, with the exterior cover removed. However, the diagram is shown upside down compared to FIG. The hand 106 with three fingers 107 includes finger drive mechanisms FU1, FU2, and FU3 for opening and closing each finger independently. FIG. 4(b) is a schematic enlarged view of a portion surrounded by a circle 109 in FIG. 4(a), that is, a part of the finger drive mechanism FU1. The finger drive mechanism FU1 incorporates the link component 1 of this embodiment, and the hole 2 of the link component 1 engages with the rotation shaft 110 to rotatably support the rotation shaft 110. As will be described later, the link component 1 has a skeleton portion with a three-dimensional lattice structure; however, for convenience of illustration, the skeleton portion with a three-dimensional lattice structure is omitted and schematically shown in FIG. 4(b).

Returning to FIGS. 1 and 2(a) to 2(b), the link component 1 has a skeleton portion 4 having a three-dimensional lattice structure that is H-shaped as a whole, and a mounting portion for attaching the link component 1 to the device. Four rotating shaft support parts are connected and integrated with the skeleton part 4 having a three-dimensional lattice structure. The pivot shaft support section serving as the attachment section is provided with the hole 2 that engages with the pivot shaft 110 as described above. In addition, the attachment part provided in the link part to enable it to be attached to a device such as a robot is not limited to a hole that rotatably supports a rotation axis, but can be attached to a frame part of a three-dimensional lattice structure. It is also possible to use an attachment part using other engagement methods.
The link component 1 includes two surrounding walls 3 that are provided so as to wrap around a partial area of the skeleton section 4 having a three-dimensional lattice structure.

The skeleton part 4 having a three-dimensional lattice structure, the four pivot shaft support parts provided with the holes 2, and the two surrounding walls 3 are created as an integral three-dimensional structure connected to each other by a powder lamination melting method. (It may also be created by other three-dimensional manufacturing methods such as fused deposition modeling).

In the link component 1, damping materials 5 are arranged in two areas surrounded by the surrounding wall 3 so as to fill the gaps in the lattice of the three-dimensional lattice structure. The damping material can be a material that has the desired damping properties, but it may be solid at room temperature but turn into a liquid state when heated, or it may be a liquid state at room temperature but once heated. Those that solidify are preferred. For example, various thermoplastic resins, thermosetting resins, rubber, elastomers, asphalt, etc. can be used as the damping material.

Each surrounding wall 3 is provided with an injection port 6 for injecting damping material. The damping material is injected, for example, in the same manner as injection molding, by bringing an injection nozzle into contact with the injection port 6 and filling the area surrounded by the surrounding wall 3 with liquid damping material while applying injection pressure. Thereafter, a method of solidifying by cooling or heating is used. Further, depending on the case, the temperature of the skeleton part 4 and the surrounding wall 3 having a three-dimensional lattice structure may be raised in advance, filling may be performed from the injection port 6, and then the whole may be cooled to solidify the damping material. Moreover, it is also possible to provide an air port in the surrounding wall 3 for letting air escape, separately from the injection port. It is also possible to connect the air port to a vacuum pump or the like to reduce the pressure in the area surrounded by the surrounding wall 3, and then inject the liquid vibration damping material through the injection port 6. After the injection is completed, the injection port 6 is sealed. For example, the injection port can be sealed by cutting a thread groove in advance and inserting a screw plug or the like, or by press-fitting a separate member, welding, or the like.

As a specific example, four rotating bodies with a three-dimensional lattice structure skeleton 4 and holes 2 were created using a powder layered melting method that uses AlSi12 powder, which is an aluminum alloy, as a raw material and repeats the formation of a powder layer and laser heating. The shaft support part and the two surrounding walls 3 are integrally molded. The external shape of the H-shaped link component 1 is, for example, a length in the X direction LX=200 mm, a length in the Y direction LY=30 mm, and a length in the Z direction LZ=30 mm. Each branch of the three-dimensional lattice structure is a cylinder (solid) with a diameter of 6 mm, and the thickness of the surrounding wall is 3 mm. The space surrounded by the surrounding wall is filled with ABS (acrylonitrile-butadiene-styrene copolymer) resin as a vibration damping material. The link component 1 manufactured in this manner was lightweight with a weight of 1480 g, and had a logarithmic damping ratio of 0.56, which showed excellent vibration damping properties. Note that the logarithmic damping rate is a coefficient representing vibration damping, and is the natural logarithm of the ratio of adjacent amplitudes. It can be said that the larger the value of the logarithmic damping rate, the better the damping performance.

On the other hand, the link parts made by cutting aluminum alloy A7075 have the same external dimensions (LX=200mm, LY=30mm, LZ=30mm), but have a weight of 2500g and a logarithmic damping rate of 0. It was .20.

As described above, in the link component 1 of this embodiment, the skeleton part is configured with a three-dimensional lattice structure, a surrounding wall is provided to surround a part of the structure, and the internal area of the surrounding wall is filled with damping material. There is. By configuring the skeleton part with a three-dimensional lattice structure, it is possible to reduce the weight compared to the case where it is formed from a bulk member, and it is possible to provide the link component 1 with a predetermined strength. Moreover, since at least a part of the three-dimensional lattice structure is surrounded by the surrounding wall 3 and the inside thereof is filled with damping material, the link component 1 of this embodiment is not only lightweight but also has excellent damping properties. ing.
Therefore, the link component of this embodiment can be used as various components including a finger drive mechanism of a robot and a link portion of an arm.

Note that the three-dimensional lattice structure is not limited to the illustrated shape, and may be other lattice shapes combining columns, beams, and brace shapes, or a honeycomb shape. Moreover, the material used to integrally mold the skeleton part, the mounting part, and the surrounding wall may be any material that can meet the required specifications, and either metal or resin can be used. In particular, lightweight metals such as aluminum alloys are preferred as materials that are lightweight and have good workability.

[Embodiment 2]
A link component according to Embodiment 2 will be explained. The appearance of the link component 10 of this embodiment is generally the same as that of the link component 1, and as shown in FIGS. 1 and 2(a), the link component 10 has a skeleton portion 4 having a three-dimensional lattice structure that is H-shaped as a whole. . Four rotating shaft support parts provided with holes 2 as attachment parts for attaching the link component 10 to the device are connected and integrated with the skeleton part 4 having a three-dimensional lattice structure. The link component 10 of this embodiment is also used, like the link component 1 of the first embodiment, as a component of a robot hand (robot hand) or arm, for example. Descriptions of common items between link component 10 and link component 1 will be omitted.

The link component 1 of Embodiment 1 was provided with two surrounding walls 3 provided so as to wrap around a partial area of the three-dimensional lattice structure, but the inside of the surrounding wall 3 of the link component 10 of this embodiment is No three-dimensional lattice structure is provided. In the link component 10 of this embodiment, the surrounding wall 3 not only functions as a container for filling vibration damping material, but also constitutes a part of the skeleton part as a structure connected to the skeleton part 4 having a three-dimensional lattice structure. are doing. The inside (predetermined space) of the surrounding wall 3 is filled with a damping material 5.

FIG. 5 is a schematic cross-sectional view of the link component 10 taken along the same line as the line BB in FIG. 2(a). As shown in the figure, the inside of the area surrounded by the surrounding wall 3 is filled with a damping material 5, but unlike the link component 1, a three-dimensional lattice structure is not provided. In order to maintain sufficient strength as a part of the skeleton, the surrounding wall 3 of this embodiment is preferably set to have a greater mechanical strength than the surrounding wall of the first embodiment. In some cases, reinforcing materials may be installed inside the area surrounded by the surrounding wall 3 in order to prevent the skeleton including the surrounding wall from being deformed or damaged due to pressure or external force when injecting the damping material. It's okay. The reinforcing material can be provided, for example, by pillars, beams, braces, partition walls, etc., but it is arranged so that when injecting the damping material, the flow will not be hindered and filling will not be hindered.

In order to manufacture the link component 10 of this embodiment, a skeleton part 4 having a three-dimensional lattice structure, four rotation shaft support parts provided with holes 2, and two surrounding walls 3 are connected by a powder lamination melting method. Create an integrated three-dimensional object. (It may also be created by other three-dimensional manufacturing methods such as fused deposition modeling). Thereafter, the damping material 5 is filled into the three-dimensional structure through the injection port 6 and solidified in the same manner as in the first embodiment.

As a specific example, four rotating bodies with a three-dimensional lattice structure skeleton 4 and holes 2 were created using a powder layered melting method that uses AlSi12 powder, which is an aluminum alloy, as a raw material and repeats the formation of a powder layer and laser heating. The shaft support part and the two surrounding walls 3 are integrally molded. The external shape of the H-shaped link component 1 is, for example, a length in the X direction LX=200 mm, a length in the Y direction LY=30 mm, and a length in the Z direction LZ=30 mm. Each branch of the three-dimensional lattice structure is a cylinder (solid) with a diameter of 6 mm, and the thickness of the surrounding wall is 4.5 mm. The space surrounded by the surrounding wall is filled with ABS (acrylonitrile-butadiene-styrene copolymer) resin as a vibration damping material. The link component 10 manufactured in this manner was lightweight with a weight of 1500 g, and had a logarithmic damping ratio of 0.56 and excellent vibration damping properties. Note that the logarithmic damping rate is a coefficient representing vibration damping, and is the natural logarithm of the ratio of adjacent amplitudes. It can be said that the larger the value of the logarithmic damping rate, the better the damping performance.

On the other hand, the link parts made by cutting aluminum alloy A7075 have the same external dimensions (LX=200mm, LY=30mm, LZ=30mm), but have a weight of 2500g and a logarithmic damping rate of 0. It was .20.

As described above, the link component 10 of the present embodiment has a skeleton part composed of the three-dimensional lattice structure and the surrounding wall 3 connected and integrated with the three-dimensional lattice structure, and the internal region of the surrounding wall is filled with a damping material. By configuring the skeleton part with a three-dimensional lattice structure and an enclosing wall, it is possible to reduce the weight compared to the case where it is formed from a bulk member, and it is possible to provide the link component 10 with a predetermined strength. Moreover, since the damping material 5 is filled inside the surrounding wall 3 connected to the three-dimensional lattice structure, the link component 10 of this embodiment is not only lightweight but also excellent in damping properties.
Therefore, the link component of this embodiment can be used as various components including a finger drive mechanism of a robot and a link portion of an arm.

Note that the three-dimensional lattice structure is not limited to the illustrated shape, and may be other lattice shapes combining columns, beams, and brace shapes, or a honeycomb shape. Further, the material for the three-dimensional lattice structure may be any material that satisfies the required specifications, and may be either metal or resin. In particular, it is preferable to use a lightweight metal such as an aluminum alloy as a material that is lightweight and has good workability.

[Embodiment 3]
The link component 11 according to the third embodiment will be explained. The link component 11 of this embodiment, like the link component 1 of the first embodiment and the link component 10 of the second embodiment, can be used in many fields including, for example, as a component of a robot hand or arm.
FIG. 6 is a perspective view of the link component 11 as a vibration damping structure according to the third embodiment. 7(a) is a plan view of the link component 11, FIG. 7(b) is a front view, and FIG. 8(a) is a side view. FIG. 8(b) is a schematic cross-sectional view of the link component 11 taken along line AA in FIG. 8(a).

The link component 11 of this embodiment also includes a skeleton portion 4 with a three-dimensional lattice structure, and four rotation shaft support portions provided with holes 2 as attachment portions for attaching the link component 11 to the device, and a three-dimensional lattice structure. It is connected and integrated with the skeleton part 4 of the structure.

The feature of this embodiment is that it includes four tubes that are tightly connected to a lattice of a three-dimensional lattice structure that constitutes an H-shaped skeleton as a whole, and the inside of each tube is filled with a damping material 5. This is the point. As shown in FIG. 8(b), on the upper surface side of the link component 11, a pipe 13A having end portions 16A and 16C as both ends, and a pipe 13B having end portions 16B and 16D as both ends are arranged in a three-dimensional structure. It is provided so as to be tightly connected to the lattice of the lattice structure. Further, on the lower surface side of the link component 11, a tube having both ends at the end portion 16E and the end portion 16G, and a tube having both ends at the end portion 16F and the end portion 16H are provided so as to be tightly connected to the lattice of the three-dimensional lattice structure. It is being The four tubes filled with the damping material 5 are integrated with an H-shaped skeleton formed by a three-dimensional lattice structure to absorb vibrations.

In order to manufacture the link component 11 of this embodiment, a powder lamination melting method is used to fabricate a skeleton part 4 with a three-dimensional lattice structure, four rotation shaft support parts provided with holes 2, and an integrated body in which four pipes are connected. Create a three-dimensional object. (It may also be created by other three-dimensional manufacturing methods such as fused deposition modeling). Thereafter, the damping material 5 is filled into the four tubes of the three-dimensional structure and solidified in the same manner as in Embodiment 1. In the case of this embodiment, by using one end of the tube as an injection port and the other end as an air vent (or suction port), even a high-viscosity damping material can be filled relatively easily.

As a specific example, four rotating bodies with a three-dimensional lattice structure skeleton 4 and holes 2 were created using a powder layered melting method that uses AlSi12 powder, which is an aluminum alloy, as a raw material and repeats the formation of a powder layer and laser heating. The shaft support part and four tubes are integrally molded. The external shape of the H-shaped link component 1 is, for example, a length in the X direction LX=200 mm, a length in the Y direction LY=30 mm, and a length in the Z direction LZ=30 mm. Each branch of the three-dimensional lattice structure is a cylinder (solid) with a diameter of 6 mm, and the outer diameter of the tube is 8 mm and the thickness is 1.5 mm. The insides of the four tubes are filled with ABS (acrylonitrile-butadiene-styrene copolymer) resin, which is a vibration damping material. The link component 11 manufactured in this manner was lightweight with a weight of 912 g, and had a logarithmic damping ratio of 0.48 and excellent vibration damping properties. Note that the logarithmic damping rate is a coefficient representing vibration damping, and is the natural logarithm of the ratio of adjacent amplitudes. It can be said that the larger the value of the logarithmic damping rate, the better the damping performance.

On the other hand, the link parts made by cutting aluminum alloy A7075 have the same external dimensions (LX=200mm, LY=30mm, LZ=30mm), but have a weight of 2500g and a logarithmic damping rate of 0. It was .20.

As described above, the link component 11 of this embodiment has a skeleton having a three-dimensional lattice structure, and includes a tube that is tightly connected to the lattice, and the tube is filled with a damping material. By configuring the skeleton part with a three-dimensional lattice structure, it is possible to reduce the weight compared to the case where it is formed from a bulk member, and it is possible to provide the link component 11 with a predetermined strength. Moreover, since the tubes are provided so as to be tightly connected to the three-dimensional lattice structure, and the damping material is filled inside the tubes, the link component 11 of this embodiment is not only lightweight but also has excellent vibration damping properties. .
Therefore, the link component of this embodiment can be used as various components including a finger drive mechanism of a robot and a link portion of an arm.

Note that the three-dimensional lattice structure is not limited to the illustrated shape, and may be other lattice shapes combining columns, beams, and brace shapes, or a honeycomb shape. Further, the material for the three-dimensional lattice structure may be any material that satisfies the required specifications, and may be either metal or resin. In particular, it is preferable to use a lightweight metal such as an aluminum alloy as a material that is lightweight and has good workability.

[Embodiment 4]
The link component 21 according to the fourth embodiment will be explained. The link component 21 of this embodiment is also used, for example, as a component of a robot's hand or arm, like the link components of other embodiments.
FIG. 9 is a perspective view of a link component 21 as a vibration damping structure according to the fourth embodiment. 10(a) is a plan view of the link component 21, FIG. 10(b) is a side view, and FIG. 11(a) is a front view. 11(b) is a schematic cross-sectional view of the link component 21 taken along line GG in FIG. 11(a), and FIG. 12(a) shows the link component 21 along the line H-- It is a perspective view showing a typical cross-sectional shape cut along the H line. Moreover, FIG. 12(b) is an enlarged view of the portion 28 shown in FIG. 12(a). 13(a) is a schematic plan view showing the cross-sectional shape of the link component 21 taken along line HH in FIG. 11(a), and FIG. FIG. 3 is a schematic side view showing a cross-sectional shape taken along line HH in FIG.

The link component 21 of this embodiment also includes a skeleton part 4 with a three-dimensional lattice structure, and four pivot shaft support parts provided with holes 2 as attachment parts for attaching the link component 21 to the device, and a three-dimensional lattice structure. It is connected and integrated with the skeleton part 4 of the structure.

The feature of this embodiment is that it has a three-dimensional lattice structure that constitutes an H-shaped skeleton as a whole, and at least a part of the three-dimensional lattice structure is constituted by a collection of a plurality of tubes whose internal spaces communicate with each other. This is the point where the damping material 5 is filled. In the illustrated example, the entire H-shaped skeleton made of a three-dimensional lattice structure is composed of a collection of tubes with connected internal spaces.

Eight openings 26A to 26H are provided at the corners of the H-shaped skeleton to be used as injection ports or air vents when filling the pipes constituting the three-dimensional lattice structure with damping material. (For convenience of illustration, 26H is not shown).

In order to manufacture the link component 21 of this embodiment, a skeleton part 4 having a three-dimensional lattice structure made up of a set of connected tubes, and four rotation shaft support parts provided with holes 2 are manufactured by a powder lamination melting method. Create a three-dimensional object that is integrated with (It may also be created by other three-dimensional manufacturing methods such as fused deposition modeling). Thereafter, the damping material 5 is filled into the pipe in the same manner as described in the first embodiment. In the case of this embodiment, even a high-viscosity damping material can be filled relatively easily by appropriately using the openings 26A to 26H as injection ports or air vents (or suction ports). For this reason, as shown in each partial sectional view, the inside of each tube constituting the three-dimensional lattice structure is filled with a damping material 5.

As a specific example, a three-dimensional lattice structure, which is a collection of a plurality of tubes with communicating internal spaces, and holes 2 are created by using powder of AlSi12, which is an aluminum alloy, as a raw material and using a powder layered melting method that repeatedly forms a powder layer and performs laser heating. The four rotation shaft support parts provided with the following are integrally molded. The external shape of the H-shaped link component 1 is, for example, a length in the X direction LX=200 mm, a length in the Y direction LY=30 mm, and a length in the Z direction LZ=30 mm. Each branch of the three-dimensional lattice structure is a circular tube with an outer diameter of 6 mm and an inner diameter of 4.2 mm. The inside of the tube constituting the three-dimensional lattice structure is filled with ABS (acrylonitrile-butadiene-styrene copolymer) resin as a vibration damping material. The link component 21 manufactured in this manner was lightweight with a weight of 520 g, and had a logarithmic damping ratio of 0.54 and excellent vibration damping properties. Note that the logarithmic damping rate is a coefficient representing vibration damping, and is the natural logarithm of the ratio of adjacent amplitudes. It can be said that the larger the value of the logarithmic damping rate, the better the damping performance.

On the other hand, the link parts made by cutting aluminum alloy A7075 have the same external dimensions (LX=200mm, LY=30mm, LZ=30mm), but have a weight of 2500g and a logarithmic damping rate of 0. It was .20.

The link component 21 of this embodiment constitutes a skeleton part having a three-dimensional lattice structure by a collection of connected pipes, and the pipes are filled with a damping material. By configuring the skeleton part with a three-dimensional lattice structure, it is possible to reduce the weight compared to the case where it is formed from a bulk member, and it is possible to provide the link component 21 with a predetermined strength. Furthermore, since the pipes of the entire three-dimensional lattice structure are filled with vibration damping material, the link component 21 of this embodiment is not only lightweight but also has extremely excellent vibration damping properties.
Therefore, the link component of this embodiment can be used as various components including a finger drive mechanism of a robot and a link portion of an arm.

Note that the three-dimensional lattice structure is not limited to the illustrated shape, and may be other lattice shapes combining columns, beams, and brace shapes, or a honeycomb shape. Further, the material for the three-dimensional lattice structure may be any material that satisfies the required specifications, and may be either metal or resin. In particular, it is preferable to use a lightweight metal such as an aluminum alloy as a material that is lightweight and has good workability.

[Other embodiments]
The present invention is not limited to the embodiments and examples described above, and many modifications can be made within the technical idea of the present invention. For example, the three-dimensional lattice structure and the shape and material of the vibration damping material can be changed as appropriate depending on the mechanical strength, light weight, and vibration damping properties required of the part.

1... Link part / 2... Hole / 3... Surrounding wall / 4... Skeleton part of three-dimensional lattice structure / 5... Damping material / 6... Inlet / 10, 11, 21...Link parts/13A, 13B...Pipe/26A-26H...Opening/100...Robot/102-105...Link part

Claims (11)

It has a three-dimensional lattice structure,
Any one type of damping material selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt is arranged in a space surrounded by a wall connected to the three-dimensional lattice structure ,
The three-dimensional lattice structure is also provided in a space surrounded by the wall ,
A vibration damping structure characterized by: The damping material surrounds a part of the three-dimensional lattice structure,
The damping structure according to claim 1, characterized in that: the space is provided between members constituting the three-dimensional lattice structure,
The damping structure according to claim 1 or 2 , characterized in that: A hand installed on a robot, comprising fingers and a finger drive mechanism,
the finger drive mechanism includes a vibration damping structure;
The vibration damping structure has a three-dimensional lattice structure composed of members having a space inside,
the spaces are connected to each other,
Any one type of damping material selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt is arranged in the space .
A hand characterized by: A robot comprising a joint part and a link part connected to the joint part,
The link portion includes the vibration damping structure according to any one of claims 1 to 3 .
A robot characterized by: There is a hand that is equipped with fingers and a finger drive mechanism and is installed on the robot.
The finger drive mechanism includes the vibration damping structure according to any one of claims 1 to 3 .
A hand characterized by: A hand installed on a robot, comprising fingers and a finger drive mechanism,
the finger drive mechanism includes a vibration damping structure;
The vibration damping structure has a three-dimensional lattice structure;
a space surrounded by walls connected to the three-dimensional lattice structure,
Any one type of damping material selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt is arranged inside the space.
A hand characterized by: A method for manufacturing a vibration damping structure, the method comprising:
forming a powder layer made of raw material powder;
irradiating the powder layer with a laser;
has
A step of integrally manufacturing a three-dimensional lattice structure and a space connected to the three-dimensional lattice structure and surrounded by a wall having holes;
injecting a damping material through the hole;
A method of manufacturing a vibration damping structure characterized by: The damping material is any one selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt.
The method of manufacturing a vibration damping structure according to claim 8 . A method for manufacturing a vibration damping structure, the method comprising:
forming a powder layer made of raw material powder;
irradiating the powder layer with a laser;
has
A step of integrally manufacturing a three-dimensional lattice structure that has a space inside and is made up of members that connect the spaces to each other;
injecting a damping material into the space;
A method of manufacturing a vibration damping structure characterized by: The production of the damping structure according to claim 10 , wherein the damping material is any one selected from the group consisting of thermoplastic resin, thermosetting resin, rubber, elastomer, and asphalt. Method.

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