JP2004090193A - Actuator and hand device - Google Patents

Actuator and hand device Download PDF

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JP2004090193A
JP2004090193A JP2002257129A JP2002257129A JP2004090193A JP 2004090193 A JP2004090193 A JP 2004090193A JP 2002257129 A JP2002257129 A JP 2002257129A JP 2002257129 A JP2002257129 A JP 2002257129A JP 2004090193 A JP2004090193 A JP 2004090193A
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elastic
memory alloy
shape memory
actuator
members
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JP3754666B2 (en
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Mikio Shimizu
清水　三希夫
Tetsuya Inoue
井上　哲也
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SQUES KK
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SQUES KK
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Abstract

<P>PROBLEM TO BE SOLVED: To simplify the structure of an actuator by using the elastic force of an elastic body for unidirectional deforming operation. <P>SOLUTION: A flexible tube 12 having one end 12a closed is passed through the inside of an effector 11 made of synthetic rubber, which is an elastic curved body, an operation control device 13 is connected to the other end 12b of the tube 12, and a liquid is supplied to the inside of the tube 12 to constitute the actuator 10. When the tube 12 is not supplied with the liquid, the effector 11 is shaped like a curve as a whole by the elastic force of the effector 11 itself to grasp an object 1. When the tube 12 is supplied with the liquid, the tube 12 is deformed linearly so that the effector 11 follows the deformation of the tube 12 to be deformed into the linear state, whereby the object P1 is released. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、所要の作動を行うアクチュエータに関し、特に、弾性体の弾性力を一方向の作動に利用することで簡易な構造で種々の作動形態を実現したアクチュエータ及びハンド装置に関する。
【０００２】
【従来の技術】
従来、産業用及び福祉介護用等のロボットのハンド装置は、モータ及びシリンダ等のアクチュエータを電気的に制御することで作動される。一方、昨今、このような装置に比べてメカニカルな部分を削減して簡易な構造で各種作動を実現したアクチュエータが登場している。
【０００３】
図１８（ａ）のアクチュエータ１は、湾曲形状の筒状弾性体１ａにぜんまい状ばね１ｂを密着させると共に両端部に封止部材１ｃを夫々取り付けて内部を密閉し、筒状弾性体１ａの内部に空気を供給することで筒状弾性体１ａを伸長させている（特許文献１参照。）。
また、図１８（ｂ）の把持装置２は、一端を封止部材２ｃで閉鎖したホース２ａの内部にばね鋼又は形状記憶合金からなる弾性部材２ｂを挿通し、ホース２ａの内部に流体を供給することで、弾性部材２ｂの弾性力に抗してホース２ａを変形させている（特許文献２参照。）。
【０００４】
さらに、図１８（ｃ）のアクチュエータ３は、複数の把持部材３ａをばね３ｂで連結すると共に、各把持部材３ａを貫通するように形状記憶合金管３ｃを取り付けている。アクチュエータ３は、形状記憶合金管３ｃの内部に温液が流入させることで湾曲され、冷液を流入させることで直線状に伸長させる作動を行う（特許文献３参照。）。
【０００５】
【特許文献１】
特開平５−１６４１１０号公報
【特許文献２】
特開平８−１６８９８９号公報
【特許文献３】
特開平６−３３９８８７号公報
【０００６】
【発明が解決しようとする課題】
図１８（ａ）のアクチュエータ１は、硬度のある金属製のぜんまい状ばね１ｂを表出させているので、金属が直接人体に触れる場合が生じるので福祉介護用のロボットのハンド装置に適用するのは好適でないと云う問題がある。また、筒状弾性体１ａの伸長状態と巻回状態に変形させる作動は、空気の供給及びぜんまい状ばね１ｂの弾性力に依存するので、複雑な動作を行えない問題もある。さらに、筒状弾性体１ａは封止部材１ｃを取り付けて内部を密閉するため、封止部材１ｃの取付後にシール性等を確認する必要があり製作に手間を要すると云う問題がある。
【０００７】
図１８（ｂ）の把持装置２は、細いホース２ａ自体を把持部材として使用しているので、小片等の小さい物体等を把持する場合に適用するのが困難になる問題がある。また、把持装置２も、作動を流体の供給及び弾性部材２ｂの弾性力に依存しているため、一様な作動しか行えない問題がある。
【０００８】
図１８（ｃ）のアクチュエータ３は、把持部材３ａをばね３ｂで連結する構成であるため、部品点数も多く組立に手間を要する問題がある。また、一本の形状記憶合金管３ｃの変形に追従させて作動させるため、単純な動作しか行えない問題がある。さらに、把持部材３ａ、ばね３ｂ及び形状記憶合金管３ｃ等の硬度のある部材が表面に露出しているので、アクチュエータ３を福祉介護に用いるのは適切でない問題もある。
【０００９】
本発明は、斯かる問題に鑑みてなされたものであり、弾性の作動体の内部に直接、可撓性管又は形状記憶合金部材を貫通配置することで、表面がソフトであると共に一段と簡易な構造で種々の作動を行うアクチュエータを提供することを目的とする。
また、本発明は、作動体の形状を棒状又は板状にすることで、様々な用途に適用できるアクチュエータを提供することを目的とする。
【００１０】
さらに、本発明は、作動体を複数の弾性部材を組み合わせて構成することにより、多様な動作を可能にしたアクチュエータを提供することを目的とする。
さらに、また、本発明は、可撓性管又は形状記憶合金部材を複数配置することにより、複雑な作動にも対応可能にしたアクチュエータを提供することを目的とする。
また、本発明は、各種アクチュエータを組み合わせることで、簡易な構造で人体の手と近似した作動を行うことができるハンド装置を提供することを目的とする。
【００１１】
【課題を解決するための手段】
上記目的を達成するため、第１発明に係るアクチュエータは、弾性曲状体と、該弾性曲状体の内部を貫通しており、一端が閉鎖してある可撓性管と、該可撓性管の他端から管内に流体を供給することで、前記弾性曲状体を伸長させる伸長手段とを備えることを特徴とする。
【００１２】
第１発明にあっては、可撓性管を弾性曲状体の内部に貫通させた簡易な構造にしており、可撓性管の内部に気体又は液体等の流体を供給することで、可撓性管が直線状に伸長させる。このように可撓性管を伸長させることで可撓性管は剛体となり、その結果、曲がり形状の弾性曲状体を追従させて直線状に伸長させることができる。また、流体の供給を停止すると、可撓性管の剛性が弱まり弾性曲状体が有する弾性力が優勢となり、自然と元の曲がり形状に戻る。よって、アクチュエータは、伸長側の動作は流体の供給で行い、曲がり側の動作は弾性力で行うことにより、簡易な構造で所要の作動を実現できる。
【００１３】
また、変形する弾性曲状体には表面がソフトで所要の弾性力を具備する天然ゴム及び合成ゴム等の各種ゴム、ポリオレフィン及びブロック共重合体ポリマー等の合成樹脂、並びに、発泡樹脂等の適用が可能である。なお、弾性曲状体の曲がり具合は、アクチュエータが適用される対象に応じて形状にすることが好ましく、湾曲形状及び屈曲形状等の様々な曲がり形状に形成してもよい。また、伸長手段は、流体の供給量及び供給圧を調節可能にして、伸長の速度及び伸長する程度等を調整することが好適である。
【００１４】
第２発明に係るアクチュエータは、前記弾性曲状体が、伸長させた状態で棒状となることを特徴とする。
第２発明にあっては、弾性曲状体を伸長させた状態で棒状に形成することで、物体を把持する用途、及び、物体を押す用途等にアクチュエータを適用できる。また、これら各用途に対して、弾性曲状体の表面がソフトであるため作業対象となる物体を優しく取り扱うことができる。
【００１５】
第３発明に係るアクチュエータは、前記弾性曲状体が、伸長させた状態で板状となることを特徴とする。
第３発明にあっては、弾性曲状体を伸長させた状態で板状に形成することで、物体を広い面で把持する動作、及び、広い面で物体を押す動作等に対応可能となり、アクチュエータの適用用途を広げることができる。
【００１６】
第４発明に係るアクチュエータは、前記可撓性管が、複数であり、該各可塑性管の一端は、前記弾性曲状体の内部の相違する箇所に夫々配置してあることを特徴とする。
【００１７】
第４発明にあっては、複数の可撓性管を、一端が一致しないように配置することで、多様な伸長作動を実現できる。例えば、一本目の可撓性管を一端が可撓性管の先端付近に位置するように配置させると共に、２本目の可撓性管を一端が長手方向の湾曲している中間箇所に位置するように配置させることで、各可撓性管に流体を供給した場合、直線状になる範囲が相違し、それに伴い弾性曲状体を部分的に変形させることが可能になる。即ち、１本目の可撓性管のみに流体を供給した場合、弾性曲状体の先端付近のみが直線状に伸長し、２本目の可撓性管のみに流体を供給した場合は、中間箇所のみが伸長するので、各可撓性管への流体の供給を調節することで多様な変形動作を実現できる。
【００１８】
第５発明に係るアクチュエータは、前記弾性曲状体の内部に複数の芯材が配置してあることを特徴とする。
第５発明にあっては、複数の芯材を内部に配置することで、弾性曲状体に所要の剛性を持たせることができ、物体の把持時及び押圧時等に弾性曲状体が弾性変形する程度を抑制して、把持力及び押圧力等を増強できる。なお、各芯材は、可撓性管の貫通方向を考慮して弾性曲状体の伸長を妨げないように配置することが重要である。また、各芯材同士は間隔を隔てて配置することで、変形時に節となる箇所を弾性曲状体に形成でき、節を変形支点とした作動を実現できる。
【００１９】
第６発明に係るアクチュエータは、前記弾性曲状体が、複数の弾性部材を組み合わせてなることを特徴とする。
第６発明にあっては、複数の弾性部材を組み合わせて弾性曲状体を形成することで、内部に可撓性管を配置した弾性曲状体を容易に形成できる。例えば、棒状の弾性曲状体を形成する場合、可撓性管に各弾性部材を串刺し状に連続して取り付けていくことで、可撓性管を貫通させた弾性曲状体を簡単に形成できる。
【００２０】
また、これら各弾性部材同士は、加熱による融着又は接着剤等による接着で連結一体化することが好ましく、このような弾性部材の連結箇所が伸縮動作における節として機能し、節毎に屈曲するような変形動作を実現できる。さらに、各弾性部材は弾性力が相違するものを組み合わせることで、部分的に弾性力が相違する弾性曲状体を形成でき、弾性体の弾性力を利用して元の状態に復元させる場合、弾性力の強弱に応じて複雑な戻り動作を行うことができる。
【００２１】
第７発明に係るアクチュエータは、前記可撓性管が、複数であり、前記弾性曲状体は、複数の弾性部材を組み合わせてなり、該各弾性部材の内部に芯材を夫々配置しており、該各芯材に前記各可撓性管の一端が夫々当接してあることを特徴とする。
【００２２】
第７発明にあっては、各弾性部材の内部に芯材を配置することで、複数の芯材により形成される節と各弾性部材の連結により形成される節とが一致し、なめらかな動作及び所要の剛性の確保を両立できる。また、複数の可撓性管の一端を各芯材に当接させることで、可撓性管が直線状に変形する場合、当接する一端で各芯材を押圧することになり、変形に係る作動力を芯材へ直接的に伝達でき、それに伴い弾性曲状体の変形に対する応答性も向上し、迅速で且つ力強い作動が可能になる。
【００２３】
第８発明に係るアクチュエータは、弾性体と、昇温時の変形方向が、前記弾性体を変形させた場合に生じる弾性力の方向の反対方向となるように前記弾性体の内部に貫通配置してある形状記憶合金部材と、該形状記憶合金部材を昇温することで、前記弾性体を変形させる変形手段とを備えることを特徴とする。
【００２４】
第８発明にあっては、弾性体の内部に形状記憶合金部材を貫通配置することで、形状記憶合金部材に対する昇温を制御するだけで、表面がソフトな弾性体を所要形状に変形できる。また、アクチュエータは、天然ゴム及び合成ゴム等の各種ゴム、ポリオレフィン及びブロック共重合体ポリマー等からなる弾性体の内部に形状記憶合金部材を配置するだけの簡易な構造であるため、機械的な回転部及び摺動部等は皆無にでき良好な製作性及びメンテナンス性等も確保できる。
【００２５】
形状記憶合金部材に対する昇温の制御は、通電加熱又は温液加熱で対応できる。通電加熱を行う場合は、形状記憶合金部材を電流量の調節が可能な電源回路に接続し、通電させる電流量を調節することで形状記憶合金部材を所要の温度に加熱してアクチュエータの作動を制御できる。さらに、この電流量を調節する程度及び早さを適宜調節することで、アクチュエータの作動量及び作動速度等も制御可能になる。
【００２６】
一方、温液加熱を行う場合は、形状記憶合金部材を全体がＵ字のように循環した管形状に形成し、一端部を温液供給側、他端部を温液排出側として温液供給器に接続すると共に、温液供給手段で供給する温液の温度を適宜調節することで、形状記憶合金部材を所要温度に加熱し、アクチュエータの作動を制御できる。また、温液を加熱する程度、加熱する早さ、及び、温液の供給速度等を適宜制御することで、アクチュエータの作動量及び作動速度等の制御も実現できる。
【００２７】
なお、形状記憶合金部材には昇温時と常温時の各形状が様々なものを適用でき、例えば、常温時は直線状であり昇温時に曲線状に変形するもの、又は、逆に常温時は曲線状であり昇温時は直線状に変形するもの等を適用できる。また、弾性体は上述した形状記憶合金部材の常温時の形状で形成することで、弾性力の方向が形状記憶合金部材の変形方向と反対方向になり、降温時に形状記憶合金部材が元の形状に戻る変形を弾性力で補助することになり、アクチュエータの戻り側のスムーズな作動に貢献できる。
【００２８】
第９発明に係るアクチュエータは、前記弾性体が、変形の前後いずれかの状態で棒状となることを特徴とする。
第９発明にあっては、第２発明と同様に弾性体を棒状にすることで、種々の用途に適用できる。
【００２９】
第１０発明に係るアクチュエータは、前記弾性体が、変形の前後いずれかの状態で板状となることを特徴とする。
第１０発明にあっては、第３発明と同様に、弾性体を板状にすることで、用途範囲を広げることができる。
【００３０】
第１１発明に係るアクチュエータは、前記形状記憶合金部材が、複数であり、該各形状記憶合金部材の一端は、前記弾性体の内部の相違する箇所に夫々配置してあることを特徴とする。
第１１発明にあっては、第４発明と同様に、複数の形状記憶合金部材により多様な作動形態を実現できる。
【００３１】
第１２発明に係るアクチュエータは、前記弾性体の内部に複数の芯材が配置してあることを特徴とする。
第１２発明にあっては、第５発明と同様に、複数の芯材を配置することで、弾性体の剛性を向上できる。
【００３２】
第１３発明に係るアクチュエータは、前記弾性体が、複数の弾性部材を組み合わせてなることを特徴とする。
第１３発明にあっては、第６発明と同様に、複数の弾性部材を組み合わせることで、形状記憶合金部材を貫通配置した弾性体を容易に形成できる。
【００３３】
第１４発明に係るアクチュエータは、前記形状記憶合金部材が、複数であり、前記弾性体は、複数の弾性部材を組み合わせてなり、該各弾性部材の内部に芯材を夫々配置しており、該各芯材に前記各形状記憶合金部材の一端が夫々当接してあることを特徴とする。
第１４発明にあっては、第７発明と同様に、応答性が高く迅速で且つ力強い変形作動を実現できる。
【００３４】
第１５発明に係るハンド装置は、前記アクチュエータの板状となる弾性曲状体又は弾性体に、前記アクチュエータの棒状の弾性曲状体又は弾性体が取り付けてあることを特徴とする。
第１５発明にあっては、板状の弾性曲状体又は弾性体に棒状の弾性曲状体又は弾性体を取り付けているので、簡易な構造で人体の手と同様な作動を行うハンド装置を形成できる。即ち、板状の弾性曲状体又は弾性体を含むアクチュエータを手のひら及び甲として機能させると共に、棒状の弾性曲状体又は弾性体を含むアクチュエータを指として機能させることで全体として手と同様な作動形態を実現できる。
【００３５】
よって、各指に相当するアクチュエータと、手のひら及び甲に相当するアクチュエータとを個別に制御することで、物体の把持及び押圧以外に、じゃんけん、手文字と云った人体の手と同様な複雑な動きも行うことができ、表面がソフトであることも含めて福祉介護用等に対して好適に導入できる。
【００３６】
【発明の実施の形態】
以下、本発明をその実施の形態を示す図面に基づいて説明する。
図１（ａ）は本発明の第１の実施形態に係るアクチュエータ１０の全体構成図である。アクチュエータ１０は弾性曲状体である作動体１１の内部に可撓性管であるチューブ１２を貫通しており、このチューブ１２の内部に流体として液体を供給する伸長手段の操作制御器１３を接続している。
【００３７】
作動体１１は、図２にも示すように、合成ゴムを材質に用いてＪ字状で成形されており、図中の一点鎖線に示すように直線の棒状に変形させると、元のＪ字状に復元しようとする弾性力（図中、矢印で示す）が先端１１ａを含む作動体１１の湾曲した中間部１１ｃに発生する。なお、作動体１１は、成形用の型内にチューブ１２を配置した状態で成形をすることで、内部にチューブ１２を貫通させており、その結果、チューブ１２は作動体１１の先端１１ａから他端１１ｂへと配置されると共に他端１１ｂから外方へ延出されている。
【００３８】
チューブ１２は、一端１２ａが閉鎖された所要の形状に撓むことが可能な細径のチューブ（本実施形態ではφ３ｍｍ）であり、内部に液体が充填されていない場合は、作動体１１と同等のＪ字状になり、内部に液体が供給されて内部全体が液体で充填された場合、直線状の剛体になる。本実施形態のチューブ１２には、Ｊ字状から直線状に変形する際の変形力が作動体１１の弾性力より大きいものを適用している。
【００３９】
また、操作制御器１３は、図１（ａ）、図３に示すように、制御器１４、切換バルブ１５、操作部１６、作動源部１７及び圧力センサ１８を具備している。制御器１４は、操作部１６の操作と圧力センサ１８の検知信号に基づいて切換バルブ１５を切り換える制御及び後述する作動源部１７のモータ１７ｂの制御を行うものである。切換バルブ１５は、制御器１４の制御に応じてチューブ１２と作動源部１７とを流通させた状態（図３に示す状態）とチューブ１２と作動源部１７との間を遮断した状態に切り換えるものである。
【００４０】
操作部１６は、作動体１１を作動させる所要の操作を受け付けるものである。さらに、作動源部１７は、液体の供給及び吸い出しを行うポンプ１７ａ、ポンプ１７ａを駆動するモータ１７ｂ及びチューブ１２に供給する液体を蓄えるタンク１７ｃを内蔵している。
【００４１】
モータ１７ｂは、回転、回転停止及び回転方向が制御器１４により制御されており、チューブ１２及び作動源部１７が流通している状態で、モータ１７を一方向に回転させることでチューブ１２へ液体を供給すると共に他方向に回転させることでチューブ１２内の液体をタンク１７ｃへ吸い出すようにしている。
【００４２】
また、圧力センサ１８は、チューブ１２の他端１２ｂと接続されており、チューブ１２が直線状に変形する際の基準圧力値を設定可能にしており、チューブ１２内の現在の圧力を検知し、検知された圧力値が設定された基準圧力値と同等になると検知信号を制御器１４へ出力している。なお、制御器１４は、出力された検知信号を受け付けると切換バルブ１５がチューブ１２と作動源部１７が遮断するような制御を行う。
【００４３】
次に、上述した構成のアクチュエータ１０における作動体１１の作動状況を説明する。
作動体１１は、チューブ１２に液体が供給されていない状態では、作動体１１自身の弾性力で図１（ａ）に示すＪ字状の形状になり、この状態を作動体１１の先端１１ａの原点位置にし、弾性力で物体Ｐ１の把持を可能にしている。
【００４４】
上記状態から、作動体１１の作動操作を操作部１６で行うことで、制御器１４がモータ１７ｂを液体の供給側へ回転させると共に切換バルブ１５を流通側へ移動させることで、チューブ１２に液体を供給する。チューブ１２は液体が供給されることで、作動体１１の弾性力に抗して徐々に直線状に変形していく。また、この変形により把持されている物体Ｐ１は解放されることになる。
【００４５】
作動体１１は、上述したチューブ１２の変形に伴い、図１（ｂ）に示すように、先端１１ａ付近の部分の曲がりが徐々に緩和され、最終的に直線状態に伸長する。この直線状態では、チューブ１２の内部の圧力が基準圧力値に達し、圧力センサ１８から検知信号が制御器１４へ出力されると共に、制御機１４は検知信号を受けて切換バルブ１５を遮断側へ移動させる。このような制御を行うことで作動体１１は直線状態の形状が維持される。
【００４６】
また、作動体１１の先端１１ａを原点位置に戻すには、原点に戻す操作を操作部１６で行うことにより、制御器１４がモータ１７ｂを吸い出し側へ回転させると共に切換バルブ１５を流通側へ移動させることで、チューブ１２に充填されている液体をタンク１７ｃへ吸い出している。この液体の吸い出しに伴い、チューブ１２の剛性が徐々に低下して、作動体１１の弾性力が優勢になり始め、先端１１ａを含む箇所の曲率が強くなり、最終的にチューブ１２内の液体が全て吸い出されると、作動体１１の弾性力により元のＪ字状になり、先端１１ａが原点位置に戻る。
【００４７】
このように第１の実施形態に係るアクチュエータ１０の作動体１１は、メカニカル的な部分を持たない構造で、Ｊ字状態と直線状態との間を自由に変形でき、しかも、作動体１１は弾性を有する表面がソフトな合成ゴム製であるため、壊れやすい物体の把持及び福祉介護用等に好適に導入できる。
【００４８】
なお、第１の実施形態に係るアクチュエータ１０は、上述した形態に限定されるものではなく、種々の変形が可能である。例えば、作動体１１は、合成ゴム以外にも、天然ゴムのような各種ゴム、発泡樹脂、ポリオレフィン及びブロック共重合体ポリマー等の合成樹脂を適用して形成されるようにしてもよく、また形成される形状もＪ字状以外の他の湾曲及び屈曲形状等にしてもよい。さらに、チューブ１２に供給する流体には気体を適用することも可能である。
【００４９】
図４（ａ）（ｂ）は、第１の実施形態の変形例に係るアクチュエータ２０である。変形例のアクチュエータ２０は、作動体２１の変形を形状記憶合金部材の変形により作動変形させる点がアクチュエータ１０と相違している。即ち、アクチュエータ２０は、弾性体である作動体２１の内部に線状の形状記憶合金部材２２を貫通配置している。この貫通配置の状況は、常温で図４（ａ）に示す作動体２１と同等のＪ字状である形状記憶合金部材２２の昇温時の変形方向が、作動体２１の変形時に生じる弾性力の方向（図中、矢印方向で示す）の反対方向となるようにしている。なお、形状記憶合金部材２２は昇温により直線状に変形し、この変形力は作動体２１の弾性力より大きくなるようにしている。
【００５０】
また、形状記憶合金部材２２は、作動体２１の先端２１ａ側に対応する一端２２ａに第１電線２９ａを接続し、作動体２１の後端２１ｂ側の他端２２ｂには第２電線２９ｂを接続している。これら第１及び第２電線２９ａ、２９ｂは作動体２１の後端２１ｂより外方へ延出して操作制御器２３と接続されている。操作制御器２３は、作動スイッチ２４及び直流電源２５を具備しており、直流電源２５の陰極側に第１電線２９ａを接続すると共に、作動スイッチ２４に第２電線２９ｂを接続している。
【００５１】
アクチュエータ２０の作動体２１を変形作動させるには、図４（ｂ）に示すように、操作制御器２３の作動スイッチ２４をオフからオンにして、形状記憶合金部材２２に直流電源２５の電流を通電させる。形状記憶合金部材２２は通電されることで自身の内部抵抗により発生するジュール熱により加熱されて昇温し、作動体２１の弾性力に抗して、昇温に伴いＪ字状の湾曲状態から直線状態に変形する。なお、この直線状態は通電を継続することで維持される。
【００５２】
また、作動体２１を図４（ｂ）の直線状態から図４（ａ）のＪ字状態に戻すには、作動スイッチ２４をオンからオフにして、形状記憶合金部材２２への通電を停止することで行う。形状記憶合金部材２２は通電を停止されることでジュール熱が発生しなくなり徐々に降温し、その結果、作動体２１の弾性力に従いながら常温時の形状のＪ字状態に戻る。
【００５３】
なお、変形例のアクチュエータ２０は、図４（ｂ）に示す直線の棒状である作動体の内部に、常温で直線状態であり昇温時にＪ字状に変形する形状記憶合金部材を配置するようにしてもよい。このような構成にすることで、常温時は図４（ｂ）の直線状態で、昇温時は図４（ｂ）のＪ字状態に作動体が変形するアクチュエータを構成することもできる。また、操作制御器２３における電源には直流以外にも交流電源を用いることも可能である。さらに、アクチュエータ２０の作動形態によっては、形状記憶合金部材２２の昇温時の変形方向を弾性体の弾性力の方向と反対方向ではなく同方向にしてもよい。例えば、常温時が直線状態で昇温時にＪ字状に変形する形状記憶合金をＪ字状の弾性体に貫通配置することで、昇温させて物体を把持する場合、形状記憶合金の変形力を弾性体の同方向の弾性力で増強でき把持力を向上できる。また、形状記憶合金部材は上述した通電加熱を用いるのではなく、形状記憶合金部材自体を内部に液体を流通させることができる管状に形成し、昇温させる時は、管内に高温の液体を循環させて、管状の形状記憶合金部材を加熱変形させることも可能である。
【００５４】
図５（ａ）（ｂ）は、本発明の第２の実施形態に係るアクチュエータにおける作動体３１を示している。作動体３１は、第１実施形態と同様に弾性曲状体であり、合成ゴムで形成されているが、伸長時に板状になるように形成されている。なお、形成状態では側面方向からの形状が「へ」の字状になるように形成されており、板状に変形させた場合、「へ」の字状に戻るように弾性力（図５（ａ）で示す矢印方向の力）が生じる。
【００５５】
また、作動体３１の内部には可撓性管であるチューブ３２が貫通している。上述した箇所以外は、第１の実施形態のアクチュエータ１０と同様の構成であり、チューブ３２を操作制御器（図示せず）に接続して液体を供給することで、図５（ａ）の屈曲状態から図５（ｂ）の伸長状態に作動体３１を変形させることができる。第２の実施形態のアクチュエータは作動体３１が幅広であるため、弾性力も大きくなり、大きな寸法の物体を把持するような場合に好適である。
【００５６】
なお、第２の実施形態のアクチュエータも第１の実施形態と同様の各種変形を適用することが可能であり、例えば、作動をチューブ３２に液体を供給して行う以外にも、内部に形状記憶合金部材を貫通配置して昇温により形状記憶合金部材を変形させて作動体を変形させるようにしてもよい。
【００５７】
図６は、本発明の第３の実施形態に係るアクチュエータ４０の全体構成を示す液体供給回路図である。アクチュエータ４０は作動体４１に可撓性管であり一端が閉鎖された２本の第１チューブ４２１及び第２チューブ４２２を貫通させており、第１及び第２チューブ４２１、４２２の他端は操作制御器４３に接続している。
【００５８】
第１及び第２チューブ４２１、４２２は、図７（ａ）に示すように、各一端４２１ａ、４２２ａを作動体４１の内部の相違する箇所に夫々配置している。即ち、第１チューブ４２１の一端４２１ａは作動体４１の先端４１ａの近傍に配置しており、第２チューブ４２２の一端４２２ａは作動体４１の湾曲した中間部４１ｃに配置している。
【００５９】
また、操作制御器４３は、図６に示すように、第１チューブ４２１の他端を第１圧力センサ４８１を介して第１切換バルブ４５１に接続しており、第２チューブ４２２の他端を第２圧力センサ４８２を介して第２切換バルブ４５２に接続している。また、操作制御器４３は、操作部４６の操作、第１及び第２圧力センサ４８１、４８２の検知信号を受けて、別個に第１切換バルブ４５１と第２切換バルブ４５２を制御できるようにしている。なお、上述した箇所以外は、第１の実施の形態のアクチュエータ１０と同様の構成にしているので説明を省略する。
【００６０】
次にアクチュエータ４０の作動体４１の作動例を図７（ａ）（ｂ）（ｃ）に基づいて説明する。
先ず、図７（ａ）に示すＪ字状に湾曲した状態から、図７（ｂ）に示すように第２チューブ４２２にのみ液体を供給した場合、湾曲していた第２チューブ４２２は、直線状に変形して剛性を増し、それに伴い、湾曲していた中間部４１ｃも直線状態に変形する。なお、第２チューブ４２２内が所要の圧力値になると、第１の実施形態で説明した制御により、直線状態の変形は維持される。また、この状態では、作動体４１の先端４１ａ付近は、作動体４１の弾性力により湾曲したままである。
【００６１】
次に、図７（ｃ）に示すように、第１チューブ４２１にも液体を供給した場合、第１チューブ４２１も全体が直線状に変形し、作動体４１の先端４１ａ付近も直線状に変形し、作動体４１全体が直線状態の棒状になる。よって、第３の実施形態に係るアクチュエータ４０は、作動体４１を二段階で変形させることができ、複雑な作動にも対応可能にしている。
【００６２】
なお、作動体４１の作動に関しては、先に第１チューブ４２１に液体を供給してから第２チューブ４２２に液体を供給するようにしてもよく、このように液体の供給順序を適宜制御することで様々な作動形態を行うことができる。さらに、液体を吸い出す順番も適宜制御することで、作動体４１の弾性力により元に戻る変形も様々な形態で行うことができる。なお、第３の実施形態のアクチュエータ４０も第１の実施形態における各種変形の適用が可能であり、また、変形させる形態によっては、３本以上のチューブを貫通させてもよい。
【００６３】
図８は、第３の実施形態の一変形例のアクチュエータ５０の全体の構成を示す概略図であり、アクチュエータ５０は、作動体５１を２本の第１及び第２形状記憶合金部材５２１、５２２により作動変形可能にしている。第１形状記憶合金部材５２１は、一端５２１ａを作動体５１の先端５１ａの近傍に配置する一方、第２形状記憶合金部材５２２は、一端５２２ａを作動体５１の中間部５１ｃに配置している。
【００６４】
また、第１形状記憶合金部材５２１は、操作制御器５３の直流電源５５の負極側と第１電線５９１ａを介して接続すると共に、第１作動スイッチ５４１に第２電線５９１ｂを介して接続している。同様に、第２形状記憶合金部材５２２は、操作制御器５３の直流電源５５の負極側と第３電線５９２ａを介して接続すると共に、第２作動スイッチ５４２に第４電線５９２ｂを介して接続している。
【００６５】
よって、アクチュエータ５０では、第１作動スイッチ５４１、第２作動スイッチ５４２のオンとオフを切り換えて操作することで、第１形状記憶合金部材５２１と第２形状記憶合金部材５２２が個別に通電加熱され、作動体５１の先端５１ａ付近及び中間部５１ｃを独立して作動させることができる。その結果、作動体５１の作動形態を一段と細やかに制御できる。なお、アクチュエータ５０も、第１の実施形態のアクチュエータ２０と同様に各種変形を適用できる。
【００６６】
図９（ａ）〜（ｃ）は、上述したアクチュエータ５０の作動体５１に更に２本の第３及び第４形状記憶合金部材６２３、６２４を配置している作動体６１の概略図である。なお、図９（ａ）〜（ｃ）は図８を側面図とした場合、正面図に相当する方向からの視図である。図９（ａ）に示すように、作動体６１は、第１及び第２形状記憶合金部材６２１、６２２の左右に第３及び第４形状記憶合金部材６２３、６２４を配置している。
【００６７】
第３及び第４形状記憶合金部材６２３、６２４は、通電加熱により長さ方向が収縮する変形を行うものであり、図８に示す操作制御器５３と同様な回路構成の第３作動スイッチ及び第４作動スイッチに接続されて、第３及び第４形状記憶合金部材６２３、６２４を個別に通電加熱可能にしている。
【００６８】
また、図９（ａ）に示すように、第１及び第２形状記憶合金部材６２１、６２２を通電加熱させて作動体６１を伸長させた場合、作動体６１には新たな弾性力が生じ、図中の左右何れかの方向に変形させる外力を付加すると、中心の位置に戻ろうとする弾性力が生じている。よって、図９（ｂ）に示すように、第３形状記憶合金部材６２３を通電加熱すると、第３形状記憶合金部材６２３は作動体６１の新たに生じた弾性力（図中、ハッチング矢印で示す）に抗して縮小変形することで、作動体６１は全体が左（図中、白矢印で示す）に傾く変形を行う。
【００６９】
さらに、図９（ｂ）に示すように、第４形状記憶合金部材６２４を通電加熱すると、第４形状記憶合金部材６２４は作動体６１の新たに生じた弾性力（図中、ハッチング矢印で示す）に抗して縮小変形することで、作動体６１は全体が右（図中、白矢印で示す）に傾く変形を行う。上述したように計４本の形状記憶合金部材６２１〜６２４を作動体６１の内部に配置するので、一段と複雑な変形作動を行うことができる。
【００７０】
図１０（ａ）（ｂ）は、本発明の第４の実施形態のアクチュエータにおける作動体７１の斜視図であり、図１０（ｂ）に示すように伸長させた状態で板状となる作動体７１に２本の第１及び第２チューブ７２１、７２２を配置している。作動体７１は、図１０（ａ）に示すように伸長させない通常の状態では、側方からの形状が略Ｕ字状の曲形状となるように形成された弾性曲状体であり、中央に平面方向からの形状が略三角形の固定部７１１を設けると共に、左右に第１及び第２変形部７１２、７１３を設けている。
【００７１】
また、第１チューブ７２１は、第１変形部７１２及び固定部７１１を貫通するように配置されており、第２チューブ７２２は、第２変形部７１３及び固定部７１を貫通するように配置されている。また、第１及び第２チューブ７２１、７２２は、図示していないが、図５に示す構成と同等の操作制御器に接続されて、夫々個別に液体が供給されるようにしている。
【００７２】
第１チューブ７２１に液体が供給されると、第１チューブ７２１が直線状に変形することで、屈曲形状の第１変形部７１２は、伸長して固定部７１１に対して平坦となるように自身の弾性力に抗して変形する。また、第２チューブ７２２に液体が供給されると、第２チューブ７２１が直線状に変形することで、屈曲形状の第２変形部７１３は、伸長して固定部７１１に対して平坦となるように自身の弾性力に抗して変形する。
【００７３】
よって、第１及び第２チューブ７２１、７２２への液体の供給具合及び液体の吸い出し具合を適宜操作することで、作動体７１も複雑な種々の伸縮動作を行うことができる。なお、第４の実施形態のアクチュエータにおける作動体７１にも第１の実施形態と同様の各種変形の適用が可能であり、また、第１及び第２チューブ７２１、７２２の代わりに２本の形状記憶合金部材を配置して、昇温により作動体７１を変形させることも可能である。
【００７４】
図１１は、本発明の第５の実施形態のアクチュエータにおける作動体８１の側方断面図である。作動体８１は、第１の実施形態の作動体１１に４個の第１芯材８９１、第２芯材８９２、第３芯材８９３及び第４芯材８９４を配置した構成にしている。各芯材８９１〜８９４は、弾性曲状体の作動体８１に比べて剛性の高い材質で形成されており、例えば、合成樹脂のような材質を適用できる。
【００７５】
また、第１芯材８９１は作動体８１の先端部８１ａの内部に配置され、以下、第２芯材８９２は第１中間部８１ｂに、第３芯材８９３は第２中間部８１ｃに、第４芯材８９４は後端部８１ｄの夫々内部に配置されている。また、各芯材８９１〜８９４の間は接続しておらず、各芯材８９１〜８９４に比べて剛性の低い節８１ｅ、８１ｆ、８１ｇが生じている。
【００７６】
作動体８１の内部を貫通するチューブ８２に液体を供給すると、チューブ８２が直線状に変形するにつれて、作動体８１は各節８１ｅ〜８１ｇを支点として伸長されていき、丁度、人体の指における間接を支点とした動きと同様な作動を実現している。また、作動体８１の弾性力により物体を把持する場合等も、表面がソフトであっても内部の各芯材８１ａ〜８１ｄで剛性が向上するため、一段としっかりとした把持が行われる。
【００７７】
なお、第５の実施形態のアクチュエータにおける作動体８１も第１の実施形態における各種変形を適用でき、また、形状記憶合金部材の昇温作動も適用可能である。さらに、第５の実施形態のアクチュエータは、第２の実施形態のように、作動体８１の内部に複数のチューブ又は形状記憶合金部材を配置させて複雑な作動を行うようにしてもよい。さらに、また、板状である作動体にも第５の実施形態は適用可能である。
【００７８】
図１２（ａ）（ｂ）は、本発明の第６の実施形態のアクチュエータにおける作動体９１の概略の斜視図であり、作動体９１は複数の弾性部材９１１〜９１４を組み合わせて湾曲状に形成されている。各弾性部材９１１〜９１４は、第１の実施形態において述べた作動体１１の材質に適用できるものと同等な材質で形成されている。また、各弾性部材９１１〜９１４は、周囲の一方側の長手方向の寸法を反対側と相違させることで端面９１１ａ〜９１４ｂを斜めに形成し、組み合わせた際に、全体が湾曲した形状になるようにしている。
【００７９】
作動体９１を形成するには、図１２（ａ）に示すように、チューブ９２に第４弾性部材９１４から第１弾性部材９１１までを順次、串刺し状に刺していくと共に、各弾性部材９１１〜９１４の間を接着剤で接着することで、図１２（ｂ）に示す内部にチューブ９２を貫通させた湾曲状の作動体９１を完成させている。このような組立構成にすることで、内部にチューブ９２を貫通させた作動体９１を容易に製作している。また、各弾性部材９１１〜９１４の接着箇所は、弾性が変化することから作動に対して節９１ｅ〜９１ｇとなる。なお、各弾性部材９１１〜９１４の間の接合は融着で行うことも可能である。
【００８０】
このような構造の作動体９１のチューブ９２に液体を供給すると、チューブ９２が直線状に変形するにつれて、作動体９１も追従して直線状に変形するが、この際、節９１ｅ〜９１ｇを支点とした変形形態になり、また、液体を吸い出して復元する場合は節９１ｅ〜９１ｇで屈折して元に戻るようになる。
【００８１】
なお、第６の実施形態のアクチュエータにおける作動体９１は上述した形態に限定されるものではなく、例えば、組み合わせる各弾性部材９１１〜９１４の弾性力を相違させて、復元させる場合の作動を一様ではなく、様々な状態で元に戻るようにさせてもよい。即ち、弾性力の強い弾性部材は早く元の湾曲状態に戻り、弾性力の弱い弾性部材は遅く元の状態に戻るため、部分的に復元形態を変化させることができる。
【００８２】
また、第６の実施形態においても第１の実施形態における各種変形例の適用が可能であり、形状記憶合金部材による昇温作動も適用できる。さらに、第３の実施形態のように複数のチューブ又は形状記憶合金部材を作動体内部に配置してもよく、第５の実施形態のように複数の芯材を配置することも可能である。
【００８３】
図１３は、本発明の第７の実施形態のアクチュエータにおける作動体１０１の分解状態の概略図であり、作動体１０１は複数の弾性部材１１１〜１１３を組み合わせて湾曲状に形成されており、伸長状態では板状になる。作動体１０１には第１チューブ１０２ａ及び第２チューブ１０２Ａ、１０２Ｂが貫通しており、中央の弾性部材１１１に第１及び第２チューブ１０２ｂを貫通させてから第１チューブ１０２Ａには左側の弾性部材１１２を突き刺し、第２チューブ１０２Ｂには右側の弾性部材１１３を突き刺した後、各弾性部材１１〜１１３を接着剤又は融着で接合することで作動体１０１を形成している。
【００８４】
このように大きな形状で内部に第１及び第２チューブ１０２Ａ、１０２Ｂを貫通させる作動体１０１も、複数の弾性部材１１１〜１１３を各チューブ１０２Ａ、１０２Ｂに突き刺していくことで容易に形成することができる。なお、第７の実施形態のアクチュエータにおける作動体１０１にも図１２に示す第６の実施形態の作動体９１と同様の各種変形例の適用が可能である。
【００８５】
図１４は、本発明の第８の実施形態のアクチュエータ１２０における作動体１２１の概略断面を示す全体構成図である。第８の実施形態の作動体１２１は、図６、７、８に示す第３実施形態における作動体４１（５１）、図１１に示す第５の実施形態における作動体８１、図１２に示す第６の実施形態における作動体９１を組み合わせたような構成にしている。
【００８６】
即ち、先端側の先端弾性部材１３１、第１中間弾性部材１３２、第２中間弾性部材１３３及び後端弾性部材１３４を組み合わせて、接着剤で接着することで湾曲状の作動体１２１を構成し、各弾性部材１３１〜１３４の接合部を節１２１ａ〜１２２ｃにして、直線状に変形させると湾曲する向きに弾性力が生じる弾性体を形成している。また、各弾性部材１３１〜１３４の内部には第１芯材１５１から第４芯材１５４が配置されており、これら各芯材１５１〜１５４に一端が夫々当接するように計４本の第１形状記憶合金部材１４１から第４形状記憶合金部材１４４が作動体１２１の内部に貫通配置してある。
【００８７】
即ち、第１形状記憶合金部材１４１は、一端１４１ａを先端弾性部材１３１内に配置された第１芯材１５１に当接させている。また、以下同様に、第２形状記憶合金部材１４２の一端１４２ａは第１中間弾性部材１３２内の第２芯材１５２に、第３形状記憶合金部材１４３の一端１４３ａは第２中間弾性部材１３３内の第３芯材１５３に、第４形状記憶合金部材１４４の一端１４４ａは後端弾性部材１３４内の第４芯材１５４に、夫々当接させている。
【００８８】
なお、第１及び第２形状記憶合金部材１４１、１４２は、昇温時に図中の湾曲した形状から直線状に変形するものであり、第３及び第４形状記憶合金部材１４３、１４４は、昇温時に直線状態から一端１４３ａ、１４４ａ側が上昇する向きに湾曲するものである。また、各形状記憶合金部材１４１〜１４４は複数の電線ｄを介して操作制御器１２２に接続されている。
【００８９】
操作制御器１２２は、４個の作動スイッチ１２２ａ〜１２２ｄが設けられており、各形状記憶合金部材１４１〜１４４毎に独立して通電加熱できるようにしている。なお、上述した箇所以外の構成は、上述した各実施形態と同様の構成にしている。
【００９０】
図１５（ａ）〜（ｄ）は作動体１２１の作動例の状況を示しており、図１５（ａ）は、第１形状記憶合金部材１４１のみを通電加熱した場合の作動状況である。通電加熱により第１形状記憶合金部材１４１は直線状に変形するが、第１中間弾性部材１５２、第２中間弾性部材１５３及び後端部材１５４内を貫通する第２形状記憶合金部材１４２は依然として湾曲形状であるため、第１形状記憶合金部材１４１のみの配置となる先端弾性部材１３１だけが節１２１ａを支点として直線状に変形する。
【００９１】
また、第１形状記憶合金部材１４１が変形する際は、一端１４１ａが第１芯材１５１に当接しているので、変形に係る力が硬度のある第１芯材１５１へ直接的に伝達されて、作動効率が向上すると共に第１形状記憶合金部材１４１の変形に対する追従性も高まり一段と敏捷な作動を実現できる。
【００９２】
図１５（ｂ）は、図１５（ａ）の状態から、第２形状記憶合金部材１４２を通電加熱して直線状に変形させた状態を示しており、第１中間部１３２は節１２２ｂを支点として直線状に変形している。また、この変形時も第２形状記憶合金部材１４２の一端１４２ａが第２芯材１５２を押圧して第１中間部１３２を直線状にしており、ダイレクト感のある動きを達成している。なお、第１中間部１３２が節１２２ｂを支点として作動するのは、第１中間部１３２の第２芯材１５２のみが押圧され、第２中間部１３３の第３芯材１５３は押圧されていないためである。
【００９３】
図１５（ｃ）は、図１５（ｂ）の状態から、第３形状記憶合金部材１４３を通電加熱して上方に湾曲変形させた状態を示しており、この変形に追従して第２中間部１３３も上方に作動変形し、その結果、作動体１２１が棒状の直線状態になる。また、この変形時も第３形状記憶合金部材１４３の一端１４３ａが第３芯材を押圧するため、追従性の高いスムーズな作動が実現される。
【００９４】
図１５（ｄ）は、図１５（ｃ）の状態から、第４形状記憶合金部材１４４を通電加熱して、直線状から上方に湾曲させた状態を示しており、この変形に追従して作動体１２１全体が後端１２２ｄを支点として上方に変形している。よって、第４形状記憶合金部材１４４を変形させると、作動体１２１全体を上昇させることができる。なお、この変形も同様に第４芯材が第４形状記憶合金部材１４４の一端１４４ａに押圧されて敏捷な動きとなる。
【００９５】
また、作動体１２１が図１５（ａ）に示す状態、又は、図１５（ｂ）に示す状態でも、第４形状記憶合金部材１４４を通電加熱することで、このような各種形状の状態である作動体１２１全体を上昇できる。なお、作動体１２１の作動は上述した形態に限定されるものではなく、各形状記憶合金部材１４１〜１４４の通電順序および通電状況等を適宜制御することで、複雑な作動を実現できる。
【００９６】
さらに、第８の実施形態のアクチュエータ１２０は、上述した各実施形態における各変形例の適用が可能であり、各形状記憶合金部材１４１〜１４４の代わりにチューブを用いて、各チューブの一端を各芯材１５１〜１５４に当接させて、流体の供給により作動させることも可能である。
【００９７】
図１６（ａ）（ｂ）は、本発明の第９の実施形態に係るハンド装置２００の概略図である。ハンド装置２００は、図１６（ａ）に示すように、図１３に示す第７の実施形態に係る作動体１０１に略同等の構成の作動体２０２に、図１４に示す第８の実施形態に係る作動体１２１と略同等の構成の計５本の作動体２１０、２２０、２３０、２４０、２５０を取り付けてハンド部２０１を形成している。また、各作動体２０２、２１０、２２０、２３０、２４０、２５０の内部に配置された各形状記憶合金部材２０６、２０７、２１４等は操作制御器２０８に接続されている。なお、ハンド部２０１は、人体の左手に近似したものであり、図１６（ａ）（ｂ）は手のひら側からの視図である。
【００９８】
手のひらに相当する板状の作動体２０２は、固定部２０３に２つの変形部２０４、２０５を接着剤により取り付けると共に、２本の形状記憶合金部材２０６、２０７を内部に貫通配置して、通電加熱しない場合、側方からの形状が略Ｕ字状になるようにしている。
【００９９】
また、作動体２０２の一方の変形部２０５に接着剤で取り付けられる計４本の作動体２１０〜２４０は夫々同等の構成であり、人差し指、中指、薬指及び小指に夫々相当する。代表して作動体２１０で構成を説明すると、先端側の先端部２１１、中間部２１２及び後端部２１３を接着して組み合わせることで作動体２１０が形成されており、各部２１１〜２１３の内部に一端が夫々位置するように計３本の形状記憶合金部材２１４〜２１６を配置している。なお、上述した以外の箇所は、図１４の作動体１２１と同様の構成にしている。
【０１００】
さらに、手のひらに相当する作動体２０２の他方の変形部２０４に接着剤で取り付けられる作動体２５０は、親指に相当するものであり、先端部２５１及び後端部２５２を接着して組み合わせることで形成されると共に、一端が各部２５１、２５２の内部に夫々位置するように２本の形状記憶合金部材２５３、２５４が貫通配置されている。また、作動体２５０も、上述した以外の箇所は、図１４の作動体１２１と同様の構成にしている。
【０１０１】
なお、上述した各指に相当する作動体２１０、２２０、２３０、２４０、２５０は、手のひらに相当する作動体２０２の湾曲する側と同方向に湾曲するように形成されており、直線状に変形させると湾曲状態に戻るように弾性力が生じる。また、各形状記憶合金部材２０６、２０７等を接続する操作制御器２０８は、各形状記憶合金部材２０６、２０７等毎に通電加熱できるようにしており、これにより、各作動体２０２、２１０等を個別に又は連動させて種々の形態で変形できるようにしている。
【０１０２】
図１７（ａ）は、各形状記憶合金部材２０６、２０７等を通電加熱せずに、ハンド部２０１の各作動体２０２〜２５０の弾性力及び湾曲した状態の形状記憶合金部材の剛性力により小片の物体Ｐ２を把持している状態を示す。
【０１０３】
また、図１７（ｂ）は、手のひらに相当する作動体２０２の変形部２０４を伸長させて開くように作動させると共に、人差し指、中指及び親指に相当する作動体２１０、２２０、２５０を直線状に伸長させるように作動させた状態を示している。さらに、上述した状態以外にも、ハンド装置２００はハンド部２０１を各形状記憶合金部材２０６、２０７等の通電加熱を適宜制御することで、人体の手と略同等に種々の状態に変形させることができ、各種形状及び様々な寸法の物体の把持及びボタン、スイッチ等の操作、手文字の形成等種々の用途に適用できる。しかも、ハンド部２０１はソフトな表面であるため、従来のハンド装置へ適用が困難であった福祉介護用等にも容易に導入できる。
【０１０４】
なお、第９の実施形態に係るハンド装置２００は、上述した形態に限定されるものではなく、板状の作動体に取り付ける棒状の作動体の本数を５本以外にすることも可能であり、また、板状の作動体も別の変形作動ができるようなものを適用してもよい。さらに、各作動体には、上述した各実施形態におけるいずれのものを適用するようにしてもよい。また、変形を行う作動源には、形状記憶合金部材の昇温による方式及びチューブに流体を供給する方式のいずれを適用してもよく、混在させることも可能である。
【０１０５】
【発明の効果】
以上に詳述した如く、第１発明にあっては、可撓性管を弾性曲状体の内部に貫通させることで、表面がソフトな簡易な構造で所要の作動を実現できる。
第２発明及び第９発明にあっては、作動に係る弾性曲状体又は弾性体を棒状することで、種々の用途に適用できる。
第３発明及び第１０発明にあっては、弾性曲状体又は弾性体を板状にすることで、用途範囲を広げることができる。
【０１０６】
第４発明及び第１１発明にあっては、複数の可撓性管又は形状記憶合金部材の配置により多様な作動形態を実現できる。
第５発明及び第１２発明にあっては、複数の芯材を内部に配置することで、弾性曲状体又は弾性体の剛性を向上できる。
第６発明及び第１３発明にあっては、複数の弾性部材を組み合わせることで、可撓性管又は形状記憶合金部材を貫通配置した弾性曲状体又は弾性体を容易に形成できる。
【０１０７】
第７発明及び第１４発明にあっては、応答性が高く迅速で且つ力強い変形作動を実現できる。
第８発明にあっては、弾性体の内部に形状記憶合金部材を貫通配置することで、形状記憶合金部材に対する昇温を制御するだけで、表面がソフトな弾性体を所要形状に変形させることができる。
第１５発明にあっては、板状の弾性曲状体又は弾性体に棒状の弾性曲状体又は弾性体を取り付けているので、人体の手と同様な作動を行うハンド装置を簡易な構成で実現できる。
【図面の簡単な説明】
【図１】本発明の第１の実施形態に係るアクチュエータであり、（ａ）は作動体の湾曲状態の斜視図、（ｂ）は作動体の伸長時の斜視図である。
【図２】第１の実施形態の作動体の断面図である。
【図３】第１の実施形態のアクチュエータの液体供給回路図である。
【図４】第１の実施形態の変形例のアクチュエータであり、（ａ）は作動体の湾曲状態の概略図、（ｂ）は作動体の伸長時の概略図である。
【図５】本発明の第２の実施形態に係る作動体であり、（ａ）は作動体の屈曲状態の斜視図、（ｂ）は伸長時の斜視図である。
【図６】本発明の第３の実施形態に係るアクチュエータの液体供給回路図である。
【図７】（ａ）（ｂ）（ｃ）は第３の実施形態の作動体の作動状況の概略図である。
【図８】第３の実施形態の変形例に係るアクチュエータの概略図である。
【図９】（ａ）（ｂ）（ｃ）は、第３の実施形態の別の変形例に係る作動体の作動状況を示す概略図である。
【図１０】第４の実施形態に係る作動体であり、（ａ）は湾曲状態の斜視図、（ｂ）は伸長時の斜視図である。
【図１１】第５の実施形態に係る作動体の側方断面図である。
【図１２】第６の実施形態に係る作動体であり、（ａ）は製作状態を示す斜視図、（ｂ）は完成状態を示す斜視図である。
【図１３】第７の実施形態に係る作動体の分解斜視図である。
【図１４】第８の実施形態に係るアクチュエータの全体構成図である。
【図１５】（ａ）（ｂ）（ｃ）（ｄ）は、第８の実施形態に係る作動体の作動状況を示す概略図である。
【図１６】第９の実施形態に係るハンド装置であり、（ａ）は分解状態のハンド部を示す概略図、（ｂ）は完成状態のハンド部を示す概略図である。
【図１７】（ａ）（ｂ）は第９の実施形態に係るハンド部の作動状況を示す概略斜視図である。
【図１８】（ａ）は従来のアクチュエータの斜視図、（ｂ）は従来の把持装置の斜視図、（ｃ）は別の従来のアクチュエータの斜視図である。
【符号の説明】
１０　アクチュエータ
１１　作動体
１２　チューブ
１３、２３　操作制御器
２２　形状記憶合金部材
８９１〜８９４　芯材
９１１〜９１４　弾性部材
２００　ハンド装置
２０１　ハンド部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an actuator that performs a required operation, and more particularly to an actuator and a hand device that realize various operation modes with a simple structure by using an elastic force of an elastic body for an operation in one direction.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, hand devices of robots for industrial use, welfare care, and the like are operated by electrically controlling actuators such as motors and cylinders. On the other hand, recently, an actuator has been developed which realizes various operations with a simple structure by reducing a mechanical part compared to such an apparatus.
[0003]
The actuator 1 shown in FIG. 18 (a) has a mainspring spring 1b in close contact with a curved cylindrical elastic body 1a and sealing members 1c attached to both ends to seal the inside. The cylindrical elastic body 1a is extended by supplying air to the air (see Patent Document 1).
The gripping device 2 in FIG. 18B inserts an elastic member 2b made of spring steel or a shape memory alloy into the inside of the hose 2a whose one end is closed by the sealing member 2c, and supplies a fluid to the inside of the hose 2a. By doing so, the hose 2a is deformed against the elastic force of the elastic member 2b (see Patent Document 2).
[0004]
Further, in the actuator 3 of FIG. 18C, a plurality of gripping members 3a are connected by a spring 3b, and a shape memory alloy tube 3c is attached so as to penetrate each gripping member 3a. The actuator 3 is bent by flowing hot liquid into the shape memory alloy tube 3c, and linearly expands by flowing cold liquid (see Patent Document 3).
[0005]
[Patent Document 1]
JP-A-5-164110
[Patent Document 2]
JP-A-8-168989
[Patent Document 3]
JP-A-6-339887
[0006]
[Problems to be solved by the invention]
Since the actuator 1 shown in FIG. 18 (a) exposes a spring spring 1b made of a hard metal, the metal may directly touch the human body, so that the actuator 1 is applied to a hand device of a welfare and care robot. Is not suitable. Further, since the operation of deforming the tubular elastic body 1a into the extended state and the wound state depends on the supply of air and the elastic force of the spring 1b, there is also a problem that a complicated operation cannot be performed. Further, since the inside of the cylindrical elastic body 1a is sealed by attaching the sealing member 1c, there is a problem that it is necessary to check the sealing property and the like after the attachment of the sealing member 1c, and it takes time to manufacture.
[0007]
Since the gripping device 2 of FIG. 18B uses the thin hose 2a itself as a gripping member, there is a problem that it is difficult to apply the gripping device to a small object such as a small piece. Further, the gripping device 2 also has a problem that only a uniform operation can be performed because the operation of the gripping device 2 depends on the supply of fluid and the elastic force of the elastic member 2b.
[0008]
Since the actuator 3 shown in FIG. 18C has a configuration in which the gripping members 3a are connected by the springs 3b, there is a problem in that the number of components is large and labor is required for assembly. Further, since the operation is performed following the deformation of one shape memory alloy tube 3c, there is a problem that only a simple operation can be performed. Furthermore, since hard members such as the gripping member 3a, the spring 3b, and the shape memory alloy tube 3c are exposed on the surface, there is a problem that it is not appropriate to use the actuator 3 for welfare care.
[0009]
The present invention has been made in view of such a problem, and by arranging a flexible tube or a shape memory alloy member directly inside an elastic working body, the surface is soft and further simpler. It is an object of the present invention to provide an actuator that performs various operations with a structure.
Another object of the present invention is to provide an actuator that can be applied to various uses by changing the shape of an operating body into a rod shape or a plate shape.
[0010]
A further object of the present invention is to provide an actuator that can perform various operations by configuring an operating body by combining a plurality of elastic members.
Still another object of the present invention is to provide an actuator capable of coping with complicated operations by arranging a plurality of flexible tubes or shape memory alloy members.
Another object of the present invention is to provide a hand device that can perform an operation similar to a human hand with a simple structure by combining various actuators.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, an actuator according to a first aspect of the present invention includes an elastic curved body, a flexible tube penetrating the inside of the elastic curved body, and having one end closed. An extension means for extending the elastic curved body by supplying a fluid into the pipe from the other end of the pipe is provided.
[0012]
In the first invention, the flexible tube has a simple structure in which the flexible tube is penetrated into the inside of the elastic curved body, and is supplied by supplying a fluid such as gas or liquid into the inside of the flexible tube. A flexible tube extends linearly. By extending the flexible tube in this manner, the flexible tube becomes rigid, and as a result, the flexible tube can be extended linearly by following the curved elastic curved body. Further, when the supply of the fluid is stopped, the rigidity of the flexible tube is weakened, the elastic force of the elastic curved body becomes dominant, and the flexible tube naturally returns to the original bent shape. Therefore, the actuator can perform the required operation with a simple structure by performing the operation on the extension side by supplying the fluid and performing the operation on the bending side by the elastic force.
[0013]
In addition, various types of rubber such as natural rubber and synthetic rubber having a soft surface and a required elasticity, synthetic resins such as polyolefin and block copolymer polymers, and foamed resins are used for the deformed elastic curved body. Is possible. In addition, it is preferable that the bending degree of the elastic bending body is formed in accordance with an object to which the actuator is applied, and the elastic bending body may be formed in various bending shapes such as a curved shape and a bent shape. Further, it is preferable that the extension means can adjust the supply amount and the supply pressure of the fluid, and adjust the extension speed, extension degree, and the like.
[0014]
An actuator according to a second aspect of the present invention is characterized in that the elastic curved body has a rod shape in an extended state.
According to the second aspect of the invention, by forming the elastic curved body into a rod shape in an extended state, the actuator can be applied to a purpose of gripping an object, a purpose of pushing an object, and the like. Further, for each of these uses, the surface of the elastic curved body is soft, so that the object to be worked can be handled gently.
[0015]
An actuator according to a third aspect is characterized in that the elastic curved body has a plate shape in an extended state.
According to the third aspect, by forming the elastic curved body into a plate shape in a stretched state, it becomes possible to cope with an operation of gripping an object on a wide surface and an operation of pushing the object on a wide surface, and the like. The application of the actuator can be expanded.
[0016]
An actuator according to a fourth aspect of the present invention is characterized in that a plurality of the flexible tubes are provided, and one end of each of the flexible tubes is disposed at a different position inside the elastic curved body.
[0017]
According to the fourth aspect of the invention, various extension operations can be realized by arranging the plurality of flexible tubes such that one ends do not coincide with each other. For example, the first flexible tube is arranged such that one end is located near the tip of the flexible tube, and the second flexible tube is located at an intermediate position where one end is curved in the longitudinal direction. With this arrangement, when fluid is supplied to each flexible tube, the range of linearity is different, and the elastically curved body can be partially deformed accordingly. That is, when the fluid is supplied only to the first flexible tube, only the vicinity of the tip of the elastic curved body extends linearly, and when the fluid is supplied only to the second flexible tube, an intermediate portion is formed. Since only the extension is performed, various deformation operations can be realized by adjusting the supply of the fluid to each flexible tube.
[0018]
An actuator according to a fifth aspect is characterized in that a plurality of core members are arranged inside the elastic curved body.
According to the fifth aspect of the present invention, by arranging the plurality of core members inside, the elastic curved body can have required rigidity, and the elastic curved body is elastic when the object is gripped and pressed. The degree of deformation can be suppressed, and the gripping force and pressing force can be increased. In addition, it is important that the respective core members are arranged so as not to hinder the extension of the elastic curved body in consideration of the direction in which the flexible tube penetrates. Further, by arranging the respective core members at an interval, a portion serving as a node at the time of deformation can be formed in an elastic curved body, and operation using the node as a deformation fulcrum can be realized.
[0019]
An actuator according to a sixth aspect is characterized in that the elastic curved body is formed by combining a plurality of elastic members.
According to the sixth aspect of the invention, by forming an elastic curved body by combining a plurality of elastic members, an elastic curved body in which a flexible tube is disposed can be easily formed. For example, when forming a rod-shaped elastic curved body, each elastic member is successively attached to the flexible tube in a skewered manner to easily form an elastic curved body penetrating the flexible tube. it can.
[0020]
In addition, it is preferable that these elastic members be connected and integrated by fusion by heating or bonding with an adhesive or the like, and the connecting portions of such elastic members function as nodes in the expansion and contraction operation, and are bent at each node. Such a deformation operation can be realized. Furthermore, each elastic member can form an elastic curved body having a partially different elastic force by combining those having different elastic forces, and when the elastic member is restored to its original state using the elastic force of the elastic body, A complicated return operation can be performed according to the strength of the elastic force.
[0021]
In the actuator according to the seventh aspect, the flexible tube includes a plurality of flexible tubes, and the elastic curved body is formed by combining a plurality of elastic members, and a core material is disposed inside each of the elastic members. One end of each of the flexible tubes is in contact with each of the core members.
[0022]
According to the seventh aspect, by disposing the core material inside each elastic member, the nodes formed by the plurality of core members coincide with the nodes formed by connecting the elastic members, and a smooth operation is performed. And the required rigidity can be ensured. In addition, when the one end of each of the plurality of flexible tubes is brought into contact with each core material, when the flexible tubes are deformed linearly, each of the core materials is pressed by the one end in contact with the core material. The operating force can be directly transmitted to the core material, and accordingly, the responsiveness to the deformation of the elastic curved body is improved, and a quick and powerful operation can be performed.
[0023]
An actuator according to an eighth aspect of the present invention is configured such that the elastic body and the elastic body are penetrated inside the elastic body such that a deformation direction at the time of temperature rise is opposite to a direction of elastic force generated when the elastic body is deformed. And a deforming means for deforming the elastic body by raising the temperature of the shape memory alloy member.
[0024]
According to the eighth aspect, by disposing the shape memory alloy member through the inside of the elastic body, the elastic body having a soft surface can be deformed into a required shape only by controlling the temperature rise with respect to the shape memory alloy member. In addition, the actuator has a simple structure in which a shape memory alloy member is simply arranged inside an elastic body made of various rubbers such as natural rubber and synthetic rubber, polyolefin, block copolymer polymer, etc. The parts and the sliding parts can be eliminated, and good manufacturability and maintainability can be ensured.
[0025]
Control of the temperature rise for the shape memory alloy member can be handled by electric heating or hot liquid heating. When conducting heating, the shape memory alloy member is connected to a power supply circuit capable of adjusting the amount of current, and the amount of current to be applied is adjusted to heat the shape memory alloy member to a required temperature to activate the actuator. Can control. Further, by appropriately adjusting the degree and speed of adjusting the amount of current, the operation amount and operation speed of the actuator can be controlled.
[0026]
On the other hand, when performing hot liquid heating, the shape memory alloy member is formed into a tube shape circulated as a whole in a U-shape, and one end is supplied with hot liquid and the other end is supplied with hot liquid. The shape memory alloy member can be heated to a required temperature by controlling the temperature of the hot liquid supplied by the hot liquid supply means, and the operation of the actuator can be controlled. In addition, by appropriately controlling the degree to which the hot liquid is heated, the heating speed, the supply rate of the hot liquid, and the like, it is possible to realize the control of the operation amount and the operation speed of the actuator.
[0027]
The shape memory alloy member may have various shapes at the time of temperature rise and at room temperature.For example, a shape memory alloy member may be linear at room temperature and deformed into a curve at the time of temperature rise, or conversely, at room temperature. Is a curved shape, and a material which is deformed linearly when the temperature is raised can be applied. Also, by forming the elastic body in the shape at normal temperature of the shape memory alloy member described above, the direction of the elastic force is opposite to the direction of deformation of the shape memory alloy member, and the shape memory alloy member returns to the original shape at the time of cooling. The elastic force assists the deformation that returns to the above, which can contribute to the smooth operation of the return side of the actuator.
[0028]
An actuator according to a ninth aspect is characterized in that the elastic body has a rod shape before or after deformation.
In the ninth invention, by making the elastic body into a rod shape as in the second invention, it can be applied to various uses.
[0029]
An actuator according to a tenth aspect of the present invention is characterized in that the elastic body has a plate shape before or after deformation.
In the tenth invention, as in the third invention, the range of application can be expanded by making the elastic body plate-shaped.
[0030]
An actuator according to an eleventh aspect of the present invention is characterized in that the shape memory alloy member includes a plurality of shape memory members, and one end of each shape memory alloy member is disposed at a different position inside the elastic body.
In the eleventh invention, as in the fourth invention, various operation modes can be realized by the plurality of shape memory alloy members.
[0031]
An actuator according to a twelfth aspect is characterized in that a plurality of cores are arranged inside the elastic body.
In the twelfth invention, the rigidity of the elastic body can be improved by arranging a plurality of core members as in the fifth invention.
[0032]
An actuator according to a thirteenth invention is characterized in that the elastic body is formed by combining a plurality of elastic members.
In the thirteenth invention, as in the sixth invention, by combining a plurality of elastic members, it is possible to easily form an elastic body in which the shape memory alloy member is arranged to penetrate.
[0033]
In the actuator according to a fourteenth aspect, the shape memory alloy member is a plurality, and the elastic body is formed by combining a plurality of elastic members, and a core is disposed inside each of the elastic members. One end of each of the shape memory alloy members is in contact with each of the core members.
According to the fourteenth aspect, as in the seventh aspect, a quick and powerful deformation operation with high responsiveness can be realized.
[0034]
A hand device according to a fifteenth invention is characterized in that a rod-shaped elastic curved body or an elastic body of the actuator is attached to a plate-shaped elastic curved body or an elastic body of the actuator.
According to the fifteenth aspect, since the rod-shaped elastic curved body or the elastic body is attached to the plate-shaped elastic curved body or the elastic body, a hand device that performs the same operation as a human hand with a simple structure is provided. Can be formed. That is, the plate-like elastic curved body or the actuator including the elastic body functions as the palm and the back of the hand, and the rod-shaped elastic curved body or the actuator including the elastic body functions as the finger, so that the same operation as the hand as a whole is performed. The form can be realized.
[0035]
Therefore, by separately controlling the actuator corresponding to each finger and the actuator corresponding to the palm and the back of the hand, in addition to grasping and pressing an object, complicated movement similar to a human hand such as a rock-paper-scissor or handwriting can be performed. It can also be suitably introduced for welfare and nursing care, including that the surface is soft.
[0036]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described with reference to the drawings showing the embodiments.
FIG. 1A is an overall configuration diagram of an actuator 10 according to a first embodiment of the present invention. The actuator 10 penetrates a tube 12 which is a flexible tube inside an operating body 11 which is an elastic curved body, and connects an operation controller 13 of an elongating means for supplying a liquid as a fluid into the tube 12. are doing.
[0037]
As shown in FIG. 2, the operating body 11 is formed in a J-shape using synthetic rubber as a material. When the operating body 11 is deformed into a straight rod shape as shown by a dashed line in the figure, the original J-shape is obtained. An elastic force (indicated by an arrow in the drawing) that attempts to restore the shape is generated in the curved intermediate portion 11c of the operating body 11 including the tip 11a. In addition, the working body 11 penetrates the tube 12 inside by forming the tube 12 in a molding die in a state where the tube 12 is arranged. As a result, the tube 12 is separated from the tip 11 a of the working body 11 by another. It is arranged at the end 11b and extends outward from the other end 11b.
[0038]
The tube 12 is a small-diameter tube (φ3 mm in this embodiment) capable of bending to a required shape with one end 12a closed, and is equivalent to the operating body 11 when the inside is not filled with liquid. When a liquid is supplied to the inside and the entire inside is filled with the liquid, a linear rigid body is formed. As the tube 12 of the present embodiment, a tube having a deforming force larger than the elastic force of the operating body 11 when deforming from a J-shape to a linear shape is applied.
[0039]
The operation controller 13 includes a controller 14, a switching valve 15, an operation unit 16, an operation source unit 17, and a pressure sensor 18, as shown in FIGS. The controller 14 controls the switching of the switching valve 15 based on the operation of the operation unit 16 and the detection signal of the pressure sensor 18, and controls the motor 17 b of the operation source unit 17 described later. The switching valve 15 switches between a state in which the tube 12 and the operation source section 17 are circulated (a state shown in FIG. 3) and a state in which the tube 12 and the operation source section 17 are shut off under the control of the controller 14. Things.
[0040]
The operation unit 16 receives a required operation for operating the operating body 11. Further, the operation source unit 17 includes a pump 17a for supplying and sucking the liquid, a motor 17b for driving the pump 17a, and a tank 17c for storing the liquid to be supplied to the tube 12.
[0041]
The rotation of the motor 17b, the rotation stop, and the rotation direction are controlled by the controller 14, and the liquid is supplied to the tube 12 by rotating the motor 17 in one direction while the tube 12 and the operation source unit 17 are flowing. Is supplied and rotated in the other direction to suck out the liquid in the tube 12 to the tank 17c.
[0042]
Further, the pressure sensor 18 is connected to the other end 12b of the tube 12, and can set a reference pressure value when the tube 12 is linearly deformed, and detects a current pressure in the tube 12, When the detected pressure value becomes equal to the set reference pressure value, a detection signal is output to the controller 14. When the controller 14 receives the output detection signal, the controller 14 performs control such that the switching valve 15 shuts off the tube 12 and the operation source unit 17.
[0043]
Next, an operation state of the operating body 11 in the actuator 10 having the above-described configuration will be described.
When the liquid is not supplied to the tube 12, the operating body 11 has a J-shaped shape as shown in FIG. 1A due to the elastic force of the operating body 11 itself. The object P1 can be gripped by the elastic force at the origin position.
[0044]
From the above state, the operation unit 16 is operated by the operation unit 16, and the controller 14 rotates the motor 17 b to the supply side of the liquid and moves the switching valve 15 to the circulation side, so that the liquid is supplied to the tube 12. Supply. When the liquid is supplied, the tube 12 is gradually and linearly deformed against the elastic force of the operating body 11. Further, the object P1 grasped by this deformation is released.
[0045]
As shown in FIG. 1B, the bending of the portion near the distal end 11a is gradually alleviated, and the operating body 11 finally extends in a linear state, as shown in FIG. In this linear state, the pressure inside the tube 12 reaches the reference pressure value, a detection signal is output from the pressure sensor 18 to the controller 14, and the controller 14 receives the detection signal and moves the switching valve 15 to the shut-off side. Move. By performing such control, the operating body 11 is maintained in a linear shape.
[0046]
In order to return the tip 11a of the operating body 11 to the origin position, the controller 14 rotates the motor 17b to the suction side and moves the switching valve 15 to the circulation side by performing an operation of returning to the origin position by the operation unit 16. By doing so, the liquid filled in the tube 12 is sucked out to the tank 17c. With the suction of the liquid, the rigidity of the tube 12 gradually decreases, the elastic force of the operating body 11 starts to become dominant, the curvature of the portion including the tip 11a increases, and finally the liquid in the tube 12 When all of them are sucked out, they return to the original J-shape due to the elastic force of the operating body 11, and the tip 11a returns to the origin position.
[0047]
As described above, the operating body 11 of the actuator 10 according to the first embodiment has a structure having no mechanical portion, and can be freely deformed between the J-shaped state and the linear state. Since the surface having is made of a soft synthetic rubber, it can be suitably introduced for gripping a fragile object and for welfare care.
[0048]
Note that the actuator 10 according to the first embodiment is not limited to the above-described embodiment, and can be variously modified. For example, the operating body 11 may be formed by applying a synthetic resin such as various rubbers such as natural rubber, foamed resin, polyolefin and a block copolymer polymer other than the synthetic rubber. The shape to be formed may be a curved or bent shape other than the J-shape. Further, gas can be applied to the fluid supplied to the tube 12.
[0049]
FIGS. 4A and 4B show an actuator 20 according to a modification of the first embodiment. The actuator 20 of the modified example is different from the actuator 10 in that the deformation of the operating body 21 is operated and deformed by the deformation of the shape memory alloy member. That is, the actuator 20 has the linear shape memory alloy member 22 penetratingly arranged inside the operating body 21 which is an elastic body. The condition of this penetrating arrangement is that the deformation direction at the time of temperature rise of the J-shaped shape memory alloy member 22 equivalent to that of the operating body 21 shown in FIG. (Indicated by the arrow in the figure). Note that the shape memory alloy member 22 is linearly deformed by increasing the temperature, and this deformation force is set to be larger than the elastic force of the operating body 21.
[0050]
Further, the shape memory alloy member 22 connects the first electric wire 29a to one end 22a corresponding to the front end 21a side of the operating body 21, and connects the second electric wire 29b to the other end 22b on the rear end 21b side of the operating body 21. are doing. These first and second electric wires 29 a and 29 b extend outward from the rear end 21 b of the operating body 21 and are connected to the operation controller 23. The operation controller 23 includes an operation switch 24 and a DC power supply 25. The first electric wire 29 a is connected to the cathode side of the DC power supply 25, and the second electric wire 29 b is connected to the operation switch 24.
[0051]
In order to deform the operation body 21 of the actuator 20, as shown in FIG. 4B, the operation switch 24 of the operation controller 23 is turned on from off, and the current of the DC power supply 25 is supplied to the shape memory alloy member 22. Turn on electricity. When the shape memory alloy member 22 is energized, the shape memory alloy member 22 is heated by Joule heat generated by its own internal resistance and rises in temperature. Deforms to a linear state. This linear state is maintained by continuing the energization.
[0052]
Further, in order to return the operating body 21 from the linear state in FIG. 4B to the J-shaped state in FIG. 4A, the operation switch 24 is turned off from on, and the energization to the shape memory alloy member 22 is stopped. Do it by doing. When the energization is stopped, the shape memory alloy member 22 does not generate Joule heat and gradually cools down. As a result, the shape memory alloy member 22 returns to the J-shaped state at normal temperature while following the elastic force of the operating body 21.
[0053]
In the actuator 20 of the modified example, a shape memory alloy member that is in a linear state at normal temperature and deforms into a J-shape when the temperature rises is arranged inside a linear rod-shaped operating body shown in FIG. 4B. It may be. With such a configuration, it is also possible to configure an actuator in which the operating body is deformed into the linear state shown in FIG. 4B at normal temperature and into the J-shaped state shown in FIG. Further, it is also possible to use an AC power supply other than the DC power supply in the operation controller 23. Further, depending on the operation mode of the actuator 20, the deformation direction of the shape memory alloy member 22 at the time of temperature rise may be the same as the direction of the elastic force of the elastic body instead of the opposite direction. For example, when a shape memory alloy that deforms in a J-shape when the temperature rises in a linear state at normal temperature is disposed through a J-shaped elastic body so as to raise the temperature and grip an object, the deformation force of the shape memory alloy Can be increased by the elastic force of the elastic body in the same direction, and the gripping force can be improved. Also, the shape memory alloy member does not use the above-described electric heating, but forms the shape memory alloy member itself into a tube through which the liquid can flow, and circulates a high-temperature liquid in the tube when raising the temperature. Thus, the tubular shape memory alloy member can be deformed by heating.
[0054]
FIGS. 5A and 5B show an operating body 31 in an actuator according to a second embodiment of the present invention. The operating body 31 is an elastic curved body as in the first embodiment, and is formed of synthetic rubber, but is formed to have a plate shape when extended. It should be noted that, in the formed state, the shape from the side direction is formed in the shape of “H”, and when it is deformed into a plate shape, the elastic force (FIG. 5 ( a) in the direction of the arrow shown in FIG.
[0055]
Further, a tube 32 which is a flexible tube penetrates through the inside of the operating body 31. Except for the points described above, the configuration is the same as that of the actuator 10 of the first embodiment. By connecting the tube 32 to an operation controller (not shown) and supplying the liquid, the bending of FIG. The operating body 31 can be deformed from the state to the extended state shown in FIG. Since the actuator 31 of the second embodiment has a wide operating body 31, the elastic force increases, and is suitable for gripping a large-sized object.
[0056]
The actuator according to the second embodiment can apply various modifications similar to those of the first embodiment. For example, besides performing the operation by supplying a liquid to the tube 32, a shape memory is internally provided. The operating member may be deformed by penetrating the alloy member and deforming the shape memory alloy member by raising the temperature.
[0057]
FIG. 6 is a liquid supply circuit diagram illustrating an overall configuration of an actuator 40 according to the third embodiment of the present invention. The actuator 40 is a flexible tube that extends through the first tube 421 and the second tube 422, one end of which is a flexible tube, and the other ends of the first and second tubes 421, 422 are operated. Connected to controller 43.
[0058]
As shown in FIG. 7A, the first and second tubes 421 and 422 have respective ends 421a and 422a arranged at different locations inside the operating body 41, respectively. That is, one end 421a of the first tube 421 is disposed near the tip 41a of the operating body 41, and one end 422a of the second tube 422 is disposed at the curved intermediate portion 41c of the operating body 41.
[0059]
As shown in FIG. 6, the operation controller 43 connects the other end of the first tube 421 to the first switching valve 451 via the first pressure sensor 481, and connects the other end of the second tube 422 to the other end. It is connected to the second switching valve 452 via the second pressure sensor 482. Further, the operation controller 43 receives the operation of the operation unit 46 and the detection signals of the first and second pressure sensors 481 and 482, and can separately control the first switching valve 451 and the second switching valve 452. I have. Except for the parts described above, the configuration is the same as that of the actuator 10 according to the first embodiment, and thus the description is omitted.
[0060]
Next, an operation example of the operation body 41 of the actuator 40 will be described with reference to FIGS. 7A, 7B, and 7C.
First, when liquid is supplied only to the second tube 422 as shown in FIG. 7B from the state of being curved in a J-shape shown in FIG. 7A, the curved second tube 422 becomes a straight line. As a result, the intermediate portion 41c that has been curved is also transformed into a linear state. When the pressure inside the second tube 422 reaches a required pressure value, the deformation in the linear state is maintained by the control described in the first embodiment. Further, in this state, the vicinity of the distal end 41 a of the operating body 41 remains curved by the elastic force of the operating body 41.
[0061]
Next, as shown in FIG. 7C, when the liquid is also supplied to the first tube 421, the first tube 421 is also entirely linearly deformed, and the vicinity of the distal end 41a of the operating body 41 is also linearly deformed. Then, the entire operation body 41 becomes a linear rod shape. Therefore, the actuator 40 according to the third embodiment can deform the operating body 41 in two stages, and can cope with complicated operations.
[0062]
Regarding the operation of the operating body 41, the liquid may be supplied to the first tube 421 first, and then the liquid may be supplied to the second tube 422. In this manner, the supply order of the liquid may be appropriately controlled. Can perform various operation modes. Further, by appropriately controlling the order in which the liquid is sucked, the deformation that returns to the original state by the elastic force of the operating body 41 can be performed in various forms. Note that the actuator 40 of the third embodiment can apply the various modifications of the first embodiment, and depending on the modified form, three or more tubes may be penetrated.
[0063]
FIG. 8 is a schematic diagram illustrating an overall configuration of an actuator 50 according to a modification of the third embodiment. The actuator 50 includes an operating body 51 having two first and second shape memory alloy members 521 and 522. It is possible to deform by operation. The first shape memory alloy member 521 has one end 521a disposed near the distal end 51a of the operating body 51, while the second shape memory alloy member 522 has one end 522a disposed in the intermediate portion 51c of the operating body 51.
[0064]
Further, the first shape memory alloy member 521 is connected to the negative electrode side of the DC power supply 55 of the operation controller 53 via the first electric wire 591a, and is connected to the first operation switch 541 via the second electric wire 591b. I have. Similarly, the second shape memory alloy member 522 is connected to the negative side of the DC power supply 55 of the operation controller 53 via the third electric wire 592a, and is connected to the second operation switch 542 via the fourth electric wire 592b. ing.
[0065]
Therefore, in the actuator 50, the first shape memory alloy member 521 and the second shape memory alloy member 522 are individually energized and heated by switching on and off the first operation switch 541 and the second operation switch 542. The vicinity of the distal end 51a of the operating body 51 and the intermediate portion 51c can be operated independently. As a result, the operation mode of the operation body 51 can be more finely controlled. Various modifications can be applied to the actuator 50 as in the actuator 20 of the first embodiment.
[0066]
FIGS. 9A to 9C are schematic diagrams of an operating body 61 in which two third and fourth shape memory alloy members 623 and 624 are further arranged on the operating body 51 of the actuator 50 described above. 9A to 9C are views from the direction corresponding to the front view when FIG. 8 is a side view. As shown in FIG. 9A, the operating body 61 has third and fourth shape memory alloy members 623, 624 disposed on the left and right of the first and second shape memory alloy members 621, 622.
[0067]
The third and fourth shape memory alloy members 623 and 624 perform a deformation in which the length direction is contracted by energized heating. The third operation switch and the third operation switch having the same circuit configuration as the operation controller 53 shown in FIG. The third and fourth shape memory alloy members 623 and 624 are connected to a four-operation switch so as to be individually energized and heated.
[0068]
Also, as shown in FIG. 9A, when the first and second shape memory alloy members 621 and 622 are energized and heated to extend the operating body 61, a new elastic force is generated in the operating body 61, When an external force that deforms in either the left or right direction in the drawing is applied, an elastic force is generated to return to the center position. Accordingly, as shown in FIG. 9B, when the third shape memory alloy member 623 is energized and heated, the third shape memory alloy member 623 causes the newly generated elastic force of the operating body 61 (indicated by a hatched arrow in the figure). ), The operating body 61 undergoes a deformation in which the entire body tilts to the left (indicated by a white arrow in the figure).
[0069]
Further, as shown in FIG. 9B, when the fourth shape memory alloy member 624 is energized and heated, the fourth shape memory alloy member 624 causes a newly generated elastic force of the operating body 61 (indicated by a hatched arrow in the figure). ), The operating body 61 is deformed so as to be inclined rightward (indicated by a white arrow in the figure). As described above, a total of four shape memory alloy members 621 to 624 are arranged inside the operating body 61, so that a more complicated deformation operation can be performed.
[0070]
FIGS. 10A and 10B are perspective views of an operation body 71 in an actuator according to a fourth embodiment of the present invention, and have a plate-like shape when extended as shown in FIG. 10B. Two first and second tubes 721 and 722 are arranged at 71. The operating body 71 is an elastic curved body formed so that the shape from the side becomes a substantially U-shaped curved shape in a normal state where it is not extended as shown in FIG. A fixed portion 711 having a substantially triangular shape in a plane direction is provided, and first and second deformed portions 712 and 713 are provided on the left and right.
[0071]
Further, the first tube 721 is disposed so as to penetrate the first deformed portion 712 and the fixed portion 711, and the second tube 722 is disposed so as to penetrate the second deformed portion 713 and the fixed portion 71. I have. Although not shown, the first and second tubes 721 and 722 are connected to an operation controller equivalent to the configuration shown in FIG. 5 so that the liquid is supplied individually.
[0072]
When the liquid is supplied to the first tube 721, the first tube 721 deforms linearly, so that the bent first deformed portion 712 elongates and becomes flat with respect to the fixed portion 711. Deforms against the elastic force of In addition, when the liquid is supplied to the second tube 722, the second tube 721 is linearly deformed, so that the bent second deformed portion 713 extends and becomes flat with respect to the fixed portion 711. Deforms against its own elastic force.
[0073]
Therefore, the operating body 71 can also perform various complicated expansion and contraction operations by appropriately operating the supply state of the liquid to the first and second tubes 721 and 722 and the suction state of the liquid. Note that various modifications similar to those of the first embodiment can be applied to the operating body 71 in the actuator of the fourth embodiment, and two shapes instead of the first and second tubes 721 and 722 are used. It is also possible to arrange the memory alloy member and deform the operating body 71 by increasing the temperature.
[0074]
FIG. 11 is a side sectional view of an operating body 81 in the actuator according to the fifth embodiment of the present invention. The operating body 81 has a configuration in which four first core materials 891, second core materials 892, third core materials 893, and fourth core materials 894 are arranged on the operating body 11 of the first embodiment. Each of the core members 891 to 894 is formed of a material having higher rigidity than the elastically curved operating body 81, and for example, a material such as a synthetic resin can be applied.
[0075]
The first core 891 is disposed inside the distal end portion 81a of the operating body 81. Hereinafter, the second core 892 is located in the first intermediate portion 81b, the third core 893 is located in the second intermediate portion 81c, The four core members 894 are arranged inside the rear end portions 81d, respectively. Further, the cores 891 to 894 are not connected, and nodes 81e, 81f, and 81g having lower rigidity than the cores 891 to 894 are generated.
[0076]
When the liquid is supplied to the tube 82 penetrating through the inside of the operating body 81, the operating body 81 is extended around the nodes 81e to 81g as the fulcrum as the tube 82 is deformed linearly, and the connection with the finger of the human body is obtained. The same operation as the movement with the fulcrum as the fulcrum is realized. In addition, even when the object is gripped by the elastic force of the operating body 81, the rigidity is improved by the inner core members 81a to 81d even if the surface is soft, so that the grip is more firmly performed.
[0077]
It should be noted that the actuator 81 of the fifth embodiment can apply the various modifications of the first embodiment to the actuator 81, and can also apply the temperature increasing operation of the shape memory alloy member. Further, the actuator according to the fifth embodiment may perform a complicated operation by disposing a plurality of tubes or shape memory alloy members inside the operating body 81 as in the second embodiment. Further, the fifth embodiment is also applicable to a plate-shaped operating body.
[0078]
12A and 12B are schematic perspective views of an operating body 91 in an actuator according to a sixth embodiment of the present invention. The operating body 91 is formed by combining a plurality of elastic members 911 to 914 into a curved shape. Have been. Each of the elastic members 911 to 914 is formed of the same material as that applicable to the material of the operating body 11 described in the first embodiment. Further, each of the elastic members 911 to 914 is formed such that the end faces 911a to 914b are formed obliquely by making the longitudinal dimension of one peripheral side different from that of the opposite side, so that when combined, the whole has a curved shape. I have to.
[0079]
In order to form the operating body 91, as shown in FIG. 12A, the fourth elastic member 914 to the first elastic member 911 are sequentially stabbed into the tube 92, and each of the elastic members 911 to 911 is formed. A curved operating body 91 having a tube 92 penetrated into the inside shown in FIG. 12B is completed by bonding the portions between 914 with an adhesive. With such an assembly configuration, the operating body 91 having the tube 92 penetrated therein can be easily manufactured. In addition, since the elasticity of the elastic members 911 to 914 changes, the elastic portions 911 to 914g become nodes 91e to 91g. The bonding between the elastic members 911 to 914 can be performed by fusion.
[0080]
When liquid is supplied to the tube 92 of the operating body 91 having such a structure, as the tube 92 deforms in a straight line, the operating body 91 also follows and linearly deforms. When the liquid is sucked and restored, the liquid is refracted at the nodes 91e to 91g to return to the original state.
[0081]
The operating body 91 in the actuator according to the sixth embodiment is not limited to the above-described embodiment. For example, the operations when restoring by combining the elastic members 911 to 914 with different elastic forces are uniform. Instead, it may return to the original state in various states. That is, since the elastic member having a strong elastic force returns to the original curved state earlier, and the elastic member having a weak elastic force returns to the original state later, the restoration form can be partially changed.
[0082]
Also, in the sixth embodiment, various modifications of the first embodiment can be applied, and a temperature raising operation using a shape memory alloy member can also be applied. Further, a plurality of tubes or shape memory alloy members may be arranged inside the operating body as in the third embodiment, and a plurality of core members may be arranged as in the fifth embodiment.
[0083]
FIG. 13 is a schematic view of the disassembled state of the operating body 101 in the actuator according to the seventh embodiment of the present invention. The operating body 101 is formed by combining a plurality of elastic members 111 to 113 into a curved shape, and extends. It becomes plate-like in the state. The first tube 102a and the second tubes 102A and 102B penetrate the operating body 101, and the first and second tubes 102b penetrate through the central elastic member 111, and then the left elastic member passes through the first tube 102A. After piercing 112 and piercing the right elastic member 113 into the second tube 102B, the operating body 101 is formed by bonding the elastic members 11 to 113 with an adhesive or fusion.
[0084]
The operating body 101 having such a large shape and penetrating the first and second tubes 102A and 102B therein can also be easily formed by piercing the plurality of elastic members 111 to 113 into the tubes 102A and 102B. it can. Note that various modifications similar to the operation body 91 of the sixth embodiment shown in FIG. 12 can be applied to the operation body 101 of the actuator of the seventh embodiment.
[0085]
FIG. 14 is an overall configuration diagram showing a schematic cross section of an operating body 121 in an actuator 120 according to an eighth embodiment of the present invention. The operating body 121 of the eighth embodiment includes an operating body 41 (51) in the third embodiment shown in FIGS. 6, 7, and 8, an operating body 81 in the fifth embodiment shown in FIG. The configuration is such that the operating body 91 in the sixth embodiment is combined.
[0086]
That is, the distal end elastic member 131, the first intermediate elastic member 132, the second intermediate elastic member 133, and the rear end elastic member 134 are combined and bonded with an adhesive to form the curved operating body 121. The joints of the elastic members 131 to 134 are nodes 121a to 122c to form an elastic body that generates an elastic force in a curved direction when deformed linearly. Further, a first core member 151 to a fourth core member 154 are arranged inside each of the elastic members 131 to 134, and a total of four first core members 151 to 154 are arranged so that one end thereof abuts on each of the core members 151 to 154. A shape memory alloy member 141 to a fourth shape memory alloy member 144 are arranged to penetrate inside the operating body 121.
[0087]
That is, the first shape memory alloy member 141 has one end 141 a in contact with the first core 151 disposed in the distal end elastic member 131. Similarly, one end 142a of the second shape memory alloy member 142 is connected to the second core 152 in the first intermediate elastic member 132, and one end 143a of the third shape memory alloy member 143 is connected to the second intermediate elastic member 133. One end 144a of the fourth shape memory alloy member 144 is in contact with the fourth core 154 in the rear end elastic member 134, respectively.
[0088]
Note that the first and second shape memory alloy members 141 and 142 deform linearly from the curved shape in the figure when the temperature rises, and the third and fourth shape memory alloy members 143 and 144 One end 143a, 144a is curved in a direction to rise from a linear state when warm. Further, each of the shape memory alloy members 141 to 144 is connected to the operation controller 122 via a plurality of electric wires d.
[0089]
The operation controller 122 is provided with four operation switches 122a to 122d so as to be able to carry out energization heating independently for each of the shape memory alloy members 141 to 144. The configuration other than the above-described portions is the same as that of each of the above-described embodiments.
[0090]
FIGS. 15A to 15D show an operation example of the operation body 121, and FIG. 15A shows an operation state when only the first shape memory alloy member 141 is energized and heated. Although the first shape memory alloy member 141 is linearly deformed by the electric heating, the second shape memory alloy member 142 penetrating through the first intermediate elastic member 152, the second intermediate elastic member 153 and the rear end member 154 is still curved. Because of the shape, only the distal end elastic member 131 in which only the first shape memory alloy member 141 is disposed is deformed linearly with the node 121a as a fulcrum.
[0091]
Further, when the first shape memory alloy member 141 is deformed, since the one end 141a is in contact with the first core 151, the force related to the deformation is directly transmitted to the hard first core 151. As a result, the operation efficiency is improved, and the ability to follow the deformation of the first shape memory alloy member 141 is enhanced, so that more agile operation can be realized.
[0092]
FIG. 15B shows a state in which the second shape memory alloy member 142 is deformed into a linear shape by applying current to the second shape memory alloy member 142 from the state of FIG. 15A, and the first intermediate portion 132 uses the node 122b as a fulcrum. As a straight line. Also, during this deformation, the one end 142a of the second shape memory alloy member 142 presses the second core 152 to make the first intermediate portion 132 straight, thereby achieving a movement with a direct feeling. The reason why the first intermediate portion 132 operates with the node 122b as a fulcrum is that only the second core 152 of the first intermediate 132 is pressed, and the third core 153 of the second intermediate 133 is not pressed. That's why.
[0093]
FIG. 15 (c) shows a state in which the third shape memory alloy member 143 is electrically heated and deformed upward from the state of FIG. 15 (b), and the second intermediate portion follows the deformation. 133 is also operatively deformed upward, and as a result, the operating body 121 is in a bar-shaped linear state. Also, at the time of this deformation, the one end 143a of the third shape memory alloy member 143 presses the third core material, so that a smooth operation with high followability is realized.
[0094]
FIG. 15D shows a state in which the fourth shape memory alloy member 144 is heated from the state shown in FIG. The entire body 121 is deformed upward with the rear end 122d as a fulcrum. Therefore, when the fourth shape memory alloy member 144 is deformed, the entire operation body 121 can be raised. In this deformation, similarly, the fourth core member is pressed by the one end 144a of the fourth shape memory alloy member 144, so that the movement is agile.
[0095]
In addition, even when the operating body 121 is in the state shown in FIG. 15A or the state shown in FIG. 15B, the fourth shape memory alloy member 144 is in such various shapes by energizing and heating. The entire operation body 121 can be raised. Note that the operation of the operating body 121 is not limited to the above-described embodiment, and a complicated operation can be realized by appropriately controlling the energizing sequence and the energizing state of each of the shape memory alloy members 141 to 144.
[0096]
Further, in the actuator 120 of the eighth embodiment, each of the modified examples in the above embodiments can be applied, and one end of each tube is connected to each of the tubes by using tubes instead of the shape memory alloy members 141 to 144. It is also possible to contact the cores 151 to 154 and operate them by supplying a fluid.
[0097]
FIGS. 16A and 16B are schematic diagrams of a hand device 200 according to a ninth embodiment of the present invention. As shown in FIG. 16A, the hand device 200 includes an operating body 202 having substantially the same configuration as the operating body 101 according to the seventh embodiment shown in FIG. 13 and an eighth embodiment shown in FIG. A hand unit 201 is formed by attaching a total of five operating bodies 210, 220, 230, 240, and 250 having substantially the same configuration as the operating body 121. In addition, the shape memory alloy members 206, 207, 214, etc. disposed inside the operating bodies 202, 210, 220, 230, 240, 250 are connected to the operation controller 208. The hand unit 201 is similar to the left hand of the human body, and FIGS. 16A and 16B are views from the palm side.
[0098]
A plate-shaped operating body 202 corresponding to a palm has two deformed portions 204 and 205 attached to a fixed portion 203 with an adhesive, and two shape memory alloy members 206 and 207 are arranged to penetrate inside. If not, the shape from the side is substantially U-shaped.
[0099]
Further, a total of four operating bodies 210 to 240 attached to one deformation portion 205 of the operating body 202 with an adhesive have the same configuration, and correspond to the index finger, the middle finger, the ring finger, and the little finger, respectively. The structure of the operating body 210 will be described as a representative. The operating body 210 is formed by bonding and combining the front end portion 211, the intermediate portion 212, and the rear end portion 213 on the front end side, and the inside of each of the portions 211 to 213 is formed. A total of three shape memory alloy members 214 to 216 are arranged so that one ends are located respectively. The other parts than those described above have the same configuration as the operating body 121 in FIG.
[0100]
Further, an operating body 250 attached to the other deformed portion 204 of the operating body 202 corresponding to the palm with an adhesive is equivalent to a thumb, and is formed by bonding the front end portion 251 and the rear end portion 252 by bonding. At the same time, two shape memory alloy members 253 and 254 are penetrated so that one end is located inside each of the parts 251 and 252, respectively. In addition, the operating body 250 has the same configuration as the operating body 121 in FIG.
[0101]
The operating bodies 210, 220, 230, 240, and 250 corresponding to the above-mentioned fingers are formed so as to be curved in the same direction as the curved side of the operating body 202 corresponding to the palm, and are linearly deformed. Then, an elastic force is generated so as to return to the curved state. Further, the operation controller 208 for connecting the shape memory alloy members 206, 207, etc., is configured to be able to conduct and heat each of the shape memory alloy members 206, 207, etc., whereby the operating bodies 202, 210, etc. It can be deformed in various forms individually or in conjunction with each other.
[0102]
FIG. 17A shows a small piece due to the elastic force of each of the operating bodies 202 to 250 of the hand unit 201 and the rigidity of the shape memory alloy member in a curved state without energizing and heating each of the shape memory alloy members 206 and 207. A state in which the object P2 is being gripped is shown.
[0103]
FIG. 17B shows a state in which the deformable portion 204 of the operating body 202 corresponding to the palm is operated to extend and open, and the operating bodies 210, 220 and 250 corresponding to the index finger, the middle finger and the thumb are linearly moved. The state where it is operated to extend is shown. Further, in addition to the above-described state, the hand device 200 can deform the hand unit 201 into various states substantially equivalent to the hand of the human body by appropriately controlling the electric heating of the shape memory alloy members 206 and 207. It can be applied to various uses such as gripping objects of various shapes and various dimensions, operating buttons and switches, and forming handwritten characters. In addition, since the hand unit 201 has a soft surface, it can be easily introduced into welfare and nursing care, which is difficult to apply to a conventional hand device.
[0104]
Note that the hand device 200 according to the ninth embodiment is not limited to the above-described embodiment, and the number of rod-shaped operating bodies attached to the plate-shaped operating body can be other than five. Further, a plate-shaped operating body that can perform another deformation operation may be applied. Further, any one of the embodiments described above may be applied to each operating body. Further, as the operation source for performing the deformation, any of a method of increasing the temperature of the shape memory alloy member and a method of supplying a fluid to the tube may be applied, and they may be mixed.
[0105]
【The invention's effect】
As described in detail above, in the first invention, the required operation can be realized with a simple structure having a soft surface by penetrating the flexible tube into the inside of the elastic curved body.
In the second invention and the ninth invention, the elastic curved body or the elastic body relating to the operation is formed in a rod shape, so that it can be applied to various uses.
In the third invention and the tenth invention, the range of application can be expanded by forming the elastic curved body or the elastic body into a plate shape.
[0106]
In the fourth invention and the eleventh invention, various operation modes can be realized by arranging a plurality of flexible tubes or shape memory alloy members.
In the fifth invention and the twelfth invention, the rigidity of the elastic curved body or the elastic body can be improved by disposing the plurality of core members inside.
In the sixth invention and the thirteenth invention, by combining a plurality of elastic members, an elastic curved body or an elastic body in which a flexible tube or a shape memory alloy member is arranged to penetrate can be easily formed.
[0107]
According to the seventh and fourteenth inventions, a quick and powerful deformation operation with high responsiveness can be realized.
According to the eighth aspect, by disposing the shape memory alloy member through the inside of the elastic body, it is possible to deform the elastic body having a soft surface into a required shape only by controlling the temperature rise with respect to the shape memory alloy member. Can be.
In the fifteenth aspect, since the rod-shaped elastic curved body or the elastic body is attached to the plate-shaped elastic curved body or the elastic body, a hand device that performs the same operation as the hand of the human body with a simple configuration. realizable.
[Brief description of the drawings]
FIGS. 1A and 1B show an actuator according to a first embodiment of the present invention, in which FIG. 1A is a perspective view of an operating body in a curved state, and FIG.
FIG. 2 is a cross-sectional view of the operating body according to the first embodiment.
FIG. 3 is a liquid supply circuit diagram of the actuator according to the first embodiment.
4A and 4B show an actuator according to a modified example of the first embodiment, in which FIG. 4A is a schematic view of a curved state of an operating body, and FIG.
FIGS. 5A and 5B show an operating body according to a second embodiment of the present invention, wherein FIG. 5A is a perspective view of the operating body in a bent state, and FIG.
FIG. 6 is a liquid supply circuit diagram of an actuator according to a third embodiment of the present invention.
FIGS. 7 (a), (b) and (c) are schematic diagrams of the operating state of an operating body according to a third embodiment.
FIG. 8 is a schematic diagram of an actuator according to a modification of the third embodiment.
FIGS. 9A, 9B, and 9C are schematic diagrams illustrating an operating state of an operating body according to another modification of the third embodiment.
FIG. 10 is an operating body according to a fourth embodiment, in which (a) is a perspective view in a curved state, and (b) is a perspective view in an extended state.
FIG. 11 is a side sectional view of an operation body according to a fifth embodiment.
FIG. 12 is an operating body according to a sixth embodiment, in which (a) is a perspective view showing a manufactured state, and (b) is a perspective view showing a completed state.
FIG. 13 is an exploded perspective view of an operating body according to a seventh embodiment.
FIG. 14 is an overall configuration diagram of an actuator according to an eighth embodiment.
FIGS. 15 (a), (b), (c) and (d) are schematic diagrams showing operating states of an operating body according to an eighth embodiment.
FIG. 16 is a hand device according to a ninth embodiment, in which (a) is a schematic diagram showing a disassembled hand unit, and (b) is a schematic diagram showing a completed hand unit.
FIGS. 17A and 17B are schematic perspective views showing an operation state of a hand unit according to a ninth embodiment.
18A is a perspective view of a conventional actuator, FIG. 18B is a perspective view of a conventional gripping device, and FIG. 18C is a perspective view of another conventional actuator.
[Explanation of symbols]
10 Actuator
11 Working body
12 tubes
13,23 Operation controller
22 Shape memory alloy members
891-894 core material
911-914 elastic member
200 Hand device
201 Hand part

Claims (15)

弾性曲状体と、
該弾性曲状体の内部を貫通しており、一端が閉鎖してある可撓性管と、
該可撓性管の他端から管内に流体を供給することで、前記弾性曲状体を伸長させる伸長手段と
を備えることを特徴とするアクチュエータ。An elastic curved body,
A flexible tube penetrating the inside of the elastic curved body and having one end closed;
An actuator for extending the elastic curved body by supplying a fluid from the other end of the flexible tube into the tube. 前記弾性曲状体は、伸長させた状態で棒状となる請求項１に記載のアクチュエータ。The actuator according to claim 1, wherein the elastic curved body has a rod shape in an extended state. 前記弾性曲状体は、伸長させた状態で板状となる請求項１に記載のアクチュエータ。The actuator according to claim 1, wherein the elastic curved body has a plate shape in an extended state. 前記可撓性管は、複数であり、
該各可塑性管の一端は、前記弾性曲状体の内部の相違する箇所に夫々配置してある請求項１乃至請求項３のいずれかに記載のアクチュエータ。The flexible tube is plural,
The actuator according to any one of claims 1 to 3, wherein one end of each of the plastic tubes is disposed at a different position inside the elastic curved body. 前記弾性曲状体の内部に複数の芯材が配置してある請求項１乃至請求項４のいずれかに記載のアクチュエータ。The actuator according to any one of claims 1 to 4, wherein a plurality of core members are arranged inside the elastic curved body. 前記弾性曲状体は、複数の弾性部材を組み合わせてなる請求項１乃至請求項５のいずれかに記載のアクチュエータ。The actuator according to any one of claims 1 to 5, wherein the elastic curved body is formed by combining a plurality of elastic members. 前記可撓性管は、複数であり、
前記弾性曲状体は、複数の弾性部材を組み合わせてなり、
該各弾性部材の内部に芯材を夫々配置しており、
該各芯材に前記各可撓性管の一端が夫々当接してある請求項１乃至請求項３のいずれかに記載のアクチュエータ。The flexible tube is plural,
The elastic curved body is formed by combining a plurality of elastic members,
A core material is arranged inside each of the elastic members,
4. The actuator according to claim 1, wherein one end of each of the flexible tubes is in contact with each of the core members. 弾性体と、
昇温時の変形方向が、前記弾性体を変形させた場合に生じる弾性力の方向の反対方向となるように前記弾性体の内部に貫通配置してある形状記憶合金部材と、
該形状記憶合金部材を昇温することで、前記弾性体を変形させる変形手段と
を備えることを特徴とするアクチュエータ。An elastic body,
A shape memory alloy member penetratingly disposed inside the elastic body so that a deformation direction at the time of temperature rise is opposite to a direction of an elastic force generated when the elastic body is deformed,
An actuator, comprising: deformation means for deforming the elastic body by raising the temperature of the shape memory alloy member. 前記弾性体は、変形の前後いずれかの状態で棒状となる請求項８に記載のアクチュエータ。The actuator according to claim 8, wherein the elastic body has a rod shape before or after deformation. 前記弾性体は、変形の前後いずれかの状態で板状となる請求項８に記載のアクチュエータ。The actuator according to claim 8, wherein the elastic body has a plate shape before or after the deformation. 前記形状記憶合金部材は、複数であり、
該各形状記憶合金部材の一端は、前記弾性体の内部の相違する箇所に夫々配置してある請求項８乃至請求項１０のいずれかに記載のアクチュエータ。The shape memory alloy member is plural,
The actuator according to any one of claims 8 to 10, wherein one end of each of the shape memory alloy members is disposed at a different position inside the elastic body. 前記弾性体の内部に複数の芯材が配置してある請求項８乃至請求項１１のいずれかに記載のアクチュエータ。The actuator according to claim 8, wherein a plurality of core members are arranged inside the elastic body. 前記弾性体は、複数の弾性部材を組み合わせてなる請求項８乃至請求項１２のいずれかに記載のアクチュエータ。The actuator according to claim 8, wherein the elastic body is formed by combining a plurality of elastic members. 前記形状記憶合金部材は、複数であり、
前記弾性体は、複数の弾性部材を組み合わせてなり、
該各弾性部材の内部に芯材を夫々配置しており、
該各芯材に前記各形状記憶合金部材の一端が夫々当接してある請求項８乃至請求項１０のいずれかに記載のアクチュエータ。The shape memory alloy member is plural,
The elastic body is formed by combining a plurality of elastic members,
A core material is arranged inside each of the elastic members,
11. The actuator according to claim 8, wherein one end of each of the shape memory alloy members is in contact with each of the core members. 前記請求項３、４、５、６、７、１０、１１、１２、１３、１４のいずれかに記載のアクチュエータの弾性曲状体又は弾性体に、前記請求項２、４、５、６、７、９、１１、１２、１３、１４のいずれかに記載のアクチュエータの弾性曲状体又は弾性体が取り付けてあることを特徴とするハンド装置。The actuator according to any one of claims 3, 4, 5, 6, 7, 10, 11, 12, 13, and 14, wherein A hand device, wherein an elastic curved body or an elastic body of the actuator according to any one of 7, 9, 11, 12, 13, and 14 is attached.
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