JP2005006930A - Pressure increasing/reducing device and motion restraint tool using the same, and simulator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a small pressure increasing/reducing device which quickly increases or reduces pressure in a container, and to provide a motion restraint tool using the device and a simulator. <P>SOLUTION: The pressure increasing/reducing device 10 which quickly increases or reduces the pressure in the container is provided with: a plurality of auxiliary containers 3 which are connected in parallel to the container 1 respectively in a state where gas can be made to flow in and out and which are controlled to have inner pressure higher than that of the container 1 in the case of increasing the inner pressure of the container 1 and to have inner pressure lower than that of the container 1 in the case of reducing the inner pressure of the container 1; and a control valve 2 which can control opening and closing of flow in and out of the gas between the container 1 and the auxiliary containers 3. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

となる。
【００２５】
その後、図２（ｃ）に示すように、１個目の補助容器Ｔ_１の制御弁を閉じ、２個目の補助容器Ｔ_２の制御弁を開き均衡状態になった時の、容器の内圧Ｐ_２は、
【式２】

となる。
【００２６】
同様に、図２（ｄ）に示すように、容器の内圧がＰ_ｎとなった後、ｎ番目の補助容器の制御弁を閉じ、（ｎ＋１）番目の補助容器Ｔ_ｎ＋１の制御弁を開き均衡状態になった時の容器の内圧Ｐ_ｎ＋１は、
【式３】

となる。
【００２７】
従って、ｎ個の補助容器を備えた真空化装置により、容器の内圧Ｐ_ｎは、
【式４】

に真空化される。なお、この式は、容器内を増圧化する増圧化装置にも適用できる。
【００２８】
なお、前記制御弁３は、容器１と補助容器２との気体の流出入を開閉することが可能な機能を少なくとも有していればよく、気体の流出入を開閉するのみの機能を有する開閉弁であってもよい。又、前記制御弁３は、容器１と補助容器２とを流出入する気体の流量を調整できる流量調整弁であってもよい。流量制御弁を用いることにより、排出する気体の流量を調整することができるので、該流量調整弁を開ける時間を調整し、容器１の内圧を所望の真空圧とすることが可能になる。
【００２９】
又、複数の制御弁３を用いる代わりに、図３に示すように、複数の補助容器２の内の何れか１つの補助容器２への接続のみを選択的に可能とする選択弁４を制御弁として用いた真空化装置２０であってもよい。
【００３０】
なお、前記制御弁３や選択弁４は、逆流防止機能付きの弁であることが好ましい。補助容器２から容器１側への気体の逆流を防止することにより、例え既に容器１を真空化するために用いた補助容器２に備わった制御弁３や選択弁４を誤って開けた状態にしておいても、この補助容器２から容器１へ気体が逆流しないので、真空化装置の誤動作を防止できる。
【００３１】
次に、本発明の第２の実施の形態に係る増減圧化装置について、図面に基づいて説明する。ここでは、該増減圧化装置が真空化装置である場合について説明する。該真空化装置３０は、前記第１の実施の形態に係る真空化装置において、図４に示すように、補助容器２内を真空化する真空ポンプ等の真空発生源５をさらに具備するものである。複数の真空発生源５ａ、５ｂ、５ｃを、それぞれ補助容器２ａ、２ｂ、２ｃに、配管等により気体が流出入可能に、真空発生源側制御弁６ａ、６ｂ、６ｃを介して接続する。
【００３２】
複数の真空発生源５ａ、５ｂ、５ｃにより、それぞれ補助容器２ａ、２ｂ、２ｃ内を随時真空化することができるので、既に容器１内と均衡状態になった補助容器２内を、再び真空化することにより、該補助容器２を容器１内を真空化するために再度用いることができる。さらに、ある補助容器２を用いて容器１内を真空化している間に、他の補助容器２内を真空発生源５により真空化することができるので、容器１内の真空化に要する時間を短縮することができる。又、同じ個数の補助容器２を用いても容器１内の真空度をより高めることができる。又、容器１内を所定の真空圧にするために必要な補助容器２の個数を少なくすることができるため、真空化装置をより小型化することができる。
【００３３】
又、図５に示すように、１つの真空発生源５に対して、複数の補助容器２ａ、２ｂ、２ｃを並列に接続した真空化装置４０であってもよい。この場合、各補助容器２ａ、２ｂ、２ｃにそれぞれ設けた真空発生源側制御弁６ａ、６ｂ、６ｃの開閉により、１つ又は複数の補助容器２を選択して真空発生源５により真空化することが可能になる。又、図６に示すように、真空発生源側制御弁６ａ、６ｂ、６ｃの代わりに、真空発生源５側から補助容器２ａ、２ｂ、２ｃへの気体の流入を防止する逆止弁７ａ、７ｂ、７ｃを用いた真空化装置５０であってもよい。これにより、補助容器２ａ、２ｂ、２ｃから気体が逆流することなく、全ての補助容器２ａ、２ｂ、２ｃ内の気体を１つの真空発生源５により同時に排出し真空化することができ望ましい。又、複数の真空発生源側制御弁６の代わりに、図７に示すように、複数の補助容器２の内の何れか１つの補助容器２と真空発生源５との接続のみを選択的に可能とする真空発生源側選択弁８を用いた真空化装置６０であってもよい。又、真空発生源側選択弁８は逆流を防止する機能を備えていることが望ましい。
【００３４】
次に、本発明の第３の実施の形態に係る増減圧化装置について、図面に基づいて説明する。ここでは、該増減圧化装置が真空化装置である場合について説明する。該真空化装置７０は、前記第２の実施の形態に係る真空化装置において、補助容器兼真空発生源として、図８に示すように、シリンダ９を用いるものである。この場合、該シリンダ９の筒体とピストンとの間に生じるシリンダ９の内部空間１１を補助容器の内部空間とみなすことができる。シリンダ９の内部空間１１に外部から気体を流入させることなく、図示しない押引具によりピストンを引き、該内部空間１１を拡張することにより、内部空間１１内を予め真空化させておく。制御弁３を開け、容器１と内部空間１１とを気体が流出入自在とすることにより、容器１から気体が急速に排出され、容器１と内部空間１１との内圧が均衡状態になり、容器１内が急速に真空化する。その後、ピストンを押すことにより均衡状態になった前記内部空間１１に残存した気体をシリンダ９に設けた図示しない排出口から排出するか、シリンダ９に設けた図示しない開放弁を開けることにより内部空間１１を大気に開放させながらピストンを押すかにより、該内部空間１１を再び縮小してもよい。これにより、ピストンを引き該内部空間１１を拡張することにより、再び該内部空間１１が真空化するので、容器１内を更に真空化することができる。
【００３５】
次に、本発明の第４の実施の形態に係る増減圧化装置について、図面に基づいて説明する。ここでは、該増減圧化装置が真空化装置である場合について説明する。該真空化装置８０は、前記第１から第３の実施の形態に係る真空化装置において、容器内を減圧化し真空化した後に、該容器内を再び増圧する再増圧手段を備えるものである。
【００３６】
真空化装置８０は、図９に示すように、再増圧手段として、容器１に開放弁１２を具備している。該開放弁１２を開けて、容器１内を大気に対して開放することにより、真空化した容器１の内圧を大気圧に戻すことにより増圧する。又、真空化装置９０は、図１０に示すように、容器１に開放弁１２を具備する代わりに、再増圧手段として、補助容器２等を接続するための配管に開放弁１２を具備している。これにより、同様に、開放弁１２を開けることにより、真空化した容器１の内圧を大気圧に戻すことにより増圧する。又、再増圧手段として、圧縮空気タンク等の空気源を流量調整弁等の制御弁を介して、容器１や前記配管等に接続させ設けてもよい。これにより、空気源から容器１内に制御弁を介して空気を流入させることができるので、真空化した容器１を、所望の内圧に増圧することができる。
【００３７】
又、再増圧手段として、既に一度容器１内と均衡状態となった補助容器２によるエネルギー回生を用いてもよい。ここでは、図１１（ａ）に示すように、容積１リットルの容器１の内圧を１気圧、それぞれ容積２リットルの３つの補助容器２ａ、２ｂ、２ｃの内圧を０．１気圧として真空化装置を構成した場合を例として考える。ただし、配管内等の容積は無視する。
【００３８】
制御弁３ａ、３ｂ、３ｃを順次開閉することにより、図１１（ｂ）から図１１（ｄ）に示すように、容器１内を真空化する。ここで、図１１（ｄ）に示すように、真空化した容器１の内圧０．１３気圧に対して、補助容器２ａ、２ｂの内圧はそれぞれ０．４気圧、０．２気圧であるので、補助容器２ａ、２ｂを用いて容器１内を再増圧することができる。制御弁３ｂを開けることにより、容器１と補助容器２ｂとの内圧が均衡状態となり、図１１（ｅ）に示すように、容器１と補助容器２ｂとの内圧はともに０．１８気圧となる。さらに、制御弁３ｂを閉じ、制御弁３ａを開けることにより、容器１と補助容器２ａとの内圧が均衡状態となり、図１１（ｆ）に示すように、容器１と補助容器２ａとの内圧はともに０．３３気圧となる。このように、容器１の内圧が０．１８気圧から０．３３気圧へとエネルギー回生により再増圧できるため、例えば、前記空気源を用いた場合に、容器１を所定の内圧にするために要する空気使用量及び所要時間を削減することができる。また、補助容器２ａの内圧は０．４気圧から０．３３気圧へと、補助容器２ｂの内圧は０．２気圧から０．１８気圧へとエネルギー回生により真空化できるため、図示しない真空発生源５により補助容器２ａ、２ｂ内を所定の内圧に真空化するために要する所要時間を短縮することができる。なお、再増圧手段として、既に一度容器１内と均衡状態となった補助容器２によるエネルギー回生を用いる場合、制御弁３の代わりに、前記選択弁４を用いることもできるが、制御弁３や選択弁４は逆流防止機能を備えていてはならない。又、再増圧手段として、既に一度容器１内と均衡状態となったシリンダ９を用いたエネルギー回生を用いてもよい。
【００３９】
以上、第１から第４の実施の形態に係る増減圧化装置としての真空化装置について説明したが、これらの真空化装置に用いる気体は空気に限定されず、ヘリウムガス、アルゴンガス等のプロセスガスを用いてもよい。この場合、前記空気源の代わりにプロセスガス源を用い、必要であれば任意かつ周知のプロセスガス回収手段を設ければよい。
【００４０】
又、真空化装置が、容器１の内圧を検知して検知信号を発する圧力センサと、検知信号に基づいて前記制御弁３や前記真空発生源側制御弁６を制御する制御システムとを具備していてもよい。これにより、容器１内が均衡状態になったことを圧力センサにより検知でき、制御弁３や真空発生源側制御弁６を適切な状態に制御システムにより制御できるので、容器１内の真空化を適切に行なうことができる。又、容器内１の内圧が検知できるので、容器１内と補助容器２とが均衡状態になる前に制御弁３を閉じることができ、容器１を所望の真空圧とすることができる。さらに、真空化発生源５やシリンダ９を検知信号に基づいて制御システムにより制御してもよい。これにより、適切な補助容器２やシリンダ９の内部空間１１を予め真空化することができ、容器１の真空化のために備えておくことができる。さらに、前記開放弁１２や前記プロセスガス制御弁を検知信号に基づいて制御システムにより制御してもよい。これにより、容器１を真空化する工程と増圧する工程とを自動に繰り返し制御できる。
【００４１】
以上、増減化装置として容器内を真空化する真空化装置のみについて説明してきたが、容器内を増圧する増圧化装置も同様の形態により構成することが可能である。この場合、補助容器内の内圧を、容器内の内圧よりも高くしておけばよい。又、前記真空発生源の代わりに、圧縮機やコンプレッサ等の増圧発生源を用いて、補助容器内を増圧すればよい。さらに、シリンダを用いることもでき、ピストンを押しシリンダの筒体とピストンとの間に生じる内部空間を圧縮することにより、該内部空間の内圧を増加させる。又、逆止弁や逆流防止機能付きの制御弁及び選択弁を用いる場合には、前記真空化装置において逆流を防止した気体の流れとは逆方向の逆流を防止するように設ける。又、容器や配管等に開放弁を設けることにより、再度容器内を減圧することができる再減圧手段とすればよい。
【００４２】
次に、本発明の実施の形態に係る運動拘束具を、図面に基づいて説明する。該運動拘束具は、上記何れかの実施の形態に係る増減圧化装置を用いることにより、伸縮運動、曲げ運動、捻り運動の何れかもしくは全ての運動が所定以上となることを拘束するものである。
【００４３】
伸縮運動を可変的に拘束する運動拘束具１００を、図１２及び図１３に示す。
該運動拘束具１００は、外力が作用する作用端部１０１間に対向して架設された２枚の伸縮拘束部材１０２と、該伸縮拘束部材１０２を内包し、かつ、作用端部１０１とともに容器として内部空間を形成する筒体１０３とを具備する運動拘束手段１１０と、該筒体１０３の内部空間を真空化するための真空化装置１２０とを備えたものである。
【００４４】
前記伸縮拘束部材１０２は、図１３に示すように、ゴム等の伸縮自在な弾性体からなる伸縮部１０６と、伸縮しない材料からなる非伸縮部１０７とを直列的に配列した薄板状のものであり、２枚の伸縮拘束部材１０２が、各非伸縮部１０６が対称な位置関係になるように対向されて、前記作用端部１０１間に架設されている。詳細には、一方の作用端部１０１には、一方の伸縮拘束部材１０２の伸縮部１０５と他方の伸縮拘束部材１０２の非伸縮部１０６とが固着され、他方の作用端部１０には、一方の伸縮拘束部材１０２の非伸縮部１０６と他方の伸縮拘束部材１０２の伸縮部１０５とが固着されている。
【００４５】
前記筒体１０３は、側周壁が、伸縮自在であって、内部空間に流入する気体を透過させない材質からなり、前記作用端部１０１と一体となって、内部に一定容積の密閉空間を形成している。又、前記作用端部１０１の一方には、内部空間に気体を流出入させるための流出入口１０４が設けられている。
【００４６】
前記真空化装置１２０は、図１３に示すように、複数の補助容器２、真空発生源５や開放弁１２等を具備しているが、図示した構成に限らず、前述した各実施の形態に係る真空化装置を用いることが可能である。真空化装置１２０は、前記流出入口１０４を介して前記筒体１０３の内部空間に、気体が流出入可能な状態で接続されている。
【００４７】
本運動拘束具１００が伸縮運動を拘束しない場合には、図１３（ａ）に示すように、筒体１０３の内圧と外部の大気圧とが均衡した状態であり、一定容積の内部空間が維持されて、対向する伸縮拘束部材１０２は常に離間した状態になっている。従って、運動拘束具１００は、伸縮拘束部材１０２の伸縮部１０６の弾性により、外力が作用すれば矢印方向へ伸縮自在である。
【００４８】
一方、伸縮運動を拘束する場合には、図１３（ｂ）に示すような、任意の伸縮状態において、前記真空化装置１２０により、筒体１０３の内部空間内にある気体が排出されて、筒体１０３の内圧が負圧となり、図１３（ｃ）に示すように、２枚の伸縮拘束部材１０２が密着される。これにより、２枚の伸縮拘束部材１０２の非伸縮部１０６の密着面に摩擦が生じ、摩擦力が伸縮運動を引き起こす外力に対する抗力となって、伸縮運動を拘束する。又、この状態から、前記開放弁１２を開放することにより、筒体１０３の内部空間に空気が流入し、内圧が大気圧と均衡し、再び伸縮拘束部材１０２は離間されて、伸縮運動の拘束が解除される。
【００４９】
前記摩擦力は、非伸縮部１０６の密着面に作用する法線方向の力（法線力）に、非伸縮部１０６の密着面の摩擦係数を乗じたものであるから、法線力を制御することにより、該密着面に生じる摩擦力を制御することができる。従って、筒体１０３の内圧を制御することにより、すなわち、前記真空化装置１２０を制御することによって、伸縮運動の拘束力を任意に変動させることができる。
【００５０】
なお、伸縮拘束部材１０２の伸縮部１０５と非伸縮部１０６の配列は、前記実施の形態で示したものに限られず、該伸縮部１０５と非伸縮部１０６とを交互に繰り返し直列に配列させるものとしてもよい。又、前記運動拘束具１００の拘束力は、前記非伸縮部１０６の密着面の摩擦係数や密着面積に依存したものとなり、該摩擦係数は、前記非伸縮部１０６の素材や密着面の粗さ等により定まる。そこで、前記非伸縮部１０６の密着面に、例えば、球状の凹凸や三角形の凹凸等の凹凸や突起を複数形成することにより、より小さい法線力で大きな摩擦力を生じさせて、伸縮運動の拘束力の上限を向上させることができる。又、複数の伸縮拘束部材１０２を積層することにより前記非伸縮部１０６の密着面積を増加させれば、伸縮運動の拘束力の上限を向上することができる。又、伸縮拘束部材１０２の各非伸縮部１０６が密着面にラック構造を有し、前記真空化装置１２０により前記筒体１０３の内部空間を負圧とすることにより、対向する伸縮拘束部材１０２の非伸縮部１０６同士を密着させ、ラック構造を噛合するものとすれば、小さな法線力で伸縮運動を完全に拘束することができる。
【００５１】
このように、本運動拘束具１００によれば、任意の伸縮状態において、真空化装置１２０により筒体１０３の内部空間を真空化させて、伸縮拘束部材１０２の非伸縮部１０６を密着することにより、該非伸縮部１０６の密着面に摩擦力を発生させて伸縮運動を拘束することができる。
【００５２】
なお、筒体１０３の内部空間を正圧にすることにより伸縮拘束部材１０２同士を密着させることもできる。運動拘束手段１３０は、図１４に示すように、変形しない剛体からなる矩形の枠１０７を、一定の間隔で筒体１０３に複数設け、気体が流出入するゴム袋１０８を、筒体１０３の内部空間であって伸縮拘束部材１０２と筒体１０３との間の空間に配置する。なお、図１４においては、筒体１０３は省略している。図示しない増圧化装置から前記流出入口１０４を介して、前記ゴム袋１０８に気体を流入させれば、筒体１０３の内部空間でゴム袋１０８が膨張して伸縮拘束部材１０２を圧迫し、これにより、対向する伸縮拘束部材１０２が密着し、伸縮運動が拘束される。又、この状態から、増圧化装置に備えた開放弁を開放することにより、筒体１０３の内部空間から空気が流出し、内圧が大気圧と均衡し、再び伸縮拘束部材１０２は離間されて、伸縮運動の拘束が解除される。
【００５３】
次に、本発明の実施の形態に係る別の運動拘束具を、図面に基づいて説明する。該運動拘束具は、図１５に示すように、外力により曲げ変形し、かつ非伸縮の曲げ拘束部材２０１が、容器である包袋２０２内の複数列設された曲げ運動拘束手段２１０と、包袋２０２の内部空間を負圧にすることにより、列設された曲げ運動拘束部材２０１を密着させて、該曲げ運動拘束部材２０１の密着面に、前記外力に対する抗力を発生させる図示しない真空化装置とを備えたものである。
【００５４】
曲げ拘束手段２１０は、曲げ変形可能な薄膜状の曲げ拘束部材２０１ａを積層した曲げ拘束部材２０１と、該曲げ拘束部材２０１を内包する容器としての包袋２０２とを具備する。該包袋２０２には、内部空間に気体を流出入させるための流出入口２０３が設けられている。該流出入口２０３には、前述した各実施の形態に係る真空化装置が、気体が流出入可能な状態で接続されている。
【００５５】
曲げ運動を拘束しない場合には、包袋２０２の内部空間が適量の気体で満たされて外部の大気圧と均衡し、各曲げ拘束部材２０１ａは、他の曲げ拘束部材２０１ａの接触面に曲げ運動を拘束されず、外力に応じて曲げ変形する。
【００５６】
一方、曲げ運動を拘束する場合には、流出入口２０３を介して真空化装置により、包袋２０２の内部空間から気体を排出して包袋２０２の内圧を負圧として、各曲げ拘束部材２０１ａを密着させる。これにより、各曲げ拘束部材２０１ａの密着面に摩擦力が生じ、該摩擦力が曲げ運動を引き起こす外力に対する抗力となって、曲げ運動を拘束する。又、この状態から、真空化装置に備えた開放弁を開放することにより、包袋２０２の内部空間に空気が流入し、内圧が大気圧と再び均衡をとり、曲げ運動の拘束を解除する。
【００５７】
次に、本発明の実施の形態に係る別の運動拘束具の変形例を、図面に基づいて説明する。本変形例に係る運動拘束具は、図１６に示すように、曲げ変形可能な繊維状の曲げ拘束部材２０４ａが複数集束された曲げ拘束部材２０５と、該曲げ拘束部材２０４を内包する容器としての包袋２０５とからなる曲げ拘束手段２２０と、図示しない真空化装置とを備えたものである。
【００５８】
曲げ拘束部材２０４ａは、断面形状が６角形のファイバー状のものであり、該曲げ拘束部材２０４ａは、互いに各側面が接するように束ねられているが、何ら固着されるものではない。これにより、曲げ拘束部材２０４ａは、曲げ変形自在かつ非伸縮性のものとなっている。なお、曲げ拘束部材２０４ａの断面形状を、例えば矩形等、他の多角形状とすることもできる。
【００５９】
前記包袋２０５は、軟質で内部空間に流出入する気体を透過させない素材からなり、その端部近傍には、内部空間から気体を流出入するための流出入口２０６が設けられている。該流出入口２０６には、前述した各実施の形態に係る真空化装置が、気体が流出入可能な状態で接続されている。包袋２０５が前記曲げ拘束部材２０４を囲繞することにより、該曲げ拘束部材２０４が一定の配置で組み合わせた状態を維持している。
【００６０】
本運動拘束具が曲げ運動を拘束しない場合は、包袋２０５の内部空間が適量の気体で満たされて外部の大気圧と均衡し、各曲げ拘束部材２０４ａは、他の曲げ拘束部材２０４ａの接触面に曲げ運動を拘束されず、外力に応じて矢印に示す方向に曲げ変形する。
【００６１】
一方、曲げ運動を拘束する場合には、真空化装置により包袋２０５の内部空間にある気体を排出させて内圧を負圧とし、各曲げ拘束部材２０４ａを密着させる。これにより、各曲げ拘束部材２０４ａの密着面に摩擦力が生じ、該摩擦力が曲げ運動を引き起こす外力に対する抗力となって、曲げ運動を拘束する。このように、本運動拘束具によれば、２方向の曲げ運動を拘束することができる。又、この状態から、真空化装置に備えた開放弁を開放することにより、包袋２０５の内部空間に空気が流入し、内圧が大気圧と再び均衡をとり、曲げ運動の拘束を解除する。
【００６２】
次に、本発明の実施の形態に係るさらに別の運動拘束具を、図面に基づいて説明する。該運動拘束具３００は、伸縮運動、曲げ運動、捻り運動のすべてを拘束する運動拘束具であって、図１７に示すように、多数の粒状体３０１と、内部空間に該粒状体３０１が装填された容器としての中空柱体状の運動拘束部材３０２とからなる運動拘束手段３１０と、真空化装置３２０とを備えたものである。
【００６３】
前記運動拘束部材３０２は、側周壁が、例えばナイロンにように、軟質かつ非伸縮性で内部空間に流出入する空気を透過させない素材からなり、その両端が容易に変形しないプラスチック等からなるものである。又、運動拘束部材３０２の端部には、内部空間から気体を流出入するための流出入口３０３が設けられている。該流出入口３０３には、前述した各実施の形態に係る真空化装置３２０が、気体が流出入可能な状態で接続されている。前記粒状体３０１は、合成樹脂、ゴム、ガラス等の容易に圧壊されない素材からなるものであり、その大きさや形状は特に限定されるものではない。
【００６４】
本運動拘束具３００が運動を拘束しない場合は、図１８（ａ）に示すように、前記運動拘束手段３１０の内部空間が適量の気体で満たされて、運動拘束手段３１０の内圧と外部の大気圧とが均衡した状態にあり、運動拘束具３００は、運動拘束部材３０２の両端に作用する外力に応じて矢印に示すように伸縮、曲げ、捻り運動をする。
【００６５】
一方、運動を拘束する場合は、任意の状態において、図１８（ｂ）及び図１８（ｃ）に示すように、真空化装置３２０により運動拘束手段３１０の内部空間内にある気体が排出され内圧が負圧となり、運動拘束部材３０２の側周壁及び粒状体３０１が、任意の状態の運動拘束部材３０２の形状で密着される。これにより、粒状体３０１同士、及び運動拘束部材３０２の側周壁と粒状体との密着面に摩擦力が生じ、該摩擦力が運動を引き起こす外力に対する抗力となって、運動を拘束する。又、この状態から、真空化装置３２０に備えた開放弁１２を開放することにより、運動拘束手段３１０の内部空間に空気が流入し、内圧が大気圧と再び均衡をとり、前記摩擦力が消失して、運動の拘束が解除される。
【００６６】
なお、運動拘束手段３１０の内圧を制御することにより、すなわち、前記真空化装置３２０を制御することによって、前記摩擦力を任意に変化させることができ、該摩擦力の変化に応じて運動拘束部材３０２の拘束力も変化するので、真空化装置３２０により拘束力を制御することができる。
【００６７】
このように、本運動拘束具３００によれば、任意の運動状態において、真空化装置３２０により、運動拘束手段３１０の内圧を減少させて粒状体３０１を密着し、該粒状体３０１や運動拘束部材３０２の拘束力を制御することができる。
【００６８】
以上、実施の形態に係る運動拘束具について説明したが、これら運動拘束具に用いる気体は空気に限定されず、ヘリウムガス、アルゴンガス等のプロセスガスを用いてもよい。又、運動拘束手段の容器の内部空間に気体を流出入するために１つの流出入口を設けているが、気体を流入するための流入口と、気体を流出するための流出口とを別々に設けてもよい。
【００６９】
次に、本発明の実施の形態に係る擬似体験装置を、図面に基づいて具体的に説明する。本擬似体験装置４００は、図１９及び図２０に示すように、前記実施の形態で示した各運動拘束手段のいずれか又はその組合わせによる運動拘束手段４０１と、関節の角度、運動速度、及び抗力を検知して検知信号を発信するセンサ４０２とを備えた変形自在な関節装着具４０３と、前記検知信号を受けて拘束力を制御する制御システム４０４と、前記運動拘束手段４０１内の内部空間を負圧又は正圧とすることによりに密着力を与えるための駆動システム４０５とを具備するものである。
【００７０】
関節装着具４０３は、装着すべき関節に応じたサポータ状のものであり、各関節装着具４０３に設けられた運動拘束手段４０１は、手首、肘等の拘束すべき関節の運動を考慮して選定されている。
【００７１】
又、本擬似体験装置４００は、肘、膝等の複数の関節を拘束するので、前記各運動拘束手段を密着させるために統一した駆動システム４０５を備えている。該駆動システム４０５は、真空化装置等の増減圧化装置の他に、圧縮空気タンクもしくはプロセスガス源、バルブ等を備えてなり、制御システム４０４からの命令に従って、空気などの気体を配管４０６を通じて前記各運動拘束手段４０１に流出入させるものである。
【００７２】
各関節装着具４０３に設けられた各センサ４０２は、関節の角度、運動速度、又は抗力を各々検知して検知信号を発信する周知かつ任意のセンサの組み合わせであり、各検知信号は信号線４０７を通じて制御システム４０４に入力される。
【００７３】
このように構成された擬似体験装置４００によれば、肘、膝等に装着された各関節装着具４０３の各センサ４０２により、関節の運動状態を検知して、検知信号を制御システム４０４に出力し、制御システム４０４は、各検知信号に基づいて所望の拘束力が発生するように駆動システム４０５を動作させる。例えば、運動拘束手段４０１による抗力は摩擦力に基づくものだから、運動速度には比例しないので、速度センサ及び力センサの出力信号に基づいて、速度に比例して拘束力を増加させて、粘性を体感させるように駆動システム４０５を動作させる。これにより、各関節装着具４０３の運動拘束手段４０１が装着者の各関節を拘束して、装着者に仮想空間での力を擬似体験させることができる。
【００７４】
又、センサ４０２として運動拘束手段４０１の内部空間の内圧を検知して検知信号する圧力センサを用いることも望ましい。該検知信号に基づいて所望の内圧となるように、制御システム４０４は駆動システム４０５を動作させる。これにより、各関節装着具４０３の運動拘束手段４０１の拘束力を制御することができる。
【００７５】
本擬似体験装置４００は、極めて広範囲に利用されるものであり、例えば、地上において水の流体抵抗を拘束力により実現して、様々な環境での水泳体感をさせるようなスポーツトレーニングへの利用や、視覚表示装置と連携させてバーチャルリアリティ・ゲームへの利用ができる。さらに、センサ４０１が一定の閾値以上の外力又は速度を検知した場合に、関節装着具４０３により関節運動を完全に拘束するような制御を行なえば、スポーツ競技者、自動二輪運転者用等のプロテクタとして利用することもできる。
【００７６】
なお、本発明に係る擬似体験装置は、前記擬似体験装置４００のように、人体の各関節に関節装着具４０３を装着させるものに限定されず、様々な形態を採用することができる。例えば、特定の関節の運動のみを拘束するような構成としてもよく、その場合には、駆動システム及び制御システムをさらに小型化して、関節装着具と一体化してもよい。
【００７７】
又、伸縮運動を拘束する前記運動拘束手段１１０を、センサ４０２、制御システム４０４、及び駆動システム４０５が内蔵された擬似体験装置に複数設けて、人体の数箇所と連結することにより運動を拘束するような対向型のものを実現することもできる。又、前記擬似体験装置４００に送受信システムを設けて、制御システム４０５に外部から指令を与えて運動の拘束を変化させることもできる。
【００７８】
【発明の効果】
上記の説明から明らかなように、請求項１の増減圧化装置によれば、容器の内圧よりも低い内圧にした複数の補助容器が、気体が流出入可能にそれぞれ並列に接続されるので、容器と補助容器との気体の流出入の開閉を制御可能な制御弁により、他の補助容器と容器との接続を閉じた状態で、補助容器と容器との接続を開けることにより、該補助容器と容器との内圧が均衡状態になり、容器の内圧を減圧化することができる。これを、順次他の補助容器について繰り返すことにより、容器の内圧を急速に減圧化することができる。又、同様に、容器の内圧よりも高い内圧にした複数の補助容器をそれぞれ並列に接続されるので、容器の内圧を急速に増圧化することができる。さらに、例えば補助容器を１つのみ接続した場合に比べて、容器を所定の内圧に増減圧化するために必要な補助容器の容積が小型化するため、増減圧化装置を小型化することができる。
【００７９】
請求項２の増減圧化装置によれば、補助容器の内圧を増減させる増減圧発生源を具備しているので、補助容器内の内圧を繰り返し増減することができ、同じ個数の補助容器を用いて容器内の真空度をより高めることができる。又、容器内を所定の内圧に増減圧化するために必要な補助容器の個数を少なくすることができるため、増減圧化装置をさらに小型化することができる。又、増減圧発生源と補助容器との気体の流出入を制御する増減圧発生源側制御弁を具備しているので、必要な補助容器のみの内圧を増減圧発生源により増減することができるため、効率的に容器の内圧をさらに急速に増減化することができる。
【００８０】
請求項３の増減圧化装置によれば、容器と気体が流出入可能な内部空間を有し、それぞれ並列に接続される複数のシリンダと、容器と内部空間との気体の流出入の開閉を制御可能な制御弁とを具備しているので、シリンダを動作させることにより、前記内部空間における圧力を増減することができる。これにより、他のシリンダの内部空間と容器との接続を閉じた状態で、あるシリンダの内部空間と容器との接続を開けることにより、該内部空間と容器との内圧が均衡状態になり、容器の内圧を増減化することができる。これを、順次他のシリンダについて繰り返すことにより、容器の内圧を急速に増減化することができる。又、例えばシリンダを１つのみ接続した場合に比べて、容器内を所定の内圧に増減化するために必要なシリンダの内部空間の容積は小さくなるため、増減圧化装置を小型化することができる。
【００８１】
さらに又、シリンダの内部空間の圧力を繰り返し増減することができるので、例えば、内圧を増減する手段を備えない補助容器を用いた場合の該補助容器内の容積に比べて、必要なシリンダの内部空間の容積は小さくなるため、増減圧化装置を小型化することができる。又、個々のシリンダは並列に接続され、必要なシリンダのみの内部空間の圧力を増減することができるため、効率的に容器の内圧をさらに急速に増減化することができる。又、シリンダは補助容器と増減圧源を兼ね備えており、真空ポンプや圧縮機等の増減圧源に比べてシンプルな構造であるため、増減圧化装置を安価にすることができる。
【００８２】
請求項４の増減圧化装置によれば、再増減圧手段を具備しているので、一度増減圧化した容器内を、例えば、再び元の内圧に戻すことができるので、容器の内圧を繰り返し増減化することができる。
【００８３】
請求項５の運動拘束具によれば、任意の状態において、運動拘束手段を互いに密着させて、密着面に外力に対する抗力を発生させるので、運動を可変的に拘束する運動拘束具を実現することができる。又、容器の内圧を増減化させ、該容器内の内部空間を負圧又は正圧とすることにより、容器内に複数設けられ運動拘束手段を互いに密着させる前記増減圧化装置が、容器の内圧を急速に増減化することができるので、運動の拘束を急速に行なうことができる。又、前記増減圧装置は小型化できるため、運動拘束具を小型化することができる。
【００８４】
請求項６の擬似体験装置によれば、前記運動拘束具と、関節の角度、運動速度、又は抗力の少なくとも何れか１つを検知して検知信号を発信するセンサとを備えてなる弾性変形自在な関節装着具と、前記検知信号を受けて、前記運動拘束具に生じる抗力を制御する制御手段とを具備するものとしたので、人体との親和性が高く、可変的に運動を拘束する現実感の高い擬似体験装置を実現することができる。又、前記増減圧化装置が、前記運動拘束具の容器の内圧を急速に増減化することにより、擬似体験装置における運動の拘束を急速に行なうことができる。
又、前記増減圧装置を具備した運動拘束具は小型化できるため、擬似体験装置を小型化することができる。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態に係る真空化装置の構成を示す模式図である。
【図２】図１に示した真空化装置を用いて容器内を真空化する過程を一般化して説明する図である。
【図３】第１の実施の形態に係る真空化装置の別の構成を示す模式図である。
【図４】本発明の第２の実施の形態に係る真空化装置の構成を示す模式図である。
【図５】第２の実施の形態に係る真空化装置の別の構成を示す模式図である。
【図６】第２の実施の形態に係る真空化装置のさらに別の構成を示す模式図である。
【図７】第２の実施の形態に係る真空化装置のさらに別の構成を示す模式図である。
【図８】本発明の第３の実施の形態に係る真空化装置の構成を示す模式図である。
【図９】本発明の第４の実施の形態に係る真空化装置の構成を示す模式図である。
【図１０】第４の実施の形態に係る真空化装置の別の構成を示す模式図である。
【図１１】第４の実施の形態に係る真空化装置を用いて容器内を真空化し再増圧する過程を例として説明する図である。
【図１２】本発明の実施の形態に係る運動拘束具の伸縮運動拘束手段の外観を示す概略斜視図である。
【図１３】図１１に示した伸縮運動拘束手段のＡ―Ａ断面を示す断面図、及び真空化装置の構成を示し、非運動拘束状態と運動拘束状態を説明する図である。
【図１４】実施の形態に係る運動拘束具の別の伸縮運動拘束手段の外観を示す概略斜視図である。
【図１５】実施の形態に係る別の運動拘束具の曲げ運動拘束手段の外観を示す概略斜視図である。
【図１６】実施の形態に係る別の運動拘束具の別の曲げ運動拘束手段の外観を示す概略斜視図である。
【図１７】実施の形態に係るさらに別の運動拘束具の別の運動拘束手段の外観を示す概略斜視図である。
【図１８】図１６に示した運動拘束手段の概略外観、及び真空化装置の構成を示し、非運動拘束状態と運動拘束状態を説明する図である。
【図１９】本発明の実施の形態に係る擬似体験装置の構成を示す模式図である。
【図２０】実施の形態に係る擬似体験装置の構成を示すブロック図である。
【図２１】従来例に係る真空化装置の構成を示す模式図である。
【図２２】従来例に係る真空化装置の構成を示す模式図である。
【符号の説明】
１ 容器
２ａ、２ｂ、２ｃ 補助容器
３ａ、３ｂ、３ｃ 制御弁
４ 選択弁（制御弁）
５、５ａ、５ｂ、５ｃ 真空発生源（増減圧発生源）
６ａ、６ｂ、６ｃ 真空発生源側制御弁（増減圧発生源側制御弁）
７ａ、７ｂ、７ｃ 逆止弁（増減圧発生源側制御弁）
８ 真空発生源側選択弁（増減圧発生源側制御弁）
９ａ、９ｂ、９ｃ シリンダ
１０、２０、３０、４０、５０、６０、７０、８０、９０ 真空化装置（増減圧化装置）
１１ シリンダの内部空間
１２ 開放弁（再増減圧手段）
１００、３００ 運動拘束具
１０１ 作用端部（容器）
１０２ 伸縮運動拘束部材
１０３ 筒体（容器）
１０４、２０３、２０６、３０３ 流出入口
１１０、１３０ 伸縮運動拘束手段（運動拘束手段）
１２０、３２０ 真空化装置（増減圧化装置）
２０１、２０４ 曲げ運動拘束部材（運動拘束部材）
２０２、２０５ 包袋（容器）
３０２ 運動拘束部材
２１０、２２０ 曲げ運動拘束手段（運動拘束手段）
３１０ 運動拘束手段
４００ 擬似体験装置
４０１ 運動拘束手段
４０２ センサ
４０３ 関節装着具
４０４ 制御システム
４０５ 駆動システム[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pressure increasing / decreasing device that rapidly increases or decreases the internal pressure of a container, a motion restraint device using the same, and a simulated experience device.
[0002]
[Prior art]
Among the pressure increasing / decreasing devices that increase or decrease the internal pressure of the container, a device that decreases the internal pressure of the container below the atmospheric pressure is called a vacuuming device. As shown in FIG. 21, a conventional vacuuming apparatus 410 includes a container 401 whose vacuum is to be evacuated, and a vacuum generation source 402 such as a vacuum pump via a control valve 403 such as an on-off valve or a flow rate adjustment valve. , Connected by piping or the like so that gas can flow in and out. The container 401 is provided with an opening valve 404 for enabling the internal gas to be opened to the atmosphere.
[0003]
With the open valve 404 closed, the control valve 403 is opened, and the inside of the container 401 is evacuated by exhausting the gas in the container 401 from the vacuum generation source 402. By opening the release valve 404, the inside of the container 401 is opened to the atmosphere, air flows in, and the internal pressure of the container 401 becomes equal to the external pressure.
[0004]
However, in the conventional vacuuming apparatus 410, the time required for evacuating the container 401 is determined by the discharge speed of the gas in the container 401, that is, the vacuuming capability of the vacuum generation source 402. Therefore, in order to rapidly evacuate, it is necessary to use a large vacuum pump or the like as the vacuum generation source 402. Further, even when a conventional pressure increasing device is used to rapidly increase the pressure inside the container, it is necessary to use a large-sized compressor having a high pressure increasing capability as a pressure increasing source.
[0005]
As an apparatus for rapidly evacuating the inside of the container 401 without using the large vacuum generation source 402, there is a vacuuming apparatus 420 as shown in FIG. The vacuuming device 420 is configured by adding an auxiliary container 405 and a vacuum generation source side control valve 406 between the container 401 and the vacuum generation source 403 to the configuration of the vacuuming device 410.
[0006]
A procedure for evacuating the inside of the container 401 by using the vacuum apparatus system 420 will be described. Before vacuuming the inside of the container 401, the vacuum generation source side control valve 406 is opened in advance, the gas in the auxiliary container 405 is exhausted by the vacuum generation source 402, and the internal pressure of the auxiliary container 405 is higher than the internal pressure of the container 401. After the vacuum pressure is sufficiently low, the vacuum generation source side control valve 406 is closed. Since the control valve 403 is opened and gas can freely flow between the container 401 and the auxiliary container 405, the internal pressure between the container 401 and the auxiliary container 405 tends to reach an equilibrium state. Quickly flows out to the auxiliary container 405, and the gas in the container 401 is rapidly discharged. Thus, the inside of the container 401 can be rapidly evacuated regardless of the evacuation capability of the vacuum generation source 402. Similarly, in the pressure increasing device, the pressure in the container can be increased rapidly by increasing the pressure in the auxiliary container in advance by a pressure increasing source.
[0007]
On the other hand, active research has been done for the purpose of mechanically supporting human athletic ability in welfare and sports, and in fact, a supporter that assists the muscles of people with impaired physical functions, such as elderly people and disabled people, There is a pseudo-experience device for performing sports training in a virtual reality by artificially expressing forces acting on the human body such as gravity and air resistance. In such a simulated experience apparatus, the movement is restrained by evacuating the internal pressure of a container such as a cylinder or a wrapping bag to a negative pressure by using a pressure increasing / decreasing apparatus, or conversely increasing the pressure to a positive pressure. A motion restraint tool is used (see, for example, Patent Document 1).
[0008]
[Patent Document 1]
JP 2002-186683 A (pages 1-8 and 13-20, FIGS. 1 to 7, 15, and 17 to 24)
[0009]
[Problems to be solved by the invention]
However, the vacuum pressure that can be reached by discharging the gas in the container 401 in the vacuum device 420 is determined by the volume ratio between the container 401 and the auxiliary container 405. For example, considering the case where the internal pressure of the 1-liter container 401 is reduced from 1 atm to 0.2 atm and the auxiliary container 405 having an internal pressure of 0.1 atm is vacuumed, the auxiliary container 405 has a volume of 8 liters. is necessary. Thus, in order to reach a lower vacuum pressure, the volume of the auxiliary container 405 needs to be larger than the volume of the container 401. Similarly, when the pressure in the container is increased, it is necessary to increase the volume of the auxiliary container relative to the volume of the container.
[0010]
In particular, since the motion restraint device is to be worn on the human body as a part of the simulated experience device, the pressure increasing / decreasing device used for this can rapidly increase or decrease the pressure in the container to positive pressure or negative pressure. In addition, it is required to be downsized.
[0011]
The present invention has been made in view of the above-described circumstances and problems, and provides a small pressure increasing / decreasing device capable of rapidly increasing / decreasing pressure inside the container, and a motion restraint device and a pseudo device using the same. The purpose is to provide an experience device.
[0012]
In order to achieve the above object, the pressure increasing / decreasing device according to claim 1, in the pressure increasing / decreasing device for increasing / decreasing the internal pressure of the container, the container and the gas are respectively connected in parallel so as to be able to flow in and out, When the internal pressure of the container is increased, a plurality of auxiliary containers having an internal pressure higher than the internal pressure of the container and when reducing the internal pressure of the container, the internal pressure is lower than the internal pressure of the container; And a control valve capable of controlling the opening and closing of gas inflow and outflow between the container and the auxiliary container.
[0013]
The pressure-increasing / decreasing device according to claim 2 is the pressure-increasing / decreasing device according to claim 1, wherein the pressure-increasing / decreasing source for increasing / decreasing the internal pressure of the auxiliary container, and the gas from the pressure-increasing / decreasing source and the auxiliary container And an increase / decrease pressure generation source side control valve capable of controlling the inflow / outflow of the gas.
[0014]
The pressure increasing / decreasing device according to claim 3 is an pressure increasing / decreasing device for increasing / decreasing the internal pressure of the container, the container and an internal space through which gas can flow in and out, and a plurality of cylinders respectively connected in parallel. And a control valve capable of controlling the opening and closing of gas inflow and outflow between the container and the internal space.
[0015]
The pressure increase / decrease device according to claim 4 is the pressure increase / decrease device according to any one of claims 1 to 3, wherein when the internal pressure of the container is increased, the internal pressure of the container is increased again. When the pressure is reduced and the internal pressure of the container is reduced, a re-increasing / reducing means for increasing the internal pressure of the container again is provided.
[0016]
The motion restraint device increasing / decreasing device according to claim 5 is a motion restraint device that variably restrains motion, and a plurality of motion restraint means provided in the container and deformable by an external force, and an internal pressure of the container 5 or 6, and the internal space in the container is set to a negative pressure or a positive pressure, whereby the movement restraining means are brought into close contact with each other to generate a drag force against the external force on the contact surface. And a pressure increase / decrease device according to item 1.
[0017]
The simulated experience device according to claim 6 is a simulated experience device that virtually experiences an external force acting on a human body, and the motion restraint device according to claim 5 and at least the joint angle, the motion speed, or the drag force. An elastically deformable joint mounting device comprising a sensor that detects any one of them and transmits a detection signal; and a control means that receives the detection signal and controls a drag generated in the motion restraint device. It is characterized by having.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a pressure increasing / decreasing apparatus according to a first embodiment of the present invention will be described with reference to the drawings. Here, a case will be described in which the pressure increasing / reducing device is a vacuuming device that reduces the gas in the container to a pressure lower than the atmospheric pressure and lowers the pressure. Low vacuum refers to a pressure state in which the pressure is 1 to 760 Torr (760 Torr is about 1 atm) and is lower than the atmospheric pressure. As shown in FIG. 1, the evacuating apparatus 10 includes a plurality of auxiliary containers 2a, 2b, and 2c and control valves 3a, 3b, and 3c connected in parallel to the container 1, respectively.
[0019]
A plurality of auxiliary containers 2 a, 2 b, 2 c that have been evacuated to a predetermined internal pressure that is lower than the internal pressure of the container 1 in advance can be flowed in and out by piping or the like in parallel. Connecting. The auxiliary containers 2a, 2b, and 2c are respectively provided with control valves 3a, 3b, and 3c capable of opening and closing gas flow into and out of the container 1.
[0020]
A procedure for evacuating the inside of the container 1 using the evacuating apparatus 1 will be described. Here, an example is considered in which the vacuuming device 10 is configured with the internal pressure of the 1 liter container 1 set to 1 atm, and the two auxiliary containers 2a and 2b each having a capacity of 2 liters set to 0.1 atm. However, the volume inside the pipe is ignored.
[0021]
First, the auxiliary containers 2a and 2b are connected to the container 1 with the control valves 3a and 3b closed. By opening the control valve 3a and allowing the gas to flow in and out between the container 1 and the auxiliary container 2a, the gas is rapidly discharged from the container 1, and the internal pressure between the container 1 and the auxiliary container 2a becomes balanced. The internal pressure in the container 1 is 0.4 atm. Next, by closing the control valve 3a and opening the control valve 3b, the gas can be freely discharged between the container 2 and the auxiliary container 4, so that the gas is rapidly discharged from the container 1, The internal pressure with the auxiliary container 2b is in a balanced state, and the internal pressure in the container 1 is 0.2 atm.
[0022]
Thus, the inside of the container 1 can be rapidly evacuated by connecting the two auxiliary containers 2a and 2b in parallel. Further, in order to make the internal pressure of the container 1 having a capacity of 1 liter from 1 atm to 0.2 atm, the conventional vacuuming device 110 requires a volume of the auxiliary container 405 of 8 liters. 10, the volume of the auxiliary containers 2a, 2b can be 4 liters in total. Since the auxiliary container 2 required for evacuation in the container 1 can be very downsized, the vacuuming apparatus 10 can be downsized.
[0023]
Here, as shown in FIG. ₀ , The internal pressure is P ₀ And (n + 1) each of all auxiliary containers T ₁ , T ₂ ... T _n , T _{n + 1} The volume of V _t = KV ₀ , The internal pressure is P _t Generalized as: However, the volume inside the piping is ignored.
[0024]
As shown in FIG. 2B, the first auxiliary container T ₁ The internal pressure P of the container when the control valve of the container is in an equilibrium state ₁ Is
[Formula 1]

It becomes.
[0025]
Thereafter, as shown in FIG. 2 (c), the first auxiliary container T ₁ Close the control valve of the second auxiliary container T ₂ The internal pressure P of the container when the control valve of the container is in an equilibrium state ₂ Is
[Formula 2]

It becomes.
[0026]
Similarly, as shown in FIG. 2 (d), the internal pressure of the container is P. _n After that, the control valve of the nth auxiliary container is closed and the (n + 1) th auxiliary container T is closed. _{n + 1} The inner pressure P of the container when the control valve is opened and the equilibrium state is reached _{n + 1} Is
[Formula 3]

It becomes.
[0027]
Therefore, the internal pressure P of the container is obtained by a vacuuming device having n auxiliary containers. _n Is
[Formula 4]

To be evacuated. This equation can also be applied to a pressure increasing device that increases the pressure inside the container.
[0028]
The control valve 3 only needs to have at least a function capable of opening and closing the gas inflow and outflow between the container 1 and the auxiliary container 2, and has an opening and closing function only for opening and closing the gas inflow and outflow. It may be a valve. Further, the control valve 3 may be a flow rate adjusting valve capable of adjusting the flow rate of the gas flowing in and out of the container 1 and the auxiliary container 2. Since the flow rate of the gas to be discharged can be adjusted by using the flow rate control valve, the time for opening the flow rate adjustment valve can be adjusted, and the internal pressure of the container 1 can be set to a desired vacuum pressure.
[0029]
Further, instead of using a plurality of control valves 3, as shown in FIG. 3, a selection valve 4 that selectively enables connection to any one of the plurality of auxiliary containers 2 is controlled. The vacuuming device 20 used as a valve may be used.
[0030]
The control valve 3 and the selection valve 4 are preferably valves with a backflow prevention function. By preventing the backflow of gas from the auxiliary container 2 to the container 1 side, the control valve 3 and the selection valve 4 provided in the auxiliary container 2 already used for evacuating the container 1 are opened by mistake. However, since the gas does not flow back from the auxiliary container 2 to the container 1, malfunction of the vacuuming device can be prevented.
[0031]
Next, a pressure increase / decrease device according to a second embodiment of the present invention will be described with reference to the drawings. Here, a case where the pressure increasing / reducing device is a vacuuming device will be described. As shown in FIG. 4, the vacuuming device 30 further includes a vacuum generation source 5 such as a vacuum pump for vacuuming the auxiliary container 2 in the vacuuming device according to the first embodiment. is there. The plurality of vacuum generation sources 5a, 5b, and 5c are connected to the auxiliary containers 2a, 2b, and 2c via the vacuum generation source side control valves 6a, 6b, and 6c, respectively, so that gas can flow in and out by piping or the like.
[0032]
The auxiliary containers 2a, 2b, and 2c can be evacuated at any time by the plurality of vacuum generation sources 5a, 5b, and 5c, so that the auxiliary container 2 that is already in equilibrium with the container 1 is evacuated again. By doing so, the auxiliary container 2 can be used again to evacuate the inside of the container 1. Furthermore, while the inside of the container 1 is evacuated using a certain auxiliary container 2, the inside of the other auxiliary container 2 can be evacuated by the vacuum generation source 5. It can be shortened. Moreover, even if the same number of auxiliary containers 2 are used, the degree of vacuum in the container 1 can be further increased. In addition, since the number of auxiliary containers 2 required to make the inside of the container 1 have a predetermined vacuum pressure can be reduced, the vacuum device can be further downsized.
[0033]
Further, as shown in FIG. 5, a vacuuming device 40 in which a plurality of auxiliary containers 2 a, 2 b and 2 c are connected in parallel to one vacuum generation source 5 may be used. In this case, one or a plurality of auxiliary containers 2 are selected and evacuated by the vacuum generation source 5 by opening and closing the vacuum generation source side control valves 6a, 6b, 6c provided in the auxiliary containers 2a, 2b, 2c, respectively. It becomes possible. In addition, as shown in FIG. 6, instead of the vacuum generation source side control valves 6a, 6b, 6c, check valves 7a for preventing gas from flowing into the auxiliary containers 2a, 2b, 2c from the vacuum generation source 5 side. The vacuuming device 50 using 7b and 7c may be used. Accordingly, it is desirable that the gas in all the auxiliary containers 2a, 2b, and 2c can be simultaneously discharged and evacuated by the single vacuum generation source 5 without backflowing gas from the auxiliary containers 2a, 2b, and 2c. Further, instead of the plurality of vacuum generation source side control valves 6, as shown in FIG. 7, only the connection between any one of the plurality of auxiliary containers 2 and the vacuum generation source 5 is selectively performed. The vacuuming device 60 using the vacuum generation source side selection valve 8 that can be used may be used. Further, it is desirable that the vacuum generation source side selection valve 8 has a function of preventing backflow.
[0034]
Next, a pressure increase / decrease device according to a third embodiment of the present invention will be described with reference to the drawings. Here, a case where the pressure increasing / reducing device is a vacuuming device will be described. The vacuuming device 70 uses a cylinder 9 as shown in FIG. 8 as an auxiliary container and vacuum generation source in the vacuuming device according to the second embodiment. In this case, the internal space 11 of the cylinder 9 generated between the cylinder of the cylinder 9 and the piston can be regarded as the internal space of the auxiliary container. The interior space 11 is preliminarily evacuated by pulling the piston with an unillustrated push-pull tool and expanding the interior space 11 without flowing gas from the outside into the interior space 11 of the cylinder 9. By opening the control valve 3 and allowing the gas to flow in and out of the container 1 and the internal space 11, the gas is rapidly discharged from the container 1, and the internal pressure of the container 1 and the internal space 11 is in an equilibrium state. The inside of 1 is evacuated rapidly. Thereafter, the gas remaining in the internal space 11 brought into an equilibrium state by pushing the piston is discharged from a discharge port (not shown) provided in the cylinder 9 or an open valve (not shown) provided in the cylinder 9 is opened. The internal space 11 may be reduced again by pushing the piston while opening 11 to the atmosphere. Thus, by pulling the piston and expanding the internal space 11, the internal space 11 is evacuated again, so that the inside of the container 1 can be further evacuated.
[0035]
Next, a pressure increase / decrease device according to a fourth embodiment of the present invention will be described with reference to the drawings. Here, a case where the pressure increasing / reducing device is a vacuuming device will be described. The vacuuming device 80 includes a re-pressurizing unit that, in the vacuuming device according to the first to third embodiments, decompresses and vacuums the inside of the container and then boosts the inside of the container again. .
[0036]
As shown in FIG. 9, the evacuating apparatus 80 includes a release valve 12 in the container 1 as a re-pressure increasing means. By opening the release valve 12 and opening the inside of the container 1 to the atmosphere, the internal pressure of the evacuated container 1 is increased by returning to the atmospheric pressure. Further, as shown in FIG. 10, the evacuating device 90 includes an open valve 12 in a pipe for connecting the auxiliary container 2 or the like as a re-pressure increasing means, instead of including the open valve 12 in the container 1. ing. Thus, similarly, the internal pressure of the evacuated container 1 is increased by returning to the atmospheric pressure by opening the release valve 12. Further, as a re-pressurizing means, an air source such as a compressed air tank may be provided by being connected to the container 1 or the pipe or the like via a control valve such as a flow rate adjusting valve. Thereby, since air can be flowed in into the container 1 from an air source via a control valve, the evacuated container 1 can be increased to a desired internal pressure.
[0037]
Further, as the pressure increasing means, energy regeneration by the auxiliary container 2 which has already been in equilibrium with the inside of the container 1 may be used. Here, as shown in FIG. 11A, the internal pressure of the 1-liter container 1 is 1 atm, and the internal pressures of the three auxiliary containers 2a, 2b, 2c each having a 2-liter capacity are 0.1 atm. As an example, consider the case where However, the volume inside the pipe is ignored.
[0038]
By sequentially opening and closing the control valves 3a, 3b, and 3c, the inside of the container 1 is evacuated as shown in FIGS. 11 (b) to 11 (d). Here, as shown in FIG. 11 (d), the internal pressures of the auxiliary containers 2a and 2b are 0.4 atmospheric pressure and 0.2 atmospheric pressure, respectively, with respect to the internal pressure 0.13 atmospheric pressure of the evacuated container 1. The inside of the container 1 can be increased again using the auxiliary containers 2a and 2b. By opening the control valve 3b, the internal pressure between the container 1 and the auxiliary container 2b is in a balanced state, and the internal pressure between the container 1 and the auxiliary container 2b is 0.18 atm as shown in FIG. Furthermore, by closing the control valve 3b and opening the control valve 3a, the internal pressure between the container 1 and the auxiliary container 2a becomes balanced, and the internal pressure between the container 1 and the auxiliary container 2a is as shown in FIG. Both are 0.33 atm. As described above, the internal pressure of the container 1 can be increased again by energy regeneration from 0.18 atm to 0.33 atm. For example, when the air source is used, the container 1 has a predetermined internal pressure. The amount of air used and the time required can be reduced. Further, since the internal pressure of the auxiliary container 2a can be reduced by energy regeneration from 0.4 atm to 0.33 atm and the internal pressure of the auxiliary container 2b from 0.2 atm to 0.18 atm, a vacuum generation source (not shown) 5, the time required for evacuating the auxiliary containers 2a and 2b to a predetermined internal pressure can be shortened. In addition, when using the energy regeneration by the auxiliary container 2 which has already been in equilibrium with the inside of the container 1 as the re-pressurizing means, the selection valve 4 can be used instead of the control valve 3, but the control valve 3 The selection valve 4 must not have a backflow prevention function. Moreover, you may use the energy regeneration using the cylinder 9 which has already been in equilibrium with the inside of the container 1 as the re-pressure increasing means.
[0039]
The vacuuming apparatus as the pressure increasing / decreasing apparatus according to the first to fourth embodiments has been described above, but the gas used in these vacuuming apparatuses is not limited to air, and a process such as helium gas or argon gas is used. Gas may be used. In this case, a process gas source may be used instead of the air source, and an optional and well-known process gas recovery means may be provided if necessary.
[0040]
The vacuuming device includes a pressure sensor that detects the internal pressure of the container 1 and generates a detection signal, and a control system that controls the control valve 3 and the vacuum generation source side control valve 6 based on the detection signal. It may be. Thereby, the pressure sensor can detect that the inside of the container 1 is in an equilibrium state, and the control valve 3 and the vacuum generation source side control valve 6 can be controlled to an appropriate state by the control system. Can be done appropriately. Further, since the internal pressure in the container 1 can be detected, the control valve 3 can be closed before the inside of the container 1 and the auxiliary container 2 are in an equilibrium state, and the container 1 can be brought to a desired vacuum pressure. Further, the vacuum generation source 5 and the cylinder 9 may be controlled by a control system based on the detection signal. Thereby, the appropriate auxiliary container 2 and the internal space 11 of the cylinder 9 can be evacuated in advance, and can be prepared for evacuation of the container 1. Furthermore, the open valve 12 and the process gas control valve may be controlled by a control system based on a detection signal. Thereby, the process of evacuating the container 1 and the process of increasing the pressure can be automatically and repeatedly controlled.
[0041]
As described above, only the evacuating device for evacuating the inside of the container has been described as the increasing / decreasing device, but the pressure increasing device for increasing the pressure inside the container can also be configured in the same manner. In this case, the internal pressure in the auxiliary container may be set higher than the internal pressure in the container. Moreover, what is necessary is just to pressurize the inside of an auxiliary | assistant container using a pressure increase generation source, such as a compressor and a compressor, instead of the said vacuum generation source. Furthermore, a cylinder can also be used, and the internal pressure of the internal space is increased by pressing the piston and compressing the internal space generated between the cylinder body and the piston. Further, when a check valve, a control valve with a backflow prevention function, and a selection valve are used, they are provided so as to prevent backflow in the direction opposite to the gas flow that prevented backflow in the vacuuming device. Moreover, what is necessary is just to set it as the decompression means which can decompress the inside of a container again by providing an open valve in a container, piping, etc.
[0042]
Next, an exercise restraint device according to an embodiment of the present invention will be described based on the drawings. The motion restraint device restrains any or all of the stretching motion, bending motion, and twisting motion from exceeding a predetermined value by using the pressure increasing / decreasing device according to any of the above embodiments. is there.
[0043]
A motion restraint tool 100 that variably restrains the stretching motion is shown in FIGS.
The motion restraint device 100 includes two expansion / contraction restraint members 102 installed opposite to each other between the action end portions 101 to which an external force acts, and includes the extension / contraction restraint member 102, and serves as a container together with the action end portions 101. A movement restraining means 110 having a cylindrical body 103 forming an internal space, and a vacuum device 120 for evacuating the internal space of the cylindrical body 103 are provided.
[0044]
As shown in FIG. 13, the expansion / contraction restraining member 102 is a thin plate-like member in which an expansion / contraction part 106 made of an elastic material such as rubber and a non-expansion / contraction part 107 made of a material that does not expand and contract are arranged in series. Yes, two expansion / contraction restraining members 102 are arranged between the working end portions 101 so as to face each other so that the non-expandable portions 106 have a symmetrical positional relationship. More specifically, one stretchable portion 105 of one stretch constraint member 102 and a non-stretch portion 106 of the other stretch constraint member 102 are fixed to one working end portion 101, The non-stretchable portion 106 of the stretchable restraining member 102 and the stretchable portion 105 of the other stretchable restraining member 102 are fixed.
[0045]
The cylindrical body 103 is formed of a material whose side peripheral wall is extendable and does not allow gas flowing into the internal space to pass therethrough. The cylindrical body 103 is integrated with the working end portion 101 to form a sealed space having a constant volume inside. ing. One of the working end portions 101 is provided with an outflow inlet 104 for flowing gas into and out of the internal space.
[0046]
As shown in FIG. 13, the vacuum device 120 includes a plurality of auxiliary containers 2, a vacuum generation source 5, an open valve 12, and the like. Such a vacuuming device can be used. The vacuum device 120 is connected to the internal space of the cylindrical body 103 through the inflow / outlet port 104 in a state where gas can flow in / out.
[0047]
When the motion restraint tool 100 does not restrain the telescopic motion, as shown in FIG. 13A, the internal pressure of the cylinder 103 and the external atmospheric pressure are in a balanced state, and a constant volume of the internal space is maintained. Thus, the opposing expansion / contraction restraining member 102 is always in a separated state. Accordingly, the motion restraint tool 100 can be stretched in the direction of the arrow when an external force is applied due to the elasticity of the stretchable portion 106 of the stretchable restraining member 102.
[0048]
On the other hand, when restraining the expansion / contraction movement, the gas in the internal space of the cylinder 103 is discharged by the vacuum device 120 in an arbitrary expansion / contraction state as shown in FIG. The internal pressure of the body 103 becomes a negative pressure, and as shown in FIG. As a result, friction occurs on the contact surfaces of the non-expandable portions 106 of the two expansion / contraction restraining members 102, and the frictional force acts as a resistance against an external force that causes the expansion / contraction motion, thereby constraining the expansion / contraction motion. Also, from this state, by opening the release valve 12, air flows into the inner space of the cylinder 103, the internal pressure is balanced with the atmospheric pressure, the expansion / contraction restraining member 102 is separated again, and the expansion / contraction motion is restrained. Is released.
[0049]
Since the frictional force is obtained by multiplying the normal direction force (normal force) acting on the contact surface of the non-stretchable portion 106 by the friction coefficient of the contact surface of the non-stretchable portion 106, the normal force is controlled. By doing so, the frictional force generated on the contact surface can be controlled. Therefore, by controlling the internal pressure of the cylinder 103, that is, by controlling the vacuum device 120, the restraining force of the expansion / contraction motion can be arbitrarily changed.
[0050]
The arrangement of the expansion / contraction part 105 and the non-expansion / contraction part 106 of the expansion / contraction restraining member 102 is not limited to that shown in the above embodiment, and the expansion / contraction part 105 and the non-extension / contraction part 106 are alternately and repeatedly arranged in series. It is good. Further, the restraining force of the motion restraint tool 100 depends on the friction coefficient and the contact area of the contact surface of the non-stretchable portion 106, and the friction coefficient depends on the material of the non-stretchable portion 106 and the roughness of the contact surface. Etc. Therefore, by forming a plurality of irregularities and protrusions such as spherical irregularities and triangular irregularities on the contact surface of the non-expandable portion 106, a large frictional force is generated with a smaller normal force, so The upper limit of the binding force can be improved. Further, if the contact area of the non-stretchable portion 106 is increased by laminating a plurality of stretchable restraining members 102, the upper limit of the restraining force of the stretching motion can be improved. Further, each non-expandable portion 106 of the expansion / contraction restraining member 102 has a rack structure on the contact surface, and the vacuuming device 120 applies a negative pressure to the internal space of the cylindrical body 103, thereby If the non-stretchable portions 106 are brought into close contact with each other and the rack structure is meshed, the stretchable motion can be completely restrained with a small normal force.
[0051]
As described above, according to the motion restraint device 100, in any stretched state, the vacuum chamber 120 is used to evacuate the internal space of the cylindrical body 103, thereby bringing the non-stretchable portion 106 of the stretch restraint member 102 into close contact. Further, it is possible to restrain the expansion and contraction motion by generating a frictional force on the contact surface of the non-stretchable portion 106.
[0052]
Note that the expansion and contraction restraining members 102 can be brought into close contact with each other by setting the internal space of the cylinder 103 to a positive pressure. As shown in FIG. 14, the movement restraining means 130 is provided with a plurality of rectangular frames 107 made of a rigid body that does not deform in the cylinder 103 at regular intervals, and a rubber bag 108 through which gas flows in and out is provided inside the cylinder 103. The space is disposed in a space between the expansion / contraction restraining member 102 and the cylinder 103. In FIG. 14, the cylinder 103 is omitted. If gas flows into the rubber bag 108 from the pressure intensifier (not shown) through the outflow port 104, the rubber bag 108 expands in the internal space of the cylinder 103 and compresses the expansion and contraction restraining member 102. As a result, the opposing expansion / contraction restraining members 102 are brought into close contact with each other, and the expansion / contraction movement is restricted. In this state, by opening the release valve provided in the pressure increasing device, air flows out from the internal space of the cylinder 103, the internal pressure is balanced with the atmospheric pressure, and the expansion / contraction restraining member 102 is separated again. The restraint of the expansion / contraction movement is released.
[0053]
Next, another motion restraint device according to an embodiment of the present invention will be described based on the drawings. As shown in FIG. 15, the movement restraining tool is bent and deformed by an external force, and a non-stretchable bending restraining member 201 includes a plurality of rows of bending movement restraining means 210 in a packaging bag 202 as a container, A vacuuming device (not shown) that causes the bending motion restraining members 201 arranged in close contact with each other to generate a drag force against the external force on the contact surfaces of the bending motion restraining members 201 by making the internal space of the bag 202 negative pressure. It is equipped with.
[0054]
The bending restraining means 210 includes a bending restraining member 201 in which thin-film bending restraining members 201a that can be bent and deformed, and a wrapping bag 202 as a container that encloses the bending restraining member 201. The wrapping bag 202 is provided with an outlet / inlet 203 for allowing gas to flow into and out of the internal space. The evacuation apparatus according to each of the above-described embodiments is connected to the inflow / outlet port 203 in a state where gas can flow in / out.
[0055]
When the bending motion is not restrained, the inner space of the bag 202 is filled with an appropriate amount of gas and balanced with the external atmospheric pressure, and each bending restraining member 201a bends on the contact surface of the other bending restraining member 201a. Is not constrained and bends and deforms according to external force.
[0056]
On the other hand, in the case of restraining the bending motion, each bending restraining member 201a is discharged from the internal space of the wrapping bag 202 by using a vacuum device through the inlet / outlet port 203 so that the internal pressure of the wrapping bag 202 is negative. Adhere closely. As a result, a frictional force is generated on the close contact surface of each bending restraining member 201a, and the frictional force acts as a resistance against an external force that causes the bending motion, thereby restraining the bending motion. Also, from this state, by opening the release valve provided in the vacuuming device, air flows into the inner space of the bag 202, the internal pressure is again balanced with the atmospheric pressure, and the restriction of the bending motion is released.
[0057]
Next, a modified example of another motion restraint device according to the embodiment of the present invention will be described based on the drawings. As shown in FIG. 16, the motion restraint device according to the present modification includes a bending restraint member 205 in which a plurality of bendable and deformable fibrous bend restraint members 204 a are converged, and a container containing the bend restraint member 204. A bending restraining means 220 including a wrapping bag 205 and a vacuum device (not shown) are provided.
[0058]
The bending restraining member 204a is a fiber having a hexagonal cross-sectional shape, and the bending restraining member 204a is bundled so that the side surfaces are in contact with each other, but is not fixed at all. As a result, the bending restraining member 204a is bendable and non-stretchable. Note that the cross-sectional shape of the bending restraining member 204a may be another polygonal shape such as a rectangle.
[0059]
The wrapping bag 205 is made of a soft material that does not allow the gas flowing into and out of the internal space to permeate, and an inflow / outlet port 206 for flowing in and out of the internal space is provided in the vicinity of the end portion. The evacuation apparatus according to each of the above-described embodiments is connected to the inflow / outlet port 206 in a state where gas can flow in / out. When the wrapping bag 205 surrounds the bending restraining member 204, the bending restraining member 204 is maintained in a combined state in a fixed arrangement.
[0060]
When the motion restraint tool does not restrain the bending motion, the inner space of the wrapping bag 205 is filled with an appropriate amount of gas and balanced with the external atmospheric pressure, and each bend restraint member 204a is in contact with another bend restraint member 204a. The bending motion is not constrained to the surface, and the surface is bent and deformed in the direction indicated by the arrow according to the external force.
[0061]
On the other hand, when restraining the bending motion, the gas in the internal space of the sachet 205 is discharged by the vacuum device to make the internal pressure negative, and the bending restraining members 204a are brought into close contact with each other. As a result, a frictional force is generated on the close contact surface of each bending restraining member 204a, and the frictional force acts as a resistance against an external force that causes the bending motion, thereby restraining the bending motion. Thus, according to this motion restraint tool, the bending motion in two directions can be restrained. Further, from this state, by opening the release valve provided in the vacuuming device, air flows into the inner space of the wrapping bag 205, the internal pressure is again balanced with the atmospheric pressure, and the restriction of the bending motion is released.
[0062]
Next, still another motion restraint device according to the embodiment of the present invention will be described based on the drawings. The motion restraint device 300 is a motion restraint device that restrains all of the expansion / contraction motion, the bending motion, and the torsion motion. As shown in FIG. 17, a large number of granule bodies 301 are loaded into the internal space. The apparatus includes a movement restraining means 310 including a hollow columnar movement restraining member 302 serving as a container, and a vacuum device 320.
[0063]
The movement restraining member 302 is made of a material whose side peripheral wall is soft and non-stretchable, such as nylon, and does not allow air to flow into and out of the internal space, and whose both ends are not easily deformed. is there. In addition, an end of the movement restraining member 302 is provided with an outflow inlet 303 for flowing in and out of gas from the internal space. The evacuation device 320 according to each of the above-described embodiments is connected to the inflow / outlet port 303 in a state where gas can flow in / out. The granular body 301 is made of a material that is not easily crushed, such as synthetic resin, rubber, and glass, and its size and shape are not particularly limited.
[0064]
When the motion restraint tool 300 does not restrain the motion, as shown in FIG. 18A, the internal space of the motion restraint means 310 is filled with an appropriate amount of gas, and the internal pressure of the motion restraint means 310 and the external large pressure are increased. The movement restraint device 300 is in a state of being balanced with the atmospheric pressure, and performs expansion / contraction, bending, and twisting movements as indicated by arrows in accordance with external forces acting on both ends of the movement restraining member 302.
[0065]
On the other hand, when restraining the movement, in any state, as shown in FIGS. 18B and 18C, the gas in the internal space of the movement restraining means 310 is discharged by the vacuum device 320 and the internal pressure is reduced. Becomes a negative pressure, and the side peripheral wall of the motion restraint member 302 and the granular material 301 are brought into close contact with each other in the shape of the motion restraint member 302 in an arbitrary state. As a result, a frictional force is generated on the close contact surfaces of the granular bodies 301 and the side peripheral wall of the movement restraining member 302 and the granular body, and the frictional force acts as a resistance against an external force that causes the movement, thereby restraining the movement. Also, from this state, by opening the release valve 12 provided in the vacuum device 320, air flows into the internal space of the movement restraining means 310, the internal pressure is again balanced with the atmospheric pressure, and the friction force disappears. Then, the restraint of movement is released.
[0066]
The frictional force can be arbitrarily changed by controlling the internal pressure of the movement restraining means 310, that is, by controlling the vacuum device 320, and the movement restraining member can be changed according to the change of the frictional force. Since the restraining force of 302 also changes, the restraining force can be controlled by the vacuum device 320.
[0067]
As described above, according to the motion restraint device 300, in any motion state, the vacuum device 320 reduces the internal pressure of the motion restraint means 310 to bring the granule 301 into close contact with each other. The restraining force of 302 can be controlled.
[0068]
Although the motion restraint device according to the embodiment has been described above, the gas used in these motion restraint devices is not limited to air, and a process gas such as helium gas or argon gas may be used. In addition, although one inflow / outlet port is provided to flow gas into and out of the inner space of the container of the movement restraining means, an inflow port for flowing in gas and an outflow port for flowing out gas are separately provided. It may be provided.
[0069]
Next, the simulated experience apparatus according to the embodiment of the present invention will be specifically described with reference to the drawings. As shown in FIG. 19 and FIG. 20, the simulated experience apparatus 400 includes a motion restraint means 401 by any one or a combination of the motion restraint means shown in the above embodiment, a joint angle, a motion speed, and A deformable joint mounting tool 403 provided with a sensor 402 that detects a drag force and transmits a detection signal, a control system 404 that receives the detection signal and controls a restraint force, and an internal space in the motion restraint means 401 And a drive system 405 for applying an adhesive force by setting the pressure to a negative pressure or a positive pressure.
[0070]
The joint mounting tool 403 is a supporter according to the joint to be mounted, and the motion restraint means 401 provided in each joint mounting tool 403 takes into account the motion of the joint to be restrained such as the wrist and the elbow. Selected.
[0071]
Further, since the simulated experience apparatus 400 restrains a plurality of joints such as elbows and knees, the simulated experience apparatus 400 includes a unified drive system 405 for bringing the motion restraining means into close contact with each other. The drive system 405 is provided with a compressed air tank or a process gas source, a valve and the like in addition to a pressure increasing / decreasing device such as a vacuuming device, and a gas such as air is passed through a pipe 406 in accordance with a command from the control system 404. The movement restricting means 401 is made to flow in and out.
[0072]
Each sensor 402 provided in each joint mounting tool 403 is a combination of known and arbitrary sensors that detect a joint angle, a motion speed, or a drag force and transmit a detection signal, and each detection signal is a signal line 407. To the control system 404.
[0073]
According to the simulated experience apparatus 400 configured as described above, the motion state of the joint is detected by each sensor 402 of each joint mounting tool 403 mounted on the elbow, knee, or the like, and a detection signal is output to the control system 404. Then, the control system 404 operates the drive system 405 so that a desired restraining force is generated based on each detection signal. For example, since the drag force by the motion restraint means 401 is based on the frictional force, it is not proportional to the motion speed. Therefore, based on the output signals of the speed sensor and the force sensor, the restraint force is increased in proportion to the speed, and the viscosity is increased. The drive system 405 is operated so that it can be experienced. Thereby, the movement restraining means 401 of each joint attachment tool 403 restrains each joint of the wearer, and allows the wearer to experience the force in the virtual space.
[0074]
It is also desirable to use a pressure sensor that detects the internal pressure of the internal space of the movement restraining means 401 and outputs a detection signal as the sensor 402. The control system 404 operates the drive system 405 so that a desired internal pressure is obtained based on the detection signal. Thereby, the restraining force of the motion restraining means 401 of each joint mounting tool 403 can be controlled.
[0075]
The simulated experience apparatus 400 is used in a very wide range. For example, the simulated experience apparatus 400 can be used for sports training in which the fluid resistance of water is realized by restraining force on the ground and the body feels swimming in various environments. It can be used for virtual reality games in conjunction with visual display devices. Further, when the sensor 401 detects an external force or speed that is equal to or greater than a certain threshold value, a protector for a sports athlete, a motorcycle driver, or the like can be used if control is performed so that the joint movement is completely restrained by the joint mounting tool 403. It can also be used as
[0076]
The simulated experience apparatus according to the present invention is not limited to the simulated experience apparatus 400 in which the joint mounting tool 403 is mounted on each joint of the human body, and various forms can be employed. For example, the configuration may be such that only the motion of a specific joint is constrained. In that case, the drive system and the control system may be further miniaturized and integrated with the joint mounting device.
[0077]
In addition, a plurality of the above-mentioned motion restraint means 110 for restraining the expansion and contraction motion are provided in the simulated experience apparatus incorporating the sensor 402, the control system 404, and the drive system 405, and the motion is restrained by connecting to several places of the human body. Such an opposing type can also be realized. In addition, a transmission / reception system can be provided in the simulated experience apparatus 400, and the control of the movement can be changed by giving a command to the control system 405 from the outside.
[0078]
【The invention's effect】
As is apparent from the above description, according to the pressure increasing / decreasing device of claim 1, a plurality of auxiliary containers having an internal pressure lower than the internal pressure of the container are connected in parallel so that gas can flow in and out. By opening the connection between the auxiliary container and the container while the connection between the other auxiliary container and the container is closed by a control valve capable of controlling the opening and closing of gas inflow and outflow between the container and the auxiliary container, the auxiliary container The internal pressure between the container and the container is in an equilibrium state, and the internal pressure of the container can be reduced. By repeating this for other auxiliary containers in sequence, the internal pressure of the container can be rapidly reduced. Similarly, since the plurality of auxiliary containers having an internal pressure higher than the internal pressure of the container are connected in parallel, the internal pressure of the container can be rapidly increased. Furthermore, compared with the case where only one auxiliary container is connected, for example, the volume of the auxiliary container required for increasing / decreasing the container to a predetermined internal pressure is reduced, so that the pressure increasing / decreasing device can be reduced in size. it can.
[0079]
According to the pressure increasing / decreasing apparatus of claim 2, since the pressure increasing / decreasing source for increasing / decreasing the internal pressure of the auxiliary container is provided, the internal pressure in the auxiliary container can be repeatedly increased / decreased, and the same number of auxiliary containers are used. The degree of vacuum in the container can be further increased. In addition, since the number of auxiliary containers required for increasing / decreasing the pressure inside the container to a predetermined internal pressure can be reduced, the pressure increasing / decreasing apparatus can be further downsized. In addition, since the pressure increasing / decreasing source side control valve for controlling the flow of gas between the pressure increasing / decreasing source and the auxiliary container is provided, the internal pressure of only the necessary auxiliary container can be increased / decreased by the pressure increasing / decreasing source. Therefore, the internal pressure of the container can be increased or decreased more rapidly.
[0080]
According to the pressure-increasing / decreasing device of claim 3, the container and the internal space through which the gas can flow in and out, a plurality of cylinders connected in parallel with each other, and the opening and closing of the gas flow in and out of the container and the internal space are opened and closed. Since the control valve can be controlled, the pressure in the internal space can be increased or decreased by operating the cylinder. Accordingly, by opening the connection between the internal space of a certain cylinder and the container in a state where the connection between the internal space of the other cylinder and the container is closed, the internal pressure of the internal space and the container becomes balanced, and the container The internal pressure can be increased or decreased. By repeating this for other cylinders in sequence, the internal pressure of the container can be rapidly increased or decreased. Further, since the volume of the internal space of the cylinder necessary for increasing / decreasing the inside of the container to a predetermined internal pressure is smaller than when only one cylinder is connected, for example, the pressure increasing / decreasing device can be downsized. it can.
[0081]
Furthermore, since the pressure in the internal space of the cylinder can be repeatedly increased or decreased, for example, the required internal volume of the cylinder compared to the volume in the auxiliary container when using an auxiliary container that does not include means for increasing or decreasing the internal pressure. Since the volume of the space is reduced, the pressure increasing / reducing device can be reduced in size. Further, since the individual cylinders are connected in parallel and the pressure in the internal space of only the necessary cylinders can be increased or decreased, the internal pressure of the container can be increased or decreased more rapidly. In addition, the cylinder has both an auxiliary container and a pressure increasing / decreasing source, and has a simple structure as compared with a pressure increasing / decreasing source such as a vacuum pump or a compressor, so that the pressure increasing / decreasing device can be made inexpensive.
[0082]
According to the pressure increasing / decreasing device of claim 4, since the pressure increasing / decreasing means is provided, the inside of the container once increased / reduced can be returned to, for example, the original internal pressure again, so that the internal pressure of the container is repeated. It can be increased or decreased.
[0083]
According to the motion restraint device of claim 5, in any state, the motion restraint means are brought into close contact with each other, and a drag force against an external force is generated on the contact surface. Can do. Further, the pressure increasing / decreasing device for increasing and decreasing the internal pressure of the container and setting the internal space in the container to a negative pressure or a positive pressure so that a plurality of motion restraining means are closely attached to each other is provided in the container. Can be increased or decreased rapidly, so that the movement can be restrained rapidly. Moreover, since the pressure increase / decrease device can be miniaturized, the motion restraint can be miniaturized.
[0084]
According to the simulated experience device of claim 6, the elastic restraint comprising the motion restraint device and a sensor that detects a joint angle, a motion speed, or a drag force and transmits a detection signal. A joint mounting tool and a control means for controlling the drag generated in the motion restraint device in response to the detection signal, the reality is that it has a high affinity with the human body and variably restrains the motion. A highly experienced simulated experience device can be realized. Moreover, the said pressure increase / decrease device rapidly increases / decreases the internal pressure of the container of the said movement restraint tool, and can restrain the exercise | movement in a simulated experience apparatus rapidly.
In addition, since the motion restraint device including the pressure increasing / decreasing device can be reduced in size, the simulated experience device can be reduced in size.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a configuration of a vacuuming apparatus according to a first embodiment of the present invention.
FIG. 2 is a diagram for generalizing and explaining the process of evacuating the inside of the container using the evacuation apparatus shown in FIG.
FIG. 3 is a schematic view showing another configuration of the vacuuming apparatus according to the first embodiment.
FIG. 4 is a schematic diagram showing a configuration of a vacuuming apparatus according to a second embodiment of the present invention.
FIG. 5 is a schematic diagram showing another configuration of the vacuuming apparatus according to the second embodiment.
FIG. 6 is a schematic view showing still another configuration of the vacuuming apparatus according to the second embodiment.
FIG. 7 is a schematic diagram showing still another configuration of the vacuuming apparatus according to the second embodiment.
FIG. 8 is a schematic diagram showing a configuration of a vacuuming apparatus according to a third embodiment of the present invention.
FIG. 9 is a schematic diagram showing a configuration of a vacuuming apparatus according to a fourth embodiment of the present invention.
FIG. 10 is a schematic diagram showing another configuration of the vacuuming apparatus according to the fourth embodiment.
FIG. 11 is a diagram illustrating, as an example, a process in which the inside of a container is evacuated and re-intensified using the evacuation apparatus according to the fourth embodiment.
FIG. 12 is a schematic perspective view showing the external appearance of the expansion / contraction motion restraint means of the motion restraint device according to the embodiment of the present invention.
13 is a cross-sectional view showing an AA cross section of the expansion / contraction motion restraint means shown in FIG. 11, and a diagram illustrating a configuration of the vacuuming device, illustrating a non-motion restraint state and a motion restraint state. FIG.
FIG. 14 is a schematic perspective view showing the appearance of another telescopic motion restraint means of the motion restraint device according to the embodiment.
FIG. 15 is a schematic perspective view showing an appearance of a bending motion restraining means of another motion restraining tool according to the embodiment.
FIG. 16 is a schematic perspective view showing the appearance of another bending motion restraining means of another motion restraining device according to the embodiment.
FIG. 17 is a schematic perspective view showing an external appearance of another motion restraint means of still another motion restraint device according to the embodiment.
18 is a diagram illustrating a schematic external appearance of the motion restraint unit illustrated in FIG. 16 and a configuration of the vacuuming device, and illustrates a non-motion restraint state and a motion restraint state. FIG.
FIG. 19 is a schematic diagram showing a configuration of a simulated experience apparatus according to an embodiment of the present invention.
FIG. 20 is a block diagram illustrating a configuration of a simulated experience apparatus according to an embodiment.
FIG. 21 is a schematic diagram showing a configuration of a vacuuming apparatus according to a conventional example.
FIG. 22 is a schematic diagram showing a configuration of a vacuuming apparatus according to a conventional example.
[Explanation of symbols]
1 container
2a, 2b, 2c Auxiliary container
3a, 3b, 3c control valve
4 Selection valve (control valve)
5, 5a, 5b, 5c Vacuum source (increased pressure source)
6a, 6b, 6c Vacuum source side control valve (Increase / decrease source side control valve)
7a, 7b, 7c Check valve (Control valve for increasing / decreasing pressure source)
8 Vacuum source selection valve (Increase / decrease source control valve)
9a, 9b, 9c cylinder
10, 20, 30, 40, 50, 60, 70, 80, 90 Vacuuming device (pressure increasing / decreasing device)
11 Cylinder internal space
12 Opening valve (re-increasing pressure reducing means)
100, 300 Exercise restraint
101 Working end (container)
102 Telescopic motion restraint member
103 cylinder (container)
104, 203, 206, 303 Outlet
110, 130 Telescopic motion restraint means (motion restraint means)
120, 320 Vacuumizer (Increase / Depressurizer)
201, 204 Bending motion restraint member (motion restraint member)
202, 205 Packaging (container)
302 motion restraint member
210, 220 Bending motion restraint means (motion restraint means)
310 Movement restraint means
400 simulated experience device
401 Movement restraint means
402 Sensor
403 Joint fitting
404 control system
405 Drive system

Claims (6)

In the pressure increasing / decreasing device that increases or decreases the internal pressure of the container,
When the container and the gas are connected in parallel so that they can flow in and out, and when the internal pressure of the container is increased, the internal pressure of the container is reduced to an internal pressure higher than the internal pressure of the container. A plurality of auxiliary containers having an internal pressure lower than the internal pressure of the container;
And a control valve capable of controlling opening and closing of gas inflow and outflow between the container and the auxiliary container. An increase / decrease source for increasing / decreasing the internal pressure of the auxiliary container;
The pressure-increasing / decreasing device according to claim 1, further comprising: a pressure-increasing / decompressing source side control valve capable of controlling gas flow in and out of the auxiliary pressure-generating source and the auxiliary container. In the pressure increasing / decreasing device that increases or decreases the internal pressure of the container,
A plurality of cylinders having an internal space through which the container and gas can flow in and out, each connected in parallel;
And a control valve capable of controlling opening and closing of gas inflow and outflow between the container and the internal space. When the internal pressure of the container is increased, the internal pressure of the container is reduced again, and when the internal pressure of the container is reduced, re-increasing / reducing means for increasing the internal pressure of the container again is provided. The pressure increasing / decreasing device according to any one of claims 1 to 3. An exercise restraint that variably restrains movement,
A plurality of movement restraining means provided in the container and deformable by an external force;
The internal pressure of the container is increased or decreased, and the internal space in the container is set to a negative pressure or a positive pressure, thereby bringing the movement restraining means into close contact with each other and generating a drag force against the external force on the contact surface. 5. A motion restraint device comprising: the pressure increasing / decreasing device according to any one of 4 above. In a simulated experience device that lets you experience external forces acting on the human body in a virtual reality,
An elastically deformable joint mounting device comprising: the motion restraint device according to claim 5; and a sensor that detects at least one of a joint angle, a motion speed, and a drag force and transmits a detection signal;
And a control means for receiving the detection signal and controlling a drag generated in the motion restraint device.

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