JP2005083447A5

JP2005083447A5 -

Info

Publication number: JP2005083447A5
Application number: JP2003315038A
Authority: JP
Filing date: 2003-09-08
Publication date: 2006-09-28
Anticipated expiration: 2023-09-08

Claims

A plurality of hollow elastic bodies arranged in series and having different displacement amounts due to pressurization;
A plurality of hollow elastic body that is disposed in the series connected to each other, and a connecting sealing member which performs hermetic sealing of the consolidated portion,
Set and the sealing member of sealing the both ends of the plurality of hollow elastic bodies disposed in the series,
By having a flow path through which the fluid passes and the fluid passes through the flow path, the fluid can be injected or poured into the hollow interior of each of the plurality of hollow elastic bodies arranged in series. expansion contraction structures and a become tubular fluid passage member.

At least one of the hollow elastic bodies arranged in series is tubular, and the outer circumference of the tubular hollow elastic body extends in the radial direction and contracts in the axial direction. expansion and contraction structure according to claim 1, deforming direction regulating member for regulating the deformation of the axial direction so as to extend in the direction are provided.

Expansion and contraction structure according to claim 1 wherein at least one of the plurality of hollow elastic body that is disposed in the series is a bellows hollow elastic body.

A hollow elastic body ;
A septum wall to divide between two or more empty different volumes of interior space of the hollow elastic body,
And a pair of sealing member for sealing the ends of the hollow structure,
The fluid has a flow path through which the fluid passes through the flow path, so that the fluid is injected or poured into each of the two or more spaces of the hollow structure divided by the partition wall. expansion and contraction structure and a tubular fluid passage member to be possible.

The hollow elastic body, at least one tubular of portions to be divided by the partition wall, and, expansion and contraction structure according to claim 4, deforming direction regulating member for regulating the deformation direction is disposed body.

The expansion / contraction structure according to claim 4, wherein at least one of the hollow elastic bodies divided by the partition walls has a bellows shape.

A hollow elastic body ;
And a sealing member which performs hermetic sealing of both ends of the hollow elastic body,
A fluid pressure drive Cylinders different displacement amount of the pressurized fluid between the hollow elastic member is disposed in the hollow elastic member in series,
A flow path the fluid passes, by which the fluid passes through the flow path, the hollow elastic member and the fluid passage member of tubular becomes possible injection or pouring of the fluid to the fluid drive cylinder An expansion / contraction structure comprising:

The expansion / contraction structure according to claim 1, claim 4, or claim 7, wherein the fluid is a compressive fluid.

And expansion and contraction structure displacement by pressure is arranged in series with a plurality of different drive unit,
A first feedback compensator that performs feedback control of the driving unit for long large displacement length of the plurality of driving portions that are arranged in series of the expansion contraction structures,
Control device for expansion and contraction structure and a second feedback compensator that performs feedback control of the driving unit for a small displacement short length among the plurality of driving portions that are arranged in series of the expansion and contraction structure.

And expansion and contraction structure having a plurality of driver displacement amount is different from each other due to pressure are disposed in series,
And a feedback compensator that performs feedback control of the expansion and contraction structure,
After removing the high frequency components in response to a signal from the feedback compensator, a low-pass filter a plurality of the length of the driving portion disposed in series in the expansion and contraction structure outputs a signal to the long driver ,
After removing the low frequency components in response to a signal from the feedback compensator, a high pass filter which outputs a signal to a short drive portion length of the plurality of driving portions that are arranged in series of the expansion contraction structures And a control device for the expansion / contraction structure.

And expansion and contraction structure having a plurality of driver displacement amount is different from each other due to pressure are disposed in series,
Feedforward compensator that performs feedforward control of a long driving unit length of the plurality of driving portions that are arranged in series of the expansion contraction structures,
Control device for expansion and contraction structure and a feedback compensator that performs feedback control of a short drive portion length of the plurality of driving portions that are arranged in series of the expansion and contraction structure.