JP2011106529A - Hydraulically driven actuator, hydraulically driven actuator unit incorporating the same, and hydraulically driven robot assembled with them - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide hydraulically driven actuators capable of "being flexibly controlled" and "performing flexible motion" according to the surrounding situations and provided with two aspects enabling "linear motion" and "curved motion" simultaneously and a robot assembled with them. <P>SOLUTION: The hydraulically driven actuator includes a first cylinder 10 and a second cylinder 20 whose cylinder chambers are filled with a liquid medium, a piston 30 having a hollow part 31 filled with a liquid medium, and a hydraulic pressure supply mechanism 40 supplying hydraulic pressure into a liquid medium space formed by the first cylinder 10, the piston 30 and the second cylinder 20. The piston 30 is formed of a flexible bendable material and can expand/shrink by cylinder-piston drive while being bent as a whole actuator 100. Further, it is preferable that the actuator is of a structure including a space limiter 50 controlling its extension and an elastic body 60 also. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a hydraulic drive actuator driven by hydraulic pressure such as water pressure or hydraulic pressure, a hydraulic drive actuator unit incorporating the actuator, and a hydraulic drive robot incorporating the actuators. For example, an arm-type robot, a robot that moves on the outer wall surface of a tube, a robot that moves in a tube, a robot that moves on a vertical wall surface, a walking robot that walks with a plurality of legs with joints, and a so-called multiple body segment The present invention relates to various robot fields such as a segmental robot that moves by a measuring operation or the like. As an example, there is a robot that performs operations at power generation facilities, factory facilities, underwater facilities, outboard facilities, disaster sites, outer space facilities, and the like that are difficult for workers to enter.

  In recent years, unmanned operations have been promoted in highly dangerous places such as power plants and factories, and various robots and manipulators that perform work on behalf of workers have been developed accordingly. As a conventional robot or manipulator, a motor built-in system in which a drive unit such as a servo motor is built in each joint is the mainstream.

  Conventional robots and manipulators are based on numerical control, and accurate position information and movement amounts of each part of the robot and manipulator are required as input data. The position information and the amount of movement were measured, and based on the measurement data, feedback control technology and feedforward control technology were used to complete the operation exactly as programmed.

  It is theoretically possible to precisely control the movement amount, movement direction, rotation amount, etc. of each part of a complex robot or manipulator by accurately controlling the rotation amount of each servo motor. .

  Also, in recent years, there are robot operation and manipulator operation methods which are controlled by a so-called master / slave method instead of robot operation methods and manipulator operation methods by numerical control and programming. As an instruction input means for operating a robot or manipulator by a master / slave system, there is an input device using a data glove as described in, for example, JP-A-6-3465. This data glove is equipped with a conductive gel on the finger joint of a glove-shaped input device, and the bending and stretching movements of the finger using the fact that the electrical resistance value of the conductive gel changes according to the bending and stretching state of the finger Is instructed. Moreover, as a conventional arm part operation part which gives an operation instruction of an arm part, there is an operation part which carries it from the shoulder as an arm part structure having the same size as a human being.

  Further, in the prior art, a reactor repair robot is disclosed in Japanese Patent Laid-Open No. 2003-161797. Japanese Patent Laid-Open No. 2003-161797 discloses a robot that moves while adsorbing the wall surface of a reactor shroud using a hydraulic cylinder and a submersible pump as a drive mechanism.

  As shown in FIG. 1 of the publication, the nuclear reactor repair robot has a hanging ear 3 on the top of a vertically long box-shaped body 2 and a propeller 4 for propulsion at the center of the body 2. The body 2 is provided with two horizontally long frames 2a and 2b. A hydraulic cylinder 8 is disposed in the upper frame 2a in a horizontally long arrangement, and suction cups 10a and 10b as suction mechanisms 10 are connected to pistons 9 projecting on both sides of the hydraulic cylinder 8 via a rotary support mechanism 14, respectively. ing. Similarly, a hydraulic cylinder 11 is arranged in the lower frame 2b, and suction cups 13a and 13b as suction mechanisms 13 are connected to pistons 12 projecting on both sides of the hydraulic cylinder 11 via rotary support mechanisms 14, respectively. ing.

  As shown in FIG. 2 of the same publication, only hydraulic cylinders 8 and 11 are disclosed which perform piston movement with one cylinder and one piston. After all, when viewed in conjunction with FIG. 1 of the publication, four cylinders and pistons operate four legs with suction cups. Further, as shown in FIG. 2 of the same publication, a linear sensor 15 is provided in the internal piston 9 portion, and the movement amount of the piston 9 is displayed on a robot control device 23 to be described later via a sensor cord 16 for confirmation. Be able to.

JP-A-6-3465 JP 2003-161797 A

  The first problem of the above-mentioned conventional numerical control type robots and manipulators is so-called “rigid control” and “rigid operation” depending on input data from a large number of sensors and programmed numerical control. Is a point. Theoretically, various operations should be able to be performed correctly using the input data obtained by the sensor and numerical control. However, it is a well-known fact that in reality it is impossible to withstand use. This is because conventional numerical control robots and manipulators can control the amount of rotation of the motor and the amount of movement of gears and members based on known data that is not exactly specified or input data from sensors. It is the so-called “rigid control” and “rigid operation” that are correct operations based on the assumption. Also, the robot components themselves are linearly moving with strong rigidity. In reality, there are always manufacturing errors and mounting errors in the size and angle of the object to be operated, and there is a case where an external force is applied to the object to be operated and there is a large distortion. There are also errors in the amount of motor rotation and the amount of movement of gears and members themselves, and there are many error factors in the amount of operation, no matter how high the detection accuracy of the sensor. For this reason, when an operation according to a program determined by numerical control is performed, an operation amount that does not match the current state is obtained, and control often fails.

  For example, if an object to be operated is grasped by an arm type robot, too much pressure is applied to destroy the object, or conversely, the object is dropped due to insufficient pressure. Also, for example, if there are two or more gripping mechanisms, and the gripping mechanisms are alternately gripped and the pipe outer wall is gripped by a so-called measuring operation, the pipe is gripped by one gripping mechanism. If the outer wall is distorted more than the expected strain of the tube when the tube is gripped by the remaining gripping mechanism in the state, the tube may be missed or the strain may be distorted because the tube is firmly gripped. There is a risk that it will be transmitted to the internal mechanism, causing problems such as damage to the frame and elements inside the mechanism.

  Therefore, the robot according to the present invention performs so-called “flexible control” and “flexible operation” instead of the rigid control depending on the sensor and the numerical control. In addition, the robot components themselves have “a certain degree of rigidity”, “linear movement” is possible, “soft elasticity” and “curve movement” are also possible. ”At the same time.

  Next, the second problem with the above-described motor-embedded robot and manipulator is that the motor drive mechanism is incorporated into each joint, so that the entire weight of the robot and manipulator increases, resulting in poor workability. In particular, a mobile robot has a problem that its own weight becomes a limitation of operation, resulting in a decrease in workability.

  The third problem with motor-embedded robots and manipulators is that the motor is short-circuited and cannot be used underwater. Although there is a submersible motor as the prior art, it is special, and it is practically difficult and costly to convert the motor drive mechanism of each joint of the robot into a submersible motor.

  Next, unlike the numerical control, the master / slave manipulators and robots of the prior art are one of the excellent control methods that make use of human senses. However, there is still a problem that the control must rely on the sensor. In addition, there is a problem that the master-side worker always has to control and cannot operate autonomously. In addition, a data glove type input device as described in JP-A-6-3465 is used, and a conductive gel as a sensor must be attached to the joint of each finger. In addition, when the temperature is high, there is a problem that the operator feels uncomfortable by sweating in the gloves. Further, the structure that can be considered as a conventional arm operation section has a problem that it is heavy to carry from the shoulder of a human being and is difficult to operate.

  Next, the problem of the nuclear reactor repair robot disclosed in Japanese Patent Application Laid-Open No. 2003-161797 is that there is a piston mechanism that is driven by water pressure because of a robot that operates in water, but input data from a large number of arranged sensors. This is a conventional robot that performs so-called “rigid control” and “rigid motion” that depends on programmed numerical control. As shown in FIG. 2 of the publication, each of the hydraulic cylinders 8 and 11 is composed of only one cylinder and one piston, and only a conventional simple piston movement is disclosed. It has rigidity and can only move linearly. When viewed in conjunction with FIG. 1 of this publication, four legs with suction cups are independently operated by four piston mechanisms. Further, as shown in FIG. 2 of the same publication, a linear sensor 15 is provided in the internal piston 9 portion, and the movement amount of the piston 9 is displayed on a robot control device 23 to be described later via a sensor cord 16 for confirmation. It is an aspect of a conventional robot that relies on input data from a sensor and programmed numerical control.

  In view of the above problems, the present invention is not a rigid type control that relies on sensors and numerical control, but performs so-called flexible control and flexible operation according to the surrounding conditions. Incorporates a hydraulically driven actuator that has both the duality that enables both "rigid movement" and "flexibility" while also providing rigidity and flexibility. It is an object to provide an actuator unit and a robot assembled with them.

  In order to achieve the above object, a hydraulically driven actuator of the present invention includes a first cylinder body in which a liquid medium is filled in a cylinder chamber, a second cylinder body in which the liquid medium is filled in a cylinder chamber, and one end A piston having a hollow portion that is accommodated in the cylinder chamber of the first cylinder body, the other end is accommodated in the cylinder chamber of the second cylinder body, and is penetrated from the one end to the other end to be filled with a liquid medium. Fluid pressure for supplying a controlled fluid pressure to a fluid medium space formed by the body, the cylinder chamber of the first cylinder body, the hollow portion of the piston body, and the cylinder chamber of the second cylinder body And a hydraulic drive actuator including a supply mechanism.

  In the present invention, the piston can be driven by a combination of “cylinder” and “piston”. However, it is not a motion intended to cause violent simple vibration like the piston drive of an engine, but an actuator that moves by hydraulic pressure. It is only necessary to realize an exercise that matches the movement of the telescopic movement.

  Here, in the above configuration, it is preferable that at least a part of the body portion of the piston body is formed of a flexible tube body. By bending the tube body in the piston body, it is possible to bend the entire shape while driving to extend and contract. In this way, an excellent characteristic that the entire shape of the actuator is bent is obtained by bending the piston body. Even if the tube body is bent, the liquid medium is filled in the tube body and the hydraulic pressure is transmitted, so that normal operation is possible even if the tube body is straight or bent. A flexible tube body filled with water has a certain degree of rigidity and also has a soft elasticity, and also has a dual surface property at the same time. In other words, the tube body can also move linearly, and since it is flexible, it can also move in a curved line, so that it “has two sides simultaneously”.

Next, in the above configuration, a configuration in which an elastic body is provided between the first cylinder and the second cylinder is preferable. By providing the elastic body, the relative movement between the first cylinder and the second cylinder is caused to expand by the hydraulic pressure supplied from the hydraulic pressure supply mechanism to the liquid medium space and to contract by the elastic body. By stopping at the balance position, the entire length can be controlled. That is, the actuator of the present invention can maintain the posture in a state where the expansion and contraction due to the hydraulic pressure and the elastic force of the elastic body are balanced by maintaining the applied hydraulic pressure.
Note that the elastic body may be, for example, a spring or rubber. If it is a spring, the elastic force tends to be stable.

  In the above configuration, the first cylinder includes a first fitting edge at an edge facing the second cylinder, and the second cylinder has a second fitting at an edge facing the first cylinder. The first cylinder body and the second cylinder body are brought into contact with each other by the elastic force of the elastic body in a state in which the hydraulic pressure by the hydraulic pressure supply function is not applied, and the first fitting edge and the second fitting edge are provided. Assuming that the mating edges fit together, the first cylinder body and the second cylinder body fit and support each other even when no hydraulic pressure is applied, and the actuator hangs under its own weight. The shape of the entire actuator can be maintained without bending.

  In the above configuration, a configuration including an interval limiter mechanism that limits the maximum interval between the first cylinder body and the second cylinder body is preferable. By providing the interval limiter mechanism, even if the hydraulic pressure supplied from the hydraulic pressure supply mechanism to the liquid medium space is applied and the first cylinder body, the piston body, and the second cylinder body move relative to each other, the piston body It can be restricted that one end does not escape from the cylinder chamber of the first cylinder body and the other end of the piston body does not escape from the cylinder chamber of the second cylinder body.

  For example, the distance limiter mechanism is a wire provided so as to connect the first cylinder body and the second cylinder body in parallel to the axis of the piston body, and the first wire is stretched. It is preferable that the relative movement of the cylinder body and the second cylinder body be restricted. When the wire is provided in parallel to the piston axis in this way, the first cylinder body and the second cylinder body can move until the wire is fully stretched, It is in a state of stretching straight without being twisted. That is, the first cylinder body and the second cylinder body expand straight, and stop when the wire is stretched.

  The distance limiter mechanism is a wire provided so as to connect the first cylinder body and the second cylinder body in an oblique direction with respect to the axis of the piston body. The relative movement between the first cylinder body and the second cylinder body is preferably limited.

  Thus, when the wire is provided in an oblique direction, the first cylinder body and the second cylinder body can move until the wire is stretched, and the wire is stretched in an oblique direction with respect to each other. It is a twisted state. In other words, since the first cylinder body and the second cylinder body can extend in a direction where there is a margin of the wire, the two cylinders are gradually twisted and twisted until the wire is fully stretched. Become.

Next, the structure provided with the 1 or several exterior cylinder body which covers the outer periphery of a piston body between a 1st cylinder body and a 2nd cylinder body is preferable.
If there is an outer cylinder that covers the outer periphery of the piston body, if the piston body is a flexible material such as a tube, unnecessary external force will be applied if the tube body is exposed, and the piston body will be deformed. It is.

  Further, if there is an exterior cylinder that covers the outer periphery of the piston body, a configuration in which the first cylinder body, the exterior cylinder, and the second cylinder body are connected in a hinge structure is also possible. With this hinge structure, when the liquid medium space is expanded by the liquid pressure supplied from the liquid pressure supply mechanism to the liquid medium space, the direction in which the hinge structure can be bent is limited, while the liquid pressure applied to only one actuator Bending control in one direction is possible only by application control. This configuration is suitable as an actuator such as a fingertip of a robot arm.

Next, an actuator unit incorporating a hydraulically driven actuator according to the present invention includes a plurality of actuators having the above-mentioned configuration arranged in parallel, each first cylinder body being attached to a first base body, and a second base By assembling a unit in which each of the second cylinder bodies is attached to a body, and independently controlling expansion and contraction of the length of each actuator via each hydraulic pressure supply mechanism, Expansion / contraction control and bending control in all directions of the entire unit are possible.
That is, according to the hydraulically driven actuator unit of the present invention, each actuator expands and contracts independently, but is connected to the first base body and the second base body. If there is a difference, the first base body and the second base body are inclined, and the expansion / contraction control as a whole unit and the bending control in all directions become possible.

  Next, the hydraulic drive robot of the present invention includes the actuator and the actuator unit as constituent elements. For example, various types of robots can be configured by assembling the above actuators and actuator units in series or in parallel.

  For example, a gripping mechanism is formed by opposing the actuator having the above-described configuration with a gripper at the tip, and at least two gripping mechanisms are provided, and the actuator unit having the above-described configuration is provided so as to connect the gripping mechanisms to each other. It is assumed that at least one mechanism is provided, the surrounding object (for example, pipe pipe) is held by at least one gripping mechanism to support its own weight, and the gripping of other gripping mechanisms is stopped and opened. As the mechanism expands and contracts, the gripping mechanism in the open state moves and the pipe tube can be moved by gripping the surrounding object (for example, the pipe tube) after the expansion and contraction movement. By repeating the movements of the gripping mechanism and the coupling mechanism, a hydraulically driven robot that moves on the surface or the inner surface of the object can be obtained.

  In addition, for example, at least two suction cups interlocked with the suction mechanism at the tip, and at least one connecting mechanism provided with the actuator unit configured as described above so as to connect the suction cups to each other, at least one suction cup is provided. The suction part of the open state moves as the connection mechanism expands and contracts when the suction mechanism of the other suction cup part stops and opens while the suction part of the suction part stops and opens while supporting the weight of the surrounding wall. The wall surface can be moved up and down by adsorbing to the wall surface. By repeating the suction of the suction cup and the movement of the connecting mechanism, a hydraulically driven robot that moves on the surrounding wall surface can be obtained.

  Further, for example, an overhang mechanism is formed in which an actuator having the above-described configuration with a gripper provided at the tip is arranged around the at least two overhang mechanisms, and the actuator unit having the above-described configuration is connected to connect the overhang mechanisms. It is assumed that at least one connecting mechanism is provided, and at least one overhanging mechanism projects the gripper between the surrounding wall surfaces or the inner wall surface of the object to support its own weight, and stops the extension of the gripper of the other overhanging mechanism. In an open state, the extension mechanism in the open state moves when the coupling mechanism expands and contracts, and moves between the wall surfaces or the inner wall surface of the object by extending a gripper between the surrounding wall surfaces or the inner wall surface of the object after the expansion and contraction movement. can do. By repeating the movement of the overhang mechanism and the coupling mechanism, a hydraulically driven robot that moves between the surrounding wall surfaces or the inner wall surface of the object can be obtained.

  Further, for example, if at least one arm mechanism provided with the actuator unit configured as described above is provided, and at least one hand mechanism provided with the actuator configured as described above is provided at the tip of the arm mechanism, a so-called robot arm type is provided. A hydraulically driven robot can be obtained.

  In addition, for example, if at least two body parts and at least one coupling mechanism provided with the actuator unit configured as described above are connected so as to connect the body parts, a snake type having many so-called body segments. A hydraulically driven robot can be obtained.

  In addition, for example, if at least one torso, at least two feet, and a configuration including the actuator unit configured as described above so as to connect between the torso and each foot, A multi-leg type hydraulically driven robot with many so-called legs can be obtained.

Further, for example, at least one body part, at least a pair of left and right foot parts provided horizontally from the body part, and an actuator provided so as to connect between the body part and each of the foot parts. A first operation in which the body portion is moved forward as an action point by a turning movement of the actuator unit with the tip of the grounded foot portion as a fulcrum, and the grounded body portion is a fulcrum. As described above, a hydraulically driven robot that moves by repeating the second operation in which the tip of the foot moves forward as an action point by the turning motion of the actuator unit can be obtained.
The present invention is not limited to the above examples, and various types of robot configurations are possible.

  According to the hydraulically driven actuator according to the present invention, it is possible to bend the entire shape by bending the tube body in the piston body while allowing the piston to be driven. Thus, in the actuator that drives the piston, an excellent characteristic that the entire shape of the actuator is bent by bending the piston body is obtained. Even if the tube body is bent, a liquid medium is filled in the tube body and a hydraulic pressure is applied, so that normal piston drive is possible even if the tube body is straight or bent. Since the flexible tube body is filled with water, it has “a certain degree of rigidity” and also has a “soft elasticity”, and has both two sides at the same time. In addition, the tube body having a certain degree of rigidity can also be “linearly moved”, and since it is flexible, it can also be “curvedly moved”, and “has two sides at the same time”.

According to the hydraulically driven actuator unit of the present invention, each actuator expands and contracts independently, but since it is connected to the first base body and the second base body, there is a difference in the length of each actuator. If there exists, the 1st base body and the 2nd base body will incline, and the expansion-contraction control as a whole unit and the bending control to all directions are attained. That is, by controlling the water pressure of each actuator, the expansion / contraction, the bending direction, and the bending amount of the entire actuator unit can be controlled.
In addition, the hydraulically driven robot according to the present invention can include various types of robots by including the hydraulically driven actuator and actuator unit of the present invention.

  Hereinafter, embodiments of the hydraulically driven actuator of the present invention will be described. It should be noted that the technical scope of the present invention is not limited to the specific applications, shapes and dimensions shown in the following embodiments.

  Hereinafter, a configuration example of a hydraulically driven actuator according to the present invention will be described with reference to the drawings. In the following description, for example, the liquid medium is assumed to be water and hydraulically driven. However, other liquid mediums such as an oil medium may be driven by so-called hydraulic pressure.

  FIG. 1A is a schematic diagram illustrating a configuration example of a hydraulic pressure actuator 100 according to the first embodiment of the present invention. FIG. 1B is an exploded view of each component of the hydraulically driven actuator 100. FIG. 2 is a diagram showing a front view, a plan view, a rear view, a cross-sectional view, and the like so that the configuration of each component can be understood.

  As shown in FIGS. 1 (a) and 1 (b), a hydraulically driven actuator 100 according to a first embodiment of the present invention includes a first cylinder body 10, a second cylinder body 20, a piston body 30, The hydraulic pressure supply mechanism 40, the interval limiter mechanism 50, and the elastic body 60 are provided. The elastic body 60 shows only the elastic body 60a and the elastic body 60b one by one on the left and right so that the first cylinder body 10, the second cylinder body 20 and the piston body 30 at the center can be easily understood. In actuality, in the cross section, n pieces are provided at equal intervals around the central piston body 30.

  Further, in FIG. 1, the cover is not provided on the outside of the actuator 100 so that the inside structure can be seen, but the cover can be put on the outside of the actuator 100 in use. Covers can be provided around the actuator 100 as shown in FIG.

  As shown in FIG. 2A, the first cylinder body 10 has a structure including a flange portion 11, a cylinder cylinder 12, a cylinder chamber 13, an elastic body connection portion 14, and a first fitting edge 15. Yes. That is, it is a cylindrical structure whose one end is closed and the hollow portion is the cylinder chamber 13, and has a structure in which one end 32 of the piston body 30 is accommodated as described later. The cylinder chamber 13 is filled with a liquid medium, and the volume of the liquid filled in the cylinder chamber 13 changes as the piston body 30 slides. In this configuration example, the elastic body connecting portion 14 is a ring for attaching the elastic body 60. Further, in this configuration example, as will be described later, a fitting shape that fits to the edge where the first cylinder body 10 and the second cylinder body 20 abut is provided on the first cylinder body 10 side. Has a structure in which a first fitting edge 15 is provided. In this example, the edge has an inwardly inclined edge.

  Similarly to the first cylinder body 10, the second cylinder body 20 has a structure including a flange portion 21, a cylinder tube 22, a cylinder chamber 23, an elastic body connection portion 24, and a second fitting edge 25. Is a closed cylindrical structure, the hollow portion is a cylinder chamber 23, and the other end 33 of the piston body 30 is accommodated as will be described later. The cylinder chamber 23 is filled with a liquid medium, and the volume of the liquid filled in the cylinder chamber 23 changes as the piston body 30 slides. In this configuration example, the elastic body connecting portion 24 is a ring for attaching the elastic body 60.

  The volume of the liquid in the cylinder chamber 13 of the first cylinder body 10 and the volume of the liquid in the cylinder chamber 23 of the second cylinder body 20 are the liquid pressure applied to the liquid medium space described later and the elastic body described later. Is determined by the position at which the force applied by is in an equilibrium state.

  In this configuration example, the second cylinder body 20 is provided with the second fitting edge 25 that fits with the first fitting edge 15 of the first cylinder body 10 as described above. It has become. In this example, the edge is inclined outward, and the second fitting edge 25 enters and fits into the first fitting edge 15 as shown in FIG. ing. After being fitted together, both are fixed, and in FIG.

  As shown in FIG. 2C, the piston body 30 includes a tube body 31 having flexibility, a first end portion 32 having rigidity, and a second end portion 33 having rigidity. One end portion 32 is accommodated in the cylinder chamber 13 of the first cylinder body 10, and the other end portion 33 is accommodated in the cylinder chamber 23 of the second cylinder body 20.

  Here, as shown in the cross-sectional view of FIG. 2C, a hollow portion penetrating from the one end portion 32 to the other end portion 33 is provided, and the liquid medium is filled in the hollow portion. That is, the cylinder chamber 13 of the first cylinder body 10, the hollow portion of the piston body 30, and the cylinder 23 chamber of the second cylinder body 20 are connected to form a liquid medium space. Since this liquid medium space is connected, the liquid pressure applied by the liquid pressure supply mechanism 40 described later is applied to the entire liquid medium space. As described above, in the structure of the conventional cylinder-piston mechanism, the cylinders are provided at both ends of one piston, that is, the first cylinder body 10 -the piston body 30 -the second cylinder body 20. However, the structure in which the liquid medium is in communication with the cylinder chambers of the respective cylinders at both ends is a novel structure that has never existed before.

  Furthermore, in this configuration example, the body portion of the piston body 30 is formed by a flexible tube body 31. As an example, it is assumed that the tube body 31 is made of vinyl having a structural strength capable of withstanding sufficient water pressure. In this way, the tube body 31 which is the piston body portion can be bent, which is a novel structure which is not present at all.

  Since the tube body 31 can be bent in this manner, the entire shape of the actuator 100 can also be bent. As will be described later, even if the tube body 31 is bent, the tube body 31 that is the body portion of the piston 30 is filled with a liquid medium and a predetermined fluid pressure is applied, so that the tube body 31 is not bent and is straight. As in the case, it can be driven correctly.

  As shown in FIG. 2C, the one end portion 32 is formed between a cylindrical body 32 a that surrounds and firmly fixes the end portion of the tube body 31, and the first cylinder body 10 and the piston body 30. It has a configuration provided with a packing 32b that secures hermeticity of the liquid space, an outer end face 32c, and a hole 32d. The outer end surface 32c is a surface that receives the hydraulic pressure of the cylinder chamber 13 of the first cylinder body 10 and receives the pressing force for pushing out and retracting the piston body 30. The hole 32d conducts a liquid medium between the first cylinder body 10 and the piston body 30, and transmits the hydraulic pressure applied from the hydraulic pressure supply mechanism 40.

  Next, the hydraulic pressure supply mechanism 40 includes a hydraulic pressure device 41 that applies hydraulic pressure, such as a pump, and a liquid supply pipe 42 that conducts from the hydraulic pressure device to any location in the liquid medium space. 1 is a diagram showing a basic structure having only one actuator 100, the hydraulic pressure supply mechanism 40 has only one system, but n actuator units 200 are used as in an embodiment described later. If the mechanism is provided with the actuator 100, a configuration example in which n systems of hydraulic pressure supply mechanisms 40 are prepared is also possible.

  The interval limiter mechanism 50 limits the maximum interval between the first cylinder body 10 and the second cylinder body 20, and connects, for example, between the outer wall surfaces of the first cylinder body 10 and the second cylinder body 20. The first wire mechanism 50a and the second wire mechanism 50b are provided. In this configuration example, the flange 11 of the first cylinder body 10 and the flange 21 of the second cylinder body 20 are connected.

  Although how to tie a wire is not specifically limited, FIG.2 (d) is a figure which shows typically the limiter operation | movement of the space | interval limiter mechanism 50 formed with the wire. In this example, the first wire mechanism 50a and the second wire mechanism 50b intersect each other. The state on the left side of FIG. 2D is a state in which the distance between the first wire mechanism 50a and the second wire mechanism 50b has not yet reached the maximum distance, and the first wire mechanism 50a and the second wire mechanism 50b The intersection is still relaxed. 2D, the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 increases, the liquid medium space increases, and the first cylinder body 10 and the second cylinder body 20 sandwich the piston body 30 therebetween. Shows a state in which the movement is restricted because the first wire mechanism 50a and the second wire mechanism 50b of the interval limiter mechanism 50 are pulled at the intersection. If the strength of the wire is sufficient, the maximum distance between the first cylinder body 10 and the second cylinder body 20 that is to be expanded by the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 is limited.

  As described above, by providing the interval limiter mechanism 50, the one end portion 32 of the piston body 30 can be connected to the first cylinder body 10 even when a large fluid pressure is applied from the fluid pressure supply mechanism 40 to the liquid medium space 1. It is possible to prevent the piston body 30 from slipping out of the cylinder chamber 13 and preventing the other end 33 of the piston body 30 from slipping out of the cylinder chamber 23 of the second cylinder body 20.

FIG. 3 is a diagram for explaining how the expansion / contraction of the actuator 100 is controlled by the interval limiter mechanism 50.
In FIG. 3A, the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 is zero, the volume of the liquid medium space 1 is reduced, and the distance between the first cylinder 10 and the second cylinder 20 is minimized. It shows the state. In this state, the first cylinder 10 and the second cylinder 20 come into contact with each other due to the elastic force of the elastic body 60, and the second fitting edge 25 is fitted into the first fitting edge 15. Is fixed so that it does not move laterally or diagonally.

On the other hand, in FIG. 3B, the hydraulic pressure is applied by the hydraulic pressure supply mechanism 40, the interval between the first cylinder 10 and the second cylinder 20 is widened, and the interval limiter mechanism 50 is activated.
Thus, the function of the interval limiter mechanism 50 can prevent an accident that the piston body 30 comes out of the first cylinder body 10 and the second cylinder body 20. The first cylinder body 10 and the second cylinder can be easily released if the second fitting edge 25 is in a direction away from each other from the state in which the second fitting edge 25 is fitted inside the first fitting edge 15. Body 20 goes away.

  The elastic body 60 gives an elastic force between the first cylinder 10 and the second cylinder 20, and is a spring in this configuration example. By providing a spring between the elastic body connecting portion 14 of the first cylinder 10 and the elastic body connecting portion 24 of the second cylinder 20, the distance between the first cylinder 10 and the second cylinder 20 is adjusted to supply hydraulic pressure. An equilibrium state is established at an interval in which the force to be expanded by the hydraulic pressure supplied from the mechanism 40 to the liquid medium space and the force to be contracted by the elastic body 60 are balanced, and the expansion and contraction of the entire length can be controlled. That is, when there is no spring of the elastic body 60, the first limit is reached by the fluid limiter mechanism 50 by the fluid pressure applied from the fluid pressure supply mechanism 40 unless the amount of fluid flowing into the fluid medium space is accurately and precisely controlled. One cylinder 10 and the second cylinder 20 are expanded. By providing the spring of the elastic body 60, the distance between the first cylinder 10 and the second cylinder 20 is determined according to the hydraulic pressure applied by the hydraulic pressure supply mechanism 40, so that the length of the entire actuator 100 can be expanded and contracted. Can be controlled.

  Although a plurality of elastic bodies 60 may be provided, it is preferable to select and arrange the elastic bodies 60 so that the elastic force is balanced. For example, when n pieces are provided, it is preferable to arrange the n pieces at equal intervals so as to surround the piston body 30, that is, around the piston body 30 in the cross section.

FIG. 4 is a diagram schematically showing the relationship between the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 and the length of the actuator 100 by the spring of the elastic body 60.
FIG. 4A shows a state in which the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 is zero. That is, the volume of the liquid medium space is reduced, and the distance between the first cylinder 10 and the second cylinder 20 is minimized.

  FIG. 4B shows a state in which the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 has a certain value, and the first cylinder 10 and the second cylinder 20 have a certain size according to the value and are stationary. It has become. The volume of the liquid medium space is expanded by the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 and the distance between the first cylinder 10 and the second cylinder 20 is increased. On the other hand, the force of the spring that is the elastic body 60 is the first. 4 is increased in accordance with the distance between the first cylinder 10 and the second cylinder 20, reaches an equilibrium state in the state of FIG. 4B, and the movement of the first cylinder 10 and the second cylinder 20 is stationary. . In this stationary state, the hydraulic pressure is continuously applied by the hydraulic pressure supply mechanism 40, and the force of the spring, which is the elastic body 60, continues to be applied.

  In the state of FIG. 4C, the hydraulic pressure applied by the hydraulic pressure supply mechanism 40 is increased, the spring force of the elastic body 60 is overcome, and the distance between the first cylinder 10 and the second cylinder 20 is further expanded. The state in which the movement is restricted by the interval limiter mechanism 50 due to the attempt is shown. The interval between the first wire mechanism 50a and the second wire mechanism 50b of the interval limiter mechanism 50 is restricted so that the interval between the first cylinder 10 and the second cylinder 20 does not further increase. .

  It is preferable to provide an upper limit for the hydraulic pressure itself that can be applied by the hydraulic pressure supply mechanism 40. If the hydraulic pressure supply mechanism 40 can apply a too strong hydraulic pressure, the first wire mechanism 50a and the second wire mechanism 50b of the interval limiter mechanism 50 are torn off, or the wall surface of the tube body 31 is deformed. This is because the function of the actuator 100 may be destroyed, for example, it may be ruptured.

  The tube body 31 has a certain degree of rigidity (structural rigidity of the tube body 31, tension of water pressure) and a certain degree of flexibility (flexibility of the tube body 31 and elasticity of the spring). For example, when a human presses, it feels a certain degree of rigidity and a degree of flexibility that it can bend.

  Here, the adaptability of the movement performed by the actuator 100 of the present invention will be described. The actuator 100 of the present invention controls the hydraulic pressure applied as described above, and the hydraulic pressure and elasticity that tries to expand the piston mechanism between the first cylinder body 10 -the piston body 30 -the second cylinder body 20. The extension length is adjusted in balance with the elastic force of the body 60. Therefore, even when an external force is applied because there is another object at the tip of the actuator 100 or there is a wall surface, the hydraulic pressure for expanding the piston mechanism, the elastic force of the elastic body 60, and the external force Can be stabilized at a balanced position. In other words, it is possible to stabilize the posture according to changes in the actual surrounding environment in the operation on the operation target object, instead of controlling with extremely high accuracy like conventional numerical control. The positional relationship with the object to be operated and the force to be applied may be performed with an accuracy that can be roughly matched, and the margin of the actuator can be adjusted by making the operation of the actuator itself a combination of rigidity and flexibility. By absorbing, even errors that cannot be controlled by numerical control can be absorbed in the movement. These effects will be described with reference to specific examples in the description of the robot to which the actuator 100 of the present invention is applied in the examples described later.

  Finally, I will talk about the cover. FIG. 5 shows an example in which covers 110 are provided around the actuator 100 of the present invention. Since the actuator 100 of the present invention expands / contracts as a whole as described above, or bends as shown in Example 2 described later, the cover must be compatible with expansion / contraction. The example of FIG. 5A is an example of a so-called bellows type cover. If it is a bellows type, it can respond to expansion and contraction freely. The example of FIG. 5B is an example in which a rubber plate is wound around and moved by a so-called sliding method. This structural example can also handle both expansion and contraction freely.

  As described above, in the actuator 100 configured as described above, the hydraulic pressure supplied by the hydraulic pressure supply mechanism 40 is controlled so that the actuator 100 has both the appropriate rigidity and the appropriate flexibility at the same time. It will be understood that it is possible to control the expansion and contraction.

  It should be noted that the actuator 100 of the present invention is not controlled with extremely high accuracy as in the conventional numerical control, but in the operation on the operation target object, the positional relationship with the operation target object and the applied force Etc. are performed with the accuracy of matching roughly, and the operation of the actuator itself is an operation that has a certain degree of rigidity and flexibility, and the margin is absorbed in the movement, so it can not be controlled by numerical control Even errors can be absorbed in the movement.

  Next, as a second embodiment, a configuration example in which a plurality of actuators 100 shown in the first embodiment are arranged in parallel and assembled as an actuator unit 200 will be described.

  The actuator unit 200 is a unit in which a plurality of actuators 100 are arranged in parallel to enable movement control as a whole unit. There are various advantages of unitizing the plurality of actuators 100.

  The first merit is bending control. Although it is difficult to perform control to bend the actuator 100 freely in any direction with only water pressure without applying external force from the surroundings only with the actuator 100 shown in the first embodiment, a plurality of actuators 100 are gathered to be an actuator unit 200. As a unit, bending can be controlled freely in all directions. As described in the first embodiment, the length of each actuator 100 can be adjusted by controlling the hydraulic pressure of each actuator 100. However, the actuator unit 200 as a whole can control the bending direction and the angle by controlling the length of each actuator 100. Can be controlled.

  The second merit is that the whole unit can be further bent or expanded while having a certain degree of rigidity. In the process of greatly changing the bending direction with only one actuator 100, the hydraulic pressure may be greatly reduced once, and there is a possibility that sufficient rigidity cannot be maintained temporarily. If a plurality of actuators 100 are collected to form a unit, some of the plurality of actuators 100 maintain the rigidity in a state where the hydraulic pressure is applied, and the hydraulic pressure of the remaining actuators 100 is changed, so that the entire actuator unit 200 is obtained. Since the bending direction and angle can be changed, the bending direction and expansion / contraction can be controlled at the same time while maintaining a certain degree of rigidity as the whole unit.

  FIG. 6 is a diagram schematically showing a configuration example of the actuator unit 200 of the present invention. FIG. 6A is a diagram schematically illustrating a configuration example of the actuator unit 200 according to the second embodiment of the present invention. FIG. 6B is an exploded view showing each component of the actuator unit 200. FIG. 7 is a diagram showing a front view, a plan view, a rear view, a cross-sectional view, and the like so that the configurations of the first base body 210 and the second base body 220 can be understood.

  As shown in FIG. 6, n actuators 100, a first base body 210 that shares the first cylinder body 10 of the actuator 100, and a second base that shares the second cylinder body 20 of the actuator 100. A body 220, n systems of hydraulic pressure supply mechanisms 40 corresponding to the number of n actuators 100, and an elastic body 60 are provided. In this configuration example, four actuators 100a, 100b, 100c, and 100d are arranged in parallel. In addition, each structure of the actuator 100 demonstrated in Example 1 like the space | interval limiter mechanism 50 is provided. The elastic body 60 is connected to the first base 210 and the second base 220. Here, in order to easily understand the configuration at the center of the unit, the elastic body positioned in front is not shown, and only the elastic bodies 60 positioned at both ends are illustrated.

  In this configuration example, the first base body 210 has a disk shape, and the material may be a metal such as aluminum or stainless steel or a resin such as hard plastic. The first base body 210 is a base to which the first cylinder bodies 10a, 10b, 10c, and 10d of the four actuators 100a, 100b, 100c, and 100d are attached in common. The first cylinder bodies 10a, 10b, 10c, 10d and the first base 210 may be structurally integrated by screwing or welding. FIG. 7A is a view showing a front view, a plan view, a bottom view, a cross-sectional view along line AA, etc. so that the configuration of the first base body 210 can be easily understood. As shown in FIG. 7A, the four first cylinder bodies 10a, 10b, 10c, and 10d are arranged at equal intervals with respect to the flange 211 serving as a base.

  The same applies to the second base body 220. In this configuration example, the second base body 220 has a disc shape, and the second base body 220 includes the second cylinder bodies 20a, 100a, 100b, 100c, and 100d. 20b, 20c, and 20d are bases that are attached in common. The material may be the same, and may be made of metal such as aluminum or stainless steel or resin such as hard plastic. The second cylinder body 20 and the second base 220 may be structurally integrated by screwing or welding. FIG. 7B is a diagram showing a front view, a plan view, a bottom view, a cross-sectional view along line AA, etc. so that the configuration of the second base body 220 can be easily understood. As shown in FIG. 7B, the four second cylinder bodies 20a, 20b, 20c, and 20d are arranged at equal intervals with respect to the base 221 as a base.

  First fitting edges 15a to 15d are provided on the edges of the first cylinder bodies 10a to 10d, respectively, and second fitting edges 25a to 25d are provided on the edges of the second cylinder bodies 20a to 20d, respectively. This is the same as in the first embodiment, and the second fitting edges 25a to 25d are fitted into the first fitting edges 15a to 15d when no hydraulic pressure is applied. .

  The elastic body 60 is provided in parallel between the first base body 210 and the second base body 220. In this configuration example, four springs are provided. In FIG. 6, the left and right elastic bodies 60 on the front side are illustrated.

  The hydraulic pressure supply mechanisms 40 of the respective actuators 100 are independent from each other, and in this configuration example, there are four actuators 100, so that four systems of hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d are provided. Yes. In FIG. 6, three liquid supply mechanisms 40a, 40b, and 40c corresponding to the actuators 100a, 100b, and 100c seen from the front side are shown.

In order to maintain the structural strength of the entire actuator unit while increasing the length of the piston body 30 to some extent, an exterior cylinder body 70 is provided between the first cylinder body 10 and the second cylinder body 20. A configuration is also preferable. The exterior cylinder 70 is a ring-shaped member, for example. A configuration in which a first fitting edge 15 is provided at the edge of the outer cylinder 70 that contacts the first cylinder body 10, and a second fitting edge 25 is provided at the edge of the outer cylinder 70 that contacts the second cylinder body 20. Is also possible.
With the configuration as described above, a plurality of actuators 100 are assembled as an actuator unit 200.

The expansion / contraction control and bending control of the actuator unit 200 configured as described above will be described.
The actuator unit 200 independently controls the hydraulic pressure applied to the actuators 100a, 100b, 100c, and 100d via the hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d, so that their lengths are independently set. It can be controlled.

8 and 9 are diagrams for explaining the principle of the bending control of the actuator unit 200. FIG. FIG. 8 shows the state of each actuator and the state of the first base body and the second base body in an easy-to-understand manner, and the other mechanisms are not shown.
FIG. 8A is a cross-sectional view taken along a plane parallel to the first base body 210.

First, an example of bending downward in FIG. 8A will be described.
FIG. 8B is a side view showing the actuator 100a on the upper side, and the four piston bodies 30a are easy to understand the bending control due to the change in length of the four actuators 100a, 100b, 100c, and 100d. , 30b, 30c, 30d and only the bottom surface of the first base body 210 and the bottom surface of the second base body which are schematically drawn are shown. However, the piston body 30d hidden behind is not shown. In the state of FIG. 8B, it is assumed that the lengths of the actuators 100a, 100b, 100c, and 100d are all A = B = C = D.

  Here, the lengths of the actuators 100a, 100b, 100c, and 100d become A, B, C, and D, respectively, by adjusting the hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d (not shown). To do. Here, it is assumed that B = D and A> B> C. Due to the relationship between the arrangement and the length of each actuator, the actuator unit 200 expands and contracts and bends downward as shown in FIG. That is, the angle of bending downward can be adjusted according to the ratio of A: B: C: D, which is the length of each actuator 100.

  Here, the lengths of the actuators 100a, 100b, 100c, and 100d are adjusted such that B = D and A <B by adjusting the hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d (not shown). When changed to <C, the relationship is just opposite to the above, and as shown in FIG. 8D, the actuator unit 200 expands and contracts and the actuator unit 200 bends upward. The angle at which the actuator 100 is bent upward can be adjusted according to the ratio of A: B: C: D, which is the length of each actuator 100.

  Also, by adjusting the hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d (not shown), the lengths of the actuators 100a, 100b, 100c, and 100d are set to A = C and B <A <D. When changed, as shown in FIG. 9A, the actuator unit 200 bends in the direction of the actuator 100b, that is, the actuator unit 200 is leftward. The angle of turning to the left can be adjusted according to the ratio of A: B: C: D, which is the length of each actuator 100.

  Further, by adjusting the hydraulic pressure supply mechanisms 40a, 40b, 40c, and 40d (not shown), the lengths of the actuators 100a, 100b, 100c, and 100d are set such that A = C and D <A <B. When changed, as shown in FIG. 9B, the actuator unit 200 is bent in the direction of the actuator 100c, that is, the actuator unit 200 is turned to the right. The angle of the right turn can be adjusted according to the ratio of A: B: C: D, which is the length of each actuator 100.

  The above describes the principle of bending up, down, left, and right, but it will be understood that bending in any direction can be controlled by changing the ratio of A: B: C: D, which is the length of each actuator 100, more freely.

  For example, FIG. 10 is a cross-sectional view taken along a plane parallel to the first base body 210. In FIG. 10A, the length of each actuator 100 is changed so that A <B <C <D, If any one of A <B <D <C, B <A <C <D, and B <A <D <C, the curve is bent in the upper left range shown in FIG. The specific direction in the upper left direction is determined according to the ratio of A: B: C: D.

  Further, when the length of each actuator 100 is changed to A <C <B <D, A <C <D <B, C <A <B <D, C <A <D <B, FIG. It will bend in the upper right direction shown in b). The specific direction of the upper right diagonal direction is determined according to the ratio of A: B: C: D.

  Further, if the length of each actuator 100 is changed to be B <D <A <C, B <D <C <A, D <B <A <C, D <B <C <A, FIG. It turns in the diagonally lower left direction shown in c). The specific direction of the diagonally lower left direction is determined according to the ratio of A: B: C: D.

  Further, if the length of each actuator 100 is changed to C <D <A <B, C <D <B <A, D <C <A <B, D <C <B <A, FIG. It turns in the diagonally lower right direction shown in d). The specific direction of the diagonally lower right direction is determined according to the ratio of A: B: C: D.

  Thus, the actuator unit 200 can perform bending control in all directions by controlling the hydraulic pressure of each actuator 100 by the hydraulic pressure supply mechanism. In the initial state, the piston body 30 enters the inside of the first cylinder body 10 and the second cylinder body 20, so that a certain amount of fluid pressure is applied to each actuator 100 and the length of each actuator 100 is increased. If the ratio A: B: C: D is set to a predetermined ratio, the actuator unit 200 can be controlled to bend in any direction while extending to a certain position where the balance with the elastic body 40 can be achieved.

  Next, the effect of fitting by the first fitting edge 15 and the second fitting edge 25 will be described. FIG. 11 is a diagram for explaining the effect of fitting by the first fitting edge 15 and the second fitting edge 25 by arranging two actuator units 200 in series. In a state where the hydraulic pressure is applied from the hydraulic pressure supply unit 40, the actuator unit 200 can overcome the influence of gravity and can be controlled to the front, rear, left, right and up. When the hydraulic pressure from the hydraulic pressure supply unit 40 disappears, the first cylinder body 10 and the second cylinder body 20 are pulled by the elastic force 60 until they come into contact with each other, as shown in FIG. The second fitting edge 25 fits into the fitting edge 15 and does not shift in the vertical direction in FIG. Therefore, even when no hydraulic pressure is applied, the horizontal state is maintained as shown in FIG. 11A, and the posture of the entire unit is maintained and controlled.

  On the other hand, when the first fitting edge 15 and the second fitting edge 25 are not provided at the edges of the first cylinder body 10 and the second cylinder body 20, the hydraulic pressure from the hydraulic pressure supply unit 40 is reduced. If it disappears, there will be no member or structure supported against gravity, and the tip will hang down as shown in FIG.

  Thus, when the 1st fitting edge 15 and the 2nd fitting edge 25 are provided in the edge of the 1st cylinder body 10 and the 2nd cylinder body 20, even in the state where fluid pressure is not applied The advantage is that the attitude of the entire unit is maintained and controlled.

Next, a configuration example of an actuator unit capable of torsion control will be described.
With the configuration of the actuator unit 200 shown in FIG. 6, by controlling the hydraulic pressure of each actuator 100, the entire expansion and contraction control and bending control of the actuator unit 200 are performed as shown in FIGS. Is possible. However, so-called torsion control is not possible.

  Inventor Mr. Kadowaki, while studying hydraulically controlled robot control, improves the actuator unit 200 of the second embodiment, and makes it possible to perform torsion control by devising the mounting direction of the interval limiter mechanism 50 to be oblique. Invented that.

  FIG. 12 is a diagram schematically showing a configuration example of an actuator unit 200 ′ according to the present invention that enables torsion control. Each component is the same as that shown in FIG. However, the difference is that the interval limiter mechanism 50 is slanted.

  FIG. 12A is a side view of the actuator unit 200 ', but four springs 60a, 60b, 60c, and 60d are also shown. FIG. 12B is a diagram showing the four springs 60 a, 60 b, 60 c, and 60 d omitted so that the interval limiter 50 can be seen obliquely.

  As shown in FIG. 12B, the actuator unit 200 ′ according to the present invention is provided with a first base 210, a second base 220, and a plurality of actuators 100 in the configuration example of the second embodiment. The same. In this configuration example, four actuators 100a, 100b, 100c, and 100d are arranged in parallel. Here, the interval limiter mechanisms 50 a, 50 b, 50 c, 50 d are hung so as to obliquely connect the first cylinder body 10 and the second cylinder body 20. The elastic body 60 of the actuator 100 is connected to the first base 210 and the second base 220 in parallel to the axis of each actuator 100.

FIGS. 13 and 14 are diagrams for explaining the principle that the actuator unit 200 ′ as a whole is twisted when the actuators 100a to 100d extend.
As shown in FIG. 13, the actuator unit 200 ′ can be expanded and contracted straight at a certain distance. As shown in FIG. 13, the wires can be extended straight up and down until the wires of the respective distance limits 50 a to 50 d come into contact with each other. Furthermore, as shown in FIG. 14, the wires of the interval limiter mechanisms 50a to 50d are pulled together, and the movement in the vertical direction is further restricted.

  However, the wires of the interval limiter mechanisms 50a to 50d still have room for movement in the oblique direction. Therefore, when the actuators 100a to 100d further extend, the actuator unit 200 'begins to twist. As shown in FIG. 14, as the actuators 100a to 100d extend, they cannot be moved in the vertical direction by the wire of the interval limiter mechanism 50, but still move in an oblique direction with a margin, and the actuator unit 200 ′ is twisted. Go. Finally, when the wires of the distance limiter mechanisms 50a to 50d are fully extended, the movement of the actuator unit 200 'is completely stopped by the distance limiter mechanism 50. Since the elastic body 60 is provided in parallel to the axis of each actuator 100, the elastic body 60 exerts an elastic force in an oblique direction.

  In the process of shortening the length of the actuator unit 200 ', the elastic body 60 acting obliquely moves back by following the reverse movement of the torsional movement, and the movement shown in FIGS. The operation is reversed and the original state is restored.

  Here, by individually controlling the expansion and contraction of the four actuators 100a to 100d, changing their length ratio A: B: C: D is not a simple twisting motion, but a twisting oblique direction. A complex torsional motion that moves quickly is possible.

  Next, as a third embodiment, a pipe pipe ascending / descending moving on a pipe pipe outer wall constructed by assembling the hydraulically driven actuator unit 200 and the torsion-controllable actuator unit 200 'shown in the second embodiment. A configuration example of the robot 300 will be described.

  There are various combinations of manufacturing the robot 300 that climbs the outer wall of the pipe pipe by combining the hydraulically driven actuator unit 200 and the actuator unit 200 ′ capable of controlling torsion, and the configuration shown in this embodiment is limited. Not.

  15 and 16 schematically show the appearance of the pipe pipe lifting robot 300 of the third embodiment. FIG. 15 shows a front view, a plan view, and a right side view. FIG. 16 shows a rear view, a bottom view, and a left side view. As shown in FIGS. 15 and 16, the rear view is the same as the front view, the bottom view is the same as the plan view, and the left side view is contrasted with the right side view.

  As shown in FIG. 15, the pipe pipe lifting robot 300 has a total of 16 pipe joint raising / lowering mechanisms, ie, a backbone 310, a top plate 311, a bottom plate 312, eight gripping mechanisms 320 a to 320 h, and one gripping mechanism. Actuator containers 330a1 to 330h2 (with the actuator 100 incorporated therein) and a total of 16 grip portions 340a1 to 340h2 provided at the tip of each actuator 100. Note that a hydraulic pressure supply mechanism that supplies hydraulic pressure to the pipe pipe lifting robot 300, a hydraulic pressure supply pipe that supplies hydraulic pressure, and the like are not shown.

  The spine portion 310 serving as a coupling mechanism is covered with a so-called bellows, and the hydraulically driven actuator unit 200 ′ (a type capable of expansion, contraction, bending, and twisting) described in the second embodiment is contained therein. Two actuators are incorporated in series in the vertical direction, and four actuators 100 are incorporated in the actuator units 200′a and 200′b as described in the second embodiment. It is assumed that the unit 200 ′ can be operated to expand and contract in the vertical direction, to bend in the front and rear directions and to the left and to the left and to the right. In this configuration example, the hydraulic pressure supply mechanism 40 includes four systems for the actuator unit 200'a and four systems for the actuator unit 200'b, so that eight systems are provided. The spine portion 310 is provided so as to connect the upper side holding mechanisms 320a to 320d and the lower side holding mechanisms 320e to 320h.

  The top plate 311, the bottom plate 312, the eight gripping mechanisms 320a to 320h, and the sixteen actuator containers 330a1 to 330h2 are integrated. As the material, for example, a material having a certain degree of rigidity such as a metal such as aluminum or stainless steel or plastic is adopted, and the structural strength of the robot 300 is ensured.

  The 16 actuator containers 330a1 to 330h2 incorporate the actuator 100 therein. The basic structure of the actuator 100 may be the actuator 100 described in the first embodiment. FIG. 17A is a diagram showing the horizontal sectional structure of the actuator 100 in the gripping mechanism in an easily understandable manner. The inside of the actuator containers 330a1 to 330h2 is hollow, and the actuator 100 shown in the first embodiment is built in the hollow portion.

  The gripper 340 is a member attached to the tip of the actuator. For example, the inner surface shape of the gripper 340 is a concave shape corresponding to a cylindrical outer wall surface such as a pipe so that the outer wall surface of the pipe tube can be gripped firmly. It has a suitable inner shape.

  When the grippers 340 facing each other come close to each other, the outer wall surface of the pipe pipe is firmly gripped, and when the grippers 340 are separated from each other, the outer wall surface of the pipe is released. Since there is an interval limiter 50, there is no collision even when the grippers approach each other.

  FIG. 17B is a diagram illustrating a state in which the actuator 100 is expanded and contracted by hydraulic driving and the grip portions 340a1 to 340h2 are pushed out. That is, the grip portions 340a1 to 340h2 are pushed or retracted by the hydraulic pressure control of the hydraulic pressure supply mechanism. Since each of the 16 actuators 100 requires one hydraulic pressure supply mechanism 40 as shown in the first embodiment, 16 hydraulic pressure supply mechanisms 40 are provided.

  If a pipe or the like exists between the grippers 340, each gripper 340 firmly holds the pipe tube as shown in FIG. When the outer wall surface of the pipe pipe starts to be gripped, it starts to receive a drag force from the outer pipe wall surface, and the total of the elastic force of the elastic body 60 and the drag force received from the outer wall surface of the pipe balances the pressing force due to the hydraulic pressure of the actuator. The movement stops. That is, the drag force F received from the outer wall surface of the pipe is obtained, and if the friction coefficient between the outer wall surface of the pipe and the surface of the gripper 331 is μ, a friction force of “μF” is obtained, and the pipe outer wall surface is gripped firmly. be able to.

Hereinafter, an outline of the operation of the pipe pipe lifting robot 300 will be described.
In this example, an operation of climbing upward while gripping between two pipes A and B arranged in parallel will be described.
In order to simplify the description, the hydraulic pressure applied by the hydraulic drive mechanism 40 is a hydraulic pressure that generates a sufficient pressing force to firmly grip the pipe A or the pipe B with the gripper 340 as will be described later. This will be described as binary control of “ON” and “OFF” in which the pressing force of the gripper 340 disappears and the gripper is retracted by the elastic force of the elastic body 60.

  FIG. 18A to FIG. 24A are diagrams illustrating an example of an operation in which the robot 300 according to the third embodiment climbs the outer wall of two pipe pipes arranged in parallel. FIGS. 18 (a) to 21 (a) show the basic operation of climbing upward while gripping one pipe pipe with the left and right grippers (here, the left side), from FIG. 21 (b). FIG. 24A shows the basic operation when moving from one pipe pipe to the other pipe pipe. In each figure, the pipe lifting robot 300 is seen from the front on the left side, the upper side holding mechanism 320 and the gripper 340 are seen from the top, and the lower side holding mechanism 320 and gripper 340 are shown on the lower right. It is the figure which looked at the state from the plane.

  18A is an initial state, and the pipe pipe A on the left side is held between the gripper 340a pushed out from the upper gripping mechanism 320a and the gripper 340b pushed out from the gripping mechanism 320b. The pipe pipe A on the left side is sandwiched between the gripper 340e pushed out from the gripping mechanism 320e and the gripper 340f pushed out from the gripping mechanism 320f to support its own weight. The hydraulic pressure is applied from the hydraulic pressure supply circuit corresponding to the gripping mechanism 320a, the gripping mechanism 320b, the gripping mechanism 320e, and the gripping mechanism 320f, and is in the “on” state. As shown, the pipe tube A is firmly gripped in both the upper and lower stages.

  Next, the state of FIG. The state of FIG. 18B is a state in which the grips of the gripper 340a of the upper gripping mechanism 320a and the gripper 340b of the gripping mechanism 320b are released in order to advance upward of the pipe. That is, the state of FIG. 18B is a state in which the pipe tube is held only by the gripper 340c pushed out from the lower gripping mechanism 320c and the gripper 340d pushed out from the gripping mechanism 320d to support its own weight. The hydraulic pressure application of the hydraulic pressure supply circuit corresponding to the gripping mechanism 320a and the gripping mechanism 320b is stopped to be in the “off” state, and the hydraulic pressure is applied from the hydraulic pressure supply circuit corresponding to the gripping mechanism 320e and the gripping mechanism 320f. As shown in the upper right figure of FIG. 18B, the upper stage releases the grip of the pipe pipe A, and as shown in the lower right figure of FIG. The pipe pipe A is firmly gripped. In this state, no hydraulic pressure is applied to the actuator unit 200 ′ a in the spine 310 and the actuator 100 in the actuator unit 200 ′ b, but the second fitting is performed in the first fitting edge 15. Since the edge 25 is fitted, the spine portion 310 is not bent or drooped in the lateral direction or the oblique direction, and the upright state is maintained.

  Next, the state of FIG. In the state of FIG. 19A, the hydraulic pressure is uniformly applied by the hydraulic pressure supply mechanism 40 to the actuator unit 200′a in the spine 310 and the actuator 100 in the actuator unit 200′b, and the spine 310 is extended. State. The principle that the actuator unit 200'a and the actuator unit 200'b extend straight when an equal hydraulic pressure is applied by the hydraulic pressure supply mechanism is as described in the second embodiment. As shown in the diagram on the left side of FIG. 19 (a), the spine portion 310 extends and reaches the position where the height of the grip mechanism on the upper stage side is high.

  Next, FIG. 19B shows a state where the gripper 340a of the upper gripping mechanism 320a and the gripper 340b of the gripping mechanism 320b are pushed out and the pipe pipe A is gripped again. That is, it is an operation of firmly gripping the portion where the spine 310 is extended and the upper gripping mechanism has reached. The hydraulic pressure supply circuit corresponding to the gripping mechanism 320a and the gripping mechanism 320b supplies the hydraulic pressure to be in an “on” state, and pushes the gripper 340a and the gripper 340b to sandwich the pipe pipe A.

  Next, the state of FIG. The state of FIG. 20A is a state in which the grips of the gripper 340e of the lower gripping mechanism 320e and the gripper 340f of the gripping mechanism 320f are released to advance upward of the pipe. That is, the state of FIG. 20A is a state in which the pipe pipe A is held only by the gripper 340a pushed out from the upper gripping mechanism 320a and the gripper 340b pushed out from the gripping mechanism 320b to support its own weight. That is, the hydraulic pressure application of the hydraulic pressure supply circuit corresponding to the gripping mechanism 320a and the gripping mechanism 320b is in the “on” state, and the hydraulic pressure application is stopped from the hydraulic pressure supply circuit corresponding to the gripping mechanism 320e and the gripping mechanism 320f. As shown in the upper right diagram of FIG. 20A, the upper stage is in a state where the pipe pipe A is firmly gripped, as shown in the lower right diagram of FIG. 20A. As described above, the lower stage releases the grip of the pipe pipe A.

  Next, the state of FIG. The state of FIG. 20B is a state in which the application of hydraulic pressure is stopped by the hydraulic pressure supply mechanism for the actuator unit 200′a in the spine 310 and the actuator 100 in the actuator unit 200′b, and the spine 310 is contracted. is there. The principle that the actuator unit 200'a and the actuator unit 200'b contract by the elastic force of the elastic body 60 when the hydraulic pressure application is stopped is as described in the second embodiment. As shown in the diagram on the left side of FIG. 20B, the spine portion 310 contracts, and the height of the lower-side gripping mechanism rises upward. The first fitting edge 15 and the second fitting edge 25 are fitted in the actuator 100 in the actuator units 200'a and 200'b.

  Next, the state of FIG. In the state shown in FIG. 21A, the pipe pipe A on the left side is re-clamped by the gripper 340e pushed out from the lower gripping mechanism 320e and the gripper 340f pushed out from the gripping mechanism 320f. The hydraulic pressure by the hydraulic pressure supply mechanism is in the “on” state, and the pipe tube A is held by the gripper 340 to support its own weight. This is the same state as in FIG. That is, the pipe outer wall raising / lowering robot 300 can be climbed upward like a so-called “scale insect” in one cycle from FIG. 18A to FIG. 21A.

  Next, the movement operation from the pipe pipe A that is climbing up to the adjacent pipe pipe B will be described. The spine 310 used in the pipe outer wall lifting robot 300 of the present invention employs the actuator unit 200 ′ described in the second embodiment, and is capable of bending control and torsion control as well as expansion and contraction control. If there is another pipe pipe around the gripped pipe pipe A, it may be possible to move to that pipe pipe.

  First, the state of FIG. 21B is a state in which the grips of the gripper 340a of the upper gripping mechanism 320a and the gripper 340b of the gripping mechanism 320b are released in order to proceed upward of the pipe. That is, the state of FIG. 21B is a state in which the pipe tube is held only by the gripper 340c pushed out from the lower gripping mechanism 320c and the gripper 340d pushed out from the gripping mechanism 320d to support its own weight. The hydraulic pressure application of the hydraulic pressure supply circuit corresponding to the gripping mechanism 320a and the gripping mechanism 320b is stopped to be in the “off” state, and the hydraulic pressure is applied from the hydraulic pressure supply circuit corresponding to the gripping mechanism 320e and the gripping mechanism 320f. As shown in the upper right figure of FIG. 21 (b), the upper stage releases the grip of the pipe pipe A, and as shown in the lower right figure of FIG. The pipe pipe A is firmly gripped. In this state, no hydraulic pressure is applied to the actuators 100 ′ a and 200 ′ b in the spine 310, but the second fitting edge 15 is included in the first fitting edge 15. Since 25 is fitted, the spine portion 310 is not bent or drooped in the lateral direction or the oblique direction, and the upright state is maintained.

  Next, the state of FIG. In the state of FIG. 22A, the bending control of the two actuator units 200'a and 200'b of the spine 31 is performed, and the upper holding mechanism 320 is moved from the pipe tube A side to the pipe tube B side.

  If the hydraulic pressure of the actuator located on the left side is applied by the hydraulic pressure supply mechanism so that the hydraulic pressure of the actuator located on the left side is larger than the hydraulic pressure of the actuator located on the right side in the actuator unit 200′b below the spine 310. After the fitting of the first fitting edge 15 and the second fitting edge 25 is released inside the actuator 100 in 200′b, the bending is performed toward the right side as described in the second embodiment. . In addition, in the actuator unit 200′a on the upper side of the spine 310, if the hydraulic pressure of the actuator located on the right side is applied to be larger than the hydraulic pressure of the actuator located on the left side by the hydraulic pressure supply mechanism, After the first fitting edge 15 and the second fitting edge 25 are unfitted in the actuator 100 in the unit 200′a, and bent toward the left side as described in the second embodiment. Become.

  Here, if the amount of bending of the actuator unit 200′b on the lower side of the spine portion 310 to the right side and the amount of bending of the actuator unit 200′a on the upper side of the spine portion 310 to the left side are adjusted, the entire spine portion 310 is obtained. 22A can be controlled as shown in FIG. 22A, and the gripper 340c of the upper gripping mechanism 320c and the gripper 340d of the gripping mechanism 320d move to a position facing the pipe B.

  If fine adjustment is required, the amount of bending may be adjusted by finely adjusting the hydraulic pressure of each actuator in the actuator unit 200'a and the actuator unit 200'a. The entire upper stage of the pipe wall raising / lowering robot 300 moves slowly toward the pipe B due to the control time of the hydraulic pressure inside the actuator and the bending function of the bending of the piston body 30, and moves vigorously like a pendulum. You won't hit pipe B.

  Next, the state of FIG. In the state of FIG. 22B, the hydraulic pressure of the actuators inside the gripping mechanism 320c and the gripping mechanism 320d changes from “off” to “on”, and the internal actuator 100 extends to cause the grippers 340c and 340d to move. It is pushed out to the front and the pipe tube B is firmly gripped.

  Next, the state of FIG. The state of FIG. 23A is a state in which the gripper 340e of the lower gripping mechanism 320e and the gripper 340f of the gripping mechanism 320f are released because the lower gripping mechanism also moves toward the pipe tube B. That is, the state of FIG. 23A is a state in which the pipe tube B is held only by the gripper 340a pushed out from the upper gripping mechanism 320a and the gripper 340b pushed out from the gripping mechanism 320b to support its own weight. That is, the hydraulic pressure application of the hydraulic pressure supply circuit corresponding to the gripping mechanism 320a and the gripping mechanism 320b is in the “on” state, and the hydraulic pressure application is stopped from the hydraulic pressure supply circuit corresponding to the gripping mechanism 320e and the gripping mechanism 320f. As shown in the upper right figure of FIG. 23A, the upper stage is in a state where the pipe pipe B is firmly gripped, as shown in the lower right figure of FIG. 23A. As described above, the lower stage releases the grip of the pipe pipe A.

  As long as the hydraulic pressure of each actuator 100 inside the actuator units 200'a and 200'b is maintained at the same hydraulic pressure as in the state of FIG. 22, the bending of the spine 310 does not change.

  Next, the state moves to FIG. In the state of FIG. 23 (b), the hydraulic pressure supply by the hydraulic pressure supply mechanism of the actuator units 200′a and 200′b of the spine 310 is stopped, and the actuator unit 200′a, 200'b is in a contracted state. When the actuator units 200'a and 200'b of the spine 310 are contracted, they return to a short and straight state as shown in FIG. The lower part of the pipe wall raising / lowering robot 300 moves slowly toward the pipe B due to the control time of the hydraulic pressure inside the actuator and the damper function of the bending of the piston body 30, and moves vigorously like a pendulum. You won't hit pipe B.

  In this state, the second fitting edge 25 is fitted into the first fitting edge 15 in the actuators 100 ′ a and 200 ′ b in the spine 310.

  Finally, as shown in FIG. 24A, the hydraulic pressure supply by the hydraulic pressure supply mechanism to the lower gripping mechanism 320e and the gripping mechanism 320f is turned on, and the gripper 340e is pushed out from the lower gripping mechanism 320e to hold the gripping mechanism. The gripper 340f is pushed out from 320f, and the pipe pipe B is clamped. 21B, the pipe wall lifting robot 300 that grips the left pipe pipe A and supports its own weight in the state shown in FIG. 21B moves to the right pipe pipe B and grips it.

  As described above, the pipe outer wall lifting robot 300 can move from the pipe A side to the pipe B side in one cycle from FIG. 21 (b) to FIG. 24 (a).

  In this example, since the interval between the pipe A and the pipe B is wider than the width of the gripping mechanism 320, the operation examples of FIGS. 18 (a) to 21 (b) are so-called one side (left side). In this example, the gripping mechanism climbs like a gripping mechanism for a so-called “scale insect”. However, there is a gripping mechanism in which the distance between the left gripping mechanism 320 and the right gripping mechanism 320 and the distance between the pipe A and pipe B match each other. For example, the grippers 340a, 340b, 340e, and 340f grip the pipe tube A, and the grippers 340c, 340d, 340g, and 340h climb the pipe tube B while climbing like a “scale insect” with the grips on both sides (left and right). I can go.

  As a fourth embodiment, a configuration example of a wall surface moving robot 400 that moves while adsorbing a wall surface formed by assembling the hydraulically driven actuator units 200 and 200 'of the present invention will be described.

  In addition, the combination method of manufacturing the wall surface mobile robot 400 that moves the wall surface by combining the hydraulic drive actuator 100 shown in the first embodiment and the hydraulic drive actuator units 200 and 200 ′ shown in the second embodiment. Are various, and are not limited to the configuration shown in this embodiment.

  25 and 26 are six-sided views schematically showing the appearance of the wall surface mobile robot 400 of the fourth embodiment. FIG. 25 shows a plan view, a front view, and a right side view, and FIG. 26 shows a bottom view, a rear view, and a left side view. The illustration of the hydraulic pressure supply mechanism is omitted.

  As shown in FIG. 25 and FIG. 26, the wall surface mobile robot 400 has a structure including a spine 410, a suction mechanism 420, and a suction cup 430, which are connection mechanisms.

  The actuator unit 200 ′ described in the second embodiment is incorporated in the spine 410, which is a coupling mechanism, and its movement and the like may be the same as those of the spine 310 of the pipe lifting robot 300 of the third embodiment. Description is omitted. A chassis 411 is provided at the upper end of the spine 410, and a chassis 412 is provided at the lower end. The spine 410 is provided between the upper suction cups 430a to 430b and the lower suction cups 430c to 430d.

  The suction mechanism 420 has a built-in mechanism for sucking air, and only the outer shape is shown in the drawing. In this example, it has a disk shape. In this configuration example, the drive of the suction mechanism is a pump, not a hydraulic drive. Also, the illustration of air paths such as air pipes is omitted.

  The suction cup portion 430 is, for example, a rubber suction cup 431 and communicates with the suction mechanism 420 to ensure airtightness. The suction mechanism 420 can adjust the pressure inside the suction cup 430. A frictional force is generated between the suction cup 431 and the wall surface by the suction force F generated by reducing the atmospheric pressure inside the suction cup 431 by the suction of the suction mechanism 420.

  As shown in FIG. 25 and FIG. 26, this wall surface mobile robot 400 is provided with two left and right suction mechanisms 420a to 420d and suction cups 430a to 430d in two upper and lower chassis 411 and 412. Suction is at least two systems in the upper and lower stages, and four systems when all the suction cups are individually controlled.

  The suction force generated by the suction mechanism 420 and the suction cup 430 includes only the two suction cups 430a and 430b of the upper suction mechanisms 420a and 420b or the lower suction mechanisms 420c and 420d for the robot 400 to move on the wall surface. What is necessary is just to be able to support the own weight of the robot 400 by the frictional force generated by the two suction cups 430c and 430d. As will be described later, during the movement of the wall surface, the weight is temporarily supported only by the two suction cups 430a and 430b of only the upper suction mechanisms 420a and 420b, or the two suction cups 430c of the lower suction mechanisms 420c and 420d are supported. This is because it is necessary to support its own weight only by 430d.

Hereinafter, an outline of the wall surface movement operation of the wall surface mobile robot 400 will be described.
In this example, an operation of climbing upward while sucking a vertical wall surface will be described.
The left figure of FIG. 27 (A) is a state where the suction mechanisms 420a to 420d inside the suction cups 430a to 430d suck air and the suction cups 430a to 430d are firmly adsorbing the wall surfaces.

  The right view of FIG. 27A shows the actuator units 200′a, 200 ′ inside the spine 410 after the suction mechanisms 430a, 430b of the suction cups 430a, 430b on the upper side stop the suction and release from the suction state. The hydraulic pressure of each actuator in b has changed from “0” to a certain value “Y”, and the actuator units 200′a and 200′b in the spine 410 are extended. The suction mechanisms 420c and 420d inside the suction cups 430c and 430d on the lower side maintain the suction, and firmly adsorb the wall surfaces. Here, the suction force of the two suction cups 430c and 430d It is assumed that the suction force is such that a frictional force capable of supporting the weight of the wall mobile robot 400 is obtained.

  The left view of FIG. 27 (B) is the same as the right view of FIG. 27 (A), and the suction mechanisms 420a, 420b of the upper suction cups 430a, 430b start suction, and the upper suction cups 430a, 430b firmly Suction is performed so that its own weight can be supported. Further, the suction mechanisms 420c and 420d of the lower suction cups 430c and 430d stop the suction, and the lower suction cups 430c and 430d are released from the suction state.

  The right view of FIG. 27B shows that the hydraulic pressure of each actuator in the actuator units 200′a and 200′b inside the spine 410 changes from “Y” to “0”, and the actuator unit 200 inside the spine 410 is inside. 'a, 200'b is in a contracted state.

  By repeating the cycle of FIG. 27A and FIG. 27B, it is possible to continue to move upward by a movement like a so-called “scale insect” or to move downward by repeating the reverse operation. .

The wall mobile robot 400 can bend not only in the upward or downward direction but also in the traveling direction.
In the left diagram of FIG. 28 (A), the suction mechanisms 420a to 420d inside the suction cups 430a to 430d suck air and the wall surfaces are firmly secured by the suction cups 430a to 430d, as in the left diagram of FIG. 27 (A). It is in a state of being adsorbed.

  FIG. 28A shows the right side of the actuator units 200′a and 200′b in the spine 410 after the suction mechanism 432 of the suction cups 430a and 430b in the upper stage stops suction and releases the suction state. In each actuator 100, the hydraulic pressure of the actuator on the left side becomes larger than the hydraulic pressure of the actuator on the right side in the figure, and as described in the second embodiment, the actuator units 200′a and 200′b are bent to the right as a whole. It is in the state.

  The left figure of FIG. 28 (B) is the suction of the suction mechanism in the suction cups 430a and 430b in the upper stage, firmly grips the wall surface by the suction force of the two suction cups 430a and 430b, It is in a state that can support its own weight. Further, the suction mechanisms 430c and 430d of the suction cups 430c and 430d in the lower stage are in a state where the suction is stopped and the suction state is released.

  The right view of FIG. 28B shows that the hydraulic pressures of the actuators in the actuator units 200′a and 200′b inside the spine 410 are “0”, and the actuator units 200′a and 200 in the spine 410 are inside. 'b is in a contracted state.

  By repeating the cycle shown in FIGS. 28 (A) and 28 (B), the robot bends to the upper right and upper left with a movement like a so-called “scale insect”, or repeats the reverse operation to lower the right and lower right. It is possible to bend and descend.

  The hydraulically driven actuator unit 200 ′ incorporated in the spine 410 can also be twisted as shown in the second embodiment. That is, as the spine 410 performs expansion / contraction / bending / twisting operations, the wall surface mobile robot 400 can theoretically move even on a wall surface having a three-dimensional uneven curved surface.

  In addition, the second fitting edge 25 is fitted into the first fitting edge 15 in a state where no hydraulic pressure is applied to the actuators 100 ′ a and 200 ′ b in the spine 410. As in the third embodiment, the spine portion 410 is not bent or drooped in the lateral direction or the oblique direction, and the shape is maintained.

  As described above, the wall surface can be adsorbed by using the adsorption force of the suction part 430 provided with the suction mechanism 420 to support its own weight, and the spine part 410 in which the hydraulically driven actuator unit 200 or 200 ′ is incorporated. Thus, it is possible to provide a wall surface mobile robot that moves the wall surface while the robot 400 is deformed by the expansion / contraction / bending / twisting control.

Next, as a fifth embodiment, a pipe pipe inner wall moving robot 500 that moves on a pipe pipe inner wall constituted by assembling the hydraulic pressure-driven actuator 100 of the first embodiment and the actuator units 200 and 200 ′ of the second embodiment. A configuration example will be described.
It should be noted that there are various ways of combining the pipe drive inner wall mobile robot 500 by combining the hydraulic drive actuator 100 shown in the first embodiment and the hydraulic drive actuator units 200 and 200 ′ shown in the second embodiment. However, the present invention is not limited to the configuration shown in this embodiment.

  FIG. 29 and FIG. 30 schematically show the appearance of the pipe-pipe inner wall mobile robot 500 of the fifth embodiment. FIG. 29 shows a plan view, a front view, and a right side view. FIG. 30 shows a bottom view, a rear view, and a left side view.

  As shown in FIGS. 29 and 30, a pipe pipe inner wall moving robot 500 includes a backbone portion 510 that is a coupling mechanism, actuators 520a to 520c of an upper projection mechanism, actuators 520d to 520f of a lower projection mechanism, Gripper 530a-530f provided at the tip is provided.

  The spine portion 510 serving as a coupling mechanism is covered with a so-called bellows, and for example, one hydraulically driven actuator unit 200 (a type capable of expansion and contraction and bending) described in the second embodiment is incorporated therein. In the actuator unit 200, four actuators are incorporated, and the actuator unit 200 can be expanded and contracted or bent by hydraulic driving. The spine 510, which is a coupling mechanism, is provided between the upper projecting mechanism and the lower projecting mechanism.

  The upper chassis 511 is a member provided near the upper portion of the spine portion 510, and the lower chassis 512 is a member provided near the lower portion of the spine portion 510. As will be described later, the pipe inner wall mobile robot 500 needs to be rigid enough to support its own weight. Here, as an example, it is assumed that the metal is made of an aluminum plate.

  The actuators 520a to 520f of the upper overhang mechanism are the ones in which the actuator 100 described in the first embodiment is incorporated, and the upper and lower stages have three configuration examples. Of course, the number of actuators is not limited to three, and a configuration in which four or five actuators are arranged is also possible. The arrangement angle of each actuator is not limited. For example, in the case of three configurations, as shown in FIGS. 29 and 30, there is a configuration in which the actuators are provided 120 degrees apart from each other on chassis 511 and 512. .

  In this configuration example, each of the actuators 520a to 520f of the overhang mechanism pushes the grippers 530a to 530f at the tip and projects between the inner wall surfaces of the pipe to grip firmly, or retracts the grippers 530a to 530f at the tip to grip the inner wall surface of the pipe. The action which releases is performed. Here, for simplicity of explanation, the hydraulic pressure applied by the hydraulic drive mechanism 40 is hydraulic pressures “X” and “X” that generate a pressing force sufficient to firmly grip the inner wall of the pipe with the gripper 431 as will be described later. A description will be given assuming that binary control of 0 ″ is performed.

  The important point for the operation of the actuators 520a to 520f of the overhang mechanism is that when the actuators 520a to 520f extend and overhang the grippers, they can only move linearly and rigidly like conventional numerically controlled machines. Instead, the flexible piston body is pushed out by hydraulic pressure, so that the grippers 530a to 530a to follow the angle and state of the inner wall surface of the pipe to which the grippers 530a to 530f at the front end are to contact. 530f is a point that can be pressed. Even if there is some unevenness or distortion on the inner wall surface of the pipe, or the pipe is curved, the pipe body will bend according to the angle and condition of the wall surface due to the flexibility of the piston body, and firmly with hydraulic pressure It can be moved by supporting its own weight by pressing it to grip it. This is a driving method that cannot be achieved by a conventional rigid robot with numerical control.

  In this configuration example, the type of the actuator 100 shown in the first embodiment is used because the gripper 530 is controlled to be put in and out. However, as shown in the second embodiment, the actuator units 200 and 200 that control bending and twisting are used. The type of 'may be used.

  The three grippers 530a to 530f are provided at the top and bottom, and are provided at the tips of the actuators 520a to 520f of the overhang mechanism. The shape of the grippers 530a to 530f is a convex shape corresponding to the inner wall surface of the pipe, and preferably has a shape suitable for gripping the inner wall surface of the pipe firmly. This is because the grip area is large and a large frictional force is easily obtained.

The outline of the operation of the pipe pipe inner wall mobile robot 500 will be described below.
FIG. 31 is a diagram showing the movement of the grippers 530a to 530f. FIG. 31A is a view seen from above the pipe, and FIG. 31B is a view seen from the front of the inside of the pipe. The illustration of the thickness of the pipe is omitted.

  The left view of FIG. 31A shows a state in which the actuators 520a to 520f of the overhang mechanism are contracted without applying hydraulic pressure to the hydraulic drive mechanism 40 (not shown).

  The right view of FIG. 31A shows a state in which the hydraulic pressure is applied to the hydraulic pressure drive mechanism 40 (not shown), the pressure is applied to the actuators 520a to 520f of the overhang mechanism, and the gripper 530a is pushed forward. is there. Now, when the hydraulic pressure “X” is applied, in a state where no external force is applied, the actuator extends straight and the grippers 530a to 530f extend from FIG. 31 (A) to FIG. 31 (B) until they contact the inner wall surface of the pipe. . The range in which each actuator 520a to 520f can extend is limited by the length of the piston body or cylinder body, the balance with the elastic body 60 and the interval limiter 50, but here, the size of the pipe inner wall mobile robot 500 in the lateral direction is limited. Is a diameter “L1” cm, and when the limit distance when each actuator 520a to 520f is extended is “L2” cm, it is housed in a pipe of “L3” cm having a relationship of L1 <L3 <L2. In this case, in the natural state, the grippers 530a to 530f try to extend to “L2” cm, but there is an inner wall of the pipe until it extends to “L2” cm, and it is extended only to “L3” cm by receiving strong drag from the inner wall surface of the pipe. The total of the elastic force of the elastic body 60 and the drag received from the inner wall surface of the pipe C must be balanced with the pressing force generated by the hydraulic pressure “X”. It made. At this time, the drag force F is received from the inner wall surface of the pipe C. When the friction coefficient between the inner wall surface of the pipe and the surface of the gripper 530 is μ, a friction force of “μF” is obtained.

  In addition, when the angle of the gripper 530 and the angle of the pipe inner wall surface used for contact are different, the gripping is performed in accordance with the angle of the pipe inner wall surface due to the flexibility of the piston body. The same applies to the expansion and contraction of the spine portion 510. When hydraulic pressure is applied to the actuator unit 200 or 200 ′ inside the spine portion 510, the spine portion 510 extends straight in a state where no external force is applied. When the actuators 520a to 520f at the (front end in the traveling direction) hit the inner wall of the pipe and receive an external force, the actuator units 200 and 200 ′ in the spine 510 are bent, and the spine 510 extends in a so-called “path” of the pipe path. Become. The above movement is the basic operation.

  Next, an operation example of the pipe inner wall mobile robot 500 will be described. In this example, an operation of moving while gripping the inner wall surface of a bent pipe will be described.

  FIG. 32A shows that the hydraulic pressure of all the actuators 520a to 520f of the overhang mechanism is “X”, the internal actuator 100 is extended, and the respective grippers 530a to 530f are pushed forward, so that the inner wall surface of the pipe Is gripped at three places on the upper stage and three places on the lower stage. A frictional force can be obtained firmly by properly pressing at three points at substantially equal intervals (approximately 120 degrees each) with respect to the inner wall surface having a circular cross section like a pipe. It is possible to support the own weight of the pipe inner wall mobile robot 500 by a total of six points on the rear side.

  FIG. 32 (B) shows that among the actuators 520a to 520f, the hydraulic pressure of the actuators 520a to 520c of the overhanging mechanism at the front becomes “0”, and the grippers 530a to 530c are pulled back so that the inside of the pipes The wall surface is released. The hydraulic pressure of the actuators 520d to 520f on the rear side is maintained at “X”, and the grippers 530d to 530f are maintained in a state of firmly gripping the inner wall surface of the pipe. It is possible to support the weight of the pipe inner wall mobile robot 500 by the frictional force.

  FIG. 33A shows a state where the hydraulic pressure of each actuator 100 in the actuator unit 200 or 200 ′ inside the spine portion 510 is changed from “0” to “Z”, and the actuator unit 200 inside the spine portion 510 is extended. It is. Here, the rear chassis 512 does not move because the grippers 530d to 530f grip firmly, but the front chassis 511 does not grip the grippers 530a to 530c, so the chassis 511 moves freely, so-called. Proceed to the “way” of the pipe. Each actuator of the overhang mechanism expands due to the hydraulic pressure of the actuator, but if a large external force is received from the inner wall of the pipe pipe, the piston body is flexible, so the entire actuator bends and proceeds to the “path of the pipe”. Become. In this example, the pipe pipe is bent upward, and as a result of proceeding along the road, the front chassis 511 proceeds slightly upward.

  FIG. 33 (B) shows that the hydraulic pressure of the actuator inside the overhanging mechanism actuators 520a to 520c changes from “0” to “X”, and the grippers 530a to 530c are pushed out to firmly fix the inner wall of the pipe. It is in a gripped state. When the front grippers 530a to 530c are pushed out, they come into contact with the inner wall surface of the pipe. In this case, the bending condition of the tip portion of the spine 510 is slightly different from the bending condition of the pipe path. However, when the grippers 530a to 530c are pressed against the inner wall surface of the pipe, the spine portion 510 bends so that the grip portion firmly grips with the chassis 511 tilted so that each grip portion faces the inner wall surface of the pipe.

  FIG. 34 (A) shows a state in which the hydraulic pressures of the actuators 520d to 520f of the overhang mechanism at the rear are changed from “X” to “0”, and the grippers 530d to 530f are pulled in to release the grips on the inner wall surface of the pipe. It is.

  FIG. 34B shows a state where the hydraulic pressure of each actuator 100 in the actuator unit 200 or 200 ′ inside the spine portion 510 is changed from “Z” to “0”, and the spine portion 510 is contracted. Here, the front chassis 511 is immobile because the grippers 530a to 530c are firmly gripped, but the rear chassis 512 is not gripped by the grippers 530d to 530f, so the chassis 512 moves freely, so-called. It is drawn to “the way of the tube”.

  FIG. 35 (A) shows a state in which the hydraulic pressure of the actuators 520d to 520f of the overhang mechanism at the rear is changed from “0” to “X”, and the grippers 530d to 530f are pushed out to firmly grip the inner wall surface of the pipe. It is. In this state, as in FIG. 32A, the weight of the pipe inner wall mobile robot 500 is supported by a total of six points on the front and rear sides.

  In other words, the pipe inner wall mobile robot 500 according to the fifth embodiment has one cycle shown in FIGS. 32A to 35A, and repeats these operations to advance like a so-called “scale insect”. it can.

  FIG. 35B shows a state in which one cycle has been further advanced, FIG. 36A shows a state in which two cycles have been advanced, and FIG. 36C shows a state in which three cycles have been advanced. Even if the pipe path is bent in this way, the inner wall surface of the pipe can be freely moved without performing motion control in consideration of the curvature and the like in advance. In the case of a conventional numerical control type robot, in order to pass through the curve point of the pipe in this way, it is not possible to cope without programming data such as accurate curvature in advance, but the hydraulic drive actuator of the present invention If it is a robot to which is applied, it can cope flexibly.

  As described above, the pipe wall inner wall mobile robot 500 according to the fifth embodiment is configured so that the extension / retraction control of the extension mechanism combining the hydraulically driven actuator 100 and the actuator unit 200 or 200 ′ of the present invention and the expansion / contraction control of the spine portion are performed. While gripping the wall surface with frictional force, it is possible to move along the pipe pipe.

  Next, as a sixth embodiment, a configuration example of a robot arm type robot 600 configured by assembling the hydraulic drive actuator units 200 and 200 'of the present invention will be described. The sixth embodiment will be described as an example in which an actuator 100 ′ that can be bent in one direction is adopted for the hand mechanism at the tip of the arm mechanism. In addition, there are various combinations of manufacturing the robot arm type robot 600 by combining the actuator unit 200 or 200 ′ driven by hydraulic pressure shown in the second embodiment and the actuator 100 ′ bent only in one direction. The configuration shown in this embodiment is not limited.

  FIG. 37 schematically shows the appearance of a robot arm type robot 600 according to the sixth embodiment. FIG. 37A is a left side view. The surface is covered with soft covers and the internal mechanism is invisible. FIG. 37 (B) shows a state where the internal mechanical system is visible except for the covers on the surface.

  As shown in FIG. 37 (B), the robot arm type robot 600 has two actuator units 200 ′ arranged in series as an arm mechanism, and the hand mechanism corresponding to the hand has an actuator 100 that bends only in one direction. Is equipped with.

  As described in the second embodiment, the arm mechanism actuator unit 200 'bends in all directions, up and down, right and left, and can be extended and contracted in the front and rear directions, and can be twisted. Since this actuator unit 200 'is arranged in two stages in series, a reachable area of the hand mechanism at the tip of the arm mechanism is secured widely.

Next, the actuator 100 ′ of the hand mechanism that is bent only in one direction will be described.
FIG. 38 is a diagram simply showing an outline of the actuator 100 ′ of the hand mechanism that bends in only one direction. The first cylinder body 10 ′, the second cylinder body 20 ′, the piston body 30 ′, and the hydraulic pressure supply mechanism 40 ′ (not shown) are similar in structure to the actuator 100 of the first embodiment. However, those corresponding to the distance limiter 50 and the elastic body 60 provided in the actuator 100 of the first embodiment are not provided.

  The actuator 100 'according to the sixth embodiment has a structure in which a hinge connecting portion 70 is provided on the first cylinder body 10' and the second cylinder body 20 '. In this configuration example, a connecting body 71 is provided between the first cylinder body 10 ′ and the second cylinder body 20 ′, and between the first cylinder body 10 ′ and the connecting body 71, the second cylinder body 20 ′. A connecting hinge portion 70 is provided at two locations on the inner edge (lower side in the figure) between the connecting body 71 and the connecting body 71. On the other hand, the connecting hinge portion 70 is not provided at the outer (upper side in the drawing) joining edge. The first cylinder body 10 ′ and the second cylinder body 20 ′ rotate around the point where the connecting hinge part 70 is provided, and bend inward, but warp outward or laterally. It is not possible. That is, it bends only in one direction.

  If the robot can be bent in only one direction as described above, it is possible to realize the operation of grasping and releasing like the finger of the hand portion of the robot arm type robot, while the interval limiter 50 and the elastic body 50 can be omitted, and the thin and small actuator The benefits that can be realized. That is, the free movement of expanding and contracting and bending freely up and down and left and right is restricted, but a thin and small actuator can be realized.

FIG. 38A shows a relaxed state in which no hydraulic pressure is applied to the actuator 100 ′. Almost the overall shape is straight.
On the other hand, FIG. 38B shows a state in which the hydraulic pressure is applied to the actuator 100 ′ and the actuator 100 ′ is bent. The whole is bent inward.

Next, a device for providing a wire mechanism will be described.
As described above, since the elastic body 60 is not provided in the actuator 100 ′, there is a possibility that the force for returning to the original straight shape at the time of relaxation after the entire shape is bent may be weak. Therefore, there is a contrivance that a wire mechanism is provided to quickly return from a bent state to a straight state by applying hydraulic pressure.

  FIG. 39 is a diagram for simply explaining the movement when the wire mechanism is provided. As shown in FIG. 39, a structure in which a wire 80 is stretched inside, a tip thereof is connected to an end of a second cylinder body corresponding to a so-called fingertip, and the other end is wound around a wire winding mechanism 81. It has become. The wire winding mechanism 81 is, for example, a wheel driven by a small motor. When a hydraulic pressure is applied to the actuator 100 ′, no driving force is applied to the wire winding mechanism 81, and the wire 80 is driven out according to the bending of the actuator 100 ′ as shown in FIG. It is. On the other hand, when the application of the hydraulic pressure is stopped, a driving force is applied to the wire winding mechanism 81, and the wire 80 is wound with an appropriate tension as shown in FIG. Can be quickly returned to the straight state when relaxed.

Next, the overall movement of the robot arm type robot 600 will be briefly described.
As shown in FIGS. 40 (A) and 40 (B), the robot arm type robot 600 can bend freely in the vertical and horizontal directions in accordance with the change of the internal actuator unit 200 ′. Further, as shown in FIG. 40C, the robot arm type robot 600 is capable of torsional movement in accordance with the twisting change of the actuator unit 200 ′ of the arm mechanism. As shown in FIGS. 41A and 41B, the entire shape of the robot arm type robot 600 can be expanded or contracted in accordance with the expansion change or contraction change of the actuator unit 200 ′.

  As shown in FIG. 41B, each actuator unit 200 ′ contracts in a state where the hydraulic pressure from the hydraulic pressure supply mechanism 40 is not applied to the actuator unit 200 ′. In the actuator 100, the second fitting edge 25 of the second cylinder body 20 is fitted into the first fitting edge 15 of the first cylinder body 10, and the vertical direction of FIG. Therefore, the tip of the robot arm does not hang downward, and the whole is kept horizontal.

  Next, a specific example of an apparatus equipped with the robot arm type robot 600 will be described. FIG. 42A shows an example in which the robot arm type robot 600 of the sixth embodiment is mounted as an arm for performing work on a self-propelled robot. FIG. 42B shows an example in which the robot arm type robot 600 of the sixth embodiment is mounted as an arm for performing work near the tip of the wall-mounted mobile robot 400 shown in the fourth embodiment. The present invention is not limited to such an example, and can be mounted on a wide variety of devices in a wide variety of forms.

  Next, as a seventh embodiment, a configuration example of a multi-body snake robot 700 configured by assembling the hydraulically driven actuator 100 and the actuator units 200 and 200 'of the present invention will be described.

  FIG. 43A is a plan view of the multi-segment snake robot 700 according to the seventh embodiment. The actuator unit 200 ′ is provided at a portion corresponding to a large number of body segments 710 and joints connecting the body segments. In this configuration example, there are four body portions, which are 710a, 710b, 710c, and 710d, respectively, which are connected by an actuator unit 200 'that is a connection mechanism. As shown in the second embodiment, the actuator unit 200 ′ is capable of freely bending and twisting up and down and left and right by hydraulic drive, and as shown in FIG. While bending or twisting the actuator unit 200 ′ between 710, it is possible to move by twisting the body like a snake or an insect. FIG. 43 (C) is a view of the multi-segment snake robot 700 as viewed from the right side as it moves with its body twisted.

  The control that the multi-body snake robot 700 moves by twisting its body can be realized by controlling the application of hydraulic pressure to the actuator 100 in each actuator unit 200 ′ of the connection mechanism.

  If there are obstacles or distortions on the ground or obstacles in the front, if the robot is a conventional numerical control type, the sensors will provide data such as the condition of the unevenness of the ground, the magnitude of distortion, and the presence or absence of obstacles. Although it is necessary to obtain and accurately determine the movement of the entire robot, when the hydraulically driven actuator 100 or the actuator unit 200 or 200 ′ of the present invention is used, the flexibility of the piston body 30 and the hydraulically driven cylinder The expansion and contraction of the piston motion allows the robot to move flexibly while following the condition of the unevenness of the ground, the magnitude of the distortion, and the shape of the obstacle, and expanding and contracting according to external forces such as drag received from the outside.

  Next, as an eighth embodiment, a configuration example of a multi-legged robot 800 configured by assembling the hydraulic drive actuator 100 and the actuator units 200 and 200 'of the present invention will be described.

  FIG. 44 is a plan view, a front view, and a right side view of a multi-legged robot 800 according to the eighth embodiment. One trunk 820 and a number of legs 810 are provided. In this example, six legs 810a to 810f are provided, and an actuator unit 200 'serving as a coupling mechanism is provided at a joint portion between the legs 810 and the trunk 820.

  As shown in the second embodiment, since the actuator unit 200 ′ can bend and twist freely up and down and left and right by hydraulic drive, as shown in FIG. 45, the foot 810 and the trunk 820 are provided. It is possible to walk like an insect while bending or twisting the actuator unit 200 ′ between the two.

  If there are obstacles or distortions on the ground or obstacles in the front, if the robot is a conventional numerical control type, the sensors will provide data such as the condition of the unevenness of the ground, the magnitude of distortion, and the presence or absence of obstacles. It is necessary to obtain and accurately determine the movement of the foot 810, but when the hydraulically driven actuator 100 or the actuator unit 200 or 200 'of the present invention is used as a coupling mechanism, the flexibility of the piston body 30 and the hydraulic pressure drive Due to the expansion and contraction of the cylinder-piston motion, the legs can be advanced while following the unevenness of the ground, the size of the distortion, and the shape of the obstacle, and it can be expanded and contracted according to the external force such as drag from the outside. It is possible to proceed flexibly.

  Next, as a ninth embodiment, a configuration example of a universal type mobile robot 900 configured by assembling the hydraulic drive actuator 100 and the actuator units 200 and 200 'of the present invention will be described.

  FIG. 46 shows a plan view, a front view, and a right side view of a universal mobile robot 900 according to the ninth embodiment. One trunk 920 and a number of legs 910 are provided. In this example, four legs 910a to 910d are provided, and an actuator unit 200 'serving as a coupling mechanism is provided at a joint portion between the legs 910 and the trunk 920.

Each leg 910 is provided substantially horizontally in the lateral direction from the trunk 920, and a rectangular parallelepiped tip 911 is provided at the tip of the leg 910.
The moving operation of the universal mobile robot 900 includes a first operation in which the body 920 moves forward as an action point by the turning motion of the actuator unit 200 ′ with the tip 920 of the grounded foot 910 as a fulcrum, and the grounded body. 920 serves as a fulcrum and moves by repeating the second operation in which the foot 910 moves forward as an action point by the turning motion of the actuator unit 200 ′. The moving operation of the universal mobile robot 900 is an operation in which the first state and the second operation are repeated so that the state of the ground and the presence of an obstacle can be easily overcome.

  First, as shown in the state of FIG. 46 to the state of FIG. 48, the first operation pushes the actuator 200 ′ downward with the tip 911 of the grounded foot 910 as a fulcrum, lifts the trunk 920, and further the actuator 200 Rotate 'and push it backwards to push the body 920 forward. In this case, the trunk 920 moves slowly downward from above, and is grounded according to the state of the ground.

  Next, as shown in the state of FIG. 48 to the state of FIG. 49, the second operation is to turn the actuator 200 ′ from the rear to the upper side with the grounded body 920 as a fulcrum and move the foot 910 forward. The tip 911 is grounded by rotating from the rear to the front. In this case, the tip 911 of the foot 910 moves slowly downward from above, and is grounded according to the state of the ground.

The first operation and the second operation in FIGS. 46 to 49 are moved forward as one cycle. If the operations in FIGS. 46 to 49 are reversed, it is possible to move backward.
FIG. 50 is a diagram showing a state of moving forward by repeating the operation of the cycle of FIGS. 46 to 49. In this example, it is a stepped scalloped front, but you can see how it moves forward.

  46 to 49, the left and right feet 910 are simultaneously moved by the same movement. However, if only one of the left and right feet 910 is operated, the traveling direction can be bent, and the left and right feet can be bent. If one of these is a forward movement and the other is a backward movement, it is possible to turn on the spot. Furthermore, it will be understood that the state in which the body 920 is lifted as shown in FIG. 47 can be operated like the multi-legged robot 800 according to the eighth embodiment.

  If there is an unevenness or distortion on the ground, or if there is an obstacle in front of it, a conventional numerically controlled robot will acquire data such as the condition of the unevenness on the ground, the magnitude of the distortion, and the presence or absence of an obstacle with sensors. It is necessary to accurately determine the movement of the foot 910, but when the hydraulically driven actuator 100 or the actuator unit 200 or 200 'of the present invention is used as a coupling mechanism, the flexibility of the piston body 30 and the hydraulically driven cylinder -The expansion and contraction of the piston motion allows the foot to be advanced while following the condition of the unevenness of the ground, the size of the distortion and the shape of the obstacle, and is flexible while expanding and contracting according to the external force such as the drag received from the outside. You can proceed to.

  As described above, the actuator of the present invention, the actuator unit, and the robot incorporating them can perform “flexible control” and “flexible operation” according to so-called ambient conditions by hydraulic driving, It has the duality that enables "linear movement" with a certain degree of rigidity while also enabling "curve movement" with flexible elasticity.

  When a robot is carried into a limited narrow carry-in path and work space to perform various works (polishing, grinding, water jet pinning, etc.), various conditions are required for the robot according to the work purpose. For example, it has a small and simple structure, is lightweight but has a certain degree of rigidity, can be controlled by a simple driving principle, has a moving mechanism, has a flexible structure, and absorbs vibration It can be required that the moving mechanism is flexible and that the moving mechanism is flexible and can be operated in accordance with the environment of the outside world, and can be retracted when receiving interference from an obstacle. The hydraulic drive actuator and actuator unit according to the present invention can satisfy the above-mentioned conditions. Further, depending on the purpose of the work, the robot may be required to generate power to lift or move a heavy object, but the hydraulic drive actuator and actuator unit according to the present invention are provided with a liquid to be supplied. It is possible to generate a large amount of power by increasing the pressure.

  In addition, it is an important issue to collect the emergency when the operation robot becomes inoperable. Emergency recovery in the event of inoperability in the piping of a nuclear power plant or manufacturing plant is not easy, but the hydraulic drive actuator and actuator unit of the present invention are supplied from the hydraulic supply mechanism. If the hydraulic pressure is reduced, the entire robot is relaxed and the volume is reduced, the joint becomes flexible, and if it is pulled by a cable, it can be easily pulled out via the loading path, and emergency recovery is possible reliably. is there.

  As described above, the preferred embodiments of the configuration examples of the hydraulic drive actuator, the actuator unit, and the robot incorporating them according to the present invention have been illustrated and described, but various modifications can be made without departing from the technical scope of the present invention. It will be understood that this is possible.

  The hydraulically driven actuator and actuator unit of the present invention can be widely applied as a drive mechanism for a robot or a system. Also, depending on various combinations, universal pipe pipe lifting robot, wall surface moving robot, pipe inner wall moving robot, robot arm type robot, multi-segment snake type robot, multi-legged type robot, disaster rescue etc. It can be applied to various industrial robots such as type mobile robots.

1 schematically shows a configuration example of a hydraulically driven actuator 100 according to a first embodiment of the present invention. FIG. A diagram showing a front view, a plan view, a rear view, a cross-sectional view, etc. so that the configuration of each component of the actuator 100 can be understood. The figure explaining a mode that the expansion-contraction of the actuator 100 is controlled by the space | interval limiter mechanism 50. FIG. The figure which shows typically the relationship between the hydraulic pressure applied by the hydraulic-pressure supply mechanism 40, and the length of the actuator 100 by the spring of the elastic body 60. FIG. The figure which shows the example which provided the covers 110 around the actuator 100 of this invention. The figure which showed typically the example of 1 structure of the actuator unit 200 of this invention The figure which showed the front view, the top view, the rear view, sectional drawing, etc. so that the structure of the 1st base body 210 and the 2nd base body 220 might be understood. The figure explaining the principle of the bending control of the actuator unit 200 (the 1) The figure explaining the principle of the bending control of the actuator unit 200 (the 2) The figure explaining bending control in the section cut by the plane parallel to the 1st base body 210 The figure which arranges the two actuator units 200 in series, and demonstrates the effect of the fitting by the 1st fitting edge 15 and the 2nd fitting edge 25 The figure which showed typically the structural example of actuator unit 200 'of this invention which enabled the twist control. The figure explaining the principle which twist arises as a whole actuator unit 200 '(the 1) The figure explaining the principle which a torsion produces as a whole actuator unit 200 '(the 2) The figure which showed typically the external appearance of the pipe pipe raising / lowering robot 300 of Example 3 (the 1) The figure which showed typically the external appearance of the pipe pipe raising / lowering robot 300 of Example 3 (the 2) The figure which showed the horizontal section structure of actuator 100 in a grasping mechanism intelligibly The figure which shows the example of the operation | movement which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (the 1) The figure which shows the example of the operation | movement in which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (the 2) The figure which shows the example of the operation | movement which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (Part 3) The figure which shows the example of the operation | movement which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (Part 4) The figure which shows the example of the operation | movement in which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (the 5) The figure which shows the example of the operation | movement which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (Part 6) The figure which shows the example of the operation | movement in which the robot 300 of Example 3 climbs the outer wall of the pipe pipe arranged in parallel (Part 7) Six-sided view schematically showing the appearance of the wall surface mobile robot 400 of the fourth embodiment (No. 1) Six-sided view schematically showing the appearance of the wall surface mobile robot 400 of the fourth embodiment (No. 2) The figure explaining the outline of the wall surface movement operation | movement of the wall surface mobile robot 400 (the 1) The figure explaining the outline of the wall surface movement operation | movement of the wall surface mobile robot 400 (the 2) The figure which showed typically the external appearance of the pipe pipe inner wall mobile robot 500 of Example 5 (the 1) The figure which showed typically the external appearance of the pipe pipe inner wall mobile robot 500 of Example 5 (the 2) The figure which shows the motion of the grippers 530a-530f The figure explaining the operation example of the pipe inner wall mobile robot 500 (the 1) The figure explaining the operation example of the pipe inner wall mobile robot 500 (the 2) The figure explaining the operation example of the pipe inner wall mobile robot 500 (the 3) The figure explaining the operation example of the pipe inner wall mobile robot 500 (the 4) The figure explaining the operation example of the pipe inner wall mobile robot 500 (the 5) The figure which showed typically the external appearance of the robot arm type robot 600 of Example 6. FIG. A schematic diagram of an actuator 100 'that bends in only one direction. The figure which explains simply the movement when the wire mechanism is provided The figure which shows a mode that the robot arm type robot 600 bends up and down, right and left freely according to the change of internal actuator unit 200 '. The figure which shows a mode that the robot arm type | mold robot 600 whole shape also expands or contracts according to the expansion | extension change and contraction change of actuator unit 200 '. The figure which shows the example of the various robot carrying the robot arm type robot 600 The figure which shows the structural example of the multi-segment snake-type robot of Example 7. The figure which shows the structural example of the multi-legged type robot of Example 8. The figure which shows a mode that the multi-legged robot of Example 8 moves. The figure which shows the moving operation | movement (the 1) of the universal type mobile robot 900 in the top view of the universal type mobile robot 900 of Example 9, a front view, and a right view. The figure which shows the movement operation (the 2) of the universal type mobile robot 900 The figure which shows the movement operation (the 3) of the universal type mobile robot 900 The figure which shows the movement operation (the 4) of the universal type mobile robot 900 The figure which shows the movement operation example of the universal type mobile robot 900

DESCRIPTION OF SYMBOLS 10 1st cylinder body 11 collar part 12 cylinder cylinder 13 cylinder chamber 14 elastic body connection part 15 1st fitting edge 20 2nd cylinder body 21 collar part 22 cylinder cylinder 23 cylinder chamber 24 elastic body connection part 25 2nd Fitting edge 30 piston body 31 tube body 32 one end 33 the other end 33
40 Hydraulic pressure supply mechanism 41 Hydraulic pressure device 42 Liquid supply pipe 50 Interval limiter mechanism 60 Elastic body 70 Connection hinge part 71 Connection body 80 Wire 81 Wire winding mechanism 100 Actuator 200 Actuator unit 200 ′ Actuator unit 210 First base body 220 Second base body 300 Pipe pipe lifting robot 310 Spine 310
311 Top plate 312 Bottom plate 320 Grip mechanism 330 Actuator container 340 Grip part 400 Wall surface moving robot 410 Spine part 420 Suction mechanism 430 Suction cup 500 Pipe pipe inner wall moving robot 510 Spine part 520 Actuator 530 Gripper 600 Robot arm type robot 700 Multi-body Node Snake Type Robot 710 Torso 800 Multi-legged Robot 810 Leg 820 Torso 900 Universal Type Mobile Robot 910 Leg 911 Tip 920 Torso

Claims (18)

A first cylinder body filled with a liquid medium in a cylinder chamber;
A second cylinder body filled with a liquid medium in the cylinder chamber;
One end is accommodated in the cylinder chamber of the first cylinder body, the other end is accommodated in the cylinder chamber of the second cylinder body, and a hollow portion that penetrates from the one end to the other end and is filled with a liquid medium is provided. A piston body;
A hydraulic pressure supply mechanism for supplying a controlled hydraulic pressure to a liquid medium space formed by the cylinder chamber of the first cylinder body, the hollow portion of the piston body, and the cylinder chamber of the second cylinder body; A hydraulically driven actuator.   The liquid according to claim 1, wherein at least a part of the body of the piston body is formed of a flexible tube body, and the entire shape of the piston body can be bent by bending the tube body. Pressure drive actuator. An elastic body is provided between the first cylinder and the second cylinder;
The relative movement between the first cylinder and the second cylinder balances the force to expand by the hydraulic pressure supplied from the hydraulic pressure supply mechanism to the liquid medium space and the force to contract by the elastic body. 3. The hydraulically driven actuator according to claim 1, wherein expansion and contraction control of the entire length is possible by stopping at a position.   The first cylinder has a first fitting edge at an edge facing the second cylinder, and the second cylinder has a second fitting edge at an edge facing the first cylinder. The first cylinder body and the second cylinder body are brought into contact with each other by the elastic force of the elastic body in a state where the hydraulic pressure by the hydraulic pressure supply function is not applied, and the first fitting edge and the The hydraulic drive actuator according to any one of claims 1 to 3, wherein the second fitting edges are fitted with each other.   An interval limiter mechanism for limiting a maximum interval between the first cylinder body and the second cylinder body is provided, and a hydraulic pressure supplied from the hydraulic pressure supply mechanism to the liquid medium space is applied to the first cylinder. Even if the body, the piston body, and the second cylinder body move relative to each other, one end of the piston body does not come out of the cylinder chamber of the first cylinder body, and the other end of the piston body is the second cylinder. 5. The hydraulically driven actuator according to claim 1, wherein the actuator is restricted so as not to escape from a cylinder chamber of the body.   The interval limiter mechanism is a wire provided so as to connect the first cylinder body and the second cylinder body in parallel to the axis of the piston body, and the wire is stretched to 6. The hydraulically driven actuator according to claim 5, wherein relative movement between the first cylinder body and the second cylinder body is limited.   The interval limiter mechanism is a wire provided to connect the first cylinder body and the second cylinder body in an oblique direction with respect to the axis of the piston body, and the wire is stretched 6. The hydraulically driven actuator according to claim 5, wherein relative movement between the first cylinder body and the second cylinder body is limited.   8. The apparatus according to claim 1, further comprising one or a plurality of exterior cylinders that cover an outer periphery of the piston body between the first cylinder body and the second cylinder body. 9. The hydraulic drive actuator described.   The first cylinder body, the exterior cylinder body, and the second cylinder body are connected with a hinge structure, respectively, and the liquid medium space is generated by a liquid pressure supplied from the liquid pressure supply mechanism to the liquid medium space. The hydraulically driven actuator according to claim 8, wherein when the swell expands, the hinge structure can bend and extend in a bendable direction. A plurality of the actuators are arranged in parallel, each first cylinder body is attached to a first base body, and each unit is assembled to a unit in which each second cylinder body is attached to a second base body,
By independently controlling the expansion / contraction of the length of each actuator via each hydraulic pressure supply mechanism, it is possible to control the expansion / contraction of the entire length of the unit and to control the bending of the entire unit in all directions. A hydraulically driven actuator unit incorporating the actuator according to any one of claims 3 to 9.   A hydraulically driven robot comprising the actuator according to any one of claims 1 to 10 and the actuator unit according to claim 9 as constituent elements.   The actuator unit according to claim 10, comprising at least two gripping mechanisms that are opposed to the actuator according to claim 1, wherein a gripper is provided at a tip, and connects the gripping mechanisms to each other. And at least one connecting mechanism provided with an at least one gripping mechanism that grips surrounding objects and supports its own weight while the connecting mechanism expands and contracts to move and move at least one other gripping mechanism. A hydraulically driven robot that moves on the surface or inner surface of an object by repeatedly gripping the surrounding object.   11. At least two suction cups interlocking with a suction mechanism at the tip, and at least one connecting mechanism provided with the actuator unit according to claim 10 so as to connect the suction cups to each other. The surrounding wall surface is moved by repeatedly moving the at least one suction cup portion and adsorbing it to the surrounding wall surface after the connection mechanism expands and contracts while adsorbing to the wall surface and supporting its own weight. A hydraulically driven robot.   The actuator according to claim 10, comprising at least two overhanging mechanisms around which the actuator according to any one of claims 1 to 9 provided with a gripper at a front end is disposed, and connecting the overhanging mechanisms to each other. At least one coupling mechanism provided with a unit is provided, and the other coupling mechanism extends and contracts while supporting the own weight by projecting the gripper between the surrounding wall surfaces or the inner wall surface of the surrounding object by at least one of the projecting mechanisms. The liquid which moves between the surrounding wall surfaces or the inner wall surface of the surrounding object by repeatedly moving the at least one overhanging mechanism of the above and extending the gripper between the surrounding wall surfaces after the movement or the inner wall surface of the surrounding object. Pressure driven robot.   A hydraulically driven robot comprising at least one arm mechanism provided with the actuator unit according to claim 10, and comprising at least one hand mechanism provided with the actuator according to claim 9 at a tip of the arm mechanism.   A hydraulically driven robot comprising at least one connecting mechanism provided with the actuator unit according to claim 10 so as to connect at least two torso parts to each other.   The hydraulically driven actuator comprising the actuator unit according to claim 10, wherein the actuator unit is provided so as to connect at least one torso, at least two toes, and the torso to each of the toes. robot.   The at least one torso, at least a pair of left and right feet provided horizontally from the torso, and the torso and each of the feet are connected to each other. A first operation in which the body portion moves forward as an action point by a turning motion of the actuator unit with the tip of the grounded foot as a fulcrum, and the actuator with the grounded body as a fulcrum. A hydraulically driven robot that moves by repeating a second operation in which the tip of the foot moves forward as an action point by a turning motion of the unit.

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