JP2017514067A - ソフトマシンの大量生産法 - Google Patents
ソフトマシンの大量生産法 Download PDFInfo
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- JP2017514067A JP2017514067A JP2017504632A JP2017504632A JP2017514067A JP 2017514067 A JP2017514067 A JP 2017514067A JP 2017504632 A JP2017504632 A JP 2017504632A JP 2017504632 A JP2017504632 A JP 2017504632A JP 2017514067 A JP2017514067 A JP 2017514067A
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- thermoplastic
- extensible
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- pneumatic network
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- Granted
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Analytical Chemistry (AREA)
- Laminated Bodies (AREA)
- Actuator (AREA)
Abstract
Description
Claims (32)
- ソフトロボット装置であって、少なくとも、第一の熱可塑性層および第二の熱可塑性層を含み、少なくとも1つの層が、伸張性のある熱可塑性材料を含み、少なくとも1つの層が、非伸張性層であり、少なくとも1つの層が、空気圧ネットワークを含み、前記空気圧ネットワークは、圧縮源と流体接続するように構成されている、前記第一及び第二の熱可塑性層が互いに熱接着されている、装置。
- 前記非伸張性層が前記空気圧ネットワークを収納している、請求項1に記載のソフトロボット装置。
- 前記第一の層が前記伸張性層であり、前記第二の層が前記非伸張性層であり、前記第一の層が前記第二の層より薄い、請求項2に記載のソフトロボット装置。
- 前記第一の層が前記伸張性層であり、前記第一の層が前記空気圧ネットワークを収納し、前記第二の層が非伸張性層である、請求項1に記載のソフトロボット装置。
- 前記第二の層がより硬い熱可塑性材料を含む、請求項4に記載のソフトロボット装置。
- 前記第二の層が、熱可塑性層に接着されたもしくは埋め込まれた非弾性の生地、ウェブもしくはメッシュを含む、請求項4もしくは5に記載のソフトロボット装置。
- 前記第一及び第二の熱可塑性層が互いに直接接着されている、請求項1−5のいずれかに記載のソフトロボット装置。
- 前記第一及び第二の熱可塑性層が1つ以上の仲介層を介して互いに接着されている、請求項1−5のいずれかに記載のソフトロボット装置。
- 前記空気圧ネットワークが、熱間エンボス加工された空気圧ネットワークである、請求項1−8のいずれかに記載のソフトロボット装置。
- 前記空気圧ネットワークが、チャンネルおよびチャンバを形成するように前記層から切り取り加工された、請求項1−8のいずれかに記載のソフトロボット装置。
- 請求項1に記載のソフトロボット装置であって、前記装置がさらに第三の熱可塑性層を含み、前記第一の熱可塑性層が伸張性の層を含み、前記第二の熱可塑性層が非伸張性の層を含み、前記第三の熱可塑性層が、前記第一及び第二の熱可塑性層の間に配置され空気圧ネットワークを収納している、装置。
- 前記非伸張性層が、前記第二の熱可塑性層に接着されたもしくは埋め込まれた非弾性の生地、ウェブもしくはメッシュを含む、請求項11に記載のソフトロボット装置。
- 前記非伸張性層が、前記第一の熱可塑性層に接着されたもしくは埋め込まれた弾性の生地、ウェブもしくはメッシュを含む、請求項11もしくは12に記載のソフトロボット装置。
- 前記第三の熱可塑性層が2つ以上のサブレイヤを含み、前記2つ以上のサブレイヤが組み合わされて空気圧装置を形成している、請求項11、12、もしくは13に記載のソフトロボット装置。
- 前記熱可塑性層の少なくとも1つが熱弾性材料を含む、請求項1−14のいずれかに記載のソフトロボット装置。
- 前記熱弾性材料が熱可塑性ポリウレタンを含む、請求項15に記載のソフトロボット装置。
- ソフトロボット装置を作動させる方法であって、請求項1−16のいずれかに記載のソフトロボット装置を供給するステップと、前記伸張性層を膨張させ、ソフトな装置を第一の休止位置から第二の動作位置に動かすために空気圧ネットワークに加圧するステップとを含む、方法。
- ソフトロボット装置を製造する方法であって、第一の熱可塑性層および第二の熱可塑性層を提供するステップと、熱及び/又は圧力を前記第一及び第二の熱可塑性層に加えてそれらの層を熱接着させるステップとを含み、少なくとも1つの層が伸張性の熱可塑性材料を含み、少なくとも1つの層が非伸張性層であり、少なくとも1つの層が空気圧ネットワークを含み、前記空気圧ネットワークは、圧縮源と流体連動するように構成されている、方法。
- 前記非伸張性層が空気圧ネットワークを収納している、請求項18に記載の方法。
- 前記第一の層が前記伸張性層であり、前記第二の層が前記非伸張性層であり、前記第一の層が前記第二の層より薄い、請求項19に記載の方法。
- 前記第一の層が前記伸張性層であり、前記第一の層が空気圧ネットワークを収納し、前記第二の層が前記非伸張性層である、請求項18に記載の方法。
- 前記第二の層がより硬い熱可塑性材料を含む、請求項21に記載の方法。
- 前記第二の層が、熱可塑性層に接着されたもしくは埋め込まれた非弾性の生地、ウェブもしくはメッシュを含む、請求項21もしくは22に記載の方法。
- 前記第一及び第二の熱可塑性層が互いに直接接着されている、請求項18に記載の方法。
- 前記第一及び第二の熱可塑性層が1つ以上の仲介層を介して互いに接着されている、請求項18に記載の方法。
- 空気圧ネットワークを熱可塑性層に熱間エンボス加工するステップをさらに含む、請求項18に記載の方法。
- 空気圧ネットワークのチャンネルおよびチャンバを形成するように前記熱可塑性層から切り取り加工するステップをさらに含む、請求項18に記載の方法。
- 請求項18に記載の方法であって、第三の熱可塑性層を準備し、前記第三の熱可塑性層を前記第一及び第二の熱可塑性層の間に配置するステップを含み、前記第一の熱可塑性層が伸張性の層を含み、前記第二の熱可塑性層が非伸張性の層を含み、前記第三の熱可塑性層が空気圧ネットワークを収納する、方法。
- 前記非伸張性層が、第二の熱可塑性層に接着されたもしくは埋め込まれた非弾性の生地、ウェブもしくはメッシュを含む、請求項28に記載の方法。
- 前記非伸張性層が、第一の熱可塑性層に接着されたもしくは埋め込まれた弾性の生地、ウェブもしくはメッシュを含む、請求項28もしくは29に記載の方法。
- 前記熱可塑性層の少なくとも1つが熱弾性材料を含む、請求項18−30のいずれかに記載の方法。
- 前記熱弾性材料が熱可塑性ポリウレタンを含む、請求項31に記載の方法。
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