JP2020176664A - 流体圧アクチュエータ及び検出ユニット - Google Patents
流体圧アクチュエータ及び検出ユニット Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
- G01B7/18—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in resistance
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/06—Details
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2853—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using potentiometers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2869—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using electromagnetic radiation, e.g. radar or microwaves
- F15B15/2876—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using electromagnetic radiation, e.g. radar or microwaves using optical means, e.g. laser
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2884—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using sound, e.g. ultrasound
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/857—Monitoring of fluid pressure systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
- F15B2215/305—Constructional details thereof characterised by the use of special materials
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Toxicology (AREA)
- Actuator (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
図1は、本実施形態に係る検出ユニット500を含む流体圧アクチュエータ10の側部外観図である。図1に示すように、流体圧アクチュエータ10は、流体圧を利用したアクチュエータであり、軸方向DAX(図2参照)に沿って伸縮するアクチュエータ本体部100を備える。
図2は、流体圧アクチュエータ10の側面図である。図2に示すように、流体圧アクチュエータ10は、アクチュエータ本体部100、封止機構200及び封止機構300を備える。また、流体圧アクチュエータ10の両端には、連結部20がそれぞれ設けられる。
図4は、流体圧アクチュエータ10の長さを検出する検出ユニット500の機能ブロック構成図である。
次に、流体圧アクチュエータ10及び検出ユニット500の動作について説明する。具体的には、アクチュエータ本体部100の伸縮に伴うアクチュエータ本体部100の長さLの推定動作について説明する。
上述した実施形態によれば、以下の作用効果が得られる。具体的には、流体圧アクチュエータ10の検出ユニット500は、チューブ110の膨張または収縮によって形状が変化するアクチュエータ本体部100の長さLを検出する。
以上、実施例に沿って本発明の内容を説明したが、本発明はこれらの記載に限定されるものではなく、種々の変形及び改良が可能であることは、当業者には自明である。
20 連結部
25 部材
100 アクチュエータ本体部
110 チューブ
111 カーボン粒子
120 スリーブ
180 ホース
200 封止機構
210 封止部材
230 かしめ部材
231 圧痕
300 封止機構
400 フィッティング
410 通過孔
500,500A,500B 検出ユニット
510 測定部
515 リード線
520 長さ推定部
530 レーザー光送受信部
540 反射部
550 超音波送受信部
560 反射部
Claims (6)
- 流体の圧力によって膨張及び収縮する円筒状のチューブを含み、前記チューブの膨張または収縮によって形状が変化するアクチュエータ本体部と、
前記チューブの長手方向に沿った前記アクチュエータ本体部の長さを検出する検出ユニットと
を備える流体圧アクチュエータ。 - 前記検出ユニットは、
前記チューブの電気的特性を測定する測定部と、
前記測定部によって測定された前記電気的特性に基づいて前記長さを推定する長さ推定部と
を含む請求項1に記載の流体圧アクチュエータ。 - 前記測定部は、前記チューブの電気抵抗を測定し、
前記長さ推定部は、前記測定部によって測定された前記電気抵抗が低くなるに連れて、前記長さが短くなると推定する請求項2に記載の流体圧アクチュエータ。 - 前記チューブは、導電性の材料を含むゴム部材によって形成される請求項2または3に記載の流体圧アクチュエータ。
- 前記アクチュエータ本体部は、所定方向に配向された繊維コードを編み込んだ伸縮性を有する構造体であり、前記チューブの外周面を覆うスリーブを含む請求項1乃至4の何れか一項に記載の流体圧アクチュエータ。
- 流体圧アクチュエータと接続される検出ユニットであって、
前記流体圧アクチュエータは、流体の圧力によって膨張及び収縮する円筒状のチューブを含み、前記チューブの膨張または収縮によって形状が変化するアクチュエータ本体部を備え、
前記検出ユニットは、前記チューブの長手方向に沿った前記アクチュエータ本体部の長さを検出する検出ユニット。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019078191A JP2020176664A (ja) | 2019-04-16 | 2019-04-16 | 流体圧アクチュエータ及び検出ユニット |
EP20790416.0A EP3957867A4 (en) | 2019-04-16 | 2020-04-14 | HYDRAULIC ACTUATOR AND DETECTION UNIT |
US17/603,775 US20220196038A1 (en) | 2019-04-16 | 2020-04-14 | Fluid pressure actuator and detection unit |
PCT/JP2020/016363 WO2020213583A1 (ja) | 2019-04-16 | 2020-04-14 | 流体圧アクチュエータ及び検出ユニット |
CN202080028723.6A CN113692494A (zh) | 2019-04-16 | 2020-04-14 | 流体压驱动器和检测单元 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019078191A JP2020176664A (ja) | 2019-04-16 | 2019-04-16 | 流体圧アクチュエータ及び検出ユニット |
Publications (1)
Publication Number | Publication Date |
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JP2020176664A true JP2020176664A (ja) | 2020-10-29 |
Family
ID=72837918
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2019078191A Pending JP2020176664A (ja) | 2019-04-16 | 2019-04-16 | 流体圧アクチュエータ及び検出ユニット |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220196038A1 (ja) |
EP (1) | EP3957867A4 (ja) |
JP (1) | JP2020176664A (ja) |
CN (1) | CN113692494A (ja) |
WO (1) | WO2020213583A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7377928B1 (ja) | 2022-08-26 | 2023-11-10 | ソフトバンク株式会社 | トラッキング装置、プログラム、及びトラッキング方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63216691A (ja) * | 1987-03-03 | 1988-09-08 | 工業技術院長 | 関節装置 |
JP2009257573A (ja) * | 2008-04-17 | 2009-11-05 | Nara Institute Of Science & Technology | 直動伸縮アクチュエータ |
JP2015113918A (ja) * | 2013-12-11 | 2015-06-22 | コーア株式会社 | アクチュエータ |
JP2015180829A (ja) * | 2014-03-06 | 2015-10-15 | 株式会社リコー | 流体駆動型アクチュエータ、その製造方法、及びその駆動方法、駆動装置、並びに関節構造 |
JP2016505790A (ja) * | 2013-01-21 | 2016-02-25 | プレジデント・アンド・フェロウズ・オブ・ハーバード・カレッジ | 空気圧式感知アクチュエータ |
JP2017101809A (ja) * | 2015-12-04 | 2017-06-08 | 国立大学法人 岡山大学 | 人工筋 |
Family Cites Families (7)
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DE10210332A1 (de) * | 2002-03-08 | 2003-10-02 | Festo Ag & Co | Kontraktionseinheit mit Positionssensoreinrichtung |
DE10225246A1 (de) * | 2002-06-07 | 2004-01-08 | Festo Ag & Co. | Kontraktionseinheit mit Positionssensoreinrichtung |
DE10225245A1 (de) * | 2002-06-07 | 2004-01-22 | Festo Ag & Co. | Kontraktionseinheit mit Positionssensoreinrichtung |
GB2435308A (en) * | 2006-02-18 | 2007-08-22 | Shadow Robot Company Ltd | Braided sheath air muscle with substantially fixed perimeter bladder |
CN102744726B (zh) * | 2007-01-22 | 2014-12-03 | 松下电器产业株式会社 | 压缩性流体压力促动器驱动机构及其驱动方法 |
JP5906506B1 (ja) * | 2014-09-12 | 2016-04-20 | 株式会社国際電気通信基礎技術研究所 | アクチュエータ装置、パワーアシストロボットおよびヒューマノイドロボット |
EP3324054B1 (en) | 2015-07-14 | 2019-11-20 | Bridgestone Corporation | Hydraulic actuator |
-
2019
- 2019-04-16 JP JP2019078191A patent/JP2020176664A/ja active Pending
-
2020
- 2020-04-14 WO PCT/JP2020/016363 patent/WO2020213583A1/ja unknown
- 2020-04-14 CN CN202080028723.6A patent/CN113692494A/zh active Pending
- 2020-04-14 EP EP20790416.0A patent/EP3957867A4/en not_active Withdrawn
- 2020-04-14 US US17/603,775 patent/US20220196038A1/en not_active Abandoned
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63216691A (ja) * | 1987-03-03 | 1988-09-08 | 工業技術院長 | 関節装置 |
JP2009257573A (ja) * | 2008-04-17 | 2009-11-05 | Nara Institute Of Science & Technology | 直動伸縮アクチュエータ |
JP2016505790A (ja) * | 2013-01-21 | 2016-02-25 | プレジデント・アンド・フェロウズ・オブ・ハーバード・カレッジ | 空気圧式感知アクチュエータ |
JP2015113918A (ja) * | 2013-12-11 | 2015-06-22 | コーア株式会社 | アクチュエータ |
JP2015180829A (ja) * | 2014-03-06 | 2015-10-15 | 株式会社リコー | 流体駆動型アクチュエータ、その製造方法、及びその駆動方法、駆動装置、並びに関節構造 |
JP2017101809A (ja) * | 2015-12-04 | 2017-06-08 | 国立大学法人 岡山大学 | 人工筋 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7377928B1 (ja) | 2022-08-26 | 2023-11-10 | ソフトバンク株式会社 | トラッキング装置、プログラム、及びトラッキング方法 |
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Publication number | Publication date |
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WO2020213583A1 (ja) | 2020-10-22 |
US20220196038A1 (en) | 2022-06-23 |
CN113692494A (zh) | 2021-11-23 |
EP3957867A4 (en) | 2023-01-04 |
EP3957867A1 (en) | 2022-02-23 |
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