JP2022101262A - Actuator and clamp device - Google Patents

Abstract

To make a fluid actuator compact in size and light in weight.SOLUTION: An actuator includes a first elastic film body 3 and a second elastic film body 4, which are made of rubber and in the shape of flat dishes, and a first cup 1 and a second cup 2, which are hard and in the shape of flat dishes. The first elastic film body 3 is internally fitted to the first cup 1 and the second elastic film body 4 is internally fitted to the second cup 2, so that they face each other.SELECTED DRAWING: Figure 1

Description

The present invention relates to an actuator and a clamping device using the actuator.

Conventionally, as a fluid actuator using hydraulic pressure or pneumatic pressure, a hydraulic (pneumatic) cylinder composed of a piston that reciprocates in a cylinder tube and a piston rod connected to the piston is well known and widely used. Has been used.
However, this hydraulic (pneumatic) cylinder has a large overall length, and is used in machine tools, robots, and various industrial machines, such as a clamp device that suppresses its rotational or linear motion. It was an obstacle to space saving.

Therefore, the present inventor has been investigating and studying an actuator using an elastic membrane or an elastic bag that elastically deforms under fluid pressure for a long time.
As shown in FIG. 15, in the diaphragm type pump 52 using the elastic films 51 and 51 made of rubber, the pressure-fed liquid 53 can be pumped in one direction 54 (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2000-130334

In the diaphragm type pump 52 shown in FIG. 15, the pressure of the liquid 56 is transmitted to the pressure-fed liquid 53 by the reciprocating movement of the plunger 55, and the pressure is discharged and pressure-fed in one direction 54.
However, as shown in FIGS. 15A and 15B, even though the elastic membrane 51 itself is elastically deformed, it is impossible to mechanically extract and utilize the elastic deformation to the outside. be.

On the other hand, conventionally, an elastic bag body 60 having a cross-sectional shape as shown in FIG. 16 (A) or FIG. 16 (B) has been known, and when a fluid is press-fitted, it expands from a solid line like a thin two-dot chain line. It is a tube-shaped elastic bag.
The thick two-dot chain line 58 indicates the mating surface to which the elastic bag 60, which has been expanded and deformed, is pressed (stationary).

That is, the elastic bag 60 shown in FIGS. 16A and 16B can be used for sealing gas, but even if it is used for an actuator, it has the following drawbacks (i) and (ii). there were.
(I) Disadvantages that the cross-sectional shape and posture at the time of expansion and deformation are unstable, the amount of elastic deformation is excessive, the durability is inferior, and the life is short.
(Ii) Since the cross-sectional shape and posture at the time of expansion and deformation are unstable, it is extremely difficult to stably exert a constant mechanical external force (urging force).

Therefore, the actuator according to the present invention has a shallow dish-shaped hard first cup having a first bottom wall portion and a first outer peripheral wall portion; and a first cup corresponding to the inner surface of the first bottom wall portion of the first cup. It has one bottom wall portion and a first standing wall portion corresponding to the first outer peripheral wall portion and protruding outward axially beyond the first tip edge portion of the first outer peripheral wall portion. A first elastic membrane fitted in one cup; a shallow dish-shaped hard second cup having a second bottom wall portion and a second outer peripheral wall portion; and a second bottom wall portion of the second cup. It has a second bottom wall portion corresponding to the inner surface and a second upright wall portion that abuts on a corner formed by the second bottom wall portion and the second outer peripheral wall portion, and is internally fitted into the second cup. The second elastic membrane body is provided; the first tip edge portion of the first outer peripheral wall portion of the first cup and the second tip edge portion of the second outer peripheral wall portion of the second cup are small. The first upright wall portion that protrudes beyond the first tip edge portion has the small gap between the first and second tip edge portions that can be approached and separated. , It was configured to always close from the inner peripheral surface side.

Further, the first bottom wall portion of the first elastic membrane body has the outer peripheral band-shaped region non-fixed to the first bottom wall portion of the first cup, and only the central region is mutually fixed. Is.
Further, the second bottom wall portion of the second elastic membrane body is completely fixed and integrated with the second bottom wall portion of the second cup.

Further, the cross-sectional shape of the first standing wall portion of the first elastic film body is a trapezoid having an inclined side on the radial inward side, the upper side dimension of the trapezoid is W ₁ , and the first standing wall portion is described. Assuming that the maximum thickness dimension of the first elastic film body including the wall portion is H ₃ , the following equation 1 holds.
1.0 ・ H ₃ ≦ W ₁ ≦ 2.5 ・ H ₃ … (Formula 1)

Further, the clamping device according to the present invention corresponds to a shallow dish-shaped hard first cup having a first bottom wall portion and a first outer peripheral wall portion; and an inner surface of the first bottom wall portion of the first cup. It has a first bottom wall portion and a first upright wall portion corresponding to the first outer peripheral wall portion and protruding outward axially beyond the first tip edge portion of the first outer peripheral wall portion. A first elastic membrane fitted in the first cup; a shallow dish-shaped hard second cup having a second bottom wall portion and a second outer peripheral wall portion; and a second bottom wall portion of the second cup. It has a second bottom wall portion corresponding to the inner surface of the above, and a second upright wall portion abutting on a corner formed by the second bottom wall portion and the second outer peripheral wall portion, and is inside the second cup. A second elastic membrane body fitted; the first tip edge portion of the first outer peripheral wall portion of the first cup and the second tip edge portion of the second outer peripheral wall portion of the second cup are provided. The first upright wall portion that protrudes beyond the first tip edge portion is the small gap between the first and second tip edge portions that are accessible and separable. In the clamping device that uses the elastic force of the spring to keep the rotation of the rotating shaft stopped, the actuator that is configured to always close from the inner peripheral surface side kills the elastic force. It is attached to apply urging force to switch the rotating shaft to a rotatable state.

Further, the clamping device according to the present invention corresponds to a shallow dish-shaped hard first cup having a first bottom wall portion and a first outer peripheral wall portion; and an inner surface of the first bottom wall portion of the first cup. It has a first bottom wall portion and a first upright wall portion corresponding to the first outer peripheral wall portion and protruding outward axially beyond the first tip edge portion of the first outer peripheral wall portion. A first elastic membrane fitted in the first cup; a shallow dish-shaped hard second cup having a second bottom wall portion and a second outer peripheral wall portion; and a second bottom wall portion of the second cup. It has a second bottom wall portion corresponding to the inner surface of the above surface and a second upright wall portion abutting on a corner formed by the second bottom wall portion and the second outer peripheral wall portion, and is inside the second cup. A second elastic film body fitted; the first tip edge portion of the first outer peripheral wall portion of the first cup and the second tip edge portion of the second outer peripheral wall portion of the second cup are provided. The first upright wall portion that protrudes beyond the first tip edge portion is the small gap between the first and second tip edge portions that are accessible and separable. Is attached to an actuator configured to always close from the inner peripheral surface side in order to apply an urging force for keeping the rotating shaft in a stopped state.

Further, the clamping device according to the present invention corresponds to a shallow dish-shaped hard first cup having a first bottom wall portion and a first outer peripheral wall portion; and an inner surface of the first bottom wall portion of the first cup. It has a first bottom wall portion and a first upright wall portion corresponding to the first outer peripheral wall portion and protruding outward axially beyond the first tip edge portion of the first outer peripheral wall portion. A first elastic membrane fitted in the first cup; a shallow dish-shaped hard second cup having a second bottom wall portion and a second outer peripheral wall portion; and a second bottom wall portion of the second cup. It has a second bottom wall portion corresponding to the inner surface of the above, and a second upright wall portion abutting on a corner formed by the second bottom wall portion and the second outer peripheral wall portion, and is inside the second cup. A second elastic membrane body fitted; the first tip edge portion of the first outer peripheral wall portion of the first cup and the second tip edge portion of the second outer peripheral wall portion of the second cup are provided. The first upright wall portion that protrudes beyond the first tip edge portion is the small gap between the first and second tip edge portions that are accessible and separable. Is attached to an actuator configured to always close from the inner peripheral surface side in order to apply a braking force that keeps the traveling body moving along the long guide member in a stopped state.

According to the actuator according to the present invention, the cross-sectional shape and posture of the first and second membrane bodies are always stable even during expansion and deformation under internal pressure, and the durability is excellent and the life is long. Further, as an actuator, an external force (urging force) is mechanically transmitted to other members in a stable manner.
Further, the clamp device according to the present invention is remarkably compact and lightweight, has a simple structure, is easy to maintain and manage, and can reduce costs.

It is sectional drawing which shows the 1st Embodiment of the actuator of this invention. It is sectional drawing which shows the 2nd Embodiment of the actuator of this invention. It is sectional drawing which shows the 3rd Embodiment of the actuator of this invention. It is sectional drawing which shows the 4th Embodiment of the actuator of this invention. It is sectional drawing which additionally describes the specific structure of the actuator of this invention, and sequentially showed the operation when it receives an internal pressure. It is sectional drawing which shows the 5th Embodiment of an actuator. It is sectional drawing of the main part which shows the 1st Embodiment of the clamp device which concerns on this invention. It is sectional drawing of the main part which shows the 2nd Embodiment of a clamp device. It is a side view of the clamp device shown in FIG. 7 or FIG. It is a figure for concrete explanation of the clamp device shown in FIG. 7, (A) is a vector explanatory view of a booster mechanism, (B) is a shape of the 1st plate piece and 2nd plate piece of a booster mechanism. An explanatory diagram, (C) is an explanatory diagram of a main part of the booster mechanism. It is sectional drawing of the main part of the clamp device of FIGS. 7 and 8. It is sectional drawing of the main part which shows the 2nd Embodiment of the clamp device which concerns on this invention. It is a figure explaining the action, (A) is a figure explaining the main part and a vector of FIG. 12, (B) is a vector diagram. It is explanatory drawing which showed the shape and arrangement relation of the 1st plate piece and the 2nd plate piece. It is sectional drawing which shows the conventional example. It is sectional drawing which shows the conventional example.

Hereinafter, the present invention will be described in detail based on the illustrated embodiment.
FIG. 1 shows a first embodiment of the actuator 10 according to the present invention. Reference numeral 1 is a shallow dish-shaped hard first cup having a first bottom wall portion 11 and a first outer peripheral wall portion 12.
Further, a shallow dish-shaped first elastic membrane body 3 is fitted (innerly fitted) to the first cup 1.

The first elastic membrane body 3 has a first bottom wall portion 31 corresponding to the inner surface of the first bottom wall portion 11 of the first cup 1 and a first outer surface wall portion 12 corresponding to the inner surface of the first outer peripheral wall portion 12 of the first cup 1. It has 1 standing wall portion 32. Moreover, the first upright wall portion 32 protrudes beyond the first tip edge portion 12A of the first outer peripheral wall portion 12 of the first cup 1 in the axial outer direction Y ₁ by a small protrusion dimension H ₁ .
Reference numeral 2 is a shallow dish-shaped hard second cup having a second bottom wall portion 13 and a second outer peripheral wall portion 14.

In the present invention, the term "hard" in the first cup 1 and the second cup 2 means metal, FRP plastic, carbon fiber reinforced plastic, hard plastic, or the like, and is more than a general rubber material. , Sufficiently high hardness and resistant to elastic deformation.

Further, a shallow dish-shaped second elastic membrane body 4 is fitted (innerly fitted) to the second cup 2.
The second elastic membrane body 4 has a second bottom wall portion 41 corresponding to the inner surface of the second bottom wall portion 13 of the second cup 2. Further, it has a (low) second upright wall portion 42 that abuts on the inner surface of the second bottom wall portion 13 of the second cup 2 and the corner portion 15 formed by the inner surface of the second outer peripheral wall portion 14.

Then, a small gap (gap) G is formed between the first tip edge portion 12A of the first outer peripheral wall portion 12 of the first cup 1 and the second tip edge portion 14A of the second outer peripheral wall portion 14 of the second cup 2. To make them face-to-face with each other as they can be approached and separated.

The first upright wall portion 32 that protrudes beyond the first tip edge portion 12A and protrudes in the axial outer direction Y ₁ has a small gap G between the first and second tip edge portions 12A and 14A that can be approached and separated. Is always closed from the inner peripheral surface side.

By the way, in FIG. 5, the dotted line indicates the fixing portion, and the first bottom wall portion 31 of the first elastic membrane body 3 has a circular annular outer peripheral band shape with respect to the first bottom wall portion 11 of the first cup 1. The regions M ₀ are in contact with each other in a non-fixed state so that they can be separated from each other. On the other hand, only the circular central region M ₁ is fixed to each other.
On the other hand, in the second elastic membrane body 4, the second bottom wall portion 41 is completely fixed and integrated with the second bottom wall portion 13 of the second cup 2 (the dotted line portion in FIG. 5). See).

Extrusion to fix the first and second elastic membranes 3 and 4 made of rubber, elastomer, soft plastic, etc. to the first cup 1 and the second cup 2 at the dotted line portion (described above). Adhesive, welding agent, adhesive, adhesive by baking, or mechanical fixing means is used.

Further, in the first embodiment shown in FIG. 1, the cross-sectional shape of the first upright wall portion 32 of the first elastic membrane body 3 is a trapezoidal shape having an inclined side 5 on the radial inward side. .. That is, in the cross-sectional shape, the base and the upper side of the trapezoid are parallel to the first bottom wall portion 11, the side side on the outer peripheral side is perpendicular to the bottom side, and the inner peripheral side has the inclined side 5.

Assuming that the upper side dimension of the first standing wall portion 32 of such a trapezoid is W ₁ and the maximum thickness dimension of the first elastic membrane body 3 including the first standing wall portion 32 is H ₃ , the following Set so that the formula 1 is satisfied.
1.0 ・ H ₃ ≦ W ₁ ≦ 2.5 ・ H ₃ … (Formula 1)
Note that, in FIGS. 1, 2, 2, 4, 5, and 6, the value of W ₁ is shown in the case of a small value close to 1.0 · H ₃ , and in the embodiment of FIG. 3 described later, 2 is shown. .5 ・ The case of a large value close to H ₃ is shown.

Next, in the second embodiment shown in FIG. 2, a case where the bite prevention ring member 6 is attached is shown.
When a small gap G is formed (under pressure) between the first tip edge portion 12A of the first cup 1 and the second tip edge portion 14A of the second cup 2, the first upright wall portion 32 There is an advantage that a part of the outer peripheral surface can be prevented from biting (biting) into the small gap G.

Next, the third embodiment shown in FIG. 3 will be described. The value of W ₁ (partially, as already described) is a large value close to 2.5 · H ₃ in the above-mentioned equation 1. ── For example
2.0 ・ H ₃ ≦ W ₁ ≦ 2.5 ・ H ₃
It is set to ───.

By setting such a trapezoidal upper side dimension W ₁ in FIG. 3 sufficiently large, the following actions and effects can be obtained. That is, (i) the amount of working fluid such as hydraulic oil or air can be reduced. (Ii) It acts to prevent the first elastic membrane body 3 from being excessively elastically deformed and to prevent it from biting into the small gap G.

Next, in the fourth embodiment shown in FIG. 4, a small ridge 43 having an entire annular shape is projected from the second upright wall portion 42, while the small ridge portion 32 is formed on the first upright wall portion 32. It is possible to reduce or prevent external leakage of the fluid (particularly air) as a concave-convex joint (labyrinth groove) by forming a small concave groove 44 having an overall annular shape in which the 43 meshes.
In addition, in FIGS. 1 to 4, hydraulic oil or air is applied to the sealing vacant space 20 surrounded by the first and second elastic membrane bodies 3 and 4 via the joint 16 and the pipe 17. It is configured to allow injection and discharge.

Next, with respect to FIG. 5, the action (effect) thereof will be described. FIG. 5 (A) shows a non-pressurized state in which the fluid pressure (internal pressure) is zero, and then, as shown in FIG. 5 (B) (fluid). In the low pressure state at the initial stage of pressurization (where the infiltration started), in the first elastic film body 3, the outer peripheral band-shaped region (non-fixed portion) M ₀ is lifted from the first bottom wall portion 11 of the first cup 1, and the second elastic film body 3 is second. The first upright wall portion 32 is easily elastically deformed toward the cup 2. After that, it is possible to smoothly shift to the state where the gap G is increased as the pressurized state shown in FIG. 5 (C) while maintaining the sealing property.

By the way, when the actuator 10 described above is used for the clamp device as shown in FIGS. 7 to 12 described later, at least one of the first cup 1 and the second cup 2 is attached (fixed) to another member. ) In many cases.

Therefore, it is also desirable to project the flange 7 for attaching another member to the first cup 1 (or the second cup 2) as in the fifth embodiment shown in FIG. Further, in FIG. 6, the annular wall portion 9 that is lightly fitted onto the outer peripheral surface 8 of the second cup 2 is projected from the outer peripheral edge of the first cup 1 in the axial direction, and the first cup 1 is formed. It is also desirable to configure the second cup 2 so that both axes coincide with each other.

Next, FIGS. 7 and 9 to 11 show one embodiment of the clamp device K using the actuator 10 described above. Moreover, in FIG. 7, a negative type (negative type) clamp device K is illustrated.
That is, it is a clamp device K that utilizes the elastic force of the spring 22 that holds the rotation of the rotating shaft 21 in the (always) stopped state ───braking state───. In such a negative type clamp device, the repulsive force F ₁₀ that kills the elastic force F ₂₂ is applied to switch the rotating shaft 21 to a rotatable state ─── non-braking state ───. Can be done.

Specifically, the rotating shaft 21 is inserted through the hole of the bracket 23 and rotatably pivotally attached by a bearing (not shown). Reference numeral 25 denotes a plurality of braking grip pieces having an arcuate cross section (see FIG. 11) arranged so as to be in contact with the outer peripheral surface 21A of the rotating shaft 21.
An elastic repulsive member 26 that applies a repulsive force F ₂₆ in a direction that increases the gap between the adjacent braking grip pieces 25 and 25 is interposed. Specifically, it is composed of a coil spring, a small columnar elastic rubber, or the like.

Further, the clamp casing 27 is composed of a large-diameter casing portion 27A and a plurality of small-diameter cylindrical portions 27B. The large-diameter casing portion 27A is fixed to the bracket 23, and the boosting mechanism Tg described later is housed in the internal space. Further, a spring 22, an operating disk 28, and a part of the actuator 10 are housed inside the plurality of small-diameter cylindrical portions 27B. Note that FIG. 9 illustrates a case where four small-diameter cylindrical portions 27B are arranged and therefore four actuators 10 are attached.

The actuator 10 shown in FIG. 7 has, for example, a configuration as described in FIG. 6, omitting the annular wall portion 9 of the first cup 1 shown in FIG. 6, and having the flange 7 as the flange 7. As a shape to have, a bolt is inserted into the hole 7A of the flange 7 and screwed to the outer end surface of the small diameter cylindrical portion 27B.

That is, the first cup 1 of the actuator 10 is used as a fixed cup. On the other hand, the second cup 2 is a movable cup that can be reciprocally slidable in the hole 27C of the small _- diameter cylindrical portion 27B in the direction indicated by the arrow F10 and in the opposite direction.

As is clear from FIG. 7, the above-mentioned repulsive force F ₁₀ by the movable cup (second cup) 2 of the actuator 10 presses the operating disk 28 against the repulsive repulsive force F ₂₂ of the spring 22. The pressing force (braking force) of the braking grip piece 25 with respect to the rotating shaft 21 is set to zero via the boosting mechanism Tg, and the rotating shaft 21 is freely switched to the rotatable state.

The specific configuration and operation of this boosting mechanism Tg will be described below.
In FIG. 7, this boosting mechanism Tg is via a force transmission system (in the middle) that transmits the elastic force F ₂₂ of the spring 22 (finally) to the rotary shaft pressure contact surface of the braking grip piece 25. This boosting mechanism Tg is provided with an urging force applying portion Z such as an output shaft 29, and two first plate pieces 36 and a second plate piece 37 that are opened and closed while maintaining a figure eight shape. It was composed of.

As shown in FIG. 10, small concave inner edge portions 36C and 37C are formed on the opposite sides 36B and 37B of the first plate piece 36 and the second plate piece 37, and are substantially formed by the small concave inner edge portions 36C and 37C. The output shaft 29 is inserted into the circular hole. Moreover, it is locked to the outer flange portion 29A at the inner end of the output shaft 29. In other words, the output shaft 29 in the example acts as a “pull shaft”.

Further, the outer peripheral edge 36A of the first plate piece 36 is assembled to the inner peripheral surface of the large-diameter casing portion 27A of the clamp casing 27 so as to be pressure-contactable. On the other hand, the inner peripheral edge 37A of the second plate piece 37 can be pressure-welded to the braking grip piece 25.

Explaining the action of the boosting mechanism Tg in FIG. 10 (A), the force (vector) F ₂₂ by the spring 22 (see FIG. 7) acts on the output shaft 29, whereby the first plate piece 36 An extremely large force (vector) is generated in each of the second plate piece 37 and the second plate piece 37. That is, since the angle θ'shown in FIG. 10 is close to 90 °, the vectors (components) F ₃₆ and F ₃₇ by the first plate piece 36 and the second plate piece 37 become extremely large.

By the way, in FIGS. 7 and 11, a cylindrical grip piece receiving ring 33 that surrounds all of the plurality of braking grip pieces 25 from the outside radially is provided. Note that FIG. 7 shows a case where the cross-sectional shape of the grip piece receiving ring 33 is U-shaped and surrounds not only the outer peripheral surface of the braking grip piece 25 but also both side surfaces in the axial direction.

Further, a plurality of window portions 33A are formed through the grip piece receiving ring 33, and the second plate piece 37 of the boosting mechanism Tg described above abuts on the braking grip piece 25 via the window portion 33A.
Moreover, a concave recess 25A is formed on the outer peripheral surface of each braking grip piece 25, and the second plate piece 37 that has rushed inward radially from the window portion 33A rushes into the concave recess 25A.

Next, as shown in FIG. 10, the cross-sectional shape of the entire peripheral edge of the first plate piece 36 and the second plate piece 37 is a semicircular convex shape having a predetermined radius dimension R. As a result, the pair of first plate pieces 36 and second plate pieces 37 that open and close legs while maintaining the shape of a figure eight can operate smoothly.

Next, another embodiment of the clamping device is shown in FIG. The clamp device of FIG. 8 is an actuating type (positive type), and an urging force for keeping the rotating shaft 21 in a stopped (braking) state can be applied by the actuator 10 itself.
That is, the actuator 10 is attached to the tip of the clamp casing 27 as in FIG. 7, but the actuator 10 is in the direction in which the first plate piece 36 and the second plate piece 37 forming the boosting mechanism Tg are opened. It is a structure in which a repulsive force F ₁₀ due to the fluid pressure of the above is applied.

Further, in FIG. 8, the urging force applying portion Z projecting low in the center of the outer surface of the second cup 2 is directly contacted (pressed) with the boosting mechanism Tg.
Other configurations are the same as those in FIG. 7, and duplicate description will be omitted. Compared with FIG. 7, it is shown that the axial dimension Hk can be reduced and can be made compact.

Next, FIGS. 12 to 14 show another embodiment of the clamping device. Reference numeral 45 indicates a long guide member, which is attached to a traveling body (not shown) moving along the long guide member 45 by a connecting member, or is attached to the long guide member 45 of the traveling body. It is directly attached to the corresponding surface.

The clamp device K applies a braking force that keeps the traveling body in a stopped (clamped) state, and has the actuator 10 described with reference to FIGS. 1 to 6.
Moreover, the flat actuator 10 having the first cup 1 and the second cup 2 shown in FIGS. 1 to 6 is used by tilting it in a horizontal posture.

Braked surfaces 46, 46 are provided on the left and right side surfaces of the long guide member 45, and the braking grip pieces 47, 47 are pressed against the braked surfaces 46, 46 to brake.
In the above horizontal posture actuator 10, the first cup 1 is used as a fixed cup and is fixed to the left and right side plates 48 and 48 with bolts 49, and the lower second cup 2 is used as a movable cup and the left and right side plates are used. A minute gap is formed for 48 and 48 and arranged.

Further, the left and right side plates 48, 48 extend downward from the lower surface of the second cup 2 and face the braked surface 46 of the long guide member 45. That is, the side plate 48 has a hanging portion 48A extending downward from the lower surface of the actuator 10, and the inner surface of the hanging portion 48A faces the braked surface 46.

Then, the actuator 10 in the horizontal posture and the left and right side plates 48 (the hanging portion 48A) make the entire cross-sectional shape a straddle type and straddle the long guide member 45.
Further, the output shaft 29 is hung at the left and right center positions of the second cup 2 of the actuator 10.

At the lower end of the output shaft 29, two first plate pieces 36 and a second plate piece 37, which are opened and closed while maintaining a figure of eight, are engaged (connected) in an interlockable manner. That is, if the output shaft 29 operates downward, the first plate piece 36 and the second plate piece 37 swing in the open leg direction.

Further, on the inner surface of the hanging portion 48A of the side plate 48, a swinging member 61 with a spherical seat 50 swingable around the horizontal axis L ₁ is provided.
Further, the urging force output from the output shaft 29 of the actuator 10 can be transmitted to the braked surface 46 of the long guide member 45 via the force transmission system to keep the traveling body in the stopped state.

Then, as in the embodiment described above, the booster mechanism Tg interposed in the force transmission system includes an output shaft 29 suspended from the second cup 2 (as a movable cup) and this output shaft 29. It is composed of two first plate pieces 36 and a second plate piece 37 that open and close by the reciprocating movement of.

Further, in FIGS. 14 and 12, the outer end side 36A'of the first plate piece 36 and the outer end side 37A' of the second plate piece 37 are engaged with the upper half portion of the swing member 61, respectively. Then, by pressing this upper half portion, it swings around the spherical seat 50, and the braking grip piece 47 attached to the lower half portion of the swing member 61 is attached to the braked surface 46 of the long guide member 45. It can be pressed freely.

Further, 62 is a restoration spring, and when the internal fluid pressure of the actuator 10 approaches zero, the first plate piece 36 and the second plate piece 37 are closed, and the restoration spring 62 is repelled accordingly. The swing member 61 is swung with force to separate the braking grip piece 47 from the braked surface 46.

As is clear from FIG. 12, the vertical distance between the lower surface of the actuator 10 (the second cup 2) and the upper surface 45A of the long guide member 45 becomes extremely small. That is, the first plate piece 36 and the second plate piece 37 are stored in the vertically narrow space H ₀ so that the legs can be opened and closed while maintaining the shape of a figure eight.
Therefore, as shown in FIG. 12, the vertical dimension Hk from the upper surface 45A of the long guide member 45 to the upper end surface of the actuator 10 (or the side plate 48) is extremely small, and compactification is achieved.

Next, FIG. 14 shows the shapes and the like of the first plate piece 36 and the second plate piece 37 used in the embodiment shown in FIG. As shown in FIG. 14, the first plate piece 36 and the second plate piece 37 are substantially rectangular plate pieces, respectively, and are located in the center of the facing sides 36B and 37B which are close to each other and correspond to each other in parallel. The point that the small concave inner edge portions 36C and 37C into which the output (drive) shaft 29 is inserted is formed is as described above, but includes the inner peripheral edges of the small concave inner edge portions 36C and 37C and is around the whole. The cross-sectional shape of the edge is preferably a semicircle (with radius R) as shown in FIG. 14 (B). That is, the semi-circular cross-sectional shape as shown in FIGS. 12 and 13A is smoothly slidable on the upper half corner of the output shaft 29 and the swing member 61.

Next, FIG. 13 (A) shows the main part of FIG. 12, and the downward vector (force) F ₂₉ is reduced by the output shaft 29 of the two first and second plate pieces 36 and 37. When applied to the concave inner edge portions 36C and 37C, it is shown whether the first and second plate pieces 36 and 37 generate extremely large vectors F ₃₆ and F ₃₇ , respectively.

As shown in FIG. 13 (and FIG. 12), the angle θ formed by each of the first plate piece 36 and the second plate piece 37 forming a figure eight with each other as the horizontal plane (horizontal line) _PH is finally opened. Under the leg state, 1 ° ≤ θ ≤ 10 °. Preferably, the dimensions of each component are set so that 2 ° ≤ θ ≤ 5 °. In this final open leg state, if the angle formed by the vector F ₃₆ and the vector F ₃₇ is β, then 160 ° ≦ β ≦ 178 °, which is extremely close to 180 ° (straight line).
The boosting mechanism Tg shown in FIG. 13 therefore uses the vector F ₂₉ of the output shaft 29 as the large vectors F ₃₆ and F ₃₇ (for example, 10 times or more) and the spherical seated rocking member 61. Can be transmitted to.

In the embodiment of FIG. 12, the rocking member 61 has a function of only converting a force (vector) in the horizontal outward direction into a force (vector) in the horizontal inward direction ─── that is, a times of 1: 1. Shows power ───. By moving (setting) the position of the horizontal axis L ₁ of the swing member 61 upward, it is also free to give a boosting function by the lever.

The present invention is not limited to the illustrated embodiment, and the design can be freely changed. For example, in addition to making the entire shape of the actuator circular when viewed from the axial direction, it has a track (stadium) shape, an oval shape, and an elliptical shape. In some cases, it is also free to make it a rectangle or a square.

As described in detail above, the actuator according to the present invention has a shallow dish-shaped hard first cup 1 having a first bottom wall portion 11 and a first outer peripheral wall portion 12; and a first cup 1 of the first cup 1 described above. The first bottom wall portion 31 corresponding to the inner surface of the bottom wall portion 11 and the first outer peripheral wall portion 12 corresponding to the first outer peripheral wall portion 12 and beyond the first tip edge portion 12A in the axial outer direction Y ₁ A shallow surface having a first upright wall portion 32 projecting to the surface, a first elastic film body 3 fitted in the first cup 1, and a second bottom wall portion 13 and a second outer peripheral wall portion 14. A dish-shaped hard second cup 2; a second bottom wall portion 41 corresponding to the inner surface of the second bottom wall portion 13 of the second cup 2, a second bottom wall portion 13 and a second outer peripheral wall portion 14 It has a second upright wall portion 42 that abuts on the corner portion 15 formed by the above; and a second elastic membrane body 4 that is fitted in the second cup 2; 1 The first tip edge portion 12A of the outer peripheral wall portion 12 and the second tip edge portion 14A of the second outer peripheral wall portion 14 of the second cup 2 are made to face each other with a small gap G so as to be accessible and separable; The first upright wall portion 32 projecting beyond the first tip edge portion 12A has a small gap G between the first and second tip edge portions 12A and 14A that can be approached and separated from the inner peripheral surface side. Clamped as a compact actuator that can generate large forces (due to fluid pressure), even with short strokes (eg, a few millimeters), as it is configured to always close, allowing for significantly smaller axial dimensions. It can contribute to space saving of devices, brake devices, and various machines.
In particular, the coupling of the first elastic membrane body 3 and the second elastic membrane body 4 can surely seal the fluid such as hydraulic oil and air, and is surrounded by the first and second cups 1 and 2 having high rigidity. A reinforced structure that makes it easy to take out the operation of the first and second cups 1 and 2 exposed to the outside in the relative separation direction as a mechanical external force, has excellent durability, and has a long life. As an actuator, it can be applied to a wide range of applications.

Further, in the present invention, the first bottom wall portion 31 of the first elastic membrane body 3 has the outer peripheral band-shaped region M ₀ non-fixed to the first bottom wall portion 11 of the first cup 1. Since only the central region M ₁ is fixed to each other, the first and second cups 1 and 2 immediately after the fluid flows into the internal space (as shown in FIGS. 5 (A) to 5 (B)) In the gap (small gap G) between the first and second outer peripheral wall portions 12 and 14 of 2, the first upright wall portion 32 of the first elastic membrane body 3 and the second elastic membrane body 4 It is possible to effectively prevent the upright wall portion 42 from biting into it.

Further, since the second bottom wall portion 41 of the second elastic membrane body 4 is completely fixed and integrated with the second bottom wall portion 13 of the second cup 2, the second elastic membrane body 4 does not separate from the inner surface of the second cup 2 and does not interfere with the elastic deformation of the first elastic membrane body 3 when receiving pressure.

Further, the cross-sectional shape of the first upright wall portion 32 of the first elastic film body 3 is a trapezoid having an inclined side 5 on the radial inward side, and the upper side dimension of the trapezoid is W ₁ and the above. Assuming that the maximum thickness dimension of the first elastic film body 3 including the first standing wall portion 32 is H ₃ , the relationship of 1.0 · H ₃ ≦ W ₁ ≦ 2.5 · H ₃ is established. Since the setting is set to, even if the pressure in the sealed vacant space 20 suddenly fluctuates, it is always stable, and the outer peripheral surface of the first upright wall portion 32 is mutual between the first and second cups 1 and 2. Close the small gap G (from the inside). As described above, regardless of the two parts of the first elastic film body 3 and the second elastic film body 4, the sealing action can be reliably performed as if it were a single elastic bag body. Further, there is an advantage that the volume of the sealed vacant space 20 can be reduced and the required fluid amount can be reduced.
If it is less than the lower limit in the above formula, there is a risk of instantaneous fluid leakage to the outside. Further, if the upper limit is exceeded, the volume of the sealed vacant space 20 becomes too small, and smooth operation becomes difficult.

Further, the clamping device according to the present invention has a shallow dish-shaped hard first cup 1 having a first bottom wall portion 11 and a first outer peripheral wall portion 12; and a first bottom wall portion 11 of the first cup 1 described above. The first bottom surface wall portion 31 corresponding to the inner surface of the above, and the first outer peripheral wall portion 12 corresponding to the first outer peripheral wall portion 12 and protruding in the axial outer direction Y ₁ beyond the first tip edge portion 12A of the first outer peripheral wall portion 12. 1 Standing wall portion 32, a first elastic membrane body 3 fitted in the first cup 1; a second bottom wall portion 13 and a second outer peripheral wall portion 14 are shallow dish-shaped rigid bodies. The second cup 2 and the second bottom wall portion 41 corresponding to the inner surface of the second bottom wall portion 13 of the second cup 2; It has a second upright wall portion 42 that abuts on the corner portion 15, and has a second elastic membrane body 4 that is fitted in the second cup 2; the first outer peripheral wall portion of the first cup 1 is provided. The first tip edge portion 12A of 12 and the second tip edge portion 14A of the second outer peripheral wall portion 14 of the second cup 2 are made to face each other with a small gap G so as to be accessible and separable; The first upright wall portion 32 that protrudes beyond the portion 12A always closes the small gap G between the first and second tip edge portions 12A and 14A that are accessible and separable from the inner peripheral surface side. In the clamping device that uses the elastic force F ₂₂ of the spring 22 to keep the rotation of the rotating shaft 21 stopped, the configured actuator uses the counter-force F ₁₀ that kills the elastic force F ₂₂ . Since it is attached to switch the rotary shaft 21 to the rotatable state, the features of the actuator 10 with a small stroke and large urging force (large output) can be most effectively utilized, and (Fig. 7). It can also be made compact (as shown in).

Further, the clamping device according to the present invention has a shallow dish-shaped hard first cup 1 having a first bottom wall portion 11 and a first outer peripheral wall portion 12; and a first bottom wall portion 11 of the first cup 1 described above. The first bottom wall portion 31 corresponding to the inner surface of the above, the first outer peripheral wall portion 12 corresponding to the first outer peripheral wall portion 12, and the first outer peripheral wall portion 12 protruding in the axial outer direction Y1 beyond the _first tip edge portion 12A. 1 Standing wall portion 32, a first elastic film body 3 fitted in the first cup 1; a second bottom wall portion 13 and a second outer peripheral wall portion 14; a shallow dish-shaped rigid The second cup 2 and the second bottom wall portion 41 corresponding to the inner surface of the second bottom wall portion 13 of the second cup 2; It has a second upright wall portion 42 that abuts on the corner portion 15, and has a second elastic membrane body 4 that is fitted in the second cup 2; the first outer peripheral wall portion of the first cup 1 is provided. The first tip edge portion 12A of 12 and the second tip edge portion 14A of the second outer peripheral wall portion 14 of the second cup 2 are made to face each other with a small gap G so as to be accessible and separable; The first upright wall portion 32 that protrudes beyond the portion 12A always closes the small gap G between the first and second tip edge portions 12A and 14A that are accessible and separable from the inner peripheral surface side. Since the configured actuator is attached to apply the urging force to keep the rotating shaft 21 in the stopped state, the feature of the actuator 10 with a small stroke and a large urging force (large output) is most effectively utilized. Moreover, it was possible to achieve compactness (as shown in FIG. 8).

Further, the clamping device according to the present invention has a shallow dish-shaped hard first cup 1 having a first bottom wall portion 11 and a first outer peripheral wall portion 12; and a first bottom wall portion 11 of the first cup 1 described above. The first bottom wall portion 31 corresponding to the inner surface of the above, the first outer peripheral wall portion 12 corresponding to the first outer peripheral wall portion 12, and the first outer peripheral wall portion 12 protruding in the axial outer direction Y1 beyond the _first tip edge portion 12A. 1 Standing wall portion 32, a first elastic film body 3 internally fitted in the first cup 1, and a shallow dish-shaped rigid body having a second bottom wall portion 13 and a second outer peripheral wall portion 14. The second cup 2 and the second bottom wall portion 41 corresponding to the inner surface of the second bottom wall portion 13 of the second cup 2; It has a second upright wall portion 42 that abuts on the corner portion 15, and has a second elastic membrane body 4 that is fitted in the second cup 2; the first outer peripheral wall portion of the first cup 1 is provided. The first tip edge portion 12A of 12 and the second tip edge portion 14A of the second outer peripheral wall portion 14 of the second cup 2 are made to face each other with a small gap G so as to be accessible and separable; The first upright wall portion 32 that protrudes beyond the portion 12A always closes the small gap G between the first and second tip edge portions 12A and 14A that are accessible and separable from the inner peripheral surface side. Since the configured actuator is attached to apply a braking force that keeps the traveling body moving along the long guide member 45 in a stopped state, a small stroke and a large urging force (large output) of the actuator 10 are generated. It is possible to make the most effective use of these features, and to achieve compactness such as shortening of the vertical dimension Hk (as shown in Fig. 12).

1 1st cup 2 2nd cup 3 1st elastic membrane 4 2nd elastic membrane 5 Inclined side
10 Actuator
11 1st bottom wall
12 1st outer wall
12A 1st tip edge
13 Second bottom wall
14 Second outer wall
14A 2nd tip edge
15 corners
21 axis of rotation
22 spring
31 First bottom wall
32 1st standing wall
41 Second bottom wall
42 2nd standing wall
45 Long guide member F ₁₀ Repulsive force F ₂₂ Repulsive force G Small gap H ₃ Maximum thickness dimension M ₀ Outer band-shaped area M ₁ Central area Tg Boosting mechanism W ₁ Upper side dimension Y ₁ Axial outward direction

Claims (7)

A shallow dish-shaped hard first cup (1) having a first bottom wall portion (11) and a first outer peripheral wall portion (12),
The first bottom wall portion (31) corresponding to the inner surface of the first bottom wall portion (11) of the first cup (1) and the first outer peripheral wall portion (12) corresponding to the first outer peripheral wall portion and the first outer peripheral wall portion. It has a first upright wall portion (32) that protrudes in the elastic outward direction (Y ₁ ) beyond the first tip edge portion (12A) of (12), and is fitted in the first cup (1). The first elastic membrane body (3) and
A shallow dish-shaped hard second cup (2) having a second bottom wall portion (13) and a second outer peripheral wall portion (14),
By the second bottom wall portion (41) corresponding to the inner surface of the second bottom wall portion (13) of the second cup (2), the second bottom wall portion (13), and the second outer peripheral wall portion (14). A second elastic membrane body (4) having a second upright wall portion (42) abutting on the formed corner portion (15) and internally fitted in the second cup (2).
Prepare,
The first tip edge portion (12A) of the first outer peripheral wall portion (12) of the first cup (1) and the second tip edge portion (14) of the second outer peripheral wall portion (14) of the second cup (2). 14A) is faced with a small gap (G) so that it can be approached and separated freely.
The first upright wall portion (32) protruding beyond the first tip edge portion (12A) is the small gap between the first and second tip edge portions (12A) (14A) that are accessible and separable. An actuator characterized in that (G) is configured to be always closed from the inner peripheral surface side. The first bottom wall portion (31) of the first elastic membrane body (3) has an outer peripheral band-shaped region (M ₀ ) with respect to the first bottom wall portion (11) of the first cup (1). The actuator according to claim 1, wherein only the central region (M ₁ ) is mutually fixed as a non-fixed state. The second bottom wall portion (41) of the second elastic membrane body (4) is completely fixed and integrated with the second bottom wall portion (13) of the second cup (2). Item 1. The actuator according to item 1. The cross-sectional shape of the first upright wall portion (32) of the first elastic membrane body (3) is a trapezoid having an inclined side (5) on the radial inward side, and the upper side dimension of the trapezoid is (W ₁ ). 1), and if the maximum thickness dimension of the first elastic membrane body (3) including the first upright wall portion (32) is (H ₃ ), the following equation 1 holds. , 2 or 3.
1.0 ・ H ₃ ≦ W ₁ ≦ 2.5 ・ H ₃ … (Formula 1) In a clamping device that uses the elastic force (F ₂₂ ) of the spring (22) to keep the rotation of the rotating shaft (21) in a stopped state, the counter-force that kills the elastic force (F ₂₂ ). A clamping device comprising the actuator according to claim 1, 2, 3 or 4, in order to impart (F ₁₀ ) and switch the rotating shaft (21) to a rotatable state. A clamp device comprising the actuator according to claim 1, 2, 3 or 4, in order to apply an urging force for keeping the rotating shaft (21) in a stopped state. A clamp device comprising the actuator according to claim 1, 2, 3 or 4, in order to apply a braking force that keeps a traveling body moving along a long guide member (45) in a stopped state.

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