JP2022142269A - drive actuator - Google Patents

Abstract

To provide a drive actuator capable of widening a movable range.SOLUTION: A drive actuator comprises: a movable part which is rotationally driven; a first actuator pack which is connected to one side of the movable part in a rotation direction, in which an insulation liquid is encapsulated, which includes a plurality of electrodes and of which the shape is changed when a voltage is applied to the electrodes; a second actuator pack which is connected to the other side of the movable part in the rotation direction, in which an insulation liquid is encapsulated, which includes a plurality of electrodes and of which the shape is changed when a voltage is applied to the electrodes; and a pipe connecting the first actuator pack and the second actuator pack in such a manner that the insulation liquid in the first actuator pack and the insulation liquid in the second actuator pack are movable.SELECTED DRAWING: Figure 1

Description

The present invention relates to drive actuators.

Robots that operate in a human-like environment are required to have characteristics similar to those of humans in terms of workability and stability. Therefore, a driving method using artificial muscle is being studied. As such an artificial muscle, an actuator driven by pneumatic pressure has been proposed (see, for example, Non-Patent Document 1).
As described in Non-Patent Document 1, joints are generally driven by antagonizingly arranging stretchable artificial muscles.

FIG. 13 is a diagram showing a configuration example in which stretchable artificial muscles are arranged antagonically according to the prior art. As shown in FIG. 13, a drive actuator 900 includes a movable portion 901 that is rotationally driven, a first pneumatic artificial muscle 902 that is connected to one of the movable portions in the rotational direction, and a first pneumatic artificial muscle 902 that is connected to the other rotational direction of the movable portion. and a second pneumatic artificial muscle 903 . When the movable part 901 is tilted by the angle α as shown in FIG. 13, the first pneumatic artificial muscle 902 extends and the second pneumatic artificial muscle 903 contracts.

Yuki Sakaguchi, Ko Hosoda, "Development of a three-dimensional bipedal walking robot Pneumat-BRP equipped with pneumatic artificial muscles and human joints", Robotics and Mechatronics Lecture Abstracts, Vol. 2007, 1P1-F05(1)-1P1 -F05(4), 2007

However, in the prior art, when the drive actuator is driven, one of the stretchable artificial muscles contracts and contacts the movable part 901 or the like, so there is a problem that a wide range of motion cannot be secured.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a drive actuator capable of ensuring a wide range of motion.

(1) In order to achieve the above objects, a drive actuator according to an aspect of the present invention includes a movable portion that is rotationally driven, a plurality of electrodes that are connected to one of the rotational directions of the movable portion, that is filled with an insulating liquid, and that has a plurality of electrodes. a first actuator pack whose shape changes when a voltage is applied to the electrodes; and a first actuator pack connected to the other side of the movable part in the rotational direction, filled with an insulating liquid, and having a plurality of electrodes; a second actuator pack that changes shape when a voltage is applied to electrodes; and a pipe movably connected to the insulating liquid.

(2) Further, in the drive actuator according to the aspect of the present invention, the first actuator pack has one end connected to the movable part and the other end connected to one end of the pipe, and the second actuator pack is: One end may be connected to the movable portion and the other end may be connected to the other end of the pipe.

(3) In the drive actuator according to one aspect of the present invention, the shape of the first actuator pack, the shape of the second actuator pack, the shape of the pipe, and the connection portion between the first actuator pack and the pipe At least one of the shape and the shape of the connecting portion between the second actuator pack and the pipe may be based on the viscosity of the insulating liquid.

(4) Further, in the drive actuator according to the aspect of the present invention, the first actuator pack and the second actuator pack may be arranged to oppose each other with respect to the movable portion.

(5) Further, in the drive actuator according to an aspect of the present invention, the pipe may further include a buffer portion that stores the insulating liquid in the middle of the pipe.

(6) In the drive actuator according to an aspect of the present invention, each of the plurality of electrodes is arranged inside the first actuator pack and inside the second actuator pack, and is applied with an alternating voltage. The first actuator pack and the second actuator pack may be deformed by being moved by the electrostatic attraction generated in the plurality of electrodes.

(7) Further, in the drive actuator according to the aspect of the present invention, each of the plurality of electrodes is arranged on the surface of the first actuator pack, arranged on the surface of the second actuator pack, and arranged on the surface of the first actuator pack. the plurality of electrodes are attracted based on the voltage difference between the plurality of electrodes on the surface of the second actuator pack, the plurality of electrodes are attracted based on the voltage difference between the plurality of electrodes on the surface of the second actuator pack, and the The first actuator pack and the second actuator pack may deform when the plurality of electrodes are attracted.

According to (1) to (7), the first actuator pack and the second actuator pack are connected by a pipe. As a result, according to (1) to (7), when the actuator pack contracts, the insulating liquid can move to another actuator pack through the pipe, so that a wide range of motion can be secured.
According to (3), it is possible to smoothly move the insulating liquid in the actuator pack.
According to (4), even if the two actuator packs are competing, the insulating liquid can move to the other actuator pack via the pipe, so that a wide range of motion can be secured.
According to (5), even if a plurality of actuator packs are not competing with each other or have different sizes, the insulating liquid can move to other actuator packs through the pipe, so that a wide range of motion can be secured. can be done.
According to (6), swelling of the actuator pack on the contraction side is suppressed, so that the range of motion and driving force can be increased.
According to (7), by turning on the voltage of the actuator pack on the extension side, the actuator pack on the extension side can be fully extended, and the contraction side can concentrate on contraction and the contraction rate can be increased. Driving force can be increased.

4 is a diagram showing a configuration example of a drive actuator according to the first embodiment; FIG. It is a figure which shows the structural example of the actuator pack which concerns on 1st Embodiment. It is a figure which shows the structural example of the drive actuator based on the 1st modification of 1st Embodiment. FIG. 11 is a diagram showing a configuration example in which a plurality of actuator packs are not competing with each other in the drive actuators according to the second modified example of the first embodiment; FIG. 10 is a diagram showing an example of connection between an actuator pack and a pipe according to a third modification of the first embodiment, and an example of the shape of the actuator pack and the pipe; FIG. 2 is a diagram showing a configuration example and operation principle of an actuator pack based on HASEL according to the prior art; FIG. 10 is a diagram showing an example of a state in which two actuator packs according to the prior art are arranged and driven in opposition to the movable portion; FIG. 10 is a diagram showing a configuration example of a drive actuator according to a second embodiment; FIG. 10 is a diagram showing a problem when applying an actuator pack based on HASEL according to the prior art to a bending joint; It is a figure which shows the structure of the 1st modification in 2nd Embodiment. It is a figure which shows the structure of the 2nd modification in 2nd Embodiment. It is a figure which shows the structure of the 3rd modification in 2nd Embodiment. FIG. 10 is a diagram showing a configuration example in which stretchable artificial muscles in the conventional technology are arranged antagonically.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in the drawings used for the following description, the scale of each member is appropriately changed so that each member has a recognizable size.

<First Embodiment>
FIG. 1 is a diagram showing a configuration example of a drive actuator according to this embodiment. As shown in FIG. 1 , the drive actuator 1 includes a movable portion 11 , a first actuator pack 12 , a second actuator pack 13 and a pipe 31 .
The first actuator pack 12 includes electrodes 121 and an insulating liquid 122 .
The second actuator pack 13 includes electrodes 131 and an insulating liquid 132 .
Note that the number and length of the electrodes 121 and 131 are not limited to this. Also, insulating liquids 122 and 132 are enclosed in each actuator pack.

The movable part 11 is rotationally driven about the axis 21 by controlling the first actuator pack 12 and the second actuator pack 13 by the control part 41 .

The first actuator pack 12 is connected to one side of the movable portion 11 in the rotational direction.
The second actuator pack 13 is connected to the other rotational direction of the movable portion 11 .

The electrodes 121 and 131 are, for example, FPC (Flexible Printed Circuits) films.

The insulating liquid 122, 132 is, for example, Fluorinert FC-77 (3M®). Note that the insulating liquids 122 and 132 may be other substances. Also, the exterior of each of the first actuator pack 12, the second actuator pack 13, and the pipe 31 is, for example, a non-stretchable material.

A pipe 31 connects one end of the first actuator pack 12 and one end of the second actuator pack 13 and is made of an insulating material. The pipe 31 is, for example, cylindrical in shape.

The pipe 31 connecting the first actuator pack 12 and the second actuator pack 13 is positioned so as not to interfere with the movable portion 11 and the shaft 21 . The example shown in FIG. 1 is only an example, and the size and position of the actuator pack, the mounting position and thickness of the pipe 31, and the like are not limited to this.

(Actuator pack configuration example)
Next, detailed configuration examples of the first actuator pack 12 and the second actuator pack 13 will be described.
FIG. 2 is a diagram showing a configuration example of an actuator pack according to this embodiment. Since the first actuator pack 12 and the second actuator pack 13 have the same configuration, the first actuator pack 12 will be described as an example in FIG. In FIG. 2, the longitudinal direction of the actuator pack is the x-axis direction, the lateral direction is the y-axis direction, and the height direction is the z-axis direction.

In the example of FIG. 2, the first actuator pack 12 comprises five electrodes 1211-1215 on the left side, five electrodes 1216-1220 on the right side, an insulating liquid 122, and beads 123. In FIG. Beads 123 are, for example, glass beads. In addition, in FIG. 2, a part of the beads 123 is depicted.

The size of each of the electrodes 1211-1220 is, for example, 20×80 (mm). As in the initial state g11 in FIG. 2, the left and right electrodes are alternately arranged so as to partially overlap. The overlap of the electrodes in the initial state g11 is, for example, 30 (mm) in the x-axis direction. The outer shape of the first actuator pack 12 in the initial state g11 is, for example, 150 (=130+2)×30×10 (mm).

When a three-phase alternating current (for example, 1600 (V)) is applied to these electrodes 1211 to 1220, electrostatic attraction is generated in the electrodes and they move, resulting in contraction state g12. The overlap of the electrodes in the contracted state g12 is, for example, 50 (mm) in the x-axis direction. As a result, the length in the x-axis direction of the contracted state g12 of the first actuator pack 12 is, for example, 130 (=110+20) (mm). Thus, the length in the x-axis direction in the contracted state g12 is reduced by 20 (mm) with respect to the initial state g11 (see Reference 1).

Reference 1; Akio Yamamoto, Toshiki Niino, Toshiro Higuchi, “Modeling and identification of an electrostatic motor”, Precision Engineering 30(1):104-113, January 2006

Moreover, such an actuator pack can adjust the amount of displacement by design, and the output can be increased by the number of laminations (see Reference 1).
Note that the configuration of the actuator pack shown in FIG. 2 is an example, and the configuration is not limited to this.

If such actuator packs are arranged in the movable part 11 in an antagonistic manner, the insulating liquid 122 will not contract when one of the actuator packs contracts during driving. Therefore, if the pipe 31 is not provided, the contracted actuator pack expands, narrowing the range of motion, weakening the driving force, and hindering the driving displacement.
Therefore, in this embodiment, the first actuator pack 12 and the second actuator pack 13 are connected by a pipe 31 as shown in FIG.

When the joint is driven, the first actuator pack 12 expands and the second actuator pack 13 contracts. move to

As a result, according to the present embodiment, it is possible to suppress the expansion of the contracted actuator pack due to the insulating liquid, so that it is possible to reduce the reduction in the driving force due to the narrowing of the movable range, and to reduce the obstruction of the driving displacement.

The pipe 31 connecting the first actuator pack 12 and the second actuator pack 13 preferably has the shortest length, but is not limited to this.

(First modification)
The size of the first actuator pack 12 and the second actuator pack 13 and the amount of the insulating liquids 122 and 132 may be the same or different. If the sizes of the first actuator pack 12A and the second actuator pack 13A are different, the pipe 31A may have a buffer portion 32 as shown in FIG.

FIG. 3 is a diagram showing a configuration example of a drive actuator according to a first modified example of this embodiment. As shown in FIG. 3, the drive actuator 1A includes a movable portion 11, a first actuator pack 12A, a second actuator pack 13A, a pipe 31A, and a buffer portion 32.
The first actuator pack 12A includes electrodes 121 and an insulating liquid 122 .
The second actuator pack 13A includes electrodes 131 and insulating liquid 132 .

The sizes of the first actuator pack 12A and the second actuator pack 13A are different.

The pipe 31A has a buffer portion 32, for example, at an intermediate point between the first actuator pack 12A and the second actuator pack 13A.
The buffer portion 32 is, for example, spherical and made of an insulating material.

If the sizes of the first actuator pack 12A and the second actuator pack 13A are different, one may shrink and the insulating liquid 122 (or 132) may not completely enter the other through the pipe 31A. In such a case, by providing a buffer portion 32 in the middle of the pipe 31A as shown in FIG. 3, the insulating liquid 122 (or 132) due to contraction can be temporarily accommodated.

Note that the position and size of the buffer unit 32 shown in FIG. 3 are merely examples, and are not limited to these. The size of the buffer section 32 is based on the difference between the first actuator pack 12A and the second actuator pack 13A. Also, the position of the buffer portion 32 is a position that does not hinder driving.
Moreover, the buffer part 32 may be formed, for example, by thickening a part of the pipe 31A. Also, the number of buffer units 32 is not limited to one, and may be two or more.

(Second modification)
A second modified example describes an example in which a plurality of actuator packs do not compete with each other for the drive actuators.
FIG. 4 is a diagram showing a configuration example in which a plurality of actuator packs of the drive actuators according to the second modified example of the present embodiment are not competing with each other. As shown in FIG. 4, the drive actuator 1B includes a movable portion 11B, a first actuator pack 12B, a second actuator pack 13B, a third actuator pack 14B, a fourth actuator pack 15B, and a pipe 31B (31B1, 31B2 , 31B3, 31B4) and a buffer section 32B.
Although omitted in FIG. 4, each of the actuator packs 12B, 13B, 14B, and 15B includes an electrode and an insulating liquid.

In the drive actuator 1B, the movable portion 11B rotates and tilts around the ball joint 21B. One ends of four actuator packs 12B, 13B, 14B, and 15B are connected to the movable portion 11B. One end of a pipe 31B1 is connected to the other end of the first actuator pack 12B, one end of a pipe 31B2 is connected to the other end of the second actuator pack 13B, and a pipe 31B3 is connected to the other end of the third actuator pack 14B. , and one end of the pipe 31B4 is connected to the other end of the fourth actuator pack 15B. The other end of pipe 31B1 is connected to buffer section 32B, the other end of pipe 31B2 is connected to buffer section 32B, the other end of pipe 31B3 is connected to buffer section 32B, and the other end of pipe 31B4 is connected to buffer section 32B. It is

The example of FIG. 4 corresponds to the shoulder muscles of, for example, a robot. In such a case, one actuator pack is driven against three actuator packs, and at least one buffer is required for movement of the insulating liquid.

Note that the size and mounting position of each actuator pack, the length and thickness position of each pipe 31B, and the size and position of the buffer portion 32B shown in FIG. Also, the number of buffer units 32B is not limited to one, and two or more may be provided.

(Third modification)
Next, the connection between the actuator pack and the pipe will be explained.
Although Florina FC-77 is shown as an example of the insulating liquid in the actuator pack, the insulating liquid is not limited to this. As shown in FIG. 5, the shape of the connection between the actuator pack and the pipe, the shape of the actuator pack, the thickness of the pipe, etc. may be changed according to the viscosity of the insulating liquid.

FIG. 5 is a diagram showing an example of connection between an actuator pack and a pipe and an example of the shape of the actuator pack and pipe according to a third modification of the present embodiment.
A first structural example g21 is a connection example and a shape example between the actuator pack 12C and the pipe 31C when the viscosity of the insulating liquid is normal. When the viscosity of the insulating liquid is normal, the shape is such that the pipe 31C is connected to one end of the actuator pack 12C.

A second structural example g22 is a first connection example and a first shape example between the actuator pack 12D and the pipe 31D when the viscosity of the insulating liquid is high. When the viscosity of the insulating liquid is high, the pipe 31D is made thicker than the pipe 31C of the first structural example g21.

A third structural example g23 is a second connection example and a second shape example between the actuator pack 12E and the pipe 31E when the viscosity of the insulating liquid is high. If the insulating liquid has a high viscosity, the connecting portion g24 of the pipe 31E is expanded.

Thus, depending on the viscosity, the shape of the first actuator pack, the shape of the second actuator pack, the shape of the pipe, the shape of the connecting portion between the first actuator pack and the pipe, and the connecting portion between the second actuator pack and the pipe. By changing at least one of the shapes of , the movement of the insulating liquid within the actuator pack can be made smooth.

Note that the connection example and shape shown in FIG. 5 are merely examples, and are not limited to these. For example, the connecting portion of the pipe 31 may be expanded while the pipe is made thicker.

As described above, in this embodiment, the first actuator pack and the second actuator pack are connected by a pipe.

As a result, according to this embodiment, when the actuator pack contracts, the insulating liquid in the contracted actuator pack can move to another actuator pack, so that a wide range of motion can be secured, and the driving force can be efficiently controlled without impeding the drive force. can be driven effectively.

<Second embodiment>
In this embodiment, an example in which the actuator pack is HASEL (Hydraulically Amplified Self-healing Electrostatic) will be described.

(Actuator driven by conventional HASEL)
First, a drive actuator based on conventional HASEL will be described. FIG. 6 is a diagram showing a configuration example and an operation principle of an actuator pack using HASEL according to the prior art. As shown in FIG. 6, the prior art actuator pack 950 has a film 951, a first electrode 952, a second electrode 953, and an insulating oil 954 (see Reference 2).

_A voltage VO is supplied to the first electrode 952 from a control device (not shown). The second electrode 953 is grounded.

In the initial state _g951 , the applied voltage VO is 0 (V), the short length of the actuator pack 950 is _t0 , and the long length is _L0 .

The HASEL actuator pack 950 closes (Zipping) the electrodes when a high voltage is applied. At that time, the actuator pack 950 is driven by the movement of the insulating oil.
Therefore, when the applied voltage V 0 is 1 (kV), for example, the actuator pack 950 is partially closed as in the voltage application state _g952 . In the voltage application state g952, the short side length of the actuator pack 950 is t ₂ (>t ₀ ) and the long side length is L ₂ (<L ₀ ). That is, although the film 951 should be elongated by voltage application, it shrinks due to the influence of the insulating oil 954 .

Reference 2; Nicholas Kellaris, Vidyacharan Gopaluni Venkata, et al, “Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract
on activation”, Sci.Robot.3, eaar3276 (2018), January 2018

FIG. 7 is a diagram showing an example of a state in which two actuator packs according to the prior art are arranged antagonistically with respect to the movable portion and driven. As shown in FIG. 7, the prior art drive actuator 960 has a first actuator pack 971 and a second actuator pack 981 arranged in opposition to each other on a movable portion 961 . A first actuator pack 971 has a first electrode 972 , a second electrode 973 , a film 974 and insulating oil 975 . A second actuator pack 981 has a first electrode 982 , a second electrode 983 , a film 984 and insulating oil 985 .

The example shown in FIG. 7 is a state in which no voltage is applied to the electrodes of the first actuator pack 971, that is, 0 (V) is applied to the first electrode 972 and the second electrode 973 is grounded. state. Also, a voltage is applied to the electrodes of the second actuator pack 981, that is, V _O (V) is applied to the first electrode 982 and the second electrode 983 is grounded.

In this case, when the voltage of the second actuator pack 981 on the contraction side is turned on (applied state) as shown in FIG.
It should be noted that, as shown in FIG. 7, the prior art actuator pack has electrodes (first electrode, second electrode) provided only on part of the films 974 and 984 .

(drive actuator by HASEL)
Next, the drive actuator by HASEL of this embodiment will be described.
FIG. 8 is a diagram showing a configuration example of a drive actuator according to this embodiment. As shown in FIG. 8, the drive actuator 1F includes a movable portion 11, a first actuator pack 12F, a second actuator pack 13F, and a pipe 31F.
The first actuator pack 12F comprises a first electrode 121F, a second electrode 122F, a film 123F and an insulating liquid 124F.
The second actuator pack 13F comprises a first electrode 131F, a second electrode 132F, a film 133F and an insulating liquid 134F.

Each of the insulating liquid 124F and the insulating liquid 134F is a liquid dielectric, such as Envirotemp (registered trademark) FR3. Note that the insulating liquids 124F and 134F may be other substances. Also, the exterior of each of the first actuator pack 12F, the second actuator pack 13F, and the pipe 31F is, for example, a non-stretchable material.

In the first actuator pack 12F, a voltage is applied to the first electrode 121F from the control section 41F, and the second electrode 122F is grounded. The first actuator pack 12F has one end connected to the movable portion 11 and the other end connected to one end of the pipe 31F.

In the second actuator pack 13F, a voltage is applied to the first electrode 131F from the control section 41F, and the second electrode 132F is grounded. The second actuator pack 13F has one end connected to the movable portion 11 in opposition to the first actuator pack 12F, and the other end connected to the other end of the pipe 31F.

As shown in FIG. 8, the actuator packs (first actuator pack 12F, second actuator pack 13F) of the present embodiment have electrodes (first electrodes (121F, 131F) , second electrodes (122F, 132F)).

In the example of FIG. 8, the first actuator pack 12F is in the voltage ON state (voltage VO is applied to the first electrode 121F), and the second actuator pack 13F is in the power OFF state (0 (V) to the first electrode _131F ). ) applied). As a result, the voltage of the first actuator pack 12F on the extension side is turned on, and the first electrode 121F and the second electrode 122F are attracted to close the first actuator pack 12F. A portion of the insulating liquid 124F in the first actuator pack 12F moves to the second actuator pack 13F through the pipe 31F. d In this case, the extension-side second actuator pack 13F can be fully extended, and the contraction-side first actuator pack 12F can concentrate on contraction, resulting in a large contraction rate.

According to this embodiment, interference with the movable part 11 can be avoided and the range of motion can be reduced.

8, the shapes of the actuator pack and the pipes and the thickness of the pipes may be changed according to the concentration of the insulating liquid, as in the case of FIG.
Also, in the configuration of FIG. 8, if the two actuator packs are different in size or if three or more actuator packs are arranged without conflict, a buffer section may be provided in the middle of the pipe 31F. good.

(Modification)
Next, a modified example of this embodiment will be described.
FIG. 9 is a diagram showing a problem when applying the conventional HASEL actuator pack to a bending joint. In the example of FIG. 9, two movable parts 991 and 992 are connected and operated like hands and feet, for example. One end of the first actuator pack 993 is connected to the first movable portion 991 , and the other end of the first actuator pack 993 is connected to the second movable portion 992 . One end of the second actuator pack 994 is connected to the first movable portion 991 , and the other end of the second actuator pack 994 is connected to the second movable portion 992 . The configurations of the first actuator pack 993 and the second actuator pack 994 are the same as those shown in FIGS. 6 and 7, and electrodes are provided on a portion of the film.

In the initial state g991, no voltage is applied to both the first actuator pack 993 and the second actuator pack 994, and they are in the OFF state.
In the bending state g992, the second actuator pack 994 is in the OFF state and the first actuator pack 993 is energized and in the ON state. In this case, the inner side of the second actuator pack 994 (region 995 surrounded by dashed lines) may interfere with the movable portion 991 . Thus, when the actuator pack interferes with the movable portion, the bending angle becomes small. In other words, with the conventional configuration, there were cases where a wide range of motion could not be obtained.

(First modification)
FIG. 10 is a diagram showing the configuration of a first modified example of this embodiment. As shown in FIG. 10, the drive actuator 1G of the first modification includes a first movable portion 11G1, a second movable portion 11G2, a first actuator pack 12G, a moment arm 120G1, a moment arm 120G2, a second actuator pack 13G, a moment arm 130G1, moment arm 130G2, and pipe 31G.

In the drive actuator 1G of the first modified example, actuator packs are connected to the respective movable parts via moment arms, and the two actuator packs are connected by pipes. Note that in the first modification, the moment arm is connected to the actuator pack in the y-axis direction, which is the longitudinal direction of the actuator pack.

One end of a moment arm 120G1 is connected to the first movable portion 11G1. The first actuator pack 12G has one end connected to the other end of the moment arm 120G1 and the other end connected to one end of the moment arm 120G2. The other end of the moment arm 120G2 is connected to the second movable portion 11G2.

One end of a moment arm 130G1 is connected to the first movable portion 11G1. The second actuator pack 13G has one end connected to the other end of the moment arm 130G1 and the other end connected to one end of the moment arm 130G2. The other end of the moment arm 130G2 is connected to the second movable portion 11G2.

The first actuator pack 12G and the second actuator pack 13G are connected by a pipe 31G.

The configurations of the first actuator pack 12G and the second actuator pack 13G are the same as those shown in FIG. Also, the control unit is omitted in FIG. Also, the pipe 31G may have a buffer section.

In the initial state g101, no voltage is applied to the electric power of both the first actuator pack 12G and the second actuator pack 13G, and they are in the OFF state.

In the bending state g102, the second actuator pack 13G is in the OFF state, and the voltage is applied to the electrodes of the first actuator pack 12G to be in the ON state. In this case, the insulating liquid in the first actuator pack 12G flows through the pipe 31G to the second actuator pack 13G.

In the first modification, the moment arms (120G1, 120G2, 130G1, 130G2) and the pipe 31G move the movable portion (first movable portion 11G1, second movable portion 11G2) can be avoided, and the range of motion can be increased.

In addition, in the first modification, the pipe 31G is preferably positioned so as not to hinder the driving of the movable portions 11G1 and 11G2.
Moreover, the configuration, each arrangement, and the shape shown in FIG. 10 are examples, and the present invention is not limited to this.

(Second modification)
FIG. 11 is a diagram showing the configuration of a second modified example of this embodiment. As shown in FIG. 11, the drive actuator 1H of the second modification includes a first movable portion 11H1, a second movable portion 11H2, a first actuator pack 12H, a moment arm 120H1, a moment arm 120H2, a second actuator pack 13H, a moment arm 130H1, moment arm 130H2, and pipe 31H.

In the drive actuator 1H of the second modified example, actuator packs are connected to the respective movable parts via moment arms, and the two actuator packs are connected by pipes. Note that in the second modification, the moment arm is connected to the actuator pack in the x-axis direction, which is the lateral direction of the actuator pack.

One end of a moment arm 120H1 is connected to the first movable portion 11H1. The first actuator pack 12H has one end connected to the other end of the moment arm 120H1 and the other end connected to one end of the moment arm 120H2. The other end of the moment arm 120H2 is connected to the second movable portion 11H2.

One end of a moment arm 130H1 is connected to the first movable portion 11H1. The second actuator pack 13H has one end connected to the other end of the moment arm 130H1 and the other end connected to one end of the moment arm 130H2. The other end of the moment arm 130H2 is connected to the second movable portion 11H2.

The first actuator pack 12H and the second actuator pack 13H are connected by a pipe 31H.

The configurations of the first actuator pack 12H and the second actuator pack 13H are the same as those shown in FIG. Also, the control unit is omitted in FIG. Also, the pipe 31H may have a buffer section.

In the initial state g201, no voltage is applied to the electrodes of both the first actuator pack 12H and the second actuator pack 13H, and they are in the OFF state.

In the bending state g202, the second actuator pack 13H is in the OFF state, and the voltage is applied to the electrodes of the first actuator pack 12H to be in the ON state. In this case, the insulating liquid in the first actuator pack 12H flows through the pipe 31H to the second actuator pack 13H.

In the second modification as well, the moment arms (120H1, 120H2, 130H1, 130H2) and the pipe 31H allow the actuator packs (the first actuator pack 12H and the second actuator pack 13H) to contract when bent. 11H1, second movable portion 11H2) can be avoided, and the range of motion can be increased.

In addition, in the second modification, the pipe 31H is preferably positioned so as not to hinder the driving of the movable portion.
Moreover, the configuration, each arrangement, and the shape shown in FIG. 11 are examples, and the present invention is not limited to this.

(Third modification)
FIG. 12 is a diagram showing the configuration of a third modified example of this embodiment. As shown in FIG. 12, the drive actuator 1J of the third modification includes a first movable portion 11J1, a second movable portion 11J2, a first actuator pack 12J, a second actuator pack 13J, a first pipe 31J1, and a second pipe 31J2. Prepare.

In the drive actuator 1J of the third modification, unlike the first actuator pack 12F and the second actuator pack 13F of the second embodiment, the first actuator pack 12J and the second actuator pack 13J are subdivided.

The first actuator pack 12J has one end connected to the first movable portion 11J1 and the other end connected to one end of the first pipe 31J1 and one end of the second pipe 31J2.
The second actuator pack 13J has one end connected to the first movable portion 11J1 and the other end connected to the other end of the first pipe 31J1 and the other end of the second pipe 31J2.

The actuator packs (the first actuator pack 12J and the second actuator pack 13J) shown in FIG. 12 are provided with electrodes and second electrodes over substantially the entire surface of the film. Also, the control unit is omitted in FIG. Also, the first pipe 31J1 and the second pipe 31J2 may have buffer portions.

In the initial state g301, no voltage is applied to the electrodes of both the first actuator pack 12J and the second actuator pack 13J, and they are in the OFF state.

In the bending state g302, the second actuator pack 13J is in the OFF state, and the voltage is applied to the electrodes of the first actuator pack 12J to be in the ON state. In this case, the insulating liquid in the first actuator pack 12J flows to the second actuator pack 13J through the first pipe 31J1 and the second pipe 31J2.

In the third modified example as well, the first and second pipes 31J1 and 31J1 allow the movable portions (first movable portion 11J1 and second movable portion 11J1, second movable portion 11J1 and second movable portion 11J2) can be avoided and the range of motion can be increased.

In addition, in the third modification, the first pipe 31J1 and the second pipe 31J2 are preferably positioned so as not to hinder the driving of the movable portion.
Moreover, the configuration, each arrangement, and the shape shown in FIG. 12 are examples, and the present invention is not limited to this. Also, the number of pipes is not limited to two, and may be one or three or more.

As described above, in the drive actuators 1 (1A, 1B, 1F, 1G, 1H, 1J) of each of the above-described embodiments and modifications, the first actuator packs 12 (12A, 12B, 12F, 12G, 12H, 12J) ) and the second actuator pack 13 (13A, 13B, 13F, 13G, 13H, 13J) were connected by pipes 31 (31A, 31B1, 31B2, 31B3, 31B4, 31F, 31G, 31H, 31J1, 31J2). As a result, according to the drive actuators of the above-described embodiments and modifications, when the actuator pack contracts, the insulating liquid can move to another actuator pack via the pipe, so that a wide range of motion can be secured. can be done.

In each of the embodiments and examples described above, an example was described in which the actuator pack and the pipe were each made of a non-stretchable material, but the present invention is not limited to this. The sheathing of each of the actuator pack and the pipe may be of elastic material. Even in this case, the effect of not interfering with the driving force can be obtained.

It should be noted that the drive actuators of the above-described embodiments and modifications can be applied to, for example, bipedal robots, reception robots, industrial robots, and the like. Further, the driving actuators of the above-described embodiments and modifications can also be applied to systems for assisting human work. In this case, the person may be fitted with two or more actuator packs connected by pipes.

A program for realizing all or part of the functions of the control unit 41 (41F) in the present invention is recorded on a computer-readable recording medium, and the program recorded on this recording medium is read by the computer system. , all or part of the processing performed by the control unit 41 (41F) may be performed. It should be noted that the "computer system" referred to here includes hardware such as an OS and peripheral devices. Also, the "computer system" includes a WWW system provided with a home page providing environment (or display environment). The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage devices such as hard discs incorporated in computer systems. In addition, "computer-readable recording medium" means a volatile memory (RAM) inside a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. , includes those that hold the program for a certain period of time.

Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

1, 1A, 1B, 1F, 1G, 1H... drive actuators, 11, 11B... movable parts, 12, 12A, 12B, 12F, 12G, 12H... first actuator packs, 13, 13A, 13B, 13F, 13G, 13H Second actuator pack 14B Third actuator pack 15B Fourth actuator pack 121, 131 Electrode 122, 132, 124F, 134F Insulating liquid 123F, 133F Film 120G1, 120G2, 130G1, 130G2 , 120H1, 120H2, 130H1, 130H2... moment arm, 123... bead, 31, 31A, 31B1, 31B2, 31B3, 31B4, 31F, 31G, 31H... pipe, 32, 32B... buffer section, 41, 41F... control section

Claims (7)

a movable part that is rotationally driven;
a first actuator pack connected to one of the rotating directions of the movable part, filled with an insulating liquid, having a plurality of electrodes, and changing its shape when a voltage is applied to the electrodes;
a second actuator pack connected to the other side of the movable portion in the rotational direction, filled with an insulating liquid, having a plurality of electrodes, and changing its shape when a voltage is applied to the electrodes;
a pipe through which the first actuator pack and the second actuator pack are connected so that the insulating liquid in the first actuator pack and the insulating liquid in the second actuator pack can move;
a drive actuator. The first actuator pack has one end connected to the movable part and the other end connected to one end of the pipe,
The second actuator pack has one end connected to the movable part and the other end connected to the other end of the pipe.
2. The drive actuator of claim 1. The shape of the first actuator pack, the shape of the second actuator pack, the shape of the pipe, the shape of the connecting portion between the first actuator pack and the pipe, and the shape of the connecting portion between the second actuator pack and the pipe. at least one of is based on the viscosity of the insulating liquid;
3. A drive actuator according to claim 1 or claim 2. The first actuator pack and the second actuator pack are arranged to oppose each other with respect to the movable part,
Drive actuator according to any one of claims 1 to 3. The pipe is
Further comprising a buffer part that stores the insulating liquid in the middle of the pipe,
Drive actuator according to any one of claims 1 to 4. each of the plurality of electrodes,
disposed within the first actuator pack and disposed within the second actuator pack;
It moves by electrostatic attraction generated by the application of alternating voltage,
The first actuator pack and the second actuator pack are
Deformed by moving due to electrostatic attraction generated in the plurality of electrodes,
Drive actuator according to any one of claims 1 to 5. each of the plurality of electrodes,
disposed on the surface of the first actuator pack and disposed on the surface of the second actuator pack;
the electrodes are attracted based on a voltage difference between the electrodes on the surface of the first actuator pack;
the electrodes are attracted based on a voltage difference between the electrodes on the surface of the second actuator pack;
The first actuator pack and the second actuator pack are
deformed by being attracted to the plurality of electrodes;
Drive actuator according to any one of claims 1 to 5.

Images