JP3822061B2 - Actuator device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an actuator device using a functional fluid whose viscosity is changed by receiving electromagnetic energy as an operating fluid.
[0002]
[Prior art]
In general, hydraulic actuators are often used as actuators using a working fluid. This hydraulic actuator moves a piston by feeding a working fluid such as oil supplied from a pump into a cylinder. In this type of actuator, in order to reciprocate the piston, a valve mechanism for switching the working fluid supply path is provided to alternately supply the working fluid to a pair of cylinder chambers formed on both sides of the piston. ing. As this valve mechanism, a plurality of solenoid valves are usually used in combination, and the movement direction of the piston is switched by opening and closing each solenoid valve.
[0003]
However, such a conventional hydraulic actuator requires a hydraulic pump, an oil tank, and the like in order to send pressure oil, and thus has a problem of a large and complicated structure. In addition, since a mechanical valve mechanism is used, the actuator cannot be operated from the load side. However, since the response speed of the solenoid valve is slow, it cannot follow the operation of the pump driven at high speed. There is a problem that it is difficult to perform fine control at high speed.
In order to solve this problem, an actuator device using an electrorheological fluid as a working fluid has been proposed (see JP-A-11-303804). According to the actuator device, it is possible to realize a high response speed as compared with a hydraulic actuator.
[0004]
[Problems to be solved by the invention]
However, in the actuator device, since there is a dead point where the flow rate does not change in the operation of the pump that sends out the electrorheological fluid, there is a dead point where the actuator does not operate. Therefore, the operation of the actuator is pulsating. Thus, there is a problem that speed control becomes difficult.
The present invention has been made in view of such a problem, and an object thereof is to improve operation performance in an actuator device using a functional fluid as an operation fluid.
[0005]
[Means for solving the problems]
The actuator device according to the present invention includes:
An actuator that reciprocally moves a piston in a cylinder using a functional fluid whose viscosity is changed by receiving electromagnetic energy as a working fluid;
Among the pair of cylinder chambers connected in parallel to the actuator and formed with a piston in the cylinder of the actuator, the functional fluid is discharged to one of the cylinder chambers and the function of the other cylinder chamber First and second fluid supply devices for inhaling sexual fluid;
Control circuit for controlling operation of the first and second fluid supply devices
And has.
[0006]
Each of the first and second fluid supply devices is
A piping system connected to both cylinder chambers of the actuator;
A pump means interposed in the piping system for discharging / inhaling a functional fluid by reciprocating movement of a piston in the cylinder;
Providing electromagnetic energy to the functional fluid flowing through the piping system, provided at a plurality of locations in the piping system, to prevent the flow of the functional fluid at the plurality of locations in the piping system, from the discharge port of the pump means Valve means for forming a flow path leading to one cylinder chamber of the actuator and a flow path returning from the other cylinder chamber of the actuator to the suction port of the pump means
And has.
[0007]
The control circuit includes:
First and second detection means for detecting the direction of movement of the piston of the pump means provided in the first and second fluid supply devices;
Control means for controlling the operation of the valve means based on detection signals from the first and second detection means
The control means forms a flow path from the discharge port to the same cylinder chamber of the actuator regardless of switching of the discharge port accompanying switching of the piston movement direction of the pump unit, and the pump unit. Regardless of the switching of the suction port accompanying the switching of the piston movement direction, the operation of the valve means is controlled so as to form a flow path from the same cylinder chamber of the actuator to the suction port. Further, the first pump means provided in the first fluid supply device and the second pump means provided in the second fluid supply device are driven by shifting the displacement phases of the respective pistons. The
[0008]
In the actuator device of the present invention, the first pump means provided in the first fluid supply device and the second pump means provided in the second fluid supply device are shifted from each other in phase. To drive. In this process, the control circuit controls the operation of each valve unit based on the detection signal from each detection unit in accordance with the operation direction (piston movement direction) of each pump unit.
This forms a flow path from the discharge port to the same cylinder chamber of the actuator regardless of switching of the discharge port accompanying switching of the piston movement direction of the pump unit, and also in the piston movement direction of the pump unit. Regardless of the switching of the suction port accompanying the switching, a flow path is formed from the same cylinder chamber of the actuator to the suction port.
As a result, the functional fluid is discharged from both the first and second fluid supply devices to one cylinder chamber of the actuator, and from the other cylinder chamber of the actuator to both the first and second fluid supply devices. As the functional fluid is inhaled, the actuator piston moves in the same direction.
[0009]
In this process, the first pump means and the second pump means operate out of phase with each other (see FIGS. 6 (a) and 6 (b)), so that the functional fluid discharged from the first pump means The phase of the change in the flow rate and the change in the flow rate of the functional fluid discharged from the second pump means are similarly shifted (see FIG. 6C). However, even if the operation direction (piston movement direction) of each pump means is reversed as described above, the functional fluid discharged from each pump means is sent to the same cylinder chamber of the actuator by switching the valve means. The flow rate of the functional fluid supplied from one pump means to the actuator and the flow rate of the functional fluid supplied from the second pump means to the actuator fluctuate in opposite phases (FIG. 6 (d)). )reference).
As a result, the sum of the flow rate of the functional fluid supplied from the first pump means to the actuator and the flow rate of the functional fluid supplied from the second pump means to the actuator becomes a substantially constant value (FIG. 6 ( e)), the piston of the actuator moves in one direction at approximately the same speed.
[0010]
In a specific configuration, the functional fluid is an electrorheological fluid, and the valve means includes a pair of electrodes arranged on both sides of the electrorheological fluid channel.
In this specific configuration, when a voltage is applied between one electrode, the viscosity of the electrorheological fluid in the electric field formed thereby increases, resistance to the flow increases, and the flow almost stops. As a result, the valve can be closed.
[0011]
Further, in a specific configuration, the first detection means detects a piston moving direction by detecting a flow direction of the functional fluid in a pipe in which the first pump means is interposed, and the second detection means The detecting means detects the piston moving direction by detecting the flow direction of the functional fluid in the pipe interposing the second pump means.
[0012]
Further, in a specific configuration, the piping system includes an annular pipe that forms a closed loop, and two places of the annular pipe are connected to both cylinder chambers of the actuator via two pipes, and the two places of the annular pipe Are connected to each other through one pipe, and the pump means is interposed in the one pipe, and at four places sandwiched by connection points with other pipes of the annular pipe Said valve means is provided.
According to this specific configuration, of the four valve means arranged in the annular pipe, the two valve means arranged diagonally to each other are opened and the other two valves arranged diagonally to each other. By closing the means, a flow path from the discharge port of the pump means to one cylinder chamber of the actuator is formed according to the operation direction of the pump means (moving direction of the piston), and from the other cylinder chamber of the actuator. A flow path to the suction port of the pump means is formed. When the operation direction of the pump means (moving direction of the piston) is reversed, the two valve means at the diagonal position to be opened and the two valve means at the diagonal position to be closed are exchanged, whereby the discharge port of the pump means A flow path from the other cylinder chamber of the actuator to the suction port of the pump means is formed.
By switching the opening and closing of the valve means in this way, the functional fluid is always discharged from the pump means to the same cylinder chamber of the actuator regardless of the operation direction of the pump means, and the function from the same cylinder chamber of the actuator to the pump means is functioned. Sex fluid can be inhaled.
[0013]
Further, in a specific configuration, the control means is synchronized with a timing at which the piston moving direction of the first and / or second pump means detected by the first and / or second detection means is reversed, Control the operation of the valve means.
Thereby, the back flow of the functional fluid is prevented.
[0014]
In a specific configuration, the control means includes
When the first pump means is operating in the first direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the first direction. A first mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the first direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the second direction. A second mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the second direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the first direction. A third mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the second direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the second direction. A fourth mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
And repeat.
[0015]
By repeating the first to fourth modes, the functional fluid is discharged from both the first and second fluid supply devices to one cylinder chamber of the actuator, and the first and second cylinder chambers of the actuator Functional fluid can be drawn into both of the second fluid supply devices so that the actuator piston moves in the same direction.
In this process, the first pump means and the second pump means operate with a phase difference of 90 degrees from each other (see FIGS. 6A and 6B). As a result, from the first pump means, The change in the flow rate of the functional fluid discharged and the change in the flow rate of the functional fluid discharged from the second pump means also have a phase difference of 90 degrees from each other (see FIG. 6C). However, even if the operation direction of each pump means is reversed as described above, the functional fluid discharged from each pump means is sent to the same cylinder chamber of the actuator by switching the valve means. The flow rate of the functional fluid supplied to the actuator and the flow rate of the functional fluid supplied from the second pump means to the actuator fluctuate with phases opposite to each other (see FIG. 6D).
As a result, the sum of the flow rate of the functional fluid supplied from the first pump means to the actuator and the flow rate of the functional fluid supplied from the second pump means to the actuator becomes a constant value (FIG. 6E). See), the piston of the actuator moves in one direction at a constant speed.
[0016]
In a specific configuration, each of the first and second pump means changes the speed of the piston linearly with respect to time in the course of movement of the piston in one direction.
As a result, the sum of the flow rate of the functional fluid supplied from the first pump means to the actuator and the flow rate of the functional fluid supplied from the second pump means to the actuator becomes a strictly constant value. The piston will move at a strictly constant speed.
[0017]
【The invention's effect】
According to the actuator device of the present invention, the total flow rate of the functional fluid supplied from the first and second fluid supply devices to the actuator is a constant value or a substantially constant value regardless of the switching of the operation direction of the pump means. Therefore, the pulsating operation of the actuator can be prevented, and the dead center where the operation of the actuator stops can be eliminated. As a result, the speed of the actuator can be controlled.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.
As shown in FIG. 1, an actuator device according to the present invention includes a direct acting actuator 1 that uses an electrorheological fluid whose viscosity is increased by applying a voltage as a working fluid, and an electrorheological fluid that is directed toward the actuator 1. The first and second pumps 21 and 22 that discharge or suck the electrorheological fluid from the actuator 1, the piping system 3 that connects the actuator 1 and both pumps 21 and 22 by a predetermined path, and the piping system 3 Valves 41 to 48 provided at eight places are provided, and the inside of the piping system 3 is filled with an electrorheological fluid.
[0019]
The piping system 3 includes first to eighth partial pipes 301 to 308, and the first to fourth partial pipes 301 to 304 are sequentially joined to form one annular pipe. The eighth partial pipes 305 to 308 are sequentially joined to constitute one annular pipe.
[0020]
The first valve 41 is disposed at the joint between the first and second partial pipes 301, 302, the second valve 42 is disposed at the joint between the second and third partial pipes 302, 303, and the third The third valve 43 is disposed at the joint portion between the fourth partial pipes 303 and 304, the fourth valve 44 is disposed at the joint portion between the fourth and first partial pipes 304 and 301, and the fifth and fifth portions. The fifth valve 45 is disposed at the joint portion of the sixth partial pipes 305 and 306, the sixth valve 46 is disposed at the joint portion of the sixth and seventh partial pipes 306 and 307, and the seventh and eighth A seventh valve 47 is disposed at the joint between the partial pipes 307 and 308, and an eighth valve 48 is disposed at the joint between the eighth and fifth partial pipes 308 and 305.
[0021]
Further, the pipe system 3 includes a ninth partial pipe 309 that connects the first partial pipe 301 and the fifth partial pipe 305, and a tenth pipe that connects the third partial pipe 303 and the seventh partial pipe 307. And a partial pipe 310. In addition, the inside of the piping comprised by the 1st-10th partial piping 301-310 is filled with the electrorheological fluid.
[0022]
The first bulb 41 includes an electrode pair composed of a cathode electrode 41a and an anode electrode 41b, and is configured by sandwiching a flow path between the electrode pair. Similarly, the second bulb 42 is composed of an electrode pair composed of a cathode electrode 42a and an anode electrode 42b, and the third bulb 43 is composed of an electrode pair composed of a cathode electrode 43a and an anode electrode 43b. The fourth valve 44 is composed of an electrode pair composed of a cathode electrode 44a and an anode electrode 44b, and the fifth valve 45 is composed of an electrode pair composed of a cathode electrode 45a and an anode electrode 45b. Is composed of an electrode pair composed of a cathode electrode 46a and an anode electrode 46b, the seventh bulb 47 is composed of an electrode pair composed of a cathode electrode 47a and an anode electrode 47b, and the eighth bulb 48 is composed of a cathode electrode. The electrode pair is composed of 48a and an anode electrode 48b. And these 1st-8th valves 41-48 raise the viscosity of the functional fluid in the flow path pinched | interposed by the electrode pair by applying a voltage between the electrode pairs which comprise each, Can be in a closed state.
[0023]
The piping system 3 includes an eleventh partial piping 311 that connects the actuator 1 and the ninth partial piping 309 and a twelfth partial piping 312 that connects the actuator 1 and the tenth partial piping 310. .
The actuator 1 includes a cylindrical cylinder 11 and a piston 12 that is movably disposed in the cylinder 11 and divides a cylinder chamber in the cylinder 11. The piston 12 includes a first piston rod 12a and a second piston rod 12b having the same cross-sectional area, and both the piston rods 12a and 12b are connected to the outside of the cylinder 11 and transmit output to the outside. . The pair of cylinder chambers separated by the piston 12 inside the cylinder 11 is filled with an electrorheological fluid.
[0024]
One end 11 a of the cylinder 11 is connected to one end of an eleventh partial pipe 311, and the other end of the eleventh partial pipe 311 is connected to a ninth partial pipe 309. One end of a twelfth partial pipe 312 is connected to the other end 11 b of the cylinder 11, and the other end of the twelfth partial pipe 312 is connected to the tenth partial pipe 310.
Then, the functional fluid flows into one cylinder chamber of the pair of cylinder chambers separated by the piston 12 inside the cylinder 11, and the functional fluid flows out from the other cylinder chamber. It will move back and forth.
[0025]
Furthermore, the piping system 3 includes a thirteenth partial pipe 313 that connects the first pump 21 and the second partial pipe 302, and a fourteenth partial pipe that connects the first pump 21 and the fourth partial pipe 304. 314, a fifteenth partial pipe 315 that connects the second pump 22 and the sixth partial pipe 306, and a sixteenth partial pipe that connects the second pump 22 and the eighth partial pipe 308. 316.
[0026]
As shown in FIG. 2, the interior of the first pump 21 is divided into a first cylinder chamber 211 and a second cylinder chamber 212, and electrorheological fluid is contained in both cylinder chambers 211 and 212. Filled. One end of a thirteenth partial pipe 313 is connected to the first cylinder chamber 211 of the pump 21, and the other end of the thirteenth partial pipe 313 is connected to the center of the second partial pipe 302. . One end of a fourteenth partial pipe 314 is connected to the second cylinder chamber 212 of the pump 21, and the other end of the fourteenth partial pipe 314 is connected to the center of the fourth partial pipe 304. .
The first pump 21 includes a driving piston 213 of a cylinder 214, and the electroviscous fluid in the first cylinder chamber 211 is transferred to the thirteenth partial pipe 313 by moving the driving piston 213 in one direction. While discharging, the electrorheological fluid in the fourteenth partial pipe 314 is sucked into the second cylinder chamber 212, and the electrorheological fluid in the second cylinder chamber 212 is moved by moving the driving piston 213 in the other direction. Is discharged into the fourteenth partial pipe 314 and the electrorheological fluid in the thirteenth partial pipe 313 is sucked into the first cylinder chamber 211.
[0027]
The driving piston 213 is magnetized, and a ring-shaped magnet 215 is provided around the cylinder 214 so as to surround the piston 213, and the driving piston 213 can be positioned in the axial direction by the magnetic force of the magnet.
The ring-shaped magnet 215 is connected to the motor 217 via the groove cam 216. The groove cam 216 has a cam groove so that the ring-shaped magnet 215 reciprocates at a constant speed when the motor 217 rotates at a constant speed. When the motor 217 rotates at a constant speed, the ring-shaped magnet 215 moves to the thirteenth partial pipe 313 side, whereby the driving piston 213 moves to the thirteenth partial pipe 313 side, and the first cylinder chamber 211 is moved. The electrorheological fluid in the inner part is discharged to the thirteenth partial pipe 313 and the electrorheological fluid in the fourteenth partial pipe 314 is sucked into the second cylinder chamber 212. Conversely, when the ring-shaped magnet 215 moves to the fourteenth partial pipe 314 side, the driving piston 213 moves to the fourteenth partial pipe 314 side, and the electrorheological fluid in the second cylinder chamber 212 is transferred to the fourteenth side. Are discharged to the partial pipe 314 and the electrorheological fluid in the thirteenth partial pipe 313 is sucked into the first cylinder chamber 211.
Since the configuration of the second pump 22 is the same as the configuration of the first pump 21, its illustration and description are omitted.
The first and second pumps 21 and 22 operate with a phase shifted by 90 degrees as described later (see FIGS. 6A and 6B).
[0028]
Further, the actuator device of the present invention includes a first position detector 51 for detecting the position of the driving piston of the first pump 21 as shown in FIG. 1, and the position of the driving piston of the second pump 22. A second position detector 52 for detection is provided, and the outputs of the first and second position detectors 51 and 52 are input to the control circuit 6.
The control circuit 6 includes a microcomputer 61 and first to fourth amplifiers 62 to 65 that amplify control signals output from the microcomputer 61. The microcomputer 61 reads the positions detected by the first and second position detectors 51 and 52, so that the differential coefficient of the output of each position detector 51 and 52 and the position between both position detectors 51 and 52 are detected. A signal difference is calculated, and the first to eighth valves 41 to 48 are controlled based on the calculation result and a command signal for instructing the driving direction of the actuator 1 input from the operator. A signal is output. The first amplifier 62 amplifies the control signal and transmits the amplified control signal to the first and third valves 41 and 43, and the second amplifier 63 amplifies the control signal and the second and fourth valves 42 and 44. The third amplifier 64 amplifies the control signal and transmits it to the fifth and seventh valves 45 and 47, and the fourth amplifier 65 transmits the control signal to the sixth and eighth valves 46, 47. 48.
[0029]
Each of the first to fourth valves 41 to 44 is synchronized with the timing when the driving piston 213 is at the top dead center or the bottom dead center based on the control signal from the microcomputer 61, that is, the switching timing between discharge and suction. Thus, a state in which a voltage is applied to the functional fluid in the pipe and a state in which no voltage is applied are switched. Each of the fifth to eighth valves 45 to 48 is synchronized with the timing at which the driving piston 223 is at the top dead center or the bottom dead center based on the control signal from the microcomputer 61, that is, the switching timing between discharge and suction. Thus, a state in which a voltage is applied to the functional fluid in the pipe and a state in which no voltage is applied are switched. In the portion where the voltage is applied, the shear stress of the electrorheological fluid in the pipe is increased, and the flow of the electrorheological fluid is restricted, so that the pipe where the voltage is applied is in a state where the valve is closed. Become.
[0030]
In the actuator device having such a configuration, an operation when the piston 12 of the actuator 1 is moved in the direction indicated by the arrow A in FIG. 5 (upward in the figure) will be described with reference to the flowchart of FIG.
First, in step S1 of FIG. 3, the microcomputer 61 outputs a control signal for controlling the first to eighth valves 41 to 48 so that all the valves 41 to 48 are opened, that is, no voltage is applied. Is done. In response to this control signal, the first to eighth valves 41 to 48 are opened. At the same time, the reciprocating drive of the driving pistons of the first and second pumps 21 and 22 is started. Here, the driving pistons of the first and second pumps 21 and 22 are in the form of a triangular wave having one cycle of 360 degrees in a state where the phases are shifted by 90 degrees as shown in FIGS. Driven to change speed.
[0031]
Next, in step S <b> 2 of FIG. 3, the position signal C <b> 1 representing the position of the driving piston of the first pump 21 detected by the first position detector 51 and the second signal detected by the second position detector 52. A position signal C 2 indicating the position of the driving piston of the pump 22 is input to the microcomputer 61.
[0032]
In response to this, the microcomputer 61 calculates differential coefficients ΔC1 and ΔC2 of both position signals C1 and C2 in step S3. In step S4, it is determined whether one of the differential coefficients ΔC1 and ΔC2 of both position signals C1 and C2 has become zero and the sign has changed. When it is determined YES, the process proceeds to step S5, and the moving direction (operation direction) of the driving piston of the first and second pumps 21 and 22 is determined.
Next, in step S6, according to the determined operation directions of the first and second pumps 21 and 22, the modes A to D shown in FIG. 4 are identified, and eight valve control signals corresponding to the modes are identified. And output to each valve.
[0033]
For example, when the operating directions of the first and second pumps 21 and 22 are both leftward as shown by the arrow B in FIG. 5, the mode A shown in FIG. 4 is identified, and the eight valve controls corresponding to the modes are identified. A signal is output. That is, in the mode A, the microcomputer 61 outputs a control signal for closing the first and third valves 41 and 43 via the amplifier 62, that is, applying a voltage, and outputs the second signal via the amplifier 63. Then, a control signal is output that the fourth valves 42 and 44 are opened, that is, no voltage is applied. Further, the microcomputer 61 outputs a control signal for closing the fifth and seventh valves 45 and 47 through the amplifier 64, that is, applying a voltage, and the sixth and eighth valves through the amplifier 65. A control signal for opening 46 and 48, that is, applying no voltage is output.
[0034]
As a result, the electrorheological fluid is discharged from the first pump 21 to the thirteenth partial pipe 313, and the electrorheological fluid is, as indicated by arrows in FIG. 5, the second partial pipe 302 and the second valve 42. The third partial pipe 303, the tenth partial pipe 310, and the twelfth partial pipe 312 are fed into the cylinder chamber from one end 11 b of the cylinder 11. In addition, the electrorheological fluid is discharged from the second pump 22 to the fifteenth partial pipe 315, and the electrorheological fluid is, as indicated by arrows in FIG. 5, the sixth partial pipe 306, the sixth valve 46, The first partial pipe 307, the tenth partial pipe 310, and the twelfth partial pipe 312 are fed into the cylinder chamber from one end 11 b of the cylinder 11. As a result, the piston 12 moves upward in FIG.
[0035]
On the other hand, when it is determined NO in step S4 of FIG. 3, since each piston is moving in one direction, the process proceeds to step S6, and the output of the control signal corresponding to the mode is continued. To do.
And after passing through step S6, it returns to step S2 and repeats the detection of position signal C1, C2-the output of a control signal.
In this way, the mode is changed each time one of the differential coefficients ΔC1 and ΔC2 of the position signals C1 and C2 detected by the first and second position detectors 51 and 52 becomes zero. By switching, the piston 12 of the actuator can be moved upward in FIG.
Even when the piston 12 is moved downward in FIG. 1, one of the differential coefficients ΔC1 and ΔC2 of the position signals C1 and C2 detected by the first and second position detectors 51 and 52. A similar control method that switches the mode each time the value of becomes zero can be employed.
[0036]
For example, in the case of FIG. 6, the discharge amounts of the first pump 21 and the second pump 22 fluctuate in a triangular wave shape as shown in FIG. 6C, but the mode switching shown in FIG. By switching the opening and closing of the first to eighth valves 41 to 48 according to the method, the flow rate of the electrorheological fluid supplied from the first and second pumps to the actuator varies as shown in FIG. The supply flow rate from the first pump and the supply flow rate from the second pump fluctuate in opposite phases.
Therefore, the total flow rate of the electrorheological fluid supplied to the actuator by both pumps becomes a constant value as shown in FIG. 6E regardless of the switching of the operation direction of each pump.
[0037]
As described above, in the actuator device according to the present invention, when one of the differential coefficients ΔC1 and ΔC2 detected by the first and second position detectors 51 and 52 becomes zero, the first Since the control method for switching the opening / closing of the eighth valves 41 to 48 is employed, the back flow of the electrorheological fluid does not occur when the valves are switched.
Further, by adopting a control system in which the driving pistons of the first and second pumps 21 and 22 are moved by shifting the phase by 90 degrees, as shown in FIG. 6 (e), the electroviscosity flowing into the cylinder 11 of the actuator. Since the fluid flow rate is always constant without pulsation, the piston 12 of the actuator can be moved at a constant speed, and the operating performance of the actuator device can be improved.
[Brief description of the drawings]
FIG. 1 is a system diagram showing the configuration of an actuator device according to the present invention.
FIG. 2 is a diagram illustrating a configuration of a pump provided in the actuator device.
FIG. 3 is a flowchart showing the operation of the actuator device.
FIG. 4 is a chart for explaining mode switching in the actuator device.
FIG. 5 is a system diagram illustrating the flow direction of fluid in one mode.
FIG. 6 is a time chart for explaining the operation of the actuator device.
[Explanation of symbols]
1: Actuator
11: Cylinder
12: Piston
21: First pump
22: Second pump
3: Piping system
41: First valve
42: Second valve
43: Third valve
44: Fourth valve
45: Fifth valve
46: Sixth valve
47: Seventh valve
48: Eighth valve
51: First position detector
52: Second position detector
6: Control circuit

Claims (8)

An actuator that reciprocally moves a piston in a cylinder using a functional fluid whose viscosity is changed by receiving electromagnetic energy as a working fluid;
Among the pair of cylinder chambers connected in parallel to the actuator and formed with a piston in the cylinder of the actuator, the functional fluid is discharged to one of the cylinder chambers and the function of the other cylinder chamber First and second fluid supply devices for inhaling sexual fluid;
A control circuit for controlling the operation of the first and second fluid supply devices, the first and second fluid supply devices,
A piping system connected to both cylinder chambers of the actuator;
A pump means interposed in the piping system for discharging / inhaling a functional fluid by reciprocating movement of a piston in the cylinder;
Providing electromagnetic energy to the functional fluid flowing through the piping system, provided at a plurality of locations in the piping system, to prevent the flow of the functional fluid at the plurality of locations in the piping system, from the discharge port of the pump means A valve means for forming a flow path leading to one cylinder chamber of the actuator and a flow path returning from the other cylinder chamber of the actuator to the suction port of the pump means, and the control circuit comprises:
First and second detection means for detecting the direction of movement of the piston of the pump means provided in the first and second fluid supply devices;
Control means for controlling the operation of the valve means on the basis of detection signals from the first and second detection means, and the control means controls the discharge port of the pump means when the piston movement direction is switched. Regardless of the switching, it forms a flow path from the discharge port to the same cylinder chamber of the actuator, and from the same cylinder chamber of the actuator regardless of the switching of the suction port accompanying the switching of the piston movement direction of the pump means. The operation of the valve means is controlled so as to form a flow path returning to the suction port, and the first pump means and the second fluid supply apparatus provided in the first fluid supply apparatus are provided. The second pump means is driven by shifting the displacement phase of each piston from each other. 2. The actuator device according to claim 1, wherein the functional fluid is an electrorheological fluid, and the valve means includes a pair of electrodes disposed on both sides of the functional fluid passage. The first detection means detects a piston moving direction by detecting a flow direction of the functional fluid in the pipe in which the first pump means is interposed, and the second detection means is a second detection means. The actuator device according to claim 1 or 2, wherein the piston moving direction is detected by detecting a flow direction of the functional fluid in the pipe in which the pump means is interposed. The piping system includes an annular pipe that forms a closed loop, and two places of the annular pipe are connected to both cylinder chambers of the actuator via two pipes, and two places that intersect with the two places of the annular pipe are They are connected to each other through a single pipe, and the pump means is interposed in the single pipe, and the valve means is provided at four locations sandwiched between connection points with the other pipes of the annular pipe. The actuator device according to any one of claims 1 and 3. The control means controls the operation of the valve means in synchronism with the timing at which the piston movement direction of the first and / or second pump means detected by the first and / or second detection means is reversed. The actuator device according to any one of claims 1 to 4. The control means includes
When the first pump means is operating in the first direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the first direction. A first mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the first direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the second direction. A second mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the second direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the first direction. A third mode for controlling the valve means to send the functional fluid discharged from the pump means to the actuator;
When the first pump means is operating in the second direction, the functional fluid discharged from the pump means is sent to the actuator, and when the second pump means is operating in the second direction. 6. The actuator device according to claim 1, wherein a fourth mode for controlling the valve means is repeated so that the functional fluid discharged from the pump means is sent to the actuator. 7. The actuator device according to claim 6, wherein the first pump means and the second pump means are driven by shifting the phase of reciprocal movement of each piston by 90 degrees from each other. The actuator according to any one of claims 1 to 7, wherein each of the first and second pump means changes the speed of the piston linearly with respect to time in the course of movement of the piston in one direction. apparatus.

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