JP4847096B2 - Actuator, drive device, and hand device - Google Patents

Description

  The present invention relates to a membrane type actuator that can be incorporated in a frame, a driving device configured using such an actuator, and a hand device configured using such a driving device.

  2. Description of the Related Art Conventionally, there is a fluid pressure type actuator that supplies fluid such as air and liquid to a tube-like elastic body and operates an object by expansion and deformation of the elastic body. There is also a mechanism (device) that operates a member to be operated using such a fluid pressure type actuator.

  For example, FIG. 2 and FIG. No. 4, etc. discloses a mechanism for rotating a member to be actuated by attaching a tube-like elastic body between members rotatably connected, and expanding the elastic body. Further, in FIGS. 3 and 4 of Patent Document 2, a tube-shaped elastic body is provided with a bendable finger member, and the elastic body is bound by a band member at a required interval, so that the elastic body is expanded and deformed. Discloses a mechanism for bending the finger member.

Furthermore, in FIG. 3 and FIG. 5 of Patent Document 3, a plurality of tube-like elastic bodies are arranged in the periphery, and by switching the elastic bodies that supply fluid, the member to be actuated in various directions. A mechanism adapted to bend is disclosed. Furthermore, FIGS. 1 and 4 of Patent Document 4 disclose a configuration in which a plurality of tube-like elastic bodies are arranged and each elastic body is covered with a cylindrical body. Note that FIGS. 1 and 5 of Patent Document 5 disclose a mechanism in which a compact fluid pressure actuator is arranged inside a link to achieve a compact size.
JP-A-60-132103 JP 60-146695 A JP-A-2-17063 Japanese Patent Laid-Open No. 2-185388 JP-A-8-126984

  Since the mechanisms according to Patent Document 1 and Patent Document 2 operate by expansion and deformation of a tube-like elastic body, it is necessary to secure a space (clearance space) for expansion and deformation around the elastic body. The size of itself needs to be increased. Further, since the elastic body is exposed to the outside, there is a problem that the elastic body having a property of bursting when a needle-like object is stabbed is not sufficiently protected.

  Since the mechanisms according to Patent Document 3 and Patent Document 4 use a plurality of elastic bodies, the clearance space to be secured is further increased, and it is very difficult to compact the mechanism itself. In the mechanism according to Patent Document 4, the cover is provided to protect the elastic body. However, since it is necessary to attach the cover after securing the clearance space, the entire mechanism cannot be increased in size. Absent.

  The mechanism according to Patent Document 5 is made compact by disposing the fluid actuator in the link. However, since the fluid pressure actuator disposed in the link is a small cylinder, the mechanism becomes complicated and the mechanism weight is increased. There is a problem that the cost increases.

  In addition, since all the mechanisms according to each patent document can operate only one member with one elastic body, it is necessary to provide a plurality of elastic bodies in order to operate a plurality of members. There is a problem that the operation of the member cannot be realized with a simple configuration.

The present invention has been made in view of such a problem, and by incorporating a sheet-like elastic body into a frame which is a skeleton of the mechanism, the elastic body serving as a driving source is protected, and further downsizing (particularly, An object of the present invention is to provide an actuator having a simple configuration in which the thickness dimension is reduced.
Another object of the present invention is to provide an actuator that can operate a plurality of objects with one elastic body by including a plurality of wires.

Furthermore, an object of the present invention is to provide a drive device that can perform various operations with a simple configuration by using the actuator having the above-described configuration.
Still another object of the present invention is to provide a hand device that enables movement equivalent to that of a human hand by using a plurality of drive devices having the above-described configuration.

  In order to solve the above problems, an actuator according to a first aspect of the present invention includes a frame member, a frame-shaped member attached to one surface of the frame member with an elastic sheet interposed therebetween, and one end of the frame-shaped member or the frame member. The frame-shaped member includes a through-hole penetrating outward from the space in the frame, and the wire is disposed so as to cross the space in the frame and along the surface of the elastic sheet. And the other end of the wire passes through the through hole and is located outside the frame-shaped member, and the frame member has a fluid supply hole opened at a position corresponding to the space in the frame. And the elastic sheet is elastically expanded in the space in the frame by the supply of fluid from the fluid supply hole, and the other end of the wire rod is pulled toward one end side.

  In the first invention, the frame-shaped member is attached to one surface of the frame member with an elastic sheet (membrane type elastic body) as an elastic body interposed therebetween. An elastic sheet can be incorporated, and the elastic sheet can be protected by the frame, and the outer dimension of the frame itself becomes the outer dimension of the actuator as it is, so that the size can be reduced. In particular, when plate members are used for the frame member and the frame-like member, the thickness of the actuator can be reduced.

  Further, when a fluid is supplied from the fluid supply hole, the fluid enters between the frame member and the elastic sheet and pushes the elastic sheet. At this time, since the elastic sheet cannot be deformed at the portion sandwiched by the frame-shaped member, only the portion exposed to the frame-shaped space of the frame-shaped member will be expanded in the frame-shaped space, and when expanded However, the elastic sheet is protected by the frame member. Further, since the wire is arranged so as to cross the frame-like space and along the surface of the elastic sheet, when the elastic sheet expands, the wire is bent so as to be lifted in the frame-internal space in accordance with the elastic sheet. This bending causes the other end of the wire to be pulled toward the fixed one end. If a member to be actuated is attached to the other end of the wire, the member can be operated by an actuator having a simple configuration. In addition, as an elastic sheet, the thing provided with the characteristic which can be appropriately flexible and elastically deformed is suitable, and it is preferable to use natural rubber, a synthetic rubber material, etc. specifically ,.

The actuator which concerns on 2nd invention is provided with the coating sheet which arrange | positions between the said wire and the surface of the said elastic sheet, and coat | covers this elastic sheet.
In the second invention, since the surface of the elastic sheet is covered with the covering sheet, it is possible to prevent the occurrence of a situation where the wire rods bite into the expanding elastic sheet with the covering sheet interposed therebetween, and the elastic sheet. The expansion force can be efficiently converted into the tensile force of the wire. In addition, since the covering sheet is interposed between the wire and the elastic sheet, the wire does not directly contact the elastic sheet having a large frictional force on the surface, and the wire moves smoothly as the elastic sheet expands. I can do it. Furthermore, the presence of the covering sheet that is a separate body from the elastic sheet can also prevent a situation in which the position of the wire is shifted. For example, the wire is arranged along the center line of the space in the frame. In this case, even if the elastic sheet expands, the holding property of the separate covering sheet keeps the wire at a location along the center line of the space in the frame, preventing the wire from becoming tangled and providing good operability for a long time. Can be secured. In addition, a coating sheet contributes also to adjusting the expansion | swelling shape of an elastic sheet gently. Moreover, it is preferable to apply various metal sheets, various synthetic resin sheets, mesh sheets, and the like that can be smoothly curved along the expansion of the elastic sheet, especially for the mesh sheets. Use of metal yarns, various synthetic resin yarns, and yarns produced by weaving various fiber yarns is suitable for ensuring required rigidity, low surface friction, holdability with respect to the wire, and the like.

The actuator according to a third aspect of the invention is characterized in that the wire is plural, the frame-like member includes a plurality of through holes, and the other end of each wire passes through different through holes. And
In the third invention, since the plurality of wire rods pass through the plurality of through holes provided in the frame member, the other end of each wire member exists outside the frame member. When the elastic sheet is inflated, each wire moves so that the other end of each wire is pulled toward the fixed end following the expanded elastic sheet, and it is possible to pull multiple wires with one elastic sheet become. Therefore, if a member to be operated is connected to the other end of each wire, a plurality of members can be operated with a single actuator.

  In the actuator according to a fourth aspect of the present invention, the frame-shaped member forms a plurality of intra-frame spaces by partition wall portions provided in the frame, and the partition wall portions communicate with each other within the partitioned frame spaces. The frame member includes a fluid supply hole for each space in the frame, and the wire passes through the communication hole and crosses the plurality of space in the frame.

  In the fourth invention, the frame-shaped member is provided with a plurality of spaces in the frame, and each of the spaces in the frame is formed with a communication hole in the partition wall portion to allow the wire to pass therethrough. When fluid is supplied from the supply hole, the elastic sheet expands for each space in the frame. As the elastic sheet expands, each wire is lifted and curved for each space in the frame, so that the amount of pulling of the wire due to the bending can be increased by the number of spaces in the frame. Therefore, the range in which the other end of the wire moves is increased, and the operation amount can be increased. In addition, if the fluid supply control is performed so that the fluid is supplied from only some of the fluid supply holes instead of supplying the fluid from all the fluid supply holes at the same time, compared to the case of supplying from all the fluid supply holes. Thus, the movement range of the other end is shortened, and the movement amount of the wire can be adjusted.

The actuator according to a fifth aspect of the present invention is characterized in that the plurality of in-frame spaces are arranged linearly.
In the fifth invention, since the spaces in the frames are arranged linearly, the laying of the wire is also linear, and the resistance to the movement of the wire can be reduced as much as possible to ensure smooth operability. In addition, when using a plurality of wire rods, it is possible to apply a configuration in which each wire rod is laid in parallel and the fixed one end is disposed on the same side and a different one is disposed on a different side. The degree of design freedom when operating the member is also increased.

The actuator according to a sixth aspect of the invention is characterized in that the plurality of in-frame spaces are arranged in a lattice pattern.
In the sixth invention, by arranging a plurality of spaces in the frame in a lattice shape, the spaces in each frame can be efficiently arranged within a certain flat area, and various designs can be made while avoiding an increase in size of the actuator. Can meet the purpose. For example, when the purpose is to secure a large operating range, one wire crosses the entire space in the frame of the first row, and once the other end of the wire is taken out of the frame-like member, it is folded back into two rows. If the entire inner space of the eye is traversed and arranged outside the frame-like member, a large operating range can be obtained by the elastic sheet that is expanded in a large number of inner spaces. When a plurality of wire rods are used, if the wire rods are laid in one row and one row in the lattice-shaped frame space, the other ends of the many wire rods can be pulled, and a large number of members are operated by one actuator. Such a mechanism can be configured easily.

  According to a seventh aspect of the present invention, there is provided a driving apparatus comprising: the actuator having the above-described configuration; and a rotating member rotatably connected to a frame member of the actuator, wherein the other end of the wire of the actuator is the rotating member. It is attached to.

  In the seventh invention, the rotation member is connected to the frame member of the actuator so as to be rotatable, and the other end of the wire is attached to the rotation member. Therefore, when the actuator is operated, the other end of the wire Is moved so as to be pulled, and the rotating member also rotates accordingly, and the rotating member can be freely driven by the actuator. In the drive device according to the seventh aspect of the invention, since a small actuator in which an elastic sheet serving as a drive source is built in the frame is used, the overall configuration of the drive device is simple and small. Further, when the frame member and the rotation member of the actuator are formed in an elongated plate shape or a rod shape, the drive device can be configured to correspond to a part of a human finger.

  The drive device according to the eighth aspect of the present invention includes a plurality of actuators having the above-described configuration, and the frame members of the plurality of actuators are connected in series and rotatably connected, and are positioned at the ends in the connecting direction. A rotating member that is rotatably connected to a frame member of the actuator, and the other end of the wire of one actuator is attached to the frame member of the other actuator at a connecting portion between the actuators; The other end of the wire rod of the actuator that connects the two is attached to the rotating member.

  In the eighth invention, a plurality of actuators are connected in series, a rotating member is rotatably connected to the frame member of the actuator serving as an end, and the other end of the wire is connected at a connecting portion between the actuators. The actuator is attached to the frame member of the connection destination actuator, and the other end of the wire is attached to the rotation member at the connection point with the rotation member. Therefore, when each actuator is operated, the connected actuator and the rotation member rotate. . Therefore, it is possible to realize a drive device that can perform more dynamic movements, and if the fluid control for each actuator is performed individually with the rotation point regarded as a finger joint, a more complex operation equivalent to the actual finger movement is performed. Can be used for various purposes.

  According to a ninth aspect of the present invention, there is provided a drive device comprising: an actuator including a plurality of wires; and the same number of rotation members as the wire of the actuator that is rotatably connected to a frame member of the actuator. The other end is attached to the rotating member.

  In the ninth aspect of the invention, the same number of rotating members as the wire rod are rotatably connected to an actuator including a plurality of wire rods, and the other end of each wire rod is attached to each rotating member. It is possible to realize a mechanism in which a plurality of operation targets are provided with a simple configuration. The drive device according to the ninth aspect of the invention is suitable for applications that hold and clamp an object, and is optimal for handling a workpiece in a scene such as a production site.

A drive device according to a tenth aspect of the present invention includes an intermediate member interposed between members to be connected, and the intermediate member is centered on an orthogonal axis that is orthogonal to an axis related to rotation of a connecting portion between the members. It is characterized by being rotatable.
In the tenth aspect of the invention, the intermediate member that rotates in the direction orthogonal to the rotation of the members is interposed between the connected members. Therefore, when the actuator is operated, the intermediate member rotates about the two axes. As a result, the member to be actuated can be moved more complicatedly. Therefore, for example, when performing an operation simulating a human thumb, the bending at the joint of the thumb corresponds to the rotation between the members, and the movement of closing the palm of the thumb base (to twist the thumb base inward) Can be achieved by rotating the intermediate member to achieve complicated movement of the thumb.

The drive device according to an eleventh aspect of the invention is characterized in that the intermediate member includes a contact portion that comes into contact with one member of the connecting portion so as to regulate a rotation range related to the orthogonal axis.
In the eleventh aspect of the present invention, since the contact portion that restricts the rotation range of the intermediate member is provided, the rotation of the intermediate member is restricted to a predetermined range, and the actuator operation is restricted from becoming meaninglessly large. An appropriate rotation range can be secured.

According to a twelfth aspect of the present invention, there is provided a driving device including urging means for urging the members, which are rotatably connected, to have a linear posture.
In the twelfth aspect of the invention, since the urging means for urging the connecting members so as to have a linear posture is provided, when the actuator is not operated, each driving device is in any posture. The members can be in a straight posture, and the posture of each member can be clearly switched between when the actuator is operated and when the actuator is not operated.

  The drive device according to the thirteenth aspect includes a plurality of actuators having the above-described configuration, and the plurality of actuators are arranged so that the respective frame members face each other, and the ends of the respective frame members are coupled to each other. A coupling member; and a pivoting member rotatably attached to the coupling member, wherein the other end of the wire positioned toward the pivoting member of the plurality of actuators is attached to the pivoting member. It is characterized by that.

  In the thirteenth invention, the frame members of the plurality of actuators are arranged to face each other, the ends of the frame members are connected to each other by a coupling member, and each actuator is attached to the rotation member that is rotatably attached to the coupling member. Since the other end of the wire rod is attached, the rotating member can be rotated so as to be inclined in each direction in which the actuator is provided (multiple directions). For example, in the case where two actuators are combined back to back, when the actuators are operated alternately, the rotating member rotates just like swinging its head. Further, when more than two actuators are provided, the number of rotation directions can be increased by the number of actuators. For example, it is optimal for a rotation mechanism in an apparatus such as an endoscope that needs to observe many directions. It becomes composition.

  A hand device according to a fourteenth aspect of the present invention includes a plurality of drive devices having the above-described configuration, and the frame members of the drive devices located at the ends in the longitudinal direction are combined and integrated. And

  In the fourteenth invention, the frame members positioned at the ends of the plurality of driving devices are fixed to each other, so that the entire integrated frame member is just a portion corresponding to a human palm and corresponds to a palm. The operation part of each drive device protrudes in a finger shape from the part to be performed. In order to ensure movement equivalent to that of a human hand, it is necessary to arrange five drive devices equivalent to human fingers, and such a hand that can realize movement equivalent to that of a human hand. The device can be used as a humanoid robot hand or prosthesis.

In the first invention, the frame member is attached to the frame member with the elastic sheet interposed therebetween, and the wire rod is arranged along the surface of the elastic sheet in the space inside the frame of the frame member. The deformed elastic sheet is built in the frame, and the protection of the elastic sheet and the reduction of the actuator size can be realized with a simple configuration.
In the second invention, since the surface of the elastic sheet is covered with the covering sheet, it is possible to prevent the wire rod from getting into the expanding elastic sheet and efficiently convert the expansion force of the elastic sheet into the tensile force of the wire rod. In addition, the wire rod can be prevented from being brought into direct contact with the elastic sheet having a large frictional force on the surface, so that smooth movement of the wire rod can be ensured, and misalignment of the wire rod can be prevented.

In the third invention, since the plurality of wires pass through the plurality of through holes provided in the frame-like member, the plurality of objects can be operated by the other end of each wire located outside the frame-like member. it can.
In the fourth aspect of the invention, since the wire is passed through the partition wall that partitions the plurality of spaces in the frame, the wire moves according to the total deformation amount of the elastic sheet expanding for each space in the frame. The amount can be increased and the operating stroke of the actuator can be increased.

In the fifth invention, since the spaces in the frames are arranged in a straight line, it is possible to increase the operation stroke by reducing the resistance to movement as much as possible by laying the wire in a straight line.
In the sixth invention, by arranging the plurality of frame spaces in a lattice shape, the plurality of frame spaces can be arranged efficiently, and it is possible to deal with various design purposes while avoiding the increase in size of the actuator.

  In the seventh invention, the rotating member is connected to the frame member of the actuator, and the other end of the wire is attached to the rotating member. Therefore, the rotating member can be rotated by the operation of the actuator, and is compact and simple. A drive device capable of operating the rotating member with the configuration can be realized.

  In the eighth invention, a plurality of actuators are connected in series, and a rotating member is connected to the end actuator. Therefore, when each actuator is operated, the connected actuator and the rotating member rotate. A drive device in which each member rotates like a human finger can be realized.

  In the ninth aspect of the invention, the same number of rotating members as the wire rod are rotatably connected to an actuator including a plurality of wire rods, and the other end of each wire rod is attached to each rotating member. A driving device that rotates the rotating member can be realized.

In the tenth invention, the intermediate member that rotates in the direction orthogonal to the rotation of the members is interposed between the members, so that it is possible to realize a drive device that can perform a complicated movement.
In the eleventh aspect of the invention, since the contact portion that regulates the rotation range of the intermediate member is provided, the rotation of the intermediate member can be suppressed to a predetermined range, and an appropriate rotation range can be secured.

  In the twelfth aspect of the invention, since the biasing means for biasing the connecting members so as to be in a linear posture is provided, the posture of each member is set with respect to when the actuator is activated and when not activated. It can be switched clearly.

  In the thirteenth invention, the frame members of a plurality of actuators are arranged opposite to each other and connected by a coupling member, and the other end of each actuator wire is attached to a rotating member that is rotatably attached to the coupling member. A driving device capable of rotating one rotating member in multiple directions can be realized.

  In the fourteenth invention, the frame members positioned at the ends of the plurality of driving devices are fixed to each other. Therefore, the combined portion of the frame members is set as a position corresponding to a human palm, and the position corresponding to the palm is determined. It is possible to realize a drive device in which the operation portion of each drive device protrudes like a finger.

  FIG. 1 shows an actuator 1 according to a first embodiment of the present invention. This actuator 1 is configured to pull the wire 6 in the direction of the white arrow in the figure by supplying a fluid, and a membrane-shaped drive source is built in the frame to reduce the size of the actuator (particularly It is characterized by having achieved a reduction in thickness dimension H).

  As shown in FIG. 2, the actuator 1 includes an elastic sheet 3 sandwiched between a frame member 2 and a frame-like member 4 forming a frame, and a covering sheet 5 and a wire rod in the frame inner space 4 c of the frame-like member 4. 6, one end 6 a of the wire 6 is fixed to the frame-shaped member 4, and the other end 6 b is pulled out of the frame-shaped member 4. Hereinafter, each part which comprises the actuator 1 is explained in full detail.

  The frame member 2 is a flat member, and has one surface 2a on the laminated side of the elastic sheet 3, and a total of six screw holes 2d are formed around the one surface 2a. Further, the frame member 2 has a fluid supply hole 2c penetrating to the rear surface 2b in the vicinity 2c of the center surrounded by the screw hole 2d. The hole direction of the fluid supply hole 2c is inclined with respect to the frame member 2 as shown in FIG. In addition, as a material of the frame member 2, various metals and various synthetic resins can be used according to the environment where the actuator 1 is applied.

  One end of a fluid supply pipe 7 is fitted in the fluid supply hole 2c. A fluid supply source (not shown) is connected to the other end of the fluid supply pipe 7. As the fluid supply source, a fluid supply source can be used such as a syringe that alternately supplies the fluid and sucks the supplied fluid, and can control the piston in the cylinder of the syringe to reciprocate with a motor or the like. Is suitable for the actuator 1.

  The elastic sheet 3 is a sheet made of nitrile rubber as a material, and elastically deforms when subjected to tensile stress, and deforms so as to expand in the present embodiment (see FIGS. 3B and 3C). The elastic sheet 3 is provided with holes 3a communicating with the screw holes 2d of the frame member 2 around the elastic sheet 3.

  The frame-shaped member 4 has a planar dimension equivalent to that of the elastic sheet 3 so that the elastic sheet 3 can be sandwiched between the frame member 2 and the inside surrounded by the surrounding frame portion 4a is substantially rectangular. The inner space 4c of the frame. The frame-like member 4 has a wire insertion hole 4d penetrating to the back surface 4b on one end side, and penetrates from the inner wall surface 4f to the outer wall surface 4e of the frame inner space 4c on the other end side. A through-hole 4g is formed. Furthermore, the frame-like member 4 also has a screw insertion hole 4h that communicates with the hole 3a of the elastic sheet 3 in the periphery. In addition, the material applicable to the frame member 2 can be used for the material of the frame-shaped member 4.

The covering sheet 5 is a sheet having a plane dimension equivalent to that of the in-frame space 4c of the frame-like member 4 and is easily bent along the shape of the expanding elastic sheet 3. In the present embodiment, the covering sheet 5 is an ester-based sheet. It is knitted in a net pattern with yarn. The covering sheet 5 includes various metal sheets, various synthetic resin sheets, and reticulated sheets that can be smoothly curved along the expansion of the elastic sheet 3 in addition to a sheet knitted in a net shape with ester-based yarns. In particular, as the mesh sheet, those produced by weaving various metal yarns, various synthetic resin yarns, and various fiber yarns can be used.
In the present embodiment, the covering sheet 5 is bonded to the wire 6 with an adhesive. The wire 6 of the present embodiment uses a synthetic resin yarn having a required strength, but it is also possible to use a yarn having a required strength generated from various metals, various synthetic resins, and various fibers. It is.

  Next, the assembly procedure of the actuator 1 will be described. First, one end 6a of the wire 6 is inserted into the wire insertion hole 4d of the frame-like member 4 from the back surface 4b and passed to the front surface. A knot larger than the hole diameter of the wire insertion hole 4d is formed on the one end 6a, and the one end 6a is formed in a frame shape. Secure to member 4. Further, the other end 6b of the wire 6 is inserted into the through hole 4g of the frame-like member 4 from the inner wall surface 4f so as to pass outward of the frame-like member 4 so that the wire 6 crosses the frame internal space 4c. . Further, the covering sheet 5 is attached to the portion of the wire 6 crossing the in-frame space 4c from below with an adhesive.

  Then, the frame-like member 4 is placed on the frame member 2 in which the elastic sheet 3 is laminated on the one surface 2a, and the elastic sheet 3 is sandwiched between the frame portion 4a of the frame-like member 4 and the frame member 2, and the frame-like member is placed. The screw B is inserted into each of the screw insertion holes 4h of 4 and screwed into the screw holes 2d of the frame member 2 and fastened to complete the actuator 1.

  FIGS. 3A to 3C are cross-sectional views showing the operating state of the completed actuator 1. Hereinafter, the operating state of the actuator 1 will be described based on FIGS. 3A to 3C. In addition, illustration of the coating sheet 5 is abbreviate | omitted in Fig.3 (a)-(c).

  FIG. 3A shows a state before supplying a fluid (for example, air). In this state, the elastic sheet 3 is in close contact with the one surface 2 a of the frame member 2. Next, when the fluid supply to the actuator 1 is started so that the fluid is discharged from the fluid supply hole 2c through the fluid supply pipe 7, the elastic sheet 3 starts to expand as shown in FIG. The elastic sheet 3 cannot expand at a portion sandwiched between the frame portions 4a around the frame-shaped member 4, and therefore expands in the frame space 4 with the portion contacting the inner periphery of the frame space 4c as a deformation fulcrum. It will be. Moreover, since it expand | swells in the space 4 in a frame, the elastic sheet 3 is always surrounded by the frame-shaped member 4, and is protected.

  By the expansion of the elastic sheet 3 described above, the wire 6 along the surface of the elastic sheet 3 via the covering sheet 5 (not shown) is lifted, and the other end 6b of the wire 6 is moved to the fixed one end 6a side. Pulled and moved in the direction of the white arrow in the figure.

  Further, when the amount of fluid supplied to the actuator 1 is increased, the elastic sheet 3 is further expanded as shown in FIG. 3 (c), and accordingly, the wire 3 is further lifted, and the other end 6b side of the wire 6 is moved to the side. Moving. In addition, when the elastic sheet 3 expands in this way, the surface of the elastic sheet 3 is covered with the covering sheet 5, so that the wire 6 does not get into the surface of the covering sheet 5 and the expansion force of the elastic sheet 3 is increased. It can be efficiently converted into the moving force of the wire 6, and further prevents the stretched wire 6 from directly touching the surface of the elastic sheet 3 to damage the elastic sheet 3, and the surface frictional force of the elastic sheet 3. Prevents the wire 6 from moving. In addition, it is restrained by the covering sheet 3, and the elastic sheet 3 becomes a gentle spherical shape when expanded. Furthermore, since the fluid supply hole 2c of the frame member 2 is inclined so that the fluid is supplied toward the moving end side of the wire 6, the response of the movement start of the wire 6 becomes good.

  3C, when the fluid supplied to the actuator 1 is sucked from the fluid supply hole 2c through the fluid supply pipe 7 in a state where the elastic sheet 3 is expanded and deformed as shown in FIG. 3C, the state shown in FIG. The elastic sheet 3 that has expanded to the state shown in FIG. 3 (a) contracts, and the wire 6 that has been lifted is lowered accordingly, and the other end 6b of the wire 6 also returns to its original position. Therefore, when the supply and suction of fluid to the actuator 1 are repeated, the other end 6b of the wire 6 moves so as to reciprocate, and the target can be driven by attaching the target to be operated to the other end 6b.

  The force (actuation force) that causes the actuator 1 to actuate the operation target, that is, the force that pulls the other end 6b of the wire 6 in the direction of the white arrow in FIG. 1 is related to the volume in which the elastic sheet 3 is expanded. The larger the value, the greater the tensile force. Therefore, when a large tensile force is required, for example, it is conceivable to increase the expansion volume of the elastic sheet 3 by increasing the longitudinal dimension of the actuator 1 shown in FIG. The operating distance is related to the distance at which the expanding elastic sheet 3 is separated from the surface 2a of the frame member 2, and the operating distance can be increased as the separated distance increases. Therefore, to increase the working distance, it is conceivable to increase the thickness dimension of the frame-like member 4.

  In the actuator 1 described above, when the wire 6 has good sliding properties with respect to the elastic sheet 3, the elastic sheet 3 expands into a spherical shape when the wire 6 has a large wire diameter and there is no risk of damaging the elastic sheet 3. When it has the characteristic which can be performed, the coating sheet 5 can also be abbreviate | omitted. In addition to gas (air, rare gas, etc.), fluid (operating liquid such as pressure oil) can be used as the fluid supplied to the actuator 1, and in this case, the frame member 2, the elastic sheet 3, and It is important to use a fluid supply pipe 7 made of a material that can withstand liquid. Further, in the actuator 1, in addition to fixing the other end 6 a of the wire 6 to the frame-shaped member 4, the actuator 1 is configured to be fixed to the frame member 2, and the other end 6 a is configured by the frame member 2 and the frame-shaped member 4. It is also possible to pinch and fix.

  FIG. 4 shows a modified actuator 1 ′. Compared with the actuator 1 shown in FIG. 1, this actuator 1 'is characterized in that the frame inner space 4c' of the frame-like member 4 'has a circular shape (including an elliptical shape) in plan view. 2 ', the elastic sheet 3', the covering sheet 5 ', the wire 6' and the fluid supply pipe 7 'are the same as in FIG. Since the frame space 4c ′ is formed in a circular shape in this way, the peripheral shape of the portion where the elastic sheet 3 ′ expands is also circular and has no corners. Therefore, the expansion fulcrum (deformation fulcrum) of the elastic sheet 3 ′. The burden on the elastic deformation of the peripheral edge is reduced, and the service life of the elastic sheet 3 'can be extended. In addition to the rectangular shape and the circular shape, various shapes such as a rhombus and a polygon such as a hexagon can be applied to the shape of the space in the frame.

  FIG. 5 shows that the first actuator 20, the second actuator 30, and the third actuator 40 having the same configuration as the actuator 1 described above are connected in series, and the rotating member 50 is connected to the fourth actuator 40 located at the end. The drive device 10 of the structure which connected was shown.

  The actuators 20, 30, and 40 included in the driving device 10 are attached to the frame members 22, 32, and 42 with the elastic sheets 23, 33, and 43 attached thereto, and the frame-shaped members 24, 34, and 44 are attached thereto, Wires 26, 36, and 46 are laid on the covering sheets 25, 35, and 45 covering the 33 and 43. The drive device 10 is connected to the actuators 20 to 40 so as to be rotatable, and the third actuator 40 and the rotating member 50 are also connected to be rotatable. Further, the driving apparatus 10 has a first fluid supply pipe 27 attached to the first actuator 20, a second fluid supply pipe 37 attached to the second actuator 30, and a third fluid supply pipe 47 attached to the third actuator 40. 40 can be supplied with fluid independently. Hereinafter, each part of the drive device 10 will be described in detail.

  First, the rotation member 50 and the third actuator 40 located at the tip of the driving device 10 are connected so that the rotation member 50 can rotate about the third rotation axis R3 (FIGS. 5 and 7). FIG. 8 (a) (b)). The third actuator 40 forms a recess 42 b at the end of the frame member 42 connected to the rotating member 50, while the rotating member 50 forms a protrusion 50 a at the end of the connecting side with the third actuator 40. The convex portion 50a is fitted into the concave portion 42b of the frame member 42, and the third actuator 40 and the rotary member 50 are rotatably connected through the third rotary shaft R3.

  Further, as shown in FIG. 7, the rotating member 50 is formed by penetrating through holes 50d from the front surface 50b of the rotating member 50 to the back surface 50c at locations separated from the third rotating shaft R3 by a distance P1. A bolt K with a wire fixing washer N attached to the back surface 50c is attached to a location separated from the third rotation axis R3 by a distance P2. The other end 46b of the wire 46 of the third actuator 40 passes through the passage hole 50d of the rotating member 50 from the front surface 50b to the back surface 50c, and is fixed between the washer N and the back surface 50c with the fastening force of the bolt K. .

  The connection between the third actuator 40 and the second actuator 30 and the connection between the second actuator 30 and the first actuator 20 have the same configuration as the connection between the rotating member 50 and the third actuator 40 described above.

  That is, the frame member 42 of the third actuator 40 forms a convex portion 42 a on the connection side with the second actuator 30, and the frame member 32 of the second actuator 30 forms a concave portion 32 b on the connection side with the third actuator 40. Then, the convex portion 42a of the third actuator 40 is fitted into the concave portion 32b of the second actuator 30, and the two rotary shafts R2 are penetrated so that both members are rotatably connected. Furthermore, the other end of the wire rod 36 of the second actuator 30 passes through a through hole formed in the frame member 42 of the third actuator 40 and is fixed with a bolt K as in FIG.

  Further, the frame member 32 of the second actuator 30 forms a convex portion 32 a on the connection side with the first actuator 20, and the concave portion 28 a on the intermediate member 28 provided on the connection side of the first actuator 20 with the second actuator 30. The convex portion 32a of the second actuator 30 is fitted into the concave portion 28a of the intermediate member 28, and both members are rotatably connected through the first rotation shaft R1. Further, the other end of the wire 26 of the first actuator 20 is passed through a passage hole 32c (see FIG. 6A) formed in the frame member 32 of the second actuator 30 and fixed with a bolt K as in FIG. ing.

  Further, as shown in FIGS. 6A to 6C, the intermediate member 28 provided in the first actuator 20 can rotate around an orthogonal axis 22b orthogonal to the first rotation axis R1. In this manner, the first actuator 20 is attached to the frame member 22. The frame member 22 of the first actuator 20 has an end 22a on the attachment side of the intermediate member 28 formed in a mountain shape to form a first oblique side 22d and a second oblique side 22e. The first oblique side portion 22d and the second oblique side portion 22e have different inclination angles. Further, the frame member 22 has a groove 22c formed by recessing the side surface on the attachment side of the intermediate member 28 (see FIG. 5).

  On the other hand, the intermediate member 28 is provided with a mountain-shaped protruding portion 28b (corresponding to the abutting portion) protruding from the connection side with the frame member 22, and the protruding portion 28b has a thickness dimension that can be inserted into the groove portion 22c of the frame member 22. In addition, the inclined first inclined side portion 28c and the second inclined side portion 28d are formed. These inclined side portions 28c and 28d also have different inclination angles. The protruding portion 28b of the intermediate member 28 is inserted into the orthogonal shaft 22b while being inserted into the groove portion 22c of the frame member 22, whereby the intermediate member 28 is in the direction of the arrow shown in FIG. Can be rotated.

  FIG. 6B shows a case where the intermediate member 28 is rotated in the left direction in the drawing, and the first inclined side portion 28 c of the projecting portion 28 b of the intermediate member 28 contacts the bottom surface 22 f of the groove portion 22 c of the frame member 22. Thus, the rotation range of the intermediate member 28 is restricted. In this state, the first oblique side portion 22d of the frame member 22 is also in contact with the end face 28e of the intermediate member 28.

  FIG. 6C shows a case where the intermediate member 28 is rotated in the right direction in the drawing, and the second inclined side portion 28d of the protruding portion 28b of the intermediate member 28 contacts the bottom surface 22f of the groove portion 22c of the frame member 22. Thus, the rotation range of the intermediate member 28 is restricted. In this state, the second oblique side portion 22e of the frame member 22 is also in contact with the end face 28e of the intermediate member 28. Further, since the oblique sides 22d and 22e and the inclined sides 28c and 28d have different angles, the right and left rotation ranges of the intermediate member 28 are also different.

  Next, a driving situation of the driving device 10 will be described. FIG. 8A shows a state where the actuators 20, 30, 40 are not operated, and the drive device 10 is generally in a linear posture.

  FIG. 8B shows a state where only the third actuator 40 is operated. In this case, since the fluid is supplied through the third fluid supply pipe 47 and the elastic sheet 43 of the third actuator 40 is inflated and deformed and pulled in the direction of pulling back the wire 46, the other end of the wire 46 is attached. The member 50 rotates about the third rotation axis R3.

  FIG. 8C shows a state where only the second actuator 30 is operated. In this case, since the fluid is supplied through the second fluid supply pipe 37 and the elastic sheet 33 of the second actuator 30 is inflated and deformed to pull the wire 36 back, the third actuator to which the other end of the wire 36 is attached. 40 rotates around the second rotation axis R2. Note that the rotation member 50 connected to the distal end side of the third actuator 40 also rotates around the second rotation axis R2 together with the third actuator 40 while maintaining a linear posture with the third actuator 40. .

  FIG. 9A shows a state in which only the first actuator 20 is operated. In this case, since the fluid is supplied through the first fluid supply pipe 27 and the elastic sheet 23 of the first actuator 20 is inflated and deformed to pull the wire 26 back, the second actuator to which the other end of the wire 26 is attached is attached. 30 rotates around the first rotation axis R1. Note that the third actuator 40 and the rotation member 50 connected to the distal end side of the second actuator 30 also maintain the linear posture with respect to the second actuator 30, together with the second actuator 30 for the first time. It rotates around the movement axis R2.

  In addition, when the posture of the driving device 10 is tilted to the left or right, the center of gravity is shifted to either the left or right, so that the intermediate member 28 is rotated leftward about the orthogonal axis 22b by the operation of the first actuator 20. Turning to the right (see FIG. 6B) (see FIG. 6C) occurs together with the rotation about the first rotation axis R1, and a more complicated movement can be realized.

  FIG. 9B shows a state where all the actuators 20, 30, 40 are operated. In this case, the fluid is simultaneously supplied through the fluid supply pipes 27, 37, and 47, and the elastic sheets 23, 33, and 43 of the actuators 20, 30, and 40 are inflated and deformed, so that the wires 26, 36, and 46 are Pull in the pulling direction. Accordingly, the second actuator 30 rotates about the first rotation axis R1, the third actuator 40 rotates about the second rotation axis R2, and the rotation member 50 rotates to the third rotation axis R3. The drive device 10 is largely bent substantially in a J shape as if a human finger was bent.

  Further, in the driving device 10, operation is performed by supplying fluid to the first actuator 20 and the second actuator 30, operation by supplying fluid to the first actuator 20 and the third actuator 40, and second operation. Of course, it is also possible to operate by supplying fluid to the actuator 30 and the third actuator 40. In this way, by appropriately supplying fluid to each of the actuators 20 to 30, it can be deformed into various bent shapes. The drive device 10 can be driven. In addition, the degree of bending can be adjusted by appropriately controlling the amount of fluid supplied to each actuator 20-40. Therefore, it is preferable that the device that supplies the fluid to the driving device 10 has specifications that can perform supply switching to the actuators 20 to 40, supply amount control, and the like.

  The drive device 10 is not limited to the forms shown in FIGS. 5 to 9, and there are various modifications. For example, in FIG. 5, a minimum configuration with one actuator is used. One in which the third actuator 40 and the rotation member 50 are connected so as to be rotatable is conceivable. Further, as a configuration using a plurality of actuators, two actuators can be rotated and connected in a straight line (a configuration using the rotating member 50, the third actuator 40, and the second actuator 30 in FIG. 5). ) Is a minimum configuration, and a configuration in which four or more actuators are connected from a total of three actuators 20 to 40 connected as shown in FIG. 5 can be applied.

  Further, the configuration relating to the intermediate member 28 shown in FIGS. 6 (a) to 6 (c) and the like includes a connection portion between the frame members 32 and 42 of the second actuator 30 and the third actuator 40, and a frame of the fourth actuator 40. The present invention can also be applied to a connecting portion between the member 42 and the rotating member 50. Furthermore, the configuration related to the intermediate member 28 is configured such that the arrangement position of the wire 26 is offset to the left or right, so that the other end of the wire 26 is rotated while the intermediate member 28 is rotated left or right around the orthogonal axis 22b. The member to be fixed can be rotated. On the other hand, the configuration related to the intermediate member 28 can be omitted when it is not necessary depending on the use of the drive device 10.

  FIG. 10 is configured by combining the first driving device 65, the second driving device 66, the third driving device 67, the fourth driving device 68, and the fifth driving device 69 having the same configuration as the driving device 10 described above. The hand device 60 is shown (illustration of the covering sheet is omitted in the figure). The hand device 60 is arranged so that the first driving device 65 functions as a thumb so that a movement equivalent to that of a human hand (left hand) can be realized. Hereinafter, the second driving device 66 is set as an index finger, and the third driving device. 67 is arranged to function as a middle finger, the fourth driving device 68 as a ring finger, and the fifth driving device 69 as a little finger.

  The hand device 60 is integrally formed with the palm portion 61 by combining the frame members that become the base sides of the driving devices 65 to 69. The palm portion 61 is entirely flat, and the driving devices 65 to 69 are attached to one surface 61a.

  Specifically, the palm portion 61 sets a portion corresponding to the base of the thumb as a first attachment portion 61b to which a frame-like member 65a that forms an actuator on the base side of the first drive device 65 is attached, and the first attachment portion 61b. From FIG. 9, a notch 61 c is formed at an upper position in FIG. 9 to ensure the operating range of the first drive device 65. Further, the palm portion 61 has an upper end edge that is upward from the notch portion 61c in FIG. 9 as a second attachment portion 61d, a third attachment portion 61e, a fourth attachment portion 61f, and a fifth attachment portion 61g in order from the left side. Yes. The second mounting portion 61d to the fifth mounting portion 61g are slightly different in height and have a predetermined interval.

  The palm portion 61 attaches a frame-like member 66a that forms an actuator on the base side of the second drive device 66 to the second attachment portion 61d, and forms an actuator on the base side of the third drive device 67 on the third attachment portion 61e. A frame-like member 67a is attached, a frame-like member 68a that forms an actuator on the base side of the fourth drive device 68 is attached to the fourth attachment portion 61f, and an actuator on the base side of the fifth drive device 69 is attached to the fifth attachment portion 61g. The frame device 69a to be formed is attached to form the hand device 60. In the hand device 60, a fluid supply pipe (not shown in FIG. 10) for supplying a fluid independently to each of the actuators included in each of the driving devices 65 to 69 is attached to the back side of the finger.

  In the completed hand device 60, each of the driving devices 65 to 69 is in the posture shown in FIGS. 8A to 9C and FIGS. The movement similar to the hand can be realized. In particular, the first driving device 65 corresponding to the thumb is provided with the intermediate member 65b on the base side actuator, so that the intermediate member 65b is rotated about the orthogonal axis 65c, so that the thumb is moved inward of the palm. A twisting motion (called internal twisting) can be realized, and a complicated thumb motion can be reproduced. Therefore, the hand device 60 can be applied as a prosthetic hand that ensures movement equivalent to that of a human finger, in addition to being applicable to a human grip at a production site and a hand portion of a humanoid robot.

  FIGS. 11A to 11C show a drive device 70 using an actuator 71 according to a modification of the actuator 1 shown in FIGS. The actuator 71 according to the modification is characterized by including a first wire rod 76 and a second wire rod 77. The first wire 76 is attached in the same manner as the wire 6 of the actuator 1 shown in FIGS. 1 to 3, while the second wire 77 is parallel to the first wire 76 and the wiring direction is reversed. It is attached as follows. In order to attach the second wire 77, the frame-like member 74 has a second wire insertion hole 74j and a through hole 74k for the second wire 77 formed in the frame.

  Further, the actuator 71 has a first recess 72a and a second recess at both ends in the longitudinal direction of the frame member 72 in order to rotatably attach the first rotation member 81 and the second rotation member 82 to be actuated. 72b is recessed. For other portions, the actuator 71 has the same configuration as the actuator 1 shown in FIGS. 1 to 3, and the frame member 74 is attached to the frame member 72 with the elastic sheet 73 interposed therebetween, and the elastic sheet 73 is covered with the covering sheet. 75.

  In the driving device 70 to which the actuator 71 of the modification is applied, the convex portion 81a of the first rotating member 81 is fitted into the one concave portion 72a of the frame member 72 of the actuator 71 so as to penetrate the first rotating shaft R5. The first turning member 81 is pivotably connected, and the convex portion 82a of the second turning member 82 is fitted into the other recess 72b so as to pass through the second turning shaft R6 for the second turning. The member 82 is rotatably connected. Similarly to the embodiment shown in FIG. 7, the driving device 70 fixes the other end 76 b of the first wire 76 to the back surface of the first rotating member 81 with a bolt 81 b and the other end 77 b of the second wire 77. 2 It is being fixed to the back surface of the rotation member 82 with the volt | bolt 82b.

  Further, as shown in FIG. 11B, the driving device 70 sandwiches both sides of the connecting portion by the concave portion 72 a of the frame member 72 and the convex portion 81 a of the first rotating member 81, and The elastic members 83a and 83b (corresponding to the urging means) that connect the back surface of the one rotation member 81 are bonded, and the elastic members 83c and 83d are also bonded to the other with the connection portion between the concave portion 72b and the convex portion 82a being sandwiched therebetween. ing. The elastic members 83a to 83d are formed of synthetic rubber, and the first rotating member 81 and the second rotating member 82 are linear with respect to the frame member 72 of the actuator 71 by being attached as described above. It is urged to become a proper posture. Note that each of the elastic members 83a to 83d may use an elastic member made of natural rubber, a leaf spring, a tension coil spring, or the like instead of the synthetic rubber elastic member.

  When the actuator 71 is operated by supplying a fluid through the fluid supply pipe 78 to the drive device 70 having the above-described configuration, the elastic sheet 73 expands in a spherical shape and pulls in the first wire rod 76 as shown in FIG. The first rotation member 81 is rotated about the first rotation axis R5 against the urging force of the elastic members 83a and 83b, and the second wire 77 is also moved. Thus, the second rotation member 82 is rotated about the second rotation axis R6 against the urging force of the elastic members 83c and 83d.

  Therefore, in the driving device 70, the first rotating member 81 and the second rotating member 82 can be rotated by one actuator 71, and a plurality of members can be operated with a simple configuration. In addition, when the actuator 71 is not operated, the rotating members 81 and 82 are in a linear posture by the biasing force of the elastic members 83a to 83d. The posture can be clearly changed, and the driving device 70 can be suitably applied to gripping a workpiece at a production site. In addition, the structure which concerns on each elastic member 83a-83d is applicable also to the connection location which can rotate the drive device 10 shown in FIG.

  FIGS. 12A and 12B show a driving device 90 using the first actuator 100 and the second actuator 110 having the same configuration as the actuator 1 shown in FIGS. 1 to 3. In the driving device 90, the actuators 100 and 110 are arranged so that the frame member 92 of the first actuator 100 and the frame member 93 of the second actuator 110 face each other with a required gap 91a therebetween, and the frame members 92 and 93 are arranged. One end portion (the upper end portion in FIG. 12A) is integrally coupled by a coupling member 94 to form a chassis 91.

  In the chassis 91, a part of the connection joint 96 that can be rotated in multiple directions is embedded in the coupling member 94, and the rotation member 95 is attached to a portion protruding from the coupling member 94 of the connection joint 96. In the rotating member 95, the other ends of the wire members 106 and 116 extending to the rotating member 95 side of the actuators 100 and 110 are bolted to one surface 95a and the other surface 95b in the same manner as shown in FIG. They are fixed at 95c and 95d, respectively. In the driving device 90, the first fluid supply pipe 107 and the second fluid supply pipe 117 are arranged in the gap 91 a of the chassis 91.

  The operating status of the driving device 90 is as follows. First, when a fluid is supplied only to the first actuator 100 through the first fluid supply pipe 107, the elastic sheet 103 sandwiched between the frame-shaped members 104 expands and deforms, and accordingly the covering sheet 105 is interposed between the elastic sheet 103 and the elastic sheet 103. The along wire 106 moves so as to pull the rotating member 95. Thereby, the rotation member 95 rotates around the connection joint 96 in the right arrow direction in FIG.

  When the fluid is sucked through the first fluid supply pipe 107 and the fluid is supplied to the second actuator 110 through the second fluid supply pipe 117 in a state where the turning member 95 is rotated rightward as described above. The elastic sheet 113 of the second actuator 110 expands and deforms, and the wire 116 moves so as to pull the rotating member 95.

  Thereby, the rotation member 95 rotates around the connection joint 96 in the left arrow direction in FIG. In this state, when the fluid is sucked through the second fluid supply pipe 117 and the fluid is supplied to the first actuator 110 through the first fluid supply pipe 107, the rotating member 95 is rotated rightward again. Thereafter, the suction and supply of the fluid are alternately switched by the fluid supply pipes 107 and 117, whereby the rotating member 95 is rotated so as to swing the head left and right. Therefore, the drive device 90 can ensure a larger rotation range (a rotatable angle range) than the drive device 10 shown in FIG. 5, and is suitable for applications that require a large rotation range.

  A drive device 120 shown in FIG. 13 is a modified example of the drive device 90 of FIG. 12, and the rotation member 125 can be rotated in three directions using the first actuator 130, the second actuator 140, and the third actuator 150. The feature is that The driving device 120 of the modified example is basically the same as the driving device 90 of FIG. 11, and is arranged so that the frame members 121 a to 121 c of the actuators 130 to 150 face each other, and has a triangular cylindrical chassis 121. Is forming. The chassis 121 has a rotating member 125 attached to a connecting member 121d that connects ends of the frame members 121a to 121c via a connecting joint 126 so as to be rotatable in multiple directions.

  In the driving device 120, the other ends of the wire rods 136, 146, and 156 extending to the rotating member 125 side of the actuators 130 to 150 are attached to the rotating member 125. The first fluid supply pipe 137, the second fluid supply pipe 147, and the third fluid supply pipe 157 that supply and suck fluid to the actuators 130 to 150 pass through the hollow portion of the chassis 121 and go outward. It is arranged to stretch.

  The operation of the driving device 120 supplies fluid to any one of the actuators 130 to 150, and rotates the rotating member 125 so that the rotating member 125 tilts toward the supplied actuator. For example, by supplying fluid to the first actuator 130, the elastic sheet 133 sandwiched between the frame-shaped members 134 is expanded and deformed, and accordingly, the wire 136 along the elastic sheet 133 is interposed between the covering sheet 135 and the rotating member 125. Move to pull. Accordingly, the rotation member 125 rotates about the connection joint 126 toward the first actuator 130.

  When the fluid is sucked through the first fluid supply pipe 137 and the fluid is supplied to the second actuator 140 through the second fluid supply pipe 147 with the rotation member 125 tilted and rotated as described above, The wire 146 of the second actuator 140 pulls the rotation member 125 and tilts the rotation member 125 toward the second actuator 140. Further, when the fluid is sucked through the second fluid supply pipe 147 from this state and the fluid is supplied to the third actuator 150 through the third fluid supply pipe 157, the wire 156 of the third actuator 150 is turned into the rotating member 125. Is pulled to tilt the rotating member 125 toward the third actuator 150.

  Therefore, the drive device 120 can rotate the rotation member 125 in three directions by performing the control related to the fluid as described above, and the drive device 120 can be used for the purpose of operating the member in multiple directions. Preferred. In the device configuration shown in FIGS. 12 and 13, the number of actuators can be increased from three, and the rotation direction can be increased as the number is increased.

  A drive device 120 ′ shown in FIG. 14 is a modification of the drive device 120 shown in FIG. 13, and is a frame-like member curved on an outer peripheral surface 121a ′ of a cylindrical chassis 121 ′ coupled at one end side by a coupling member 121d ′. It is characteristic that each actuator 130 ', 140', 150 'is configured by attaching 134' or the like. The space in the frame of each actuator 130 ′, 140 ′, 150 ′ is elliptical.

  The driving device 120 ′ of the modified example is the same as the driving device 120 of FIG. 13 in terms of operation. For example, a cover sheet covered with a cover sheet 135 ′ by supplying fluid from the first fluid supply pipe 137 ′. When 133 ′ is expanded, the wire 136 ′ is pulled and the rotating member 125 ′ is tilted toward the first actuator 130 ′. Thereafter, the fluid supply pipes 137 ′, 147 ′, and 157 ′ are appropriately sucked and supplied with fluid, whereby the wire members 136 ′, 146 ′, and 156 ′ rotate the rotating member 125 ′ in three directions. Be made. The drive device 120 ′ capable of performing such driving has a smart cylindrical shape as a whole, and thus can have a smaller outer dimension than the drive device 120 of FIG. 13 and is suitable for use in a narrow place.

  15 and 16 show an actuator 160 according to the second embodiment of the present invention, and the actuator 160 of the second embodiment has a plurality of frames compared to the actuator 1 of the first embodiment shown in FIGS. 1 to 3. The interior space 164a to 165c is provided and the movement range of the wire 166 is extended.

  Specifically, two partition wall portions 166g and 166h are provided in the frame of the frame-shaped member 164, and the first frame inner space 164a, the second frame inner space 164b, and the third frame inner space 164c are linearly arranged. It is formed in the state. Further, the partition wall portions 166g and 166h are provided with communication holes 164d and 164e that communicate with the in-frame spaces 164a to 164c (see FIG. 16). The frame member 164 is provided with a wire insertion hole 166j and a through hole 164f for fixing one end 166a of the wire 166 in the surrounding frame portion 166i.

  On the other hand, the frame member 162 has a first fluid supply hole 162b, a second fluid supply hole 162c, and a portion corresponding to each of the frame inner spaces 164a to 164c of the frame-like member 164 attached to the one surface 162a via the elastic sheet 163. The third fluid supply hole 162d is opened, and the first fluid supply pipe 167a, the second fluid supply pipe 167b, and the third fluid supply pipe 167c are attached to the fluid supply holes 162b to 162d.

  Further, the wire 166 whose one end 166a is fixed to the frame-shaped member 164 through the wire insertion hole 166j passes through the first communication hole 164d across the first frame space 164a and passes through the second frame space 164b. The other end 166b passing through the second communication hole 164e across the third frame space 164c and passing through the through hole 164f is positioned outside the frame-shaped member 164. The actuator 160 according to the second embodiment is the same as the actuator 1 according to the first embodiment except for the above-described portions. Although not shown in FIGS. 15 and 16, the covering sheet is elastic with the wire 166. The sheet 163 is interposed.

  In the actuator 160 according to the second embodiment, when the fluid is supplied simultaneously through all the fluid supply pipes 167a to 167c, the elastic sheet 163 expands and deforms into a spherical shape for each of the in-frame spaces 164a to 164c (see FIG. 16). . Following the expansion of the elastic sheet 163, the wire 166 is also lifted upward and deformed for each of the spaces 164a to 164c in the frame, so that the wire 166 is simply compared with the actuator 1 of the first embodiment. The pull-in amount can be tripled. Accordingly, the amount of movement of the other end 166b of the wire 166 is also about three times.

  In addition, if the fluid supply is not performed simultaneously by the fluid supply pipes 167a to 167c, but only one or any two of the three fluid supply pipes 167a to 167c are supplied, The number of places where the wire 166 is lifted is one or two, and the amount of wire 166 drawn can be finely controlled.

  The actuator 160 according to the second embodiment is not limited to the above-described form, and various modifications can be applied. For example, the shapes of the frame spaces 164a to 164c in plan view are shown in the figure. In addition to the rectangular shape shown in FIG. 13, it may be circular as shown in FIG. When each of the frame inner spaces 164a to 164c is formed in a circular shape, the periphery of the expansion portion of the elastic sheet 163 is also circular, and there are no angular portions, so that the burden on expansion of the elastic sheet 163 is reduced. Also, the actuator 160 of the second embodiment can be applied with the same modification as that of the first embodiment.

  FIG. 17A shows a pattern of actuators 170 according to a modification of the second embodiment. The actuator 170 arranges a total of six in-frame spaces 174a to 174f in a lattice pattern, and in the drawing, the first wire 176a crossing the upper in-frame spaces 174a to 174c is outward on the left side of the frame-shaped member 174. A second wire 176b that extends and crosses the lower frame spaces 174d to 174f extends outward on the right side of the frame-shaped member 174. When a fluid is supplied to each of the frame inner spaces 174a to 174f, the actuator 170 causes the elastic sheet 173 to expand and move the first wire 176a to the right, and to pull the second wire 176b to the left. Move. At this time, the amount of movement of each wire 176a, 176b can be made larger than that of the actuator 71 of the first embodiment shown in FIG. 11A (note that the covering sheet is not shown in FIG. 17A). The same).

  FIG. 17B shows another pattern of actuators 170 ′ in the modified example of FIG. 17A, and the actuators 170 ′ are a total of six in-frame spaces 174 a to 174 f, which are upper frame spaces 174 a to 174 c. The first wire 176a traversing and the second wire 176b traversing the lower frame spaces 174d to 174f extend outward on the left side in the same direction. This actuator 170 'can pull the moving object located on the left side with two wires 176a and 176b simultaneously with a large force and a large stroke. Furthermore, the actuator 170 'can also vary the amount of movement of the two wire rods 176a and 176b by varying the number of in-frame spaces 174a to 174f that supply fluid at each stage. When the actuator 170 ′ of FIG. 17B is used in place of the first actuator 20 in the configuration related to the intermediate member 28 shown in a) to (c), the left and right rotation about the orthogonal axis 22b is also finely controlled. It becomes possible.

  In addition to the actuator 170 ′ shown in FIG. 17B, the modification shown in FIGS. 20A to 20C is applied to the configuration related to the intermediate member 28 shown in FIGS. 6A to 6C. The following configuration may be applied. In this modified example, two frame spaces in the elongated holes are formed in parallel on the frame-like member 24 ′ attached to the frame member 22 ′ of the first actuator 20 ′, and the second space crossing each frame space is formed. A feature is that the first wire 26 'and the second wire 29' are fixed in parallel with bolts K1 'and K2' to a base member 32 'to which a frame-like member 34' of the second actuator 30 'is attached.

  In this case, when the elastic sheet 23 'of the first actuator 20' is expanded so as to operate only the second wire rod 29 ', the second actuator 30' can be tilted to the left as shown in FIG. 20 (b). On the other hand, when the elastic sheet 23 ′ is expanded so as to operate only the first wire rod 26 ′, the second actuator 30 ′ can be tilted to the right as shown in FIG. 20 (c). In addition, if both wire material 26 ', 29' is act | operated simultaneously, 2nd actuator 30 'can be rotated centering | focusing on 1st rotation axis R1'. As described above, in the modified examples of FIGS. 20A to 20C, the inclination of the second actuator 30 ′ can be easily controlled.

  FIG. 17C shows still another pattern of actuator 170 ″ in the modification of FIG. 17A, and the actuator 170 ″ has a total of six frame inner spaces 174a to 174f in the upper frame. The two wires 176a and 176c are disposed in the opposite direction with respect to the spaces 174a to 174c, and the two wires 176b and 176d are disposed in the opposite direction with respect to the lower frame spaces 174d to 174f. It is a feature. This actuator 170 ″ can move the moving object with a large force and a large stroke when there are moving objects on both the left and right sides.

  FIG. 18A shows a pattern of actuators 180 according to another modification. The actuator 180 has a total of five in-frame spaces 184a to 184e arranged in a cross shape, and a first wire 186a is arranged so as to cross the in-frame spaces 184a to 184c aligned in the horizontal direction in the figure. The second wire 186b is arranged so as to cross the in-frame spaces 184e, 184b, 184d arranged in the direction. When a fluid is supplied to each of the frame internal spaces 184a to 184e, the actuator 180 causes the elastic sheet 183 to expand and move the first wire 186a to the right, and to pull the second wire 176b downward. Move. Therefore, the actuator 180 in FIG. 18A is suitable when there is a moving object in the orthogonal direction.

  FIG. 18 (b) shows another pattern of actuator 180 'in another modification of FIG. 18 (a), and the actuator 180' has a total of five cross-shaped spaces 184a to 184e in the vertical and horizontal directions. The number of wires 186a to 186d crossing the direction is two in the horizontal direction and the vertical direction, and the wire arrangement direction is reversed in each direction. Therefore, since the actuator 180 ′ extends the wire rods 186a to 186d in four directions, it is suitable when the object to be moved exists outside the four sides of the frame-shaped member 184.

  FIG. 19A shows a pattern of actuators 190 according to another modification. The actuator 190 arranges a total of four in-frame spaces 194a to 194d in a lattice pattern, arranges the first wire 196a so as to cross the in-frame spaces 194a, 194d arranged in one diagonal direction, and in the other diagonal direction The second wire 196b is arranged so as to cross the aligned frame spaces 194b and 194c. When a fluid is supplied to each of the frame inner spaces 194a to 194d, the actuator 190 moves so that the elastic sheet 193 expands to draw both the wires 196a and 196b. Therefore, the actuator 190 of FIG. 19A is suitable when there is a movement target in an oblique direction with respect to the outer side portion of the frame-shaped member 194.

  FIG. 19B shows an actuator 200 of another pattern in the modified example of FIG. The actuator 200 is characterized in that a total of twelve wires 206a to 206l are arranged in each of the columns in the vertical direction, the horizontal direction, and the diagonal lines with respect to the frame spaces 204a to 204d arranged in a lattice pattern. . Therefore, this actuator 200 is suitable when there are moving objects in the entire circumferential direction of the frame-like member 204, and it is possible to drive a large number of moving objects by expanding and deforming the elastic sheet 203.

  The actuator according to the second embodiment can have a configuration in which a large number of spaces in the frame are arranged in addition to the above and a plurality of wires are applied. Further, using the various actuators according to the second embodiment, the driving device 10 shown in FIGS. 5 to 9, the hand device 60 shown in FIG. 10, the driving device 70 shown in FIGS. 11A to 11C, and FIG. Of course, it is also possible to configure devices such as the driving device 90 shown in a) and (b) and the driving device 120 shown in FIG.

  In particular, the actuator 160 shown in FIGS. 15 and 16 and the actuator 170 ′ shown in FIG. 17B have one direction of pulling the wire, so that the driving device 10 shown in FIGS. 5 to 9 and the hand device shown in FIG. 60, the driving device 90 shown in FIGS. 12A and 12B, and the driving device 120 shown in FIG. 13 are suitable. Further, since the other actuators 170, 170 ″, 180, 180 ′, 190, 200 have a multi-directional pulling direction of the wire, the actuators such as the driving device 70 shown in FIGS. Is preferred.

It is a perspective view of an actuator concerning a 1st embodiment of the present invention. It is a disassembled perspective view of the actuator of 1st Embodiment. (A) is a sectional view of the actuator showing a state in which no fluid is supplied, (b) is a sectional view of the actuator in a state where fluid supply is started, and (c) is a sectional view of the actuator in a state where supply of fluid is completed FIG. It is a perspective view of an actuator concerning a modification of a 1st embodiment. It is a perspective view which shows the drive device of the structure which connected the some actuator in series. (A) is a principal part top view which shows the state which the intermediate member of a 1st actuator is not rotating, (b) is a principal part top view which shows the state in which the intermediate member rotated leftward, (c) is an intermediate | middle. It is a principal part top view which shows the state which the member rotated to the right direction. It is principal part sectional drawing which shows the connection state of a 3rd actuator and a rotation member. (A) is a side view showing the posture of the driving device in a state where each actuator is not operated, (b) is a side view showing a state where the third actuator is operated, and (c) is a case where the second actuator is operated. It is a side view which shows a state. (A) is a side view of the drive device which shows the state which operated the 1st actuator, (b) is a side view which shows the state which operated all the actuators. It is a top view of the hand apparatus comprised combining a total of five drive devices. It is the drive device using the actuator of a modification, (a) is a perspective view, (b) is a bottom view, (c) is a side view which shows an operation state. It is an example of the drive device using two actuators, (a) is a perspective view, (b) is a side view. It is a perspective view which shows the other example of the drive device using three actuators. It is a perspective view which shows the drive device of the modification using three actuators. It is a perspective view which shows the actuator which concerns on 2nd Embodiment of this invention. It is sectional drawing which shows the operating state of the actuator of 2nd Embodiment. It is an actuator of the modification of 2nd Embodiment, (a) is a top view which shows one pattern, (b) is a top view which shows another pattern, (c) is a top view which shows another pattern. It is an actuator of another modification of 2nd Embodiment, (a) is a top view which shows one pattern, (b) is a top view which shows another pattern. It is an actuator of another modification of a 2nd embodiment, (a) is a top view showing one pattern, and (b) is a top view showing other patterns. It is a modification using two wires with respect to the intermediate member, (a) is a main part plan view showing a state where it is not operated, (b) is a main part showing a state in which the intermediate member is rotated leftward. (C) is a principal part top view which shows the state which the intermediate member rotated rightward.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1,160 Actuator 2,162 Frame member 3,163 Elastic sheet 4,164 Frame member 4c, 164a, 164b, 164c Space in frame 5 Cover sheet 6,166 Wire rod 6a, 166a One end 6b, 166b The other end 10,70, 90, 120 Drive device 28 Intermediate member 50, 81, 82, 95, 125 Rotating member 60 Hand device 166g, 166h Partition wall

Claims (14)

A frame member;
A frame-like member attached to one surface of the frame member with an elastic sheet interposed therebetween;
A wire rod having one end fixed to the frame member or the frame member;
The frame-shaped member includes a through-hole penetrating outward from the space in the frame,
The wire is arranged so as to cross the space in the frame and along the surface of the elastic sheet, and the other end of the wire passes through the through hole and is located outside the frame-shaped member. ,
The frame member includes a fluid supply hole opened at a location corresponding to the space in the frame,
The actuator according to claim 1, wherein the elastic sheet is elastically expanded in the space in the frame by pulling the fluid from the fluid supply hole and pulls the other end of the wire to one end side.   The actuator according to claim 1, further comprising a covering sheet that is disposed between the wire and the surface of the elastic sheet to cover the elastic sheet. The wire is plural,
The frame member includes a plurality of through holes,
The actuator according to claim 1 or 2, wherein the other end of each wire passes through different through holes. The frame-shaped member forms a plurality of in-frame spaces by partition walls provided in the frame,
The partition wall portion includes a communication hole that allows the spaces in the partitioned frame to communicate with each other.
The frame member includes a fluid supply hole for each space in the frame,
The actuator according to any one of claims 1 to 3, wherein the wire passes through the communication hole and crosses a plurality of spaces in the frame.   The actuator according to claim 4, wherein the plurality of in-frame spaces are arranged linearly.   The actuator according to claim 4, wherein the plurality of in-frame spaces are arranged in a lattice pattern. The actuator according to any one of claims 1 to 6,
A rotating member rotatably connected to the frame member of the actuator,
The other end of the wire of the actuator is attached to the rotating member. A plurality of actuators according to any one of claims 1 to 6;
The frame members of the plurality of actuators are connected in series and rotatably connected,
A rotation member rotatably connected to the frame member of the actuator located at the end in the connection direction;
At the connection point between the actuators, the other end of the wire of one actuator is attached to the frame member of the other actuator,
2. A driving apparatus according to claim 1, wherein the other end of the wire rod of the actuator connecting the rotating member is attached to the rotating member. The actuator according to any one of claims 3 to 6, and
A rotation member of the same number as the wire rod of the actuator, which is rotatably connected to the frame member of the actuator,
The other end of each wire of the actuator is attached to the rotating member. An intermediate member interposed between the members to be connected;
The drive device according to claim 8 or 9, wherein the intermediate member is rotatable about an orthogonal axis orthogonal to an axis related to rotation of a connecting portion between the members.   The drive device according to claim 10, wherein the intermediate member includes an abutting portion that abuts against one member of a connection portion so as to regulate a rotation range related to the orthogonal axis.   The drive device according to any one of claims 7 to 11, further comprising: an urging unit that urges members connected so as to be able to rotate in a linear posture. A plurality of actuators according to any one of claims 1 to 6;
The plurality of actuators are arranged so that the frame members face each other,
A coupling member that couples the ends of each frame member;
A rotating member attached rotatably to the coupling member,
The other end of the wire located in the direction of the rotation member of the plurality of actuators is attached to the rotation member. A plurality of the drive devices according to any one of claims 7 to 12;
The hand device characterized in that the frame members of the respective driving devices located at the ends in the longitudinal direction are combined and integrated.

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