JP4900809B2 - Actuator, drive device and hand device - Google Patents

Description

  The present invention relates to a membrane type actuator that suppresses deterioration of operating characteristics due to secular change and can directly exert an operating force, a driving device using the actuator, and a hand using the driving device. Relates to the 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. 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.

  On the other hand, the inventors of the present application, as shown in FIGS. 20 and 21 (a) to (c), do not use a tube-like elastic body but a so-called membrane-type actuator using a sheet that can be expanded and contracted. No. 1 has been applied for a patent (Japanese Patent Application No. 2005-309110). The actuator 1 sandwiches a sheet 3 that can be expanded and contracted between a plate-like base member 2 and a frame-like member 4, and arranges a net-like covering sheet 5 and a wire 6 in a frame inner space 4 c of the frame-like member 4. Then, one end 6 a of the wire 6 is fixed to the frame-like member 4, while the other end 6 b is pulled out to the outside of the frame-like member 4.

As shown in FIGS. 21A to 21C, the actuator 1 is operated such that a fluid (for example, air) is supplied from a hose 7 that penetrates the base member 2 and the sheet 3 is separated from the base member 2. Inflate and deform. By directly pushing up the wire 6 with the expanded and deformed sheet 3, the actuator 1 realizes an operation of pulling the other end 6b side of the wire 6 toward the one end 6a.
JP-A-60-132103

  In the actuator 1 described above, the net-like covering sheet 5 is interposed between the sheet 3 and the wire 6 (see FIG. 20). Basically, the wire 6 is almost directly attached by the expanded sheet 3. Since the structure is pushed up, the thin wire 6 bites into the soft surface of the sheet 3 every time it is operated. Therefore, when such an operation is repeated, there is a concern that the surface of the sheet 3 is likely to deteriorate due to the biting of the wire 6.

  In addition, since the sheet 3 is in line contact with the wire 6, when the sheet 3 expands and pushes up the wire 6, as described above, the wire 6 bites into the surface of the sheet 3, and thus the force of pushing up the wire 6 by the sheet 3 is As a result, the operating state of linearly and directly pulling the other end 6b of the wire 6 is somewhat weakened.

  The present invention has been made in view of such circumstances. A membrane-type actuator that enables linear and direct operation of a wire rod and suppresses the progress of deterioration of a sheet accompanying use, and the actuator thereof. It is an object of the present invention to provide a drive device used and a hand device using the drive device.

  In order to solve the above problems, an actuator according to the present invention includes a base member having a fluid supply hole opened on a member surface, and is disposed on the member surface of the base member so as to cover the supply hole. A sheet that can be expanded and contracted, and is attached to the base member with the sheet interposed therebetween, and a cavity is formed at a location facing the opening of the supply hole, and penetrates outward from the cavity. A cover member in which a through hole is formed, a sliding member that is slidably housed in the cavity, and one end side is fixed to the base member or the cover member, and the contact member is in contact with the sliding member. A wire rod that traverses the cavity and has the other end passing through the through-hole and positioned outside the cover member, and the sliding member is pressed by the sheet that is expanded and deformed by fluid supply from the supply hole But And moving, and the other end side of the wire material are to be pulled to the one end side.

  In the present invention, the cavity is formed in the cover member that is attached to the base member via a sheet that can be stretched and deformed, and the sliding member is slidably accommodated inside the cavity, and the slide Since the wire is arranged so as to be in contact with the moving member, the wire does not directly touch the sheet but comes into contact with the sliding member. Therefore, when a fluid is supplied, the expanded and deformed sheet directly presses the sliding member. At this time, since the portion pressed by the sheet is the surface of the sliding member, the sheet and the sliding member are in surface contact during pressing, and the thin wire does not bite into the sheet surface. It is possible to avoid deterioration of the sheet surface due to biting.

  In addition, since the wire is in contact with the sliding member, the wire is pushed up directly on the surface of the hard member compared to the sliding member that slides by pressing with the expanded and deformed sheet, and the linear material has been generated by biting into the sheet. In addition, the lack of direct operational feeling is eliminated, and the expansion force of the sheet can be efficiently converted into a force that pulls the other end of the wire to the one end to improve the actuator operating characteristics and the operating response. .

The actuator according to the present invention is characterized in that the surface of the sliding member in contact with the wire has a convex curved surface.
In the present invention, since the surface of the manual member in contact with the wire is a convex curved surface, even if the wire is in contact with the hard member surface compared to the sheet, the portion in contact with the wire on the member surface is a corner ( Since the curved surface is a gentle convex surface having no edge), it is possible to prevent the wire rod from rubbing against the surface of the member during the operation, and to suppress deterioration as much as possible, and to ensure stable operation of the actuator for a long period of time.

  The actuator according to the present invention is such that at least a part of a side in contact with the wire is larger than a side pressed against the sheet with respect to a dimension in a direction orthogonal to a sliding direction of the sliding member, Has a shape corresponding to the sliding member.

  In the present invention, if the side of the sliding member in contact with the wire is the head of the sliding member and the side pressed by the opposite sheet is the body, the shape of the sliding member is compared to the body. Since the outer diameter of the head is increased and the cavity is formed so that the sliding member having such a shape can be slid, there is no difference in the outer diameter of the head and the trunk. Compared to the case where a member is used, it is possible to increase the pulling length (operation amount) of the wire with a small amount of fluid supply. That is, when comparing two sliding members whose head is larger than the body and a sliding member whose head is the same size as the body, if both body are the same size, the head is The sliding member that is larger than the body part has a longer contact length with the wire, and if the same amount of fluid is supplied and both are slid by the same length, the former is the same as the wire. The longer the contact length is, the longer the wire is pushed up. As a result, the amount of operation as an actuator can be increased by the amount by which the wire is pushed up longer.

  The actuator according to the present invention is characterized in that, with respect to a dimension in a direction orthogonal to the sliding direction of the sliding member, a side in contact with the wire is smaller than a side pressed by the sheet.

  In the present invention, if the side of the sliding member in contact with the wire is the head of the sliding member and the side pressed by the opposite sheet is the body, the shape of the sliding member is compared to the body. Since the head is formed to be smaller, the pulling length (operation amount) of the wire is controlled according to the fluid supply compared to the case of using a sliding member that has no difference in the dimensions of the head and body. It becomes easy. That is, when comparing two sliding members whose head is smaller than the trunk and a sliding member whose head is the same size as the trunk, the head is The sliding member that is smaller than the body part has a shorter contact length with the wire, and if the same amount of fluid is supplied and both are slid by the same length, the former is the same as the wire. As the contact length is shorter, the push-up amount of the wire becomes shorter. Therefore, the operation amount of the actuator becomes moderate with respect to the supply of the fluid, and the control of the operation amount of the actuator that operates by supplying the fluid becomes easy.

The actuator according to the present invention is characterized in that a groove into which the wire enters is formed on the surface of the sliding member.
In the present invention, since the groove into which the wire enters the sliding member is formed, the wire is positioned in the groove when the wire is pushed up by the sliding member and the other end of the wire is pulled to one end. Is done. For this reason, when the wire is pushed up by the sliding member, there is no situation where the wire slides on the surface of the member in a direction perpendicular to the direction in which the wire is pulled, and the pushing force is not wasted. The actuator can be efficiently operated by converting the force into a wire pulling force.

The actuator according to the present invention is characterized in that a hole edge exposed to the hollow portion of the through hole is formed in a curved shape.
In the present invention, since the hole edge that appears in the cavity portion of the through hole is formed in a curved shape, when the wire rod that enters the through hole across the cavity portion is pushed up by the sliding member, the through hole Since there is no corner (edge) at the hole edge, the other end side of the wire is smoothly pulled without resistance, and it is possible to suppress as much as possible that the wire is rubbed and deteriorated during operation.

The actuator according to the present invention is characterized in that the cover member is formed of a first member and a second member that are divided into two with the through hole as a boundary.
In the present invention, since the cover member is formed by combining the first member and the second member with the through hole as a boundary, it is not necessary to drill a thin-diameter through hole for penetrating the wire. Thus, if a groove is formed on the boundary surface of at least one of the first member and the second member and the two members are overlapped with each other, the through hole is naturally formed, and the formation of the through hole is facilitated. In addition, if the wires are arranged in the grooves when the two members are bonded together, the wires pass through the through holes after the combination, so that the work of passing the wires through the through holes can also be facilitated. .

  In the actuator according to the present invention, the base member has a plurality of supply holes, and the cover member has a plurality of cavities corresponding to the openings of the plurality of supply holes. The communicating holes are formed to communicate with each of the cavities, the sliding member is accommodated in each of the plurality of cavities, and the wire passes through the communicating holes and crosses the cavities. It arrange | positions like this.

  In the present invention, the sliding member housed in each of the plurality of cavities is made slidable by supplying fluid, so that the wire can be pushed up in each cavity, and the number of cavities Accordingly, the pulling length and pulling force of the wire increase, and as a result, the operating stroke and operating force of the actuator can be increased. In addition to supplying the fluid from all the supply holes at the same time, if the fluid supply control is performed so that the fluid is supplied by only some of the supply holes, compared to the case of supplying the fluid from all the supply holes, The operation stroke and the operation force can be suppressed, and a control for adjusting the operation stroke and the operation force according to the use situation is also possible. Therefore, for example, if the fluid is sequentially supplied to the supply holes, the operation stroke and the operation force can be increased stepwise.

The actuator according to the present invention is characterized in that there are a plurality of the wire rods, a plurality of through holes are formed in the cover member, and each wire rod passes through different through holes. And
In the present invention, since different wires pass through the plurality of through-holes, when the sliding member is slid, each wire is pushed up by the sliding member, and the other end of each wire is one end. It becomes possible to pull a plurality of wires simultaneously with one actuator. Therefore, if the other end side of each wire is attached to a member to be driven, a plurality of members can be operated simultaneously by a single actuator.

  The drive device according to the present invention includes a plurality of any of the actuators described above, and each actuator is disposed so as to face each other in a direction orthogonal to the through direction of the through hole, End portions corresponding to the other end side of the wire rod are coupled to each other, and a rotating member that is pivotably attached to the coupling portion is provided, and the other end of the wire rod of each actuator is attached to the rotating member. It is characterized by that.

  In the present invention, in a state where a plurality of actuators are arranged to face each other, one end portions are coupled to each other, and a pivoting member is rotatably attached to the coupling portion. Since the end is attached to the rotating member, the rotating member can be rotated so as to incline in a plurality of directions (multi-directional) provided with the actuator. 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, the configuration is optimal for a rotation mechanism applied to an apparatus that needs to observe a large number of directions. .

  A drive device according to the present invention includes an actuator including a plurality of the above-described wire rods and through-holes, and each through-hole of the actuator is formed to penetrate in a different outward direction, and each through-hole of the actuator is Each of the end portions corresponding to locations penetrating outwardly includes the same number of rotating members as the wire rod of the actuator that is rotatably connected, and the other end of each wire rod of the actuator is connected to each rotating member. It is characterized by being attached to each.

  In the present invention, the same number of rotating members as the wire rods are connected to an actuator including a plurality of wire rods so as to be rotatable at the through portions of the through holes, and the other ends of the wire rods are attached to the rotating members. Therefore, a plurality of rotating members can be rotated by one actuator, and a mechanism with a plurality of operating objects can be realized with a simple and compact configuration. The drive device according to the present invention is suitable for applications such as holding and clamping an object, and is optimal for applications such as workpiece handling in a scene such as a production site.

  The drive device according to the present invention includes a plurality of any of the above-described actuators, and the plurality of actuators are connected in series so as to be rotatable between end portions, and are located on one end side in the connecting direction. A rotating member that is rotatably connected to the end portion of the actuator, and at the connecting portion between the actuators, the other end of the wire of one actuator is attached to the other actuator, and the rotating member is connected The other end of the actuator wire is attached to the rotating member.

  In the present invention, the actuators are connected in series so as to be freely rotatable, the other end of the wire of one actuator is attached to the other actuator, and the actuator located on one end side of the connected actuators is connected to the actuator. Since the rotating member is pivotally connected, and the other end of the actuator wire is attached to the rotating member to constitute the driving device, a driving device that bends the entire device by the operation of each actuator is realized. it can. In addition, when the actuator and the rotating member are formed in an elongated shape, the drive device can be configured just like a part of a human finger, which is suitable for use in a finger part of a robot hand.

The drive device according to the present invention includes an urging unit that urges the devices connected so as to be rotatable so as to have a linear posture.
In the present invention, since the urging means that urges the connected ones to be in a linear posture is provided, even if the actuator is not operated (when no fluid is supplied), the driving device can be operated in any way. Even if the actuator is in any orientation, each actuator, etc. can be in a straight posture, and the actuator can be stably placed in a straight posture in which the actuator is in a linear state before the operation of the drive device. It is possible to sharpen the posture change.

  The hand device according to the present invention includes a plurality of drive devices to which a plurality of actuators are connected in series, and the actuators located on the other end side in the connection direction are coupled to each other among the actuators of each drive device. It is characterized by being.

  In the present invention, since the actuators on the other end side included in each driving device are coupled together, the entire coupled portion is exactly the portion corresponding to the human palm, and the finger-like shape from the portion corresponding to the palm. In addition, it is possible to realize a drive device in which the remaining portion of each drive device protrudes. 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 present invention, the actuator is operated by pushing up the wire rod with the sliding member that slides with the expanded sheet, so that the load on the sheet can be reduced and deterioration of the sheet can be suppressed, and the sliding member with a hard surface can be used. Since the wire is pushed up directly, the operation amount of the actuator can be increased and the operation response can be improved.
In the present invention, since the sliding member is formed into a convex curved surface and brought into contact with the wire, the wire can be prevented from rubbing and deteriorating during operation, and the contact between the wire and the sliding member can be smoothly operated. Response can be further improved.

In the present invention, since the contact dimension with the wire is increased by using a sliding member having a larger head than the trunk, a sliding member having the same size as the trunk is used. The amount of operation of the actuator can be increased compared to the case where
On the other hand, in the present invention, since the contact size with the wire is shortened by using a sliding member having a smaller head than the trunk, the sliding member having the same size as the trunk and the head. Compared with the case of using, the operation amount of the actuator can be easily controlled.

In the present invention, since the groove into which the wire enters the sliding member is formed, even if the wire is pushed up by the sliding member, the position of the wire is secured without sliding down from the surface of the sliding member. Thus, reliable operation of the actuator can be maintained.
Also, in the present invention, the hole edge that appears in the cavity portion of the through hole is formed in a curved shape, so that the wire material crossing the cavity portion is prevented from rubbing and deteriorating at the hole edge of the through hole. And stable operation of the actuator can be secured over a long period of time.
Furthermore, in the present invention, since the cover member is formed by a combination of the first member and the second member, the actuator can be manufactured and assembled efficiently.

In the present invention, the sliding member is housed in each of the plurality of cavities, and the wire is disposed so as to be in contact with each sliding member. Therefore, compared to the case where the wire is pushed up by one sliding member, the wire Both the pulling force and the pulling length for the actuator can be increased, and the operating performance of the actuator can be improved.
Further, in the present invention, since different wire rods are passed through a plurality of through-holes, it is possible to make a plurality of objects to be driven or to operate by attaching a plurality of wire rods to one drive object. The range of application of actuators can be expanded.

In the present invention, in a state where a plurality of actuators are arranged to face each other, the end portions are coupled to each other, and a pivot member is attached to the coupling portion so as to be pivotable, and the other ends of the wire rods of the respective actuators are attached. Since it attaches to a rotation member, if it switches and operates several actuators, the drive device which can drive a rotation member in the form which shakes a neck is realizable.
In the present invention, the rotating member is rotatably connected to each of the locations corresponding to each through hole of the actuator provided with a plurality of different through holes penetrating in the outward direction. A drive device that can efficiently drive a plurality of rotating members can be realized.

In the present invention, a plurality of actuators are connected in series and turnable, and a turn member is turnably connected to the actuator located on one end side in the connection direction, so that the entire apparatus is extended. It is possible to realize a drive device that changes from a bent state to a bent state.
Further, in the present invention, since a biasing means for biasing the connected ones in a linear posture is provided, when not supplying fluid, the whole is in a linear posture, A difference between the posture when the fluid is supplied (difference between when the actuator is activated and when it is not activated) can be clarified, and an easy-to-use drive device that clearly changes the posture change can be realized.

  Furthermore, in the present invention, since the actuators on the other end side included in each drive device in which a plurality of actuators are connected in series are coupled to each other, a form equivalent to a human hand as a whole is realized. It can be suitably used as a hand part or a prosthetic hand of a humanoid robot.

  1 and 2 (a) and 2 (b) show an actuator 10 according to a first embodiment of the present invention. The actuator 10 realizes an operation mode in which the other end 16b side of the wire 16 is pulled toward the one end 16a side as shown in FIGS. 6A and 6B by supplying a fluid. 13) By incorporating the piston 17 that slides, the wire 16 is not brought into direct contact with the sheet 13, so that the deterioration of the sheet 13 is suppressed, and the wire 16 is directly pushed up by the piston 17 so as to be linear. In addition, it is characterized by being able to exhibit direct operating characteristics.

  As shown in FIGS. 1 and 2, the actuator 10 is attached to a plate-like base member 12 with a block-like cover member 10 a composed of a first member 14 and a second member 15 with a sheet 13 interposed therebetween. In both cases, a hollow portion 11 is provided inside the cover member 10a, and a piston 17 (corresponding to a sliding member) is slidably accommodated in the hollow portion 11. Furthermore, the actuator 10 forms a through hole 18 (see FIG. 2B) penetrating outward from the cavity 11 of the cover member 10a, passes through the cavity 11 and passes through the through hole 18, and exits outward. A wire rod 16 is provided. Hereinafter, each part which comprises the actuator 10 is explained in full detail.

  In order to clarify the positional relationship and direction of the contents shown in each figure, the X, Y, and Z axes shown in FIG. 1 are shown as reference axes in each figure. The X axis is an axis in the direction along the long side direction of the base member 12. Hereinafter, the Y axis is the direction along the short side direction of the base member 12, and the Z axis is the direction along the thickness direction of the base member 12 ( This is the axis of the sliding direction of the piston 17.

  First, the base member 12 shown in FIG. 1 is a synthetic resin member having a required rigidity, and a total of four screw holes 12f are formed around a member surface 12a on the side where the sheet 14 is arranged. Also, the base member 12 has a circular (three-dimensionally short columnar) concave portion 12c having a diameter equivalent to the inner diameter of the hollow portion 11 of the cover member 10a near the center of the member surface 12a. The fluid supply hole 12e is opened at the center of the bottom surface 12d of the recess 12c. The supply hole 12e penetrates to the back surface 12b of the base member 12, and a fluid supply hose H is attached to the opening of the supply hole 12e on the back surface 12b of the base member 12 via a joint T (see FIG. 2 (a) (b)).

  A fluid supply source is connected to the other end of the hose H (not shown). The fluid supply source is preferably a syringe type (syringe type) that alternately supplies the fluid and sucks the supplied fluid. For example, the piston in the syringe (inside the cylinder of the syringe) is reciprocated by a motor or the like. A fluid supply source capable of being driven is suitable for the actuator 10.

  Further, the sheet 13 is made of a sheet material made of nitrile rubber or the like, and has a characteristic that it expands and deforms when it receives a tensile stress and contracts to its original state when the tensile stress is released. In the embodiment, it is deformed and expanded so as to expand with the supply of fluid (see FIGS. 6A and 6B). When the sheet 13 is disposed on the surface of the base member 12, holes 13 a that communicate with the screw holes 12 f of the base member 12 are provided around the sheet 13.

  The first member 14 constituting the lower layer of the block-shaped cover member 10 is a flat plate member made of synthetic resin that secures required rigidity, and when the base member 12 is overlapped with the base member 12 with the sheet 13 interposed therebetween. A cylindrical cylinder hole 14c is formed at a location facing the recess 12c (location facing the opening of the supply hole 12e). The cylinder hole 14c is formed with an inner diameter D (D> d) larger than the outer diameter d (FIG. 5A) of the piston 17 (see FIG. 3A), and the piston 17 is moved in the Z-axis direction. It is designed to be slidable.

  Further, the first member 14 has a groove 14 d that extends outward from the cylinder hole 14 c along the X-axis direction, and is recessed in the surface 14 a serving as a boundary surface with the second member 15. The groove portion 14d has a semicircular groove cross section in a direction perpendicular to the extending direction (see FIG. 3B), and the groove cross section has a dimension that allows the wire 16 to pass therethrough. Further, as shown in FIGS. 4 (a) and 4 (b), the groove portion 14d forms a semiconical counterbore on the end portion 14g on the surface 14e side that is exposed outward, and an edge is formed on the periphery of the end portion 14g. (Corner) is not generated. A bolt 14 hole 14 f that communicates with the hole 13 a of the sheet 13 is also formed around the first member 14.

  The 2nd member 15 laminated | stacked on the 1st member 14 is a plate-shaped member with a large thickness dimension compared with the 1st member 14, and is a product made from the synthetic resin which ensured required rigidity. When the second member 15 is stacked on the surface 14a of the first member 14, a recess 15c that is recessed from the lower surface 15b is formed at a location facing the cylinder hole 14c of the first member 14. The recess 15c is a cylindrical recess formed with an inner diameter D equivalent to the cylinder hole 14c, and the top portion is formed in a hemispherical shape.

  Further, as shown in FIGS. 3A and 3B, the second member 15 faces the end portion 14 h on the piston hole 14 c side of the groove portion 14 d of the first member 14 in a state where the second member 15 is stacked on the first member 14. A tapered portion 15f cut into a gently curved surface is formed at the location of the back surface 15b, and the edge (corner) is eliminated from the location facing the groove portion 14d at the edge of the recess 15c. Furthermore, as shown in FIGS. 4A and 4B, the second member 15 is opposed to the outer end portion 14g of the groove portion 14d of the first member 14 in a state of being stacked on the first member 14. A conical notched counterbore portion 15g is also formed at a location so that an edge (corner) does not occur. The second member 15 also has a bolt 15B hole 15e communicating with the hole 14f in a state of being stacked on the first member 14, and a back surface 15b in the lateral direction along the X-axis direction of the recess 15c. 15d of wire rods penetrating from the surface to the surface 15a are formed.

  Further, the wire 16 of the present embodiment uses a synthetic resin yarn that can withstand a predetermined tensile strength and has a gentle surface. In addition to such synthetic resin yarns, yarns that are made of various metals, various synthetic resins, and various fibers and have a required tensile strength can be used in the present invention.

  Finally, the piston 17 that pushes up the wire 16 will be described. As shown in FIG. 1 and FIGS. 5A to 5C, the piston 17 is located on a cylindrical body portion 17a (corresponding to the side pressed against the seat 13 in the sliding direction of the piston 17; the same applies hereinafter). In addition, there is a hemispherical head 17d (corresponding to the side in contact with the wire 16 in the sliding direction of the piston 17; the same applies hereinafter), which has a short bullet shape as a whole. The outer diameter dimension of the body portion 17a of the piston 17 (corresponding to the diameter dimension of the circle of the bottom surface 17c) is d (see FIG. 5A), which is the same as the outer diameter of the head 17 (corresponding to the hemispherical diameter dimension). It is a dimension.

  The piston 17 has a groove 17d in the head 17a. The groove 17d is formed so as to pass through the apex of the head 17b, and has the same dimensions as the groove 14d of the first member 14 so that the wire 16 can enter. Further, the groove bottom surface 17e of the groove 17d is a portion that comes into contact with the wire 16 when the actuator 10 is operated and pushes up the wire 16 and is formed in a convex curved surface similar to the surface of the head 17a. Edges (corners) are prevented from occurring. The curved surface shape of the portion where the groove 17 is in contact with the wire 16 (in this embodiment, the groove bottom surface 17e) is an arcuate (including a cylindrical peripheral surface shape) curved surface or a curved surface with a variable curvature (a parabolic curved surface). (Including shape etc.). The piston 17 is also made of synthetic resin and lightweight.

  Next, the assembly procedure of the actuator 10 will be described with reference to FIGS. First, the sheet 13 is arranged on the member surface 12 a of the base member 12 so as to cover the opening of the supply hole 12 e, and the first member 14 is arranged on the sheet 13. Then, the piston 17 is disposed in the cylinder hole 14 c of the first member 14. In this state, in the second member 15, one end 16a of the wire 16 is inserted into the wire hole 15d from the back surface 15b to the front surface 15a, and the end 16a is inserted into the wire hole 15d with the stopper T (see FIG. 2A). The second member 15 is laminated on the surface 14 a of the first member 14 after being fixed so as not to come off.

  When laminating the second member 15, the wire 16 crosses the recess 15c and the cylinder hole 14c, enters the groove 17d of the piston 17 accommodated in the cylinder hole 14c, and makes contact with the groove bottom surface 17e. The second member 15 is overlaid on the first member 14 in a state where the other end 16b passes through the groove portion 14d of the first member 14 and is positioned outward. Then, the bolts B are inserted from the holes 15d provided around the second member 15 and screwed into a total of four screw holes 12f of the base member 12 to be fastened. The members 12, 14, and 15 are fixed to complete the actuator 10.

  In the completed actuator 10, the first member 14 and the second member 15 are integrated to form a cover member 10 a, and the cylinder hole 14 c of the first member 14 and the recess of the second member 15 are formed inside the cover member 10 a. The hollow portion 11 (see FIGS. 2A and 2B) is formed by combining the portion 15c, and the groove portion 14d of the first member 14 is closed by the back surface 15b of the second member 15 from the hollow portion 11. As a result, the through-hole 18 that is generated penetrates outward. In addition, the wire 16 traversing the cavity 11 passes through the through hole 18, and the end 16 a side of the wire 16 is exactly the surface 14 a of the first member 14 in a portion not exposed to the cavity 11, The second member 15 is sandwiched between the back surface 15b and attached to the cover member 10a.

  Thus, in the actuator 10 of the present embodiment, the cover member 10a is formed by the combination of the first member 14 and the second member 15 that are divided into two with the through hole 18 as a boundary. The cavity 11 can be easily formed, and the piston 17 can be easily arranged and the wire 16 can be easily laid, so that the actuator 10 can be assembled efficiently. Next, the operation state of the actuator 10 will be described.

  FIG. 6A shows a state in which the operation is started from the non-actuated actuator 10 shown in FIG. The operation of the actuator 10 is started by supplying a fluid (for example, air) from the hose H toward the actuator. The supplied fluid passes through the supply hole 12e and fills the recess 12c, and the fluid pressure is applied to the sheet 13. It takes. Since the sheet 13 can expand toward the cavity 11 in a state where the fluid pressure is applied, the sheet 13 is expanded and deformed toward the cavity 11 by the supplied fluid.

  As the seat 13 expands and deforms, the piston 17 located on the seat 13 in the cavity 11 is pressed against the seat 13, and the piston 17 moves in the cavity 11 in the Z-axis direction (depth direction). Along (in the direction of the white arrow in FIG. 6A). In addition, since the piston 17 is pressed by the sheet 13 at the circular bottom surface 17c having a diameter dimension d, the piston 17 and the sheet 13 are in surface contact with each other, compared with the case where the wire 16 is pushed up directly. Since the load on the surface is reduced and the piston 17 is directly pushed up by surface contact, the force accompanying the expansion of the seat 13 can be transmitted linearly and directly to the piston 17.

  When the piston 17 slides upward in this way, the wire 16 entering the groove 17d of the piston 17 is pushed up, and the one end 16a side of the wire 16 is fixed to the cover member 10a. The other end 16b side located outside the member 10a is pulled toward the one end 16a (the other end 16b is pulled in the direction of the arrow shown with respect to the wire 16 in FIG. 6A).

  FIG. 6B shows a state in which the supply of fluid has further advanced from the state shown in FIG. 6A, and the piston 17 is further expanded by the further expansion of the seat 13 (expansion into a trapezoidal shape). The wire 16 that slides to the top and contacts the piston 17 is pushed up further by the piston, and the other end 16b is pulled toward the one end 16a. Thus, even when the wire 16 is pushed up by the piston 17, as shown in FIG. 3A, the hole edge 18b of the hole end 18a exposed in the cavity 11 of the through hole 18 is cut into a curved surface. Since the lacking taper portion 15f is formed, a situation in which the wire 16 is worn by the edge does not occur. Further, since the wire 16 is pushed up by the curved surface having the predetermined hardness of the piston 17, the pushing force of the sheet 13 is not dispersed by the biting of the wire 16, and the pushing force of the sheet 13 is efficiently pulled by the wire 16. Can be converted to Moreover, since the wire 16 to be pushed up enters the groove 17d of the piston 17, the wire 16 can be pulled without being displaced in the Y-axis direction even if pushed up.

  Therefore, when the actuator 10 is operated, the other end 16b side of the wire 16 is pulled so as to be pulled into the cover member 10a. Therefore, the other end 16b is attached to a member to be driven, and the member is operated. Can be driven.

  In order to return from the state shown in FIG. 6B to the state shown in FIG. 2A, the fluid supplied to the actuator 10 is discharged outward from the hose H and expands as the fluid is discharged. The sheet 13 that has been deflated changes from the state shown in FIG. 6A to the flat state shown in FIG. 2B, whereby the piston 17 slides closer to the base member 12, and the wire 16 Release the push up. Such fluid discharge can be realized by performing a fluid suction operation with a fluid supply source connected to the other end of the hose H. Therefore, when the supply and suction of the fluid are repeated with the fluid supply source, the other end 16b of the wire 16 moves so as to reciprocate, and the object attached to the other end 16b can be moved freely.

  The force (actuating force) that causes the actuator 10 to actuate the drive target, that is, the force that pulls the other end 16b of the wire 16 is related to the volume of expansion of the sheet 13, and the tensile force increases as the expanded volume increases. Therefore, when a large tensile force is required, both the inner diameter dimension of the cavity 11 (the inner diameter D shown in FIG. 3A) and the outer diameter dimension of the piston 17 (the outer diameter d shown in FIG. 5A) are both increased. In this case, since the contact length between the wire 16 and the piston 17 is also increased, the pulling length of the wire 16 can be increased.

  In the actuator 10 described above, as a fluid to be supplied, a liquid (a working liquid such as pressure oil) can be used in addition to a gas (air, rare gas, etc.). In this case, the base member 12, It is important to use the sheet 13 and the hose H made of a material that can withstand liquid. Moreover, in the actuator 10 mentioned above, although the cover member 10a is comprised by the combination of the 1st member 14 and the 2nd member 15, by devising the process of the through-hole 18, etc., the cover member 10a is integrated with an integral member. Of course, it can be formed. Further, as shown in FIGS. 1 and 2, etc., the actuator 10 is provided with a wire rod hole 15d of the second member 15 so that the one end 16a side of the wire rod 16 is fixed to the cover member 10a (second member 15). However, the first member 14, the sheet 13, and the base member 12 are provided with wire holes, and one end 16a of the wire 16 is passed to the back surface 12b of the base member 12, and the back surface 12b of the base member 12 is the same as described above. The one end 16a side may be fixed to.

  FIG. 7 shows a first actuator 20, a second actuator 30, and a third actuator 40 having the same configuration as that of the actuator 10 described above, connected in series with each other at the ends and positioned on one end in the connecting direction. 4 shows a driving device 19 having a structure in which a rotating member 50 is connected to an end of a four actuator 40.

  The actuators 20, 30, and 40 included in the driving device 19 include first members 24, 34 that form cover members 20 a, 30 a, and 40 a by interposing sheets 23, 33, and 43 on the base members 22, 32, and 42. 44 and the second members 25, 35, 45 are attached. In addition, inside the cover members 20a, 30a, and 40a, cavities 21, 31, and 41 are formed, and pistons 27, 37, and 47 are slidably accommodated. Are connected to the pistons 27, 37, 47 and extend to the outside, and the other ends of the wires 26, 36, 46 are attached to the connecting members.

  The drive device 19 connects each actuator 20-40 so that rotation is possible, respectively, and the 3rd actuator 40 and the rotation member 50 are also connected so that rotation is possible. In addition, the drive device 19 has a first hose H1 attached to the first actuator 20, a second hose H2 attached to the second actuator 30, a third hose H3 attached to the third actuator 40, and fluids are made independent to the actuators 20-40. Can be supplied. Hereinafter, each part of the drive device 19 will be described in detail.

  First, the rotation member 50 and the third actuator 40 located at the tip of the drive device 19 are connected so that the rotation member 50 can rotate about the third rotation axis R3 (FIG. 8B). FIG. 9 (b)). The third actuator 40 extends a connecting end of the base member 42 with the rotating member 50 from the cover member 40a, and forms a recess 42g at the center in the width direction of the extended portion. A projecting portion 50a is formed at a connection end portion with the third actuator 40, and the projecting portion 50a is fitted into the recessed portion 42g of the base member 42, and the third rotating shaft R3 is penetrated, so that the third actuator 40 and The moving member 50 is rotatably connected.

  Further, the rotation member 50 has a through-hole formed at a position away from the third rotation axis R3 toward the tip by a predetermined dimension, and a bolt K having a wire fixing washer attached to the back surface 50b. The other end of the wire 46 of the third actuator 40 is attached to the back surface 50b of the rotating member 50 with a bolt K through the through hole.

  In addition, 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. Yes.

  That is, the third actuator 40 has a connecting end of the base member 42 with the second actuator 30 extending from the cover member 40a, and a protruding portion 42h is projected from the center in the width direction of the extended portion. Further, the second actuator 30 extends from the cover member 30a at the connecting end of the base member 32 with the third actuator 40, and a recess 32g is formed at the center in the width direction of the extended portion. Then, the second actuator 30 fits the concave portion 32g into the convex portion 42h of the third actuator 40, penetrates the second rotational shaft R2, and couples both members to be rotatable. The other end of the wire 36 of the second actuator 30 is attached with a bolt K through a through hole formed in the base member 42 of the third actuator 40, similarly to the wire 46 of the third actuator 40.

  In addition, the second actuator 30 extends from the cover member 30a at the connecting end of the base member 32 to the first actuator 20, and has a protruding portion 32h protruding from the center in the width direction of the extended portion. In addition, the first actuator 20 extends from the cover member 30a the connecting end of the base member 22 with the third actuator 40, and forms a recess 22g at the center in the width direction of the extended portion. And the 1st actuator 20 fits the concave part 22g in the convex part 32h of the 2nd actuator 30, penetrates the 1st rotation axis R1, and connects both members so that rotation is possible. The other end of the wire rod 26 of the first actuator 20 is also attached with a bolt K through a through hole formed in the base member 32 of the second actuator 30, as with the other wire rods 36 and 46.

  Next, the drive status of the drive device 19 will be described based on FIGS. 8 (a) to 8 (c) and FIGS. 9 (a) and 9 (b). In FIGS. 8A to 8C and FIGS. 9A and 9B, the sheets 23, 33, and 43 of the actuators 20, 30, and 40 are not shown. First, FIG. 8A shows a state where the actuators 20, 30, 40 are not operated, and the drive device 19 is in a linear posture as a whole.

  FIG. 8B shows a state where only the third actuator 40 is operated. In this case, the fluid is supplied through the third hose H3, and the sheet 43 of the third actuator 40 is expanded and deformed, whereby the piston 47 slides toward the top side of the cavity 41 and pushes up the wire 46. As a result, the wire 46 is pulled to the third actuator 40 side, and the rotation member 50 to which the other end of the wire 46 is attached 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 hose H2, the sheet 33 of the second actuator 30 expands and deforms and pulls the wire rod 36, the third actuator 40 to which the other end of the wire rod 36 is attached is rotated second. It rotates around the 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 hose H1, the sheet 23 of the first actuator 20 is inflated and deformed and pulls the wire 26, the second actuator 30 to which the other end of the wire 26 is attached is first rotated. It rotates around the axis R1. Note that the third actuator 40 and the rotating 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 R1.

  FIG. 9B shows a state in which all the actuators 20, 30, 40 are simultaneously operated. In this case, fluid is simultaneously supplied through the hoses H1, H2, and H3, and the sheets 23, 33, and 43 of the actuators 20, 30, and 40 are inflated and deformed to pull the wires 26, 36, and 46, respectively. . 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 19 as a whole is bent largely as if a human finger was bent.

  The drive device 19 operates by supplying a fluid to the first actuator 20 and the second actuator 30, operates by supplying a fluid to the first actuator 20 and the third actuator 40, Of course, it is also possible to operate by supplying fluid to the second actuator 30 and the third actuator 40, and as described above, by appropriately supplying fluid to each of the actuators 20 to 30, it can be deformed into various bent shapes. The driving device 19 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 19 has specifications that can perform supply switching to each actuator 20 to 40, supply amount control, and the like.

  The drive device 19 is not limited to the forms shown in FIGS. 7 to 9, and there are various modifications. For example, in FIG. 7, the 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, a configuration in which two actuators are linearly connected so as to be rotatable (a configuration using the rotating member 50, the third actuator 40, and the second actuator 30 in FIG. 7). It is also possible to apply a configuration in which four or more actuators are linearly connected so as to be rotatable.

  10 (a) and 10 (b) show a driving device 19 'according to a modification. A driving device 19 'according to a modified example is a second member 45' constituting a part of a cover member 40a 'of the actuator 40' and is connected to a rotating member 50 '(a member corresponding to the rotating member 50 in FIG. 7). It is a feature. That is, the second member 45 ′ extends from the first member 44 ′ at the connection end side with the rotating member 50 ′, and a recessed portion (equivalent to the recessed portion 42 g shown in FIG. 7) is provided at the extended portion. The convex portion of the rotation member 50 ′ is fitted in the concave portion, and the third rotation shaft R 3 is penetrated to connect both the members in a rotatable manner. Further, an insertion hole 45f 'through which the second member 45' is connected to the rotating member 50 'is provided from the front surface 45a' to the back surface 45b ', and the other end 16b' of the wire 16 'is connected to FIG. It is attached to the rotating member 50 'on the opposite surface (surface 50c').

  When a fluid is supplied from the hose H3 to the driving device 19 'described above, the piston 47' slides in the cavity 41 'due to the expansion deformation of the seat 43' as shown in FIG. 10 (b). Since the other end 16b 'of the wire 16' is pulled toward the one end 16a ', the rotating member 50' rotates about the third rotation axis R3. Compared with the drive device 19 shown in FIG. 7, the drive device 19 ′ of such a modification has an advantage that the inner surfaces (surfaces 50 c ′ and 45 a ′) that are bent when rotated can be made flat. Yes, it is optimal for applications in which something is bent and gripped by the rotating member 50 'and the second member 45'. 10 (a) and 10 (b) show only the connection between the rotating member 50 'and the actuator 40', the connection configuration shown in FIGS. It is also applicable to concatenation.

  FIG. 11 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 19 described above. A hand device 60 is shown. 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 couples the base members of the actuators located on the base side of each of the driving devices 65 to 69 (corresponding to the other end side in the connecting direction of the actuators included in the driving device), and the palm portion 61 is integrated. Is formed. The palm portion 61 is entirely flat, and each member constituting the driving devices 65 to 69 is 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 cover member 65a and the like constituting an actuator on the base side of the first drive device 65 is attached, and the first attachment portion 61b. From FIG. 11, a notch 61 c is formed at the upper portion in FIG. 11 to ensure the operating range of the first drive device 65. Further, the palm portion 61 has an upper end edge that is an upper side from the notch portion 61c in FIG. 11 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 cover member 66a or the like constituting the actuator on the base side of the second drive device 66 to the second attachment portion 61d, and attaches the actuator on the base side of the third drive device 67 to the third attachment portion 61e. A cover member 67a and the like are attached, a cover member 68a and the like constituting an actuator on the root side of the fourth drive device 68 are attached to the fourth attachment portion 61f, and a root side of the fifth drive device 69 is attached to the fifth attachment portion 61g. The hand device 60 is formed by attaching a cover member 69a and the like constituting the actuator. In the hand device 60, a hose (not shown in FIG. 11) 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. 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. In the hand device 60 as well, it is of course possible to apply the connection structure of the modification shown in FIGS. 10A and 10B to the connection portion between the actuators and the like.

  FIGS. 12A to 12C show a driving device 80 using an actuator 70 according to a modification of the actuator 10 shown in FIGS. The actuator 70 according to the modification is characterized by including a first wire 76-1 and a second wire 76-2.

  FIG. 13A shows a state in which the second member 75 of the actuator 70 according to the modification is removed and the first member 74 is exposed. The first member 74 is characterized by forming a first groove 74d and a second groove 74g extending from both sides of the cylinder hole 74c corresponding to the cavity 71, and the first groove 74d (FIG. 13A). The first wire 76-1 is passed through the first through-hole 78-1 penetrating to the left outer side, and the second groove 74g (second penetrating to the right outer side in FIG. 13A). The second wire 76-2 is passed through the hole 78-2.

  Further, both the wires 76-1 and 76-2 enter the groove 77 d of the piston 77, and one end 76-1 a of the first wire 76-1 is a second member equivalent to the configuration shown in FIGS. 2 (a) and (b). 75 (see FIG. 12A). Further, although not shown, the second member 75 has a hole for a wire for attaching the second wire 76-2, and the one end 76-2a of the second wire 76-2 is also shown in FIG. ) It is attached to the second member 75 in a manner equivalent to (b) (see FIG. 12A).

  The actuator 70 according to the modification has a left end in the longitudinal direction of the base member 72 as shown in FIG. 12B in order to rotatably attach the first rotating member 81 and the second rotating member 82 to be actuated. A first recess 72a is formed in the part, and a second recess 72b is provided in the right end part. For other portions, the actuator 70 has the same configuration as the actuator 10 shown in FIGS. 1 and 2 and the like, and the first member 74 is attached to the base member 72 with the sheet 73 interposed therebetween.

  Further, the driving device 80 to which the actuator 70 according to the modified example is applied is provided in one of the concave portions 72a of the base member 72 of the actuator 70 (corresponding to an end corresponding to a location where the first through hole 78-1 penetrates outward). The convex portion 81a of the first rotation member 81 is fitted and the first rotation shaft R5 is passed through to connect the first rotation member 81 to be rotatable, and the other concave portion 72b (second through hole 78). -2 corresponds to an end corresponding to a portion penetrating outward), and the convex portion 82a of the second rotating member 82 is fitted into the second rotating shaft R6 so as to pass through the second rotating member 82. Are connected so as to be rotatable. Similarly to the embodiment shown in FIG. 7, the driving device 80 attaches the other end 76-1 b of the first wire 76-1 to the back surface of the first rotating member 81 with a bolt 81 b, and the second wire 76-2. The other end 76-2b is attached to the back surface of the second rotating member 82 with a bolt 82b.

  Further, as shown in FIG. 12B, the driving device 80 sandwiches both sides of the connecting portion by the concave portion 72 a of the base member 72 and the convex portion 81 a of the first rotating member 81, 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 made of synthetic rubber, and the first rotating member 81 and the second rotating member 82 are linear with respect to the base member 72 of the actuator 70 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. Further, these various elastic members (biasing means) can be applied to the connecting portions of the members of the driving device 19 shown in FIG.

  When a fluid is supplied to the driving device 80 having the above-described configuration through the hose H and the actuator 70 is operated, the sheet 73 expands to pull the first wire 76-1 as shown in FIG. 12C. Therefore, the first rotation member 81 is rotated against the urging force of the elastic members 83a and 83b about the first rotation axis R5. At the same time, the actuator 70 pulls the second wire rod 76-2 so that the second rotation member 82 rotates around the second rotation axis R6 against the bias of the elastic members 83c and 83d. Move.

  Therefore, the driving device 80 enables the first rotating member 81 and the second rotating member 82 to be simultaneously rotated by one actuator 70, and a plurality of members can be operated with a simple configuration. In addition, when the actuator 70 is not operated, the rotating members 81 and 82 are in a linear posture by the urging force of the elastic members 83a to 83d. Therefore, the actuator 70 is not operated and the actuator 70 is not operated. The posture can be clearly changed, and the driving device 80 can be suitably applied to gripping a workpiece at a production site.

  In the driving device 80, as shown in FIG. 13 (a), the wires 76-1 and 76-2 enter the same groove 77d of the piston 77, so that both of them are rubbed when the actuator 70 is operated. In order to avoid this, it is preferable to use a modified piston 77 ′ in which the first groove 77f ′ and the second groove 77g ′ are formed in the head 77b ′ shown in FIG. 13B. In this case, in order to appropriately secure the pulling amount of the wire, it is desirable to make both the groove intervals W1 as small as possible so that the wire can pass near the apex of the head 77b '.

  FIG. 13C shows a configuration of a first member 74 ′ for applying the piston 77 ′ of the modified example. The first member 74 ′ is provided in each groove 77 f ′ and 77 g ′ of the piston 77. In addition, the first groove 74d ′ (corresponding to the first through hole 78-1 ′) and the second groove 74g ′ (corresponding to the second through hole 78-2 ′) are formed offset from the center line in the longitudinal direction. ing. Note that the distance W2 between the grooves 74d 'and 74g' is the same as the groove distance W1 of the piston 77 '.

  The modified actuator 70 'using the first member 74' and the piston 77 'also allows the first wire 76-1' to pass through the first groove 74d 'and the second wire 76-2' into the second groove 74g '. Pass through. Therefore, when the actuator 70 'according to the modification is used, the wires 76-1' and 76-2 'do not come into contact with each other and are not rubbed. Therefore, there is an advantage that the durability of the wire can be maintained for a long time.

  In the drive device 80 shown in FIGS. 12A to 12C, the structure shown in FIGS. 10A and 10C (the second actuator) is used in connection between the actuator 70 and the rotating members 81 and 82. It is possible to apply a configuration in which the member and the rotating member are rotatably connected. In this case, it is possible to realize a form in which the surface to be bent does not protrude.

  FIGS. 14A and 14B show a driving device 90 using the first actuator 100 and the second actuator 110 having the same configuration as the actuator 10 shown in FIGS. The drive device 90 is configured so that each actuator 100, 110 is in a direction (Z-axis direction in the drawing) orthogonal to the through direction (corresponding to the X-axis direction in the drawing) of the through holes 108, 118 of the actuators 100, 110. It arrange | positions so that the required clearance gap 91 may be opposed and it is set as the structure which couple | bonded the edge parts by the side of the drawer | drawing-out of the wire materials 106 and 116 of the base members 102 and 112. FIG.

  Further, a part of the connection joint 96 that can be rotated in multiple directions is embedded in the coupling portion 94 of the base members 102 and 112, and a rotation member 95 is attached to a portion protruding from the coupling portion 94 of the connection joint 96. ing. 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 connected to the bolts 95c on one surface 95a and the other surface 95b in the same manner as in the configuration shown in FIG. , 95d, respectively. Note that the wire rods 106 and 116 attached to the rotating member 95 are attached to the rotating member 95 by loosening the tension so that the rotating member 95 can rotate in any of the directions of the arrows in the drawing. Moreover, the drive device 90 arrange | positions the 1st hose H1 and the 2nd hose H2 in the clearance gap 91a which has made the base members 102 and 112 oppose.

  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 hose H1, the sheet 103 expands and deforms, the piston 107 slides in the cavity 101 and pushes up the wire 106, and the wire 106 becomes a rotating member. Pull 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 hose H1 and the fluid is supplied to the second actuator 110 through the second hose H2 in a state where the rotating member 95 is rotated rightward as described above, the second actuator The sheet 113 of 110 is expanded and deformed, the piston 117 slides in the cavity 111 to push up the wire 116, and the wire 116 pulls 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 hose H2 and the fluid is supplied to the first actuator 110 through the first hose H1, the rotating member 95 is rotated to the right again, and thereafter By alternately switching the fluid suction and supply by the hoses H1 and H2, the rotating member 95 rotates to swing the head to the left and right. Therefore, the drive device 90 can ensure a larger rotation range (a rotatable angle range) than the drive device 19 shown in FIG. 7 and the like, and is suitable for applications that require a large rotation range. In FIGS. 14A and 14B, two actuators are arranged opposite to each other to form the driving device 90. However, three or more actuators are arranged opposite to each other to form and rotate the driving device. It is also possible to rotate the member in multiple directions.

  FIGS. 15A and 15B show an actuator 120 according to the second embodiment of the present invention. The actuator 120 of the second embodiment is compared with the actuator 10 of the first embodiment shown in FIGS. A total of three cavities (first cavity 1211 to third cavity 1213), and slidably house pistons (first piston 1271 to third piston 1273) in each cavity, The wire 126 is arranged so as to continuously traverse each of the cavities 1211-1213.

  Specifically, the actuator 120 has a total of three supply holes (first supply hole 1221 to third supply hole 1223) that are linearly spaced apart from the base member 122, and each supply hole is provided on the lower surface side. A hose (first hose H1 to third hose H3) is connected via a joint. In addition, the actuator 120 includes a hollow portion (first hollow portion 1211 to third hollow portion) at a position facing the opening of each of the supply holes 1221 to 1223 on the cover member 120a formed of the first member 124 and the second member 125. 1213) is provided.

  Similar to the actuator 10 of the first embodiment, the cover member 120a has a through hole 128 formed outward from the first cavity 1211. On the other hand, in the actuator 120 of the second embodiment, the cover member 120a is formed with a first communication hole 129a that communicates the first cavity portion 1211 and the second cavity portion 1212, and the second cavity portion 1212 and the third cavity portion. A second communication hole 129b that communicates with 1213 is formed in the cover member 120a. Each communication hole 129a, 129b is formed by providing a groove similar to the groove 124d corresponding to the through hole 128 on the surface of the first member 124, and at both ends of each communication hole 129a, 129b. Similar to the contents shown in FIGS. 3A and 3B, the hole edge is formed in a gently curved tapered shape so that the wire 126 is not worn out.

  In addition, the actuator 120 houses pistons (first piston 1271 to third piston 1273) in the respective hollow portions (first supply hole 1221 to third supply hole 1223), and the second communication hole 129b extends from the third cavity portion 1213. The wire 126 is arranged so as to pass through the second cavity portion 1212, the first communication hole 129a, the first cavity portion 1211, and the through-hole 128 in order, and the other end 126b exits outward, and one end 126a of the wire rod 126 covers the It is fixed to the member 120a. Since the actuator 120 of the second embodiment has basically the same configuration as the actuator 10 of the first embodiment shown in FIGS. 1 and 2 except for the above-described portions, description of other portions is omitted. To do.

  In the actuator 120 of the second embodiment, when the fluid is supplied simultaneously through all the hoses H1 to H3, the sheet 123 is formed at three locations corresponding to the respective hollow portions (the first hollow portion 1211 to the third hollow portion 1213). It expands and deforms. Each piston (first piston 1271 to third piston 1273) slides by pressing the sheet 123 that expands in this way, and pushes up the wire 126 respectively. Therefore, the actuator 120 of the second embodiment is simply compared with the actuator 10 of the first embodiment having the piston 17 of the same size in terms of the amount and pulling force that pulls the other end 126b side of the wire 126 to the one end 126a side. Can be tripled. Therefore, the actuator 120 of the second embodiment is suitable for a case where it is desired to increase the operation amount and the operation force of the drive target with a compact configuration.

  Moreover, if the fluid is supplied by only one or any two of the three hoses H1 to H3 instead of simultaneously supplying the fluid by the hoses H1 to H3, the wire 166 is lifted. The number of pistons to be used is one or two, and the amount of drawing of the wire 166 can be finely controlled. Therefore, if the number of hoses for supplying the fluid is increased stepwise, it is possible to increase the pull-in amount of the wire 166 stepwise, and the actuator according to the second embodiment when it is desired to switch the operation amount of the drive target. 120 is preferred.

  FIG. 16A illustrates a pattern of actuators 130 according to a modification of the second embodiment. The actuator 130 is provided with a total of six cavities (first cavities 1311 to 1316) in two rows in the cover member 130a, and a piston (first piston 1371 to each of the cavities). 6th piston 1376) is stored. Further, in the actuator 130, the first wire 1361 is disposed in the first row of cavities (first cavity portion 1311 to third cavity portion 1313) so as to extend to the left side in the figure, and the second row of cavities. The second wire 1362 is disposed in the portion (the fourth cavity portion 1314 to the third cavity portion 1316) so as to extend to the right side in the drawing.

  When fluid is supplied so as to push up the pistons (first piston 1371 to sixth piston 1376) in each cavity, the actuator 130 pulls the first wire 1361 to the right and pulls the second wire 1362 to the left. You can pull in the direction at the same time. Therefore, the actuator 130 according to the modified example has a rotating member connected to both sides of the actuator, such as the driving device 80 having the configuration shown in FIGS. 12A to 12C, and the pulling amount and pulling force of each rotating member. It is suitable when it is desired to increase the value. In addition, the number of each cavity part 1311-1316 and each piston 1371-1376 shown to Fig.16 (a) is an example, and these numbers can be suitably increased / decreased according to a use (this is also the case with the other modifications below).

  FIG. 16B shows another pattern of actuators 140 according to the modification. In the same manner as the actuator 130 in FIG. 16A, the actuator 140 is provided with a total of six cavities (first cavity 1411 to sixth cavity 1416) in the cover member 140a, and pistons (first cavities). The piston 1471 to the sixth piston 1476) are housed, but the first wire 1461 and the second wire 1462 are both pulled out in the same direction (the left direction in FIG. 16B), and the actuator 130 in FIG. Is different. Therefore, the actuator 140 is suitable for pulling one drive target with two wires 1461 and 1462 simultaneously with a large force and a large stroke.

  Further, FIG. 16C shows an actuator 150 which is a pattern of still another modified example, and the actuator 150 has a total of six cavity portions (first cavities) as in the configuration shown in FIG. The portion 1511 to the sixth cavity 1516) are provided in the cover member 150a. Just like the configuration shown in FIG. 13C, two wires (for the first row of cavities 1511 to 1513) A through hole and a communication hole are provided so that the first wire 1561 and the second wire 1562) can be pulled out to the left and right sides. Similarly, the actuator 150 has a through-hole and a communication hole so that two wires (third wire 1563 and fourth wire 1564) can be pulled out to the left and right sides with respect to the hollow portions 1514 to 1516 in the second row. Is provided. In addition, the actuator 150 uses the type which has two groove | channels similarly to piston 77 'shown in FIG.13 (b) for piston 1571-1576 accommodated in each cavity part 1511-1516.

  This actuator 150 is suitable when there are driving objects on both the left and right sides and it is necessary to drive the driving objects on both sides with a large force and a large stroke. The configuration of the actuator 150 is similar to the configuration shown in FIG. 13A except that the first wire 1561 and the second wire 1562, and the third wire 1563 and the fourth wire 1564 are arranged in parallel. While arranging the 1st wire 1561 and the 2nd wire 1562 on the same straight line, the 3rd wire 1563 and the 4th wire 1564 are arranged on the same straight line, and one groove shown in Drawing 5 (a)-(c) is formed. It is also possible to pull each of the wires 1561 to 1564 by using a piston having the same, and in this case, since each of the wires 1561 to 1564 passes through the top of the piston, it is possible to further increase the stroke amount with a simple structure. There is a merit that can be done.

  FIG. 17A shows an actuator 160 having a pattern according to another modification. The actuator 160 has a total of five cavities (first cavity 1611 to fifth cavity 1615) in a cross shape, and accommodates pistons (first piston 1671 to fifth piston 1675) in each. The pistons other than the second piston 1672 located at the center have the structure shown in FIGS. 5A to 5C, but the second piston 1672 has a different structure.

  FIGS. 17B and 17C show the second piston 1672, and the second piston 1672 forms a first groove portion 1672a and a second groove portion 1672b that cross each other. The first groove portion 1672a has a groove depth L1 from the piston apex, while the second groove portion 1672b has a groove depth L2 (L2> L1) deeper than L1. By doing in this way, it is preventing that the 1st wire 1661 and the 2nd wire 1662 which cross in the 2nd hollow part 1612 contact together.

  In addition, the actuator 160 forms a communication hole and a through hole in accordance with each hollow portion arranged in a cross shape, and the first wire 1661 and the second wire 1662 are arranged so as to pass through the communication hole and the through hole. ing. When fluid is supplied to the actuator 160 so that each piston (the first piston 1671 to the fifth piston 1675) slides, the first wire 1661 is pulled in the right direction in FIG. 1662 is pulled downward in FIG. For this reason, the actuator 160 in FIG. 17A is suitable when a drive target exists in the orthogonal direction. When the structure of the actuator 160 in FIG. 17A is simplified, the central second cavity portion 1612 and the second piston 1672 may be omitted and replaced with a communication hole.

  The various actuators 120 to 160 according to the second embodiment described above include the driving devices 19 and 19 'shown in FIGS. 7 to 10, the hand device 60 shown in FIG. 11, and the driving devices shown in FIGS. 80, and can be applied as a drive source such as the drive device 90 shown in FIGS. 14 (a) and 14 (b). By applying the various actuators 120 to 160 according to the second embodiment, the driving force and driving stroke of the driving device can be increased.

  FIG. 18A shows an actuator 170 according to the third embodiment of the present invention. As shown in FIG. 18B, the actuator 170 has a cylindrical outer portion 177a whose maximum outer diameter d2 (a dimension in a direction orthogonal to the sliding direction) of the hemispherical head 177b provided with the groove 177d. It is characterized in that a piston 177 having a shape larger than the outer diameter dimension d1 is used. In addition, the actuator 170 forms a cavity 171 in accordance with the shape of the piston 177, and the inner diameter D1 of the cylinder hole 174c provided in the first member 174 is the inner diameter of the recess 175c provided in the second member 175. It is smaller than D2.

  The cylinder hole 174c that forms the lower portion 171a of the hollow portion 171 (the portion corresponding to the piston hole 174c) has a size that allows the body portion 177a of the piston 177 to slide. It has a hole depth that is larger than the dimension d1 and that corresponds to the height dimension h1 of the body 177a of the piston 177. Further, the upper portion 171b (portion corresponding to the recess 175c) of the hollow portion 171 has a shape in which the head portion 177b of the piston 177 can be accommodated and the piston 177 can freely slide (a shape in which the head portion 177b does not interfere). . The other structure of the actuator 170 is the same as that of the actuator 10 of the first embodiment. A wire 176 having a base member 172 and a cover member 170a sandwiching the sheet 173 and having one end 176a attached to the cover member 170a is provided. , The structure is drawn out through the through-hole 178.

  The actuator 170 according to the third embodiment has an advantage that the pulling amount of the wire 176 can be increased because the head portion 177b of the piston 170 is larger than the body portion 177a. For example, when the actuator 10 of the first embodiment shown in FIGS. 1 and 2 is compared with the actuator 170 of FIG. 18A, the inner diameters of the piston holes 14c and 174c that form the lower portions of the cavities 11 and 171, respectively. If the dimension D (see FIG. 3A) and D1 are the same and the thicknesses of the first members 14 and 174 are the same, the piston 177 of the third embodiment has a large head portion 177b. The contact length is longer than that of the piston 17 of the first embodiment. Therefore, if the same amount of fluid is supplied to both the actuators 10 and 170, the sliding amounts of both the pistons 17 and 177 are the same, but the piston 177 of the third embodiment has the wire 176 in contact with the head 177b. The wire 176 is pushed up in a long distance range by an amount longer than that of the first embodiment.

  As a result, even if the same amount of fluid is supplied, the actuator 170 of the third embodiment has the merit that the other end 176b side of the wire 176 can be pulled to the one end 176a side at a longer distance than the first embodiment. Arise.

  The structure of the actuator 170 according to the third embodiment can also be used for the various actuators 120 to 160 shown in the second embodiment. The various actuators according to the third embodiment are shown in FIG. 10 to the driving devices 19 and 19 'shown in FIG. 10, the hand device 60 shown in FIG. 11, the driving device 80 shown in FIGS. 12A to 12C, the driving device 90 shown in FIGS. Of course, it can be applied as a drive source.

  FIG. 19A shows an actuator 180 according to the fourth embodiment of the present invention. As shown in FIG. 19 (b), the actuator 180 has a cylindrical body whose maximum outer diameter d4 (corresponding to a direction perpendicular to the sliding direction) of the hemispherical head 187b provided with the groove 187d. It is characterized by using a piston 187 having a shape (d3> d4) smaller than the outer diameter d3 of 187a, and the cavity 181 is equivalent to the first embodiment as shown in FIG. 19 (c). The inner diameter dimension D3 of the cylinder hole 184c (corresponding to the lower portion 181a of the cavity 181) provided in the first member 184 is also in a dimensional relationship (D3> d3) that allows the piston 187 to slide. The recess 185c (corresponding to the upper portion 181b of the cavity 181) provided in the second member 185 has the same shape as that of the first embodiment.

  The other structure of the actuator 180 is also the same as that of the actuator 10 of the first embodiment, and the wire 186 having the base member 182 and the cover member 180a sandwiching the sheet 183 and having one end 186a attached to the cover member 180a. , The structure is drawn out through the through hole 188.

  The actuator 180 according to the fourth embodiment has an advantage that since the head portion 187b of the piston 180 is smaller than the body portion 187a, the pull amount of the wire 186 is shortened and the pull amount of the wire 186 can be finely controlled. For example, when the actuator 10 of the first embodiment shown in FIGS. 1 and 2 is compared with the actuator 180 of FIG. 19A, the inner diameters of the piston holes 14c and 184c that form the lower portions of the hollow portions 11 and 181, respectively. If the dimension D (see FIG. 3A) and D3 are the same and the thicknesses of the first members 14 and 184 are the same, the piston 187 of the fourth embodiment has a small head 187b, so that it contacts the wire 186. The distance is shorter than the piston 17 of the first embodiment. Therefore, even if the same amount of fluid is supplied to both actuators 10 and 180, the sliding amounts of both pistons 17 and 187 are the same, but the piston 187 of the fourth embodiment is a wire 186 that contacts the head 187b. Thus, the wire 176 is pushed up in a short distance range by a distance shorter than that of the first embodiment.

  As a result, even if the same amount of fluid is supplied, the actuator 180 of the fourth embodiment pulls the other end 186b side of the wire 186 toward the one end 186a side at a shorter distance than the first embodiment. From the viewpoint of controlling the pulling amount of the wire 186, the resolution related to the control is improved. Therefore, compared with the actuator 10 of 1st Embodiment, the merit that it becomes easy to control the pulling amount of the wire 186 finely according to the quantity of the fluid to supply arises.

  The structure of the actuator 180 of the fourth embodiment can also be used for the various actuators 120 to 160 shown in the second embodiment, and the various actuators according to the fourth embodiment are shown in FIG. 10 to the driving devices 19 and 19 'shown in FIG. 10, the hand device 60 shown in FIG. 11, the driving device 80 shown in FIGS. 12A to 12C, the driving device 90 shown in FIGS. It can also be applied as a drive source.

It is a disassembled perspective view of the actuator which concerns on 1st Embodiment of this invention. (A) is a front view of an actuator showing a state where fluid is not supplied, and (b) is a sectional view of the actuator. (A) is sectional drawing which shows the detail of a cavity part and a through-hole, (b) is sectional drawing which shows the detail of the cavity part and through-hole from a different direction. (A) is sectional drawing which shows the outer edge part vicinity of a through-hole, (b) is the schematic which showed the hole edge of the through-hole from the outside. (A) is a front view of the piston, (b) is a plan view of the piston, and (c) is a sectional view of the piston. (A) is sectional drawing of the actuator of the state which started operation | movement, (b) is sectional drawing of the actuator which shows the state which operation | movement advanced. It is a perspective view which shows the drive device of the structure which connected the actuator which concerns on 1st Embodiment. (A) is the front view which shows the attitude | position of the drive device in the state which does not operate each actuator, (b) is the front view which shows the state which act | operated the 3rd actuator, (c) actuated the 2nd actuator. It is a front view which shows a state. (A) is a front view of the drive device which shows the state which operated the 1st actuator, (b) is a front view which shows the state which operated all the actuators. (A) is the schematic which shows the principal part of the drive device of a modification, (b) is the principal part schematic diagram which shows the operation state of the drive device of a modification. It is a top view of the hand apparatus comprised combining a total of five drive devices. It is a drive device using the actuator of the modification which concerns on 1st Embodiment, (a) is a perspective view, (b) is a bottom view, (c) is a front view which shows an operation state. (A) is a top view which shows the state which removed the 2nd member of the actuator which concerns on a modification, (b) is a front view of the piston used for the actuator of another modification, (c) concerns on another modification. It is a top view which shows the state which removed the 2nd member of the actuator. It is an example of the drive device which has arrange | positioned two actuators facing, (a) is a perspective view, (b) is a front view. It is an actuator which concerns on 2nd Embodiment of this invention, (a) is a top view, (b) is sectional drawing. (A)-(c) is a top view which shows the actuator of the various patterns which concern on the modification of 2nd Embodiment. (A) is a top view which shows the actuator of the pattern which concerns on another modification of 2nd Embodiment, (b) is a top view of the piston used for the actuator of (a), (c) is an actuator of (a). It is a front view of the piston used. (A) is sectional drawing of the actuator which concerns on 3rd Embodiment of this invention, (b) is a side view of the piston used for the actuator of (a), (c) is a cross section of the cavity part vicinity of the actuator of (a). FIG. (A) is sectional drawing of the actuator which concerns on 4th Embodiment of this invention, (b) is a side view of the piston used for the actuator of (a), (c) is a cross section of the cavity vicinity of the actuator of (a). FIG. It is a perspective view which shows a membrane type actuator. (A)-(c) is sectional drawing which shows the operating condition of a membrane-type actuator.

Explanation of symbols

10, 120, 170, 180 Actuator 10a, 120a, 170a, 180a Cover member 11, 171, 181, 1211-1213 Hollow portion 12, 122, 172, 182 Base member 13, 123, 173, 183 Sheet 14, 124, 174 , 184 First member 15, 125, 175, 185 Second member 16, 126, 176, 186 Wire material 16a, 126a, 176a, 186a (wire material) one end 16b, 126b, 176b, 186b (wire material) other end 17, 177, 187, 1271-1273 Piston 17d, 177d, 187d (Piston) groove 18, 128, 178, 188 Through hole 19, 80, 90 Drive device 50, 81, 82, 95 Rotating member 60 Hand device 129a, 129b Communication hole

Claims (14)

A base member having fluid supply holes open on the member surface;
A sheet capable of expanding and contracting that is disposed on the surface of the base member covering the opening of the supply hole;
A cover that is attached to the base member with the sheet interposed therebetween, and has a cavity formed at a position facing the opening of the supply hole, and a through-hole penetrating outward from the cavity. Members,
A sliding member slidably housed in the cavity,
One end side is fixed to the base member or the cover member, crosses the cavity so as to contact the sliding member, and the other end side passes through the through-hole and is positioned outside the cover member. With
The actuator, wherein the sliding member is slid by the pressing of the sheet that is expanded and deformed by supplying fluid from the supply hole, and the other end side of the wire is pulled toward the one end side.   2. The actuator according to claim 1, wherein the sliding member has a convex curved surface at a portion in contact with the wire. The dimension of the direction perpendicular to the sliding direction of the sliding member is such that at least a part of the side in contact with the wire is larger than the side pressed against the sheet,
The actuator according to claim 1, wherein the hollow portion has a shape corresponding to the sliding member.   3. The actuator according to claim 1, wherein a dimension of the sliding member in a direction orthogonal to a sliding direction is smaller on a side in contact with the wire than on a side pressed by the sheet.   The actuator according to any one of claims 1 to 4, wherein the sliding member has a groove into which the wire enters.   The actuator according to any one of claims 1 to 5, wherein an inner peripheral surface of a hole edge exposed to the hollow portion of the through hole is formed in a curved surface shape.   The actuator according to claim 1, wherein the cover member is formed of a first member and a second member that are divided into two parts with the through hole as a boundary. The base member has a plurality of supply holes,
In the cover member, a plurality of cavities are formed corresponding to the openings of the plurality of supply holes, and communication holes that communicate with the cavities are formed.
The sliding member is housed in each of the plurality of cavities,
The actuator according to claim 1, wherein the wire is disposed so as to cross the plurality of cavities through the communication hole. The wire is plural,
The cover member has a plurality of through holes,
The actuator according to claim 1, wherein each wire passes through different through holes. A plurality of actuators according to any one of claims 1 to 9 are provided,
Each actuator is arranged so as to face each other in a direction orthogonal to the through direction of the through hole, and ends corresponding to the other end side of the wire are coupled to each other,
It is equipped with a pivoting member that is pivotally attached to the coupling point,
The drive device characterized in that the other end of the wire of each actuator is attached to the rotating member. The actuator according to claim 9,
Each through hole of the actuator is formed to penetrate in a different outward direction,
Each of the through holes of the actuator has rotation members as many as the wire rods of the actuator that are rotatably connected to each of the end portions corresponding to the positions penetrating outward.
The other end of each wire rod of the actuator is attached to each rotating member, respectively. A plurality of actuators according to any one of claims 1 to 9 are provided,
A plurality of actuators are connected in series so as to be rotatable between ends,
A rotation member rotatably connected to the end of the actuator located on one end side in the connection direction;
At the connection point between the actuators, the other end of the wire of one actuator is attached to the other actuator,
The other end of the wire rod of the actuator to which the rotating member is connected is attached to the rotating member.   The drive device according to claim 11 or 12, further comprising: an urging unit that urges the members connected so as to be rotatable to have a linear posture. A plurality of drive devices according to claim 12 or claim 13 are provided,
A hand device characterized in that among the actuators of each driving device, the actuators located on the other end side in the connecting direction are coupled to each other.

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