JP7153325B2 - Artificial muscle, artificial muscle set, movement aid, and method for manufacturing artificial muscle set - Google Patents

Description

TECHNICAL FIELD The present invention relates to an artificial muscle, an artificial muscle set, a motion assisting device, and a method for manufacturing an artificial muscle set in which M artificial muscles are arranged side by side.

As the artificial muscle, an actuator body formed of a plurality of artificial muscles having an elastic tube and a braid tube provided outside the elastic tube, an outer cylindrical body attached to the end of the actuator body, An actuator has been proposed, which has a bonding portion provided inside the outer cylindrical body, bonding the elastic tube and the braid tube, and bonding the second outer cylindrical body and the artificial muscle ( For example, Patent Document 1).

JP 2016-153663 A

However, in Patent Document 1, since each of the plurality of artificial muscles is fixed to the outer cylindrical body with an adhesive, there is a problem that assembly is troublesome.
The problem to be solved by the present invention is to provide an artificial muscle that is easy to assemble and a motion assisting device using the same.

An artificial muscle according to an aspect of the present invention is an artificial muscle having M (M is a natural number of 2 or more) artificial muscles formed by covering an elastic tube with a braided sleeve, wherein the M artificial muscles are: N (N is a natural number smaller than M) tubes formed by covering an elastic tube with a braided sleeve are folded back at one end side of the artificial muscle, and the outer diameter of the folded portion of the tube applies pressure. It is 0.6 times or more the outer diameter of the artificial muscle in a state in which it is not.
An artificial muscle set according to an aspect of the present invention comprises M (M is a natural number of 2 or more) artificial muscles formed by covering an elastic tube with a braided sleeve, and the M artificial muscles arranged in parallel. a fixture for fixing one end side of the muscle, wherein the M artificial muscles include N (N is a natural number smaller than M) tubes each formed by covering an elastic tube with a braided sleeve. The fastener fixes the folded portion of the tube, and the outer diameter of the folded portion of the tube is set against the outer diameter of the artificial muscle in a state where pressure is not applied. , 0.6 times or more.
A movement assistance tool according to an aspect of the present invention is a movement assistance tool including a waist belt portion worn around the waist of a user, wherein the waist belt portion has the artificial muscle set described above.
A method for manufacturing an artificial muscle set according to one aspect of the present invention is to manufacture an artificial muscle set in which a tube formed by covering an elastic tube with a braided sleeve is folded back and the folded portion is fixed to a fixture with a resin body. The method includes an arranging step of folding the tube around a positioning portion of a fixture and arranging it on the fixture, an applying step of applying pressure to the inside of the tube, and a pressure applied state of the resin. A supplying step of supplying a body resin material to the folded portion and a curing step of curing the supplied resin material.

According to the present invention, since the tube is folded back and used, assembly is facilitated.

BRIEF DESCRIPTION OF THE DRAWINGS It is the schematic of the movement assistance tool (corset) which concerns on embodiment. 1 is a perspective view of an artificial muscle set according to an embodiment; FIG. FIG. 11 is an enlarged perspective view of one fixture side with the cover body removed from the main body; FIG. 4 is an enlarged plan view of one fixture side in a state where the cover body is removed from the main body; FIG. 3 is a perspective view showing the fixture in an exploded state; It is a figure explaining the state of the tube at the time of assembly. It is the schematic of the movement assistance tool (suit) which concerns on a modification.

<Overview>
An artificial muscle according to an aspect of the present invention is an artificial muscle having M (M is a natural number of 2 or more) artificial muscles formed by covering an elastic tube with a braided sleeve, wherein the M artificial muscles are: N (N is a natural number smaller than M) tubes formed by covering an elastic tube with a braided sleeve are folded back at one end side of the artificial muscle, and the outer diameter of the folded portion of the tube applies pressure. It is 0.6 times or more the outer diameter of the artificial muscle in a state in which it is not. Thereby, the flow resistance in the artificial muscle can be suppressed when the compressed air is caused to flow into the artificial muscle.

An artificial muscle set according to an aspect of the present invention comprises M (M is a natural number of 2 or more) artificial muscles formed by covering an elastic tube with a braided sleeve, and the M artificial muscles arranged in parallel. a fixture for fixing one end side of the muscle, wherein the M artificial muscles include N (N is a natural number smaller than M) tubes each formed by covering an elastic tube with a braided sleeve. The fastener fixes the folded portion of the tube, and the outer diameter of the folded portion of the tube is set against the outer diameter of the artificial muscle in a state where pressure is not applied. , 0.6 times or more. Thereby, the flow resistance in the artificial muscle can be suppressed when the compressed air is caused to flow into the artificial muscle.
In the artificial muscle set according to another aspect of the present invention, the folded portion is folded back in a semicircular shape, and the diameter of the central axis of the semicircular folded portion is equal to the diameter of the artificial muscle when no pressure is applied. It is 1.6 times or more the outer diameter. Thereby, the flow resistance in the artificial muscle can be suppressed when the compressed air is caused to flow into the artificial muscle. Also, the tube can be easily folded back.
In the artificial muscle set according to another aspect of the present invention, the fastener has a through hole that supports an outer peripheral surface of a connecting portion that connects the pair of artificial muscles and the folded portion, and the artificial muscle in the through hole The muscle-muscle side expands in diameter toward the artificial muscle, and the maximum diameter of the expanded-diameter portion is 1.1 to 2.0 times the outer diameter of the connecting portion. As a result, it is possible to reduce the stress at the peripheral portion of the through-hole in the muscle portion 11 during expansion.

A movement assistance tool according to an aspect of the present invention is a movement assistance tool that includes a waist belt portion that is worn around the waist of a user, and the waist belt portion includes the artificial muscle set described above.

A method for manufacturing an artificial muscle set according to one aspect of the present invention is to manufacture an artificial muscle set in which a tube formed by covering an elastic tube with a braided sleeve is folded back and the folded portion is fixed to a fixture with a resin body. The method includes an arranging step of folding the tube around a positioning portion of a fixture and arranging it on the fixture, an applying step of applying pressure to the inside of the tube, and a pressure applied state of the resin. A supplying step of supplying a body resin material to the folded portion and a curing step of curing the supplied resin material.
In the method for manufacturing an artificial muscle set according to another aspect of the present invention, in the arranging step, the distance between a folding point on the inner peripheral surface of the folded portion and a position facing the folding point on the positioning portion is such that the pressure is reduced. The tube is folded back to have an outer diameter of 0.2 or more times the outer diameter of the non-folded portion of the tube in an unloaded state. Thereby, the flow resistance in the artificial muscle can be suppressed when the compressed air is caused to flow into the artificial muscle.

<Embodiment>
A corset and an artificial muscle set will be described as examples of movement aids with reference to the drawings.

1. Overall Overview Description will be made mainly with reference to FIG.
The corset 100 has a waist belt portion 101 worn around the user's waist, abdominal belt portions 102 and 103 worn around the abdomen, and an artificial muscle set 30 . Two artificial muscle sets 30 are attached to the surface of the waist belt portion 101 .
The artificial muscle set 30 will be described below.

2. Artificial Muscle Set Description will be made mainly with reference to FIG.
The artificial muscle set 30 includes an artificial muscle 10 and a fixture 20 for fixing the artificial muscle 10 . Here, both ends of artificial muscle 10 are fixed and artificial muscle set 30 comprises two fixtures 20 .
The artificial muscle 10 is formed by arranging M (M is a natural number of 2 or more) artificial muscles 11 side by side. Here, M=8, and eight artificial muscles 11 are arranged in eight rows. In other words, in a state in which the central axes of the eight artificial muscles 11 are positioned on the same plane and the ends of the central axes of the eight artificial muscles 11 are positioned on one imaginary line, the artificial muscles 11 are aligned. are distributed.

(1) Artificial muscle Mainly using FIG.3 and FIG.4, it demonstrates.
The artificial muscle 10 comprises M artificial muscles 11 with N (a natural number smaller than M) tubes 1 . Here, M=8 and N=1. That is, the eight artificial muscles 11 are formed by folding one tube 1 . The tube 1 includes an elastic tube into which compressed air flows, and a braided sleeve that covers the outer peripheral surface of the elastic tube.
The artificial muscle 11 is also composed of an elastic tube into which compressed air is introduced, and a braided sleeve covering the outer peripheral surface of the elastic tube. Needless to say, the elastic tube and braided sleeve forming the tube 1 have the same configuration as the elastic tube and braided sleeve of the artificial muscle 11 formed by the tube 1 .

(1-1) Tube The tube 1 is open at one end in the longitudinal direction and closed at the other end. A plug 3 is attached to the opening side end for allowing compressed air to flow therein. A socket connected to a pump (not shown) for inflowing compressed air is detachably attached to the plug 3 . Also, the other end of the tube 1 is closed by a closure tool 5 .
The tube 1 is longer than the total length of the eight artificial muscles 11, and as shown in FIG. It has seven fixing parts 13 which exist between the muscle parts (11) adjacent to each other in the direction and which are fixed by the fixtures 20. As shown in FIG. Since the artificial muscle 11 is the muscle (11) of the tube 1, the same reference numeral (11) as the artificial muscle 11 is used for the muscle.
The tube 1 is folded back so that the central axes of the eight muscles 11 are substantially parallel. That is, as shown in the enlarged view of FIG. 4, the fixing portion 13 of the tube 1 is composed of a folded portion 13B and a connecting portion 13A that connects the pair of muscle portions 11 and the ends of the folded portion 13B. . A pair of connecting portion 13A and folded portion 13B are arranged in fixture 20. As shown in FIG. The direction in which the central axis of the muscle portion 11 extends is defined as the longitudinal direction, the direction in which the eight muscle portions 11 are arranged is defined as the side-by-side direction, and the direction orthogonal to the longitudinal direction and the side-by-side direction is defined as the front and back direction. .

The central axis of the connecting portion 13A here is on the straight line extension of the central axis of the muscle portion 11 . The connection portion 13A may be curved when the tube 1 is fixed to the fixture 20, or may be curved in advance and set to the fixture 20. FIG.
The folded portion 13B is folded back in a semicircular shape so as to turn around the positioning portion 24 when viewed from a direction orthogonal to the longitudinal direction and the parallel arrangement direction (that is, FIG. 4). In the semicircle here, the center axis of the folded portion 13B is curved in an arc, and the angle between two virtual lines B and C connecting the center O of the arc and the ends of the arc in the circumferential direction ( This angle is referred to as the "arc angle") A is in the range of 160 to 200 degrees. Here, the virtual lines B and C are straight lines, and the arc angle of the folded portion 13B is 180 degrees.

The diameter D1 of the central axis (not shown) of the semicircular folded portion 13B is set to be 1.6 times or more the outer diameter D2 of the muscle portion 11 . Thereby, the influence of the folded portion 13B when compressed air is caused to flow into the artificial muscle 10 can be reduced. That is, the flow resistance of compressed air can be suppressed. Conversely, the diameter D1 that can reduce the influence of the flow resistance of the compressed air at the folded portion 13B is 1.6 parts or more of the outer diameter D2 of the muscle portion 11 . note that. The outer diameter D2 of the muscle part 11 is the dimension in a state in which compressed air is not introduced, and is the outer diameter of the artificial muscle (muscle part 11) in a state in which pressure is not applied. In addition, the muscle part 11 is a part positioned between the pair of fixtures 20 . Hereinafter, the outer diameter D2 of the muscle part or the artificial muscle is the dimension in this state.
The diameter D1 of the center axis of the folded portion 13B is configured to be 2.5 times or less the outer diameter D2 of the muscle portion 11 . Thereby, the dimension of the fixing part 13 in the side-by-side arrangement direction can be reduced. That is, it is possible to reduce the size while suppressing the flow resistance of the compressed air. If there is no demand for downsizing, the diameter D1 of the central axis of the folded portion 13B may be larger than the outer diameter D2 of the muscle portion 11 by 2.5 times.

Fixing of the tube 1 to the fixture 20 is performed in a state in which a pressure (0.5 to 1.0 atm) is applied to the inside of the tube 1 . As a result, the dimension E in the side-by-side direction of the folded portion 13B is greater than or equal to the outside dimension F in the side-by-side direction of the two muscle portions 11 connected to the fixing portion 13 (in FIG. 4, they are the same). .
In addition, when pressure is applied, the diameter D1 of the central axis (not shown) of the semicircular folded portion 13B is 1.6 times or more the outer diameter D2 of the muscle portion 11, and the tube 1 is folded. The portion 13B is in contact with or close to the peripheral surface of the positioning portion 24 of the fixture 20 (see FIG. 6).
Considering in advance that the tube 1 expands due to pressure application, the interval between the folded portion 13B and the positioning portion 24 is set at a predetermined distance or more. Specifically, the distance between the turn-up point on the inner peripheral surface of the turn-back portion 13B and the position facing the turn-back point of the turn-back portion 13B in the positioning portion 24 is such that the tube 1 in a state where pressure is not applied is folded. The tube 1 is folded back so as to be 0.2 times or more the outer diameter of the portion (muscle portion 11) other than the portion 13B.
Here, when the folding point of the inner peripheral surface of the folded portion 13B is folded back within the fixture 20 on the one end side in the longitudinal direction, the tube 1 moves from the other end in the longitudinal direction to the one end in the longitudinal direction. is the position where the state changes from one end to the other end. The position facing the folding point of the folding portion 13B in the positioning portion 24 is one end of the positioning portion 24 in the longitudinal direction.

(1-2) Elastic Tube The elastic tube has a small outer diameter of 4 mm or less, preferably 2 to 4 mm. By using such a small-diameter elastic tube, it is possible to suppress bulkiness when used in a movement assisting device (for example, a corset or a suit). In addition, contraction of one artificial muscle 11 can be performed at a low pressure and a small amount of air.
The elastic tube preferably has a hardness of 30 degrees or less and a wall thickness (thickness) of 1/6 or less of the outer diameter, and particularly preferably has a hardness of 10 degrees or less and a wall thickness of 1/8 or less of the outer diameter. be. Specifically, the wall thickness (thickness) is preferably 0.5 mm or less, particularly preferably 0.2 to 0.5 mm. In this way, by using a flexible elastic tube, it can be easily fitted to a motion assisting device (for example, a corset or a suit), and the user can move smoothly without being bulky. The elastic tube has a small outer diameter of 4 mm or less, but can withstand compressed air up to about 0.5 MPa.

(1-3) Braided Sleeve A braided sleeve has a structure in which fibers such as polyester fibers and nylon fibers are woven into a sleeve shape. The braiding angle of the fibers in the braided sleeve is preferably 20-30 degrees. The braiding angle is the angle between the cylindrical axis (central axis) of the braided sleeve and the fibers. The spacing between fibers in the braided sleeve is preferably 0.5-0.8 mm.

(2) Fixture Mainly referring to FIG. 5, description will be made.
The fixture 20 is used to fix the artificial muscle 10 to the upper and lower locked portions 104 at both ends of the waist belt portion 101, as shown in FIG. Here, the locking portion 23 of the fixture 20 is fixed to the locked portion 104 .
The fixture 20 includes a main body 21 , a cover body 26 and a resin body 29 .

(2-1) Main Body The main body 21 has an accommodating portion 22 that accommodates the fixed portion 13 of the tube 1 . The main body 21 has a C-shaped locking portion 23 . The body 21 has a positioning portion 24 for positioning the fixing portion 13 . The main body 21 has eight (M) grooves 25 that are connected to the housing portion 22 and support the fixing portion 13 from the back side. In addition, the groove portion 25 constitutes the back side half of the through hole, which is an example of the "through hole" of the present invention.

(2-1-1) Accommodating Part The accommodating part 22 has a rectangular shape elongated in the direction in which the artificial muscles 11 are arranged, and is recessed from the front side to the back side in the front-back direction. As shown in FIG. 4, the accommodating portion 22 is mainly provided with the folded portion 13B, and the groove portion 25 is provided with the connecting portion 13A. Note that the bottom surface of the housing portion 22 is substantially flat.
The main body 21 has a connecting groove 21b for a connecting tube 31 that connects to the plug 3 from one end of the accommodation portion 22 in the parallel direction to the extension of the muscle portion 11 .

(2-1-2) Positioning Portion The main body 21 has a chipped portion 21a on the side of the other fixture 20, the front half of which is chipped. A cover body 26 is attached to the cutout portion 21a.
The positioning portion 24 is provided between the groove portions 25 adjacent to each other in the side-by-side arrangement direction on the side opposite to the other fixture 20 with respect to the cutout portion 21a. The positioning part 24 is configured in a columnar shape protruding to the front side. The front side end (surface) of the positioning portion 24 is substantially flush with the surface of the main body 21 . The surface of the positioning portion 24 on the other fixture 20 side faces the cover body 26 .
As shown in the enlarged view of FIG. 4, the positioning portion 24 has a rectangular portion 24a which is located on the cutout portion 21a side and has a rectangular shape when the main body 21 is viewed from the front side, and a rectangular portion 24a. It integrally has a semicircular portion 24b located on the opposite side of the cutout portion 21a and having a semicircular shape.
The pitch (interval between central axes) H of the positioning portions 24 in the arrangement direction is 1.3 to 2.0 times the outer diameter D3 of the connecting portion 13A. The connecting portion 13A here, which is fixed by the resin body 29, is fixed by the resin body 29 while a pressure of 0.5 to 1.0 atm is applied to the tube 1. The diameter D3 is equal to the interval between the positioning portions 24 sandwiching the fixed portion. Hereinafter, the outer diameter D3 refers to the outer diameter of the portion fixed by the resin body 29 in the connecting portion 13A.
The interval (dimension J) between the positioning portions 24 in the direction of arrangement is 0.6 to 1.2 with respect to the outer diameter D2 of the muscle portion 11 . Here, it is substantially equal to the outer diameter D2. Thereby, interference (contact) of the artificial muscles 11 when pressure is applied can be prevented while suppressing the dimension of the fixtures 20 in the direction in which they are arranged side by side. When the compressed air is caused to flow into the artificial muscle, the flow resistance of the portion sandwiched between the positioning portions 24 can be suppressed.
The longitudinal dimension K of the positioning portion 24 is 0.5 to 1.0 times the outer diameter D3 of the connecting portion 13A.

(2-1-3) Groove The groove 25 has a semicircular shape when viewed from the longitudinal direction (when one fixture is viewed from the other fixture side).
The groove portion 25 supports the connection portion 13A of the fixing portion 13 from the back side. As shown in the enlarged view of FIG. 4, the total length G of the groove portion 25 is 1.0 to 2.5 times the outer diameter D3 of the connecting portion 13A. Thereby, the fixed portion 13 of the tube 1 can be stably supported.
The open side of the groove portion 25 (on the other fixture 20 side) is configured such that the radius gradually increases toward the other fixture 20 . That is, as shown in FIG. 5, the groove portion 25 has a constant portion 25a with a constant radius and an enlarged diameter portion 25b whose radius increases toward the other fixture 20. As shown in FIG.
The constant portion 25a is positioned between the positioning portions 24 adjacent in the direction of arrangement, and the radius of the groove portion 25 is approximately half the outer diameter D3 of the connecting portion 13A.
The expanded diameter portion 25b expands in diameter substantially linearly. The maximum diameter D4 of the enlarged diameter portion 25b is 1.1 to 2.0 times the diameter of the fixed portion 25a. The maximum diameter D4 of the expanded diameter portion 25b here is 1.6 times the outer diameter D3. As a result, the stress at the boundary between the muscle portion 11 and the fixing portion 13 during expansion can be reduced. It should be noted that durability is improved due to the reduction in stress.
The longitudinal length of the enlarged diameter portion 25b is preferably 0.5 to 1.5 times the outer diameter D3 of the connecting portion 13A.

(2-2) Cover Body Description will be made with reference to FIG.
The cover body 26 has a covering portion 27 covering the cutout portion 21a of the main body 21, and a fixing portion 28 provided at an end portion of the covering portion 27 in the side-by-side arrangement direction.
The covering portion 27 has, for example, a rectangular parallelepiped shape elongated in the direction of arrangement, and has a groove portion 27a on the back surface. The groove portion 27a has substantially the same configuration as the groove portion 25 of the main body 21 turned upside down. The groove portion 27a constitutes the front half of the through hole, which is an example of the "through hole" of the present invention. That is, the groove portion 27a and the groove portion 25 of the main body 21 constitute an example of the through hole of the present invention.
The groove portion 27a has a semicircular shape when viewed from the longitudinal direction (when one fixture is viewed from the other fixture side).
The groove portion 27a supports the connection portion 13A of the fixing portion 13 from the front side. Here, the portion of the connecting portion 13A that is not fixed by the resin body 29 is mainly supported. The length of the groove portion 27a in the longitudinal direction substantially matches the length of the cutout portion 21a of the main body 21 in the longitudinal direction. The longitudinal length of the groove portion 27a is 0.5 to 1.5 times the outer diameter D3 of the connecting portion 13A. Thereby, the fixed portion 13 of the tube 1 can be stably supported.

The groove portion 27 a is configured such that the radius gradually increases toward the other fixture 20 . The groove portion 27a expands in diameter substantially linearly. The maximum diameter of the groove portion 27a is substantially the same as the maximum diameter D4 of the enlarged diameter portion 25b of the groove portion 25 of the main body 21, and is 1.1 to 2.0 times the outer diameter D3 of the connecting portion 13A. It is 1.6 times the outer diameter D3. As a result, the stress at the boundary between the muscle portion 11 and the fixing portion 13 during expansion can be reduced. It should be noted that durability is improved due to the reduction in stress. The longitudinal length of the groove portion 27a is preferably 0.5 to 1.5 times the outer diameter D3 of the connecting portion 13A.

The fixing portion 28 includes an extending portion 28a extending in the front and back direction from the end portion of the covering portion 27, and an engaging portion provided on the inner surface of the extending portion 28a and engaged with the engaged portion 21c of the cutout portion 21a of the main body 21. and Thereby, the cover body 26 can be detachably attached to the main body 21 .

(2-3) Resin Body As shown in FIG. 2, the resin body 29 is filled in the concave portion of the housing portion 22 with the cover body 26 attached to the main body 21 . A pressure of 0.5 to 1.0 atm is applied to the inside of the tube 1 during filling and curing. The resin body 29 exists up to near the boundary between the fixed portion 25a and the enlarged diameter portion 25b in the groove portion 25 .

(3) Assembly The artificial muscle set 30 is constructed by fixing the folded portion 13B to the fixture 20 with a resin body 29 in a state in which the tube 1 formed by covering an elastic tube with a braided sleeve is folded back. The manufacturing method of the set includes the steps of applying pressure to the inside of the tube 1, supplying the resin material for the resin body 29 to the folded portion 13B while the pressure is applied, and curing the supplied resin material. including.
The timing of applying the pressure may be after the folded portion 13B is formed (arranged on the fixture 20), or the tube 1 in the applied state may be folded. This can prevent the folded portion 13B from collapsing.

(3-1) Overview An example of fixing the tube 1 to the fixture 20 will be described below.
First, the fixture 20 is prepared, the cover body 26 is removed from the main body 21, and the housing portion 22 is exposed.
One tube 1 is introduced from one groove 25 of the pair of grooves 25 of the main body 21 of the fixture 20 while ensuring the length of the muscle muscle part 11, and is introduced from the semicircular part 24b of the positioning part 24. While being spaced apart, it is led out from the other groove portion 25 via the outer circumference of the semicircular portion 24b, and positioned.
In this state, as shown in FIG. 6A, the folded portion 1a of the tube 1 is bent and crushed in the folding direction. Specifically, the diameter D6 in the drawing is often less than 0.6 times the outer diameter D2 of the tube 1 into which air is not introduced. In this state, when the resin material for the resin body 29 is filled and cured, the folded portion 1a remains crushed, and the artificial muscle 11 is sufficiently expanded when pressurized air is introduced into the tube 1 after curing. It may not exist or may not be responsive.
In order to prevent such a problem, as shown in FIG. The distance L1 between the point and the positioning portion 24 facing in the longitudinal direction is set to be 0.2 times or more the diameter D2 when the air is not flowing into the tube 1 . Although the upper limit of the distance L1 is not particularly limited, considering the dimension in the longitudinal direction, the distance L1 is preferably 0.7 times or less the diameter D2.
This positioning is performed for all fixing parts 13 of the two fixtures 20 . When the positioning is completed, the cover body 26 is attached to the main body 21 while maintaining the positioning state.

Next, in a state in which air of 0.5 to 1.0 atm is introduced into the tube 1, the accommodating portion 22 is filled with a resin material for the resin body 29 and hardened. When the curing of the resin material is completed, the air in the tube 1 is released.
In this manner, a plurality of artificial muscle fibers 11 can be arranged simply by arranging one tube 1 along the positioning portion 24 of the fixture 20, and assembly can be easily performed.
Also, by letting air flow into the tube 1 before curing the resin material, as shown in FIG. The folded portion 1a tends to expand toward the positioning portion 24 on the inner peripheral side (positioning portion 24 side).
By allowing air to flow into the tube 1, the diameter D7 in FIG. The distance L2 between the turning point of the surface and the position facing the turning point of the turning portion 1a in the positioning portion 24 is the distance between the turning point of the inner peripheral surface of the turning portion 1a before the air flows into the tube 1 and the positioning portion 24. is smaller than the distance L1 between the folding point of the folded portion 1a and the position facing the folded portion 1a, and is 0.0 times or more the outer diameter D2 of the tube 1 into which air is not introduced. As a result, it is possible to prevent the artificial muscle 11 from insufficient expansion or poor responsiveness when the compressed air is introduced into the tube 1 after hardening, as described above.

(3-2) Outer Diameter of Tube In order to fix the fixed portion 13 with the filled resin body 29 while air of 0.5 to 1.0 atm is flowing into the tube 1, half of the fixed portion 13 of the tube 1 is The diameter D1 of the central axis of the circular folded portion 13B can be 1.6 times or more the outer diameter D2 of the muscle portion 11 . Also, the diameter (D7) of the folded portion 13B can be set to 0.6 times or more the outer diameter D2 of the muscle portion 11 into which air is not introduced.
Since the fixed part 13 is fixed with the filled resin body 29 while air of 0.5 to 1.0 atmospheres is flowing into the tube 1, an air inflow path can be secured when the corset 100 is used as an auxiliary tool. Thereby, the diameter of the central axis of the folded portion 13B can be reduced.

<Modification>
Although the movement assisting tool according to one embodiment has been described above, it is not limited to this embodiment, and the following modifications may be made, for example. Moreover, what combined embodiment and a modification may be sufficient, and what combined modifications may be used. In addition, even if there are examples not described in the embodiments and modifications, and design changes that do not deviate from the gist of the invention, they are included in the present invention.

1. Movement Retainer In the embodiment, the corset 100 mainly used around the waist has been described, but it can also be used as a corset exclusively for shoulders, arms, legs, and the like.
Although the corset has been described as a movement aid in the embodiment, the artificial muscle set 30 can also be used as other movement aids. A suit 200 as an example of a motion assisting device will be described below with reference to FIG. 7 .
The suit 200 includes a waist belt portion 201 worn around the waist of the user 400, shoulder belt portions 202 and 203 worn around the shoulders, leg belt portions 204 and 205 worn around the legs, and artificial muscles. set 30;
In the corset 100 of the first embodiment, the artificial muscle 10 is installed along the longitudinal direction of the waist belt portion 101, that is, along the direction from the waist to the abdomen of the user 400, but in the suit 200 of the second embodiment, the artificial muscle The muscle 10 is installed along the width direction of the waist belt portion 201, that is, along the direction from the waist to the shoulder of the user 400. As shown in FIG.
In the corset 100 of the first embodiment, the assisting force acts from the abdomen to the waist, but in the suit 200 of the second embodiment, the assisting force acts from the shoulders to the waist and from the legs to the waist.

The movement aid is not particularly limited as long as it uses artificial muscles to assist the movement of the user, and is not limited to corsets and suits, and can also be used for rehabilitation. It can also be used as an aid for strength training. However, in this case, the timing of contraction of the artificial muscle in the movement assisting device is different.
Although the artificial muscle set 30 is detachably engaged, the artificial muscle set may be sewn to a corset or suit to be integrated. Also, since the artificial muscle set 30 is detachable, it may be used in common with other movement assisting devices. Although two artificial muscle sets 30 are used in the embodiment, the number is not limited and may be one or three or more.

2. Artificial Muscle Set (1) Tubes In the embodiment, one tube 1 was used to configure eight artificial muscles 11. For example, two tubes are used to configure eight artificial muscles 11. You may In other words, M artificial muscles may be constructed using N tubes, which are smaller in number than M. As a result, both ends of the artificial muscle can be efficiently fixed to the fixture, compared to the case where both ends of all the artificial muscles are fixed to the fixture.
When a plurality of tubes constitute M artificial muscles, the specifications of the plurality of tubes may be the same or different.
For example, three tubes may be used, and the characteristics (especially the elastic modulus) of each elastic tube may be changed to gradually increase the expansion rate (to increase contraction as an artificial muscle). The tube diameter may vary.
In the embodiment, one tube is used and has (M−1) folded parts, but one tube has two artificial muscle parts and one folded part (fixed part). and may be configured to have Also in this case, both ends of the artificial muscle can be efficiently fixed to the fixture, compared to the case where both ends of all the artificial muscles are fixed to the fixture.

(2) Artificial Muscle In the artificial muscle 10 of the embodiment, the eight artificial muscles 11 are arranged in one row (one stage), but they may be arranged in multiple stages of two or more stages. In the embodiment, the eight artificial muscles 11 are configured with one tube 1, so the outer diameters of the elastic tubes are the same, but the braided sleeves may be different. In this case, the braided sleeve should have approximately the same length of one artificial muscle 11 . However, the outer diameter of the elastic tube is preferably 4 mm or less.
Although the artificial muscle 10 is fixed to the movement assisting device by the fixture 20, the fixing means is not limited. In addition, although the fixtures 20 are provided at both ends of the artificial muscle 10, the place where the fixtures 20 are attached, the number of fixtures, etc. are not limited to the embodiment.
Although compressed air has been described in the embodiments, it is not limited to gas, and may be liquid such as oil.

(3) Fixture The cover body 26 is configured to cover the cutout portion 21a of the main body 21, but may be configured to cover the accommodating portion 22 as well, for example. However, even in this case, it is necessary to fix the fixing portion 13 of the tube 1 with the resin body 29 while a pressure of 0.5 to 1.0 atm is applied. Further, when the accommodating portion 22 is covered, the positioning portion may be provided on the cover body.
The positioning part 24 is provided between the grooves 25, but may be configured to protrude from the bottom surface of the housing part 22 to the front side in an independent state (a state in which the peripheral surface is not connected to anything). In this case, the cross-sectional shape of the projecting portion may be circular, or may be an elliptical shape having a pair of parallel surfaces, or a shape in which the semicircular shape of the elliptical shape does not exist on the missing portion 21a side.
Although the positioning portion 24 is provided on the main body 21, for example, the positioning portion may be configured as a separate member and provided detachably on the main body. As such an example, there is a structure in which the positioning body is fitted into the fitting portion on the bottom surface of the main body. In this case, there are cases where it can be used as another fixture that does not have a positioning portion.
The diameter-enlarged portion 25b of the groove portion 25 is linearly enlarged, but may be, for example, a convex curve toward the tube 1 side.

The fixture 20 has a through-hole for supporting the connecting portion 13A of the tube 1 with the groove 25 of the main body 21 and the groove 27a of the cover 26. For example, the fixture does not have a cover. , and a through hole may be provided in the main body. However, considering the placement (insertion) of the tube, it is better to configure the through hole between the main body and the cover body.

1 tube 10 artificial muscle 11 muscle part (artificial muscle muscle)
13 Fixing part 13B Folding part 20 Fixing device 30 Artificial muscle set 100 Corset (movement aid)
200 suits (movement aids)

Claims (7)

An artificial muscle having M (M is a natural number equal to or greater than 2) artificial muscles formed by covering an elastic tube with a braided sleeve,
The M artificial muscles are constructed by folding N (N is a natural number smaller than M) tubes at one end side of the artificial muscles, each of which is formed by covering an elastic tube with a braided sleeve;
The artificial muscle, wherein the outer diameter of the folded portion of the tube is 0.6 times or more as large as the outer diameter of the artificial muscle when pressure is not applied. M (M is a natural number of 2 or more) artificial muscles formed by covering an elastic tube with a braided sleeve;
a fixture that fixes one end side of the M artificial muscles arranged in parallel,
The M artificial muscles are constructed by folding N (N is a natural number smaller than M) tubes at one end side of the artificial muscles, each of which is formed by covering an elastic tube with a braided sleeve;
The fixture fixes the folded portion of the tube,
The artificial muscle set, wherein the outer diameter of the folded portion of the tube is 0.6 times or more the outer diameter of the artificial muscle in a state where pressure is not applied. The folded portion is folded back in a semicircular shape, and the diameter of the central axis of the semicircular folded portion is 1.6 times or more the outer diameter of the artificial muscle in a state where pressure is not applied. An artificial muscle set according to claim 2. The fixture has a through hole that supports the outer peripheral surface of the connecting portion that connects the pair of artificial muscles and the folded portion,
The artificial muscle muscle side of the through hole expands in diameter toward the artificial muscle muscle,
The artificial muscle set according to claim 2 or 3, wherein the maximum diameter of the enlarged diameter portion is 1.1 to 2.0 times the outer diameter of the connecting portion. A movement aid having a waist belt that is worn around the waist of a user,
A movement assisting device, wherein the waist belt portion has the artificial muscle set according to any one of claims 2 to 4. In a method for manufacturing an artificial muscle set, wherein a tube formed by covering an elastic tube with a braided sleeve is folded back and the folded portion is fixed to a fixture with a resin body,
an arranging step of folding back the tube so as to turn around the positioning portion of the fixture and arranging it on the fixture;
an applying step of applying pressure within the tube;
a supply step of supplying the resin material for the resin body to the folded portion while pressure is applied;
and a curing step of curing the supplied resin material. In the arranging step, a distance between a turn-back point on the inner peripheral surface of the turn-back portion and a position facing the turn-back point on the positioning portion is the tube in a state where pressure is not applied and is not the turn-back portion. 7. The method of manufacturing an artificial muscle set according to claim 6, wherein the tube is folded back so as to be 0.2 times or more the outer diameter at the site.

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