JP7402507B2 - air distribution device - Google Patents

Description

The present invention relates to an air distribution device, and particularly to an air distribution device suitable for controlling an actuator that operates by repeatedly supplying and discharging air in a predetermined order.

Conventionally, multiple expansion/contraction units were connected in series, which expanded radially and contracted axially by supplying air, and contracted radially and expanded axially by discharging air. BACKGROUND ART A propulsion device is known that moves an expansion and contraction unit through a pipe such as a gas pipe or water pipe by individually expanding and contracting it in a predetermined order so as to imitate the peristaltic movement of an earthworm. In this propulsion device, each expansion and contraction unit is provided with a valve that opens and closes in response to an electrical signal, and a control device that controls the opening and closing of the valve of each expansion and contraction unit is provided in the last expansion and contraction unit.

JP2014-228658A

However, when expanding or deflating the expansion/deflation unit as mentioned above, the nozzle diameter of the solenoid valve depends on the control speed for opening/closing the solenoid valve or the air supply to the expansion/deflation unit. Since the increase in the flow rate and the exhaust flow rate from the expansion/contraction unit is restricted, the speed at which the expansion/contraction unit is expanded and contracted reaches a ceiling, and as a result, the improvement in the movement speed of the propulsion device also reaches a ceiling. To solve this problem, it may be possible to use a solenoid valve with a large nozzle diameter, but if the solenoid valve is to be moved in the pipe together with the propulsion device, there is a limit to the size of the solenoid valve that can be used.
SUMMARY OF THE INVENTION Therefore, in order to solve the above-mentioned problems, it is an object of the present invention to provide an air distribution device that can improve the expansion and contraction operation of an expansion and contraction unit.

As a configuration of an air distribution device for solving the above problems, three or more actuators that expand and contract by supplying and exhausting air are connected, and the air distribution device distributes air to the actuators in a predetermined order. , an actuator communication section having a plurality of holes that individually communicate with the plurality of actuators; and an actuator communication section that is rotated by the drive of a motor, communicates with two or more of the plurality of holes, and supplies compressed air from the air supply means. A flow path having an air supply section and an exhaust section that communicates with all or some of the holes other than the hole communicating with the air supply section among the plurality of holes, and exhausts air from the actuator through the communicating hole . a switching section , the actuator communication section is made of a cylindrical body having an inner circumferential surface with a circular cross section, and one end of the plurality of holes communicates with the actuator, and the other end opens into the inner circumferential surface. The flow path switching portion is provided on the inner circumferential side of the actuator communication portion and has an outer circumferential surface having a circular cross section opposite to the inner circumferential surface of the actuator communication portion, The air supply part and the exhaust part are provided such that one end thereof is opened to the outer circumferential surface and can be aligned with the plurality of holes opened to the inner periphery of the actuator communication part by rotation of the flow path switching part, The actuator is configured to expand and contract to simulate peristaltic motion.
According to this configuration, a plurality of actuators connected together can be operated with a simple configuration.
Furthermore , according to this configuration, the compressed air supplied from the flow path switching section to the actuator is supplied from the flow path switching section to the actuator communication section in the radial direction, so that the compressed air is efficiently transferred from the flow path switching section to the actuator communication section. Compressed air can be supplied. Thereby, the expansion and contraction operation of the expansion and contraction unit can be further improved.
Further, as another configuration of the air distribution device, the motor includes a rotating plate that rotates due to rotation of the motor, and the rotating plate includes a protrusion that extends parallel to the rotation axis of the motor at a position away from the rotation center. , the flow path switching part includes a plurality of grooves extending radially in the radial direction and engaging with the protrusions, and the plurality of grooves are provided so as to be able to engage with adjacent grooves each time the rotary plate rotates once. Thus, by changing the number of revolutions (rotational speed) of the motor, it is possible to improve the operation speed of the expansion and contraction operation of the expansion and contraction unit.
Actuators can expand radially outward and contract axially by supplying air, contract radially inward and extend axially by discharging air, and actuators can expand radially inward by supplying air. It may be one that expands and then contracts radially inward as air is discharged.

FIG. 2 is a configuration diagram of a propulsion device to which an air distribution device is attached. FIG. 3 is an axial cross-sectional view of the expansion and contraction unit. FIG. 3 is a radial cross-sectional view of the outer cylinder of the expansion and contraction unit. FIG. 3 is an external perspective view of a connecting portion. FIG. 3 is a perspective view and an exploded perspective view of the air distribution device. FIG. 2 is a plan view and an axial cross-sectional view of a flow path switching gear. It is a figure showing operation of an air distribution device. It is a figure showing operation of an air distribution device. It is a figure showing operation of an air distribution device. It is a figure which shows another form of a flow-path switching gear. FIG. 6 is an external perspective view and an exploded perspective view of another embodiment of the air distribution device. FIG. 3 is a plan view and an axial cross-sectional view of the stator. FIG. 2 is a plan view, an axial sectional view, and a radial sectional view of the rotor. It is a figure which shows the relationship between the groove provided in a rotor, and the protrusion attached to the rotating plate. It is a figure which shows the relationship between the rotation of a motor and the rotation of a rotor, and the relationship of an air supply path and an exhaust path with respect to an air supply and exhaust path. FIG. 6 is a diagram showing the movement of the rotor and the opening/closing operation of the orifice to the supply/discharge path. It is a graph showing a change in orifice area over time. It is a figure showing operation of a channel switching device. It is a figure showing operation of a channel switching device. It is a figure showing operation of a channel switching device. It is a figure showing operation of a channel switching device. It is a figure showing operation of a channel switching device. It is a figure showing operation of a channel switching device.

Hereinafter, the present invention will be explained in detail through embodiments of the invention, but the following embodiments do not limit the claimed invention, and all combinations of features described in the embodiments are the invention. This includes configurations that are not necessarily essential to the solution and may be selectively adopted.

FIG. 1 is a configuration diagram of an intra-tube propulsion device to which an air distribution device 1 according to the present embodiment is applied. As shown in the figure, the air distribution device 1 is provided at the rear end of a propulsion device 2 configured to be movable within a pipe Z.

An example of the propulsion device 2 will be described below. The propulsion device 2 includes a moving section 8 provided inside the pipe Z, and a control section 70 provided outside the pipe Z and controlling the operation of the moving section 8. As shown in FIG. 1, the moving section 8 is generally configured by connecting a plurality of (seven in this example) expansion/deflation units 80. Note that the number of expansion/deflation units 80 to be connected is not limited to seven, but is preferably at least three or more. In order for the moving part 8 to obtain a propulsive force through an operation simulating peristaltic motion, it is sufficient that at least two expansion/contraction units 80 expand and contract, and one expansion/contraction unit 80 expands and contracts. The minimum configuration of the moving section 8 is a configuration in which three expansion/deflation units 80 are connected.

FIG. 2 is an axial cross-sectional view of the inflation/deflation unit 80 when it is in an inflated state and a deflated state. FIG. 3 is an exaggerated view of a cut surface of the outer cylinder 83 cut in the radial direction. As shown in FIG. 2, the expansion/deflation unit 80 includes a cylindrical outer cylinder 83 that forms a double pipe on the outer periphery of a cylindrical inner cylinder 81 that is expandable and retractable in the axial direction. By attaching the flange 82 to the end of the cylinder 83 in an airtight manner, an air chamber V as a closed space surrounded by the outer periphery of the inner cylinder 81, the inner periphery of the outer cylinder 83, and the flange 82 is formed. be done.

As shown in FIG. 3, the outer tube 83 includes a cylindrical tube body 83A made of an elastic body, and a plurality of regulating fibers 83B that are tightly inserted inside the tube body 83A. The regulating fibers 83B extend along the axial direction of the cylinder body 83A, and restrict the extension of the outer cylinder 83 in the axial direction. As a result, by supplying air to the air chamber V, the expansion/deflation unit 80 changes its outer diameter in the radial direction from D1 to D2 from the state shown in FIG. 2(a) to as shown in FIG. 2(b). At the same time, the length in the axial direction contracts from L1 to L2 (hereinafter, this state is simply referred to as expansion). Furthermore, by exhausting air from the air chamber V, the outer diameter contracts in the radial direction from D2 to D1, and the length in the axial direction expands from L2 to L1, as shown in FIG. 2(a). (hereinafter this state is simply referred to as contraction).

The flange 82; 82 is provided with a connecting portion 87 for connecting the expansion/deflation units 80 to each other via a connecting body. The connecting portion 87 has an inner circumferential groove 87A recessed along the circumferential direction on the inner circumferential surface of the flange 82; It is constituted by a plurality of notches 87B that are recessed in an arc shape.

Furthermore, one flange 82 is provided with a supply/discharge hole 90 that allows air to be supplied to the air chamber V and air to be exhausted from the air chamber V. As shown in FIG. 2, the supply/discharge hole 90 has one end opened on the surface of the flange 82 between the inner cylinder 81 and the outer cylinder 83 fixed to the flange 82, and the other end opened on the inner peripheral side of the flange 82. It is provided as an open through hole. A tube extending from the air distribution device 1, which will be described later, is connected to the supply/discharge hole 90.

FIG. 4 is a perspective view of a connecting body that connects the expansion/deflation units 80. The expansion/deflation units 80 are connected by a connecting body 105, for example. The connecting body 105 is a cylindrical body made of resin or hard rubber, for example, and has a plurality of engagement holes on the outer periphery of both ends corresponding to the plurality of notches 87B formed on the inner periphery of the flange 82; A piece 106 is provided. The engaging piece 106 is provided to protrude from the outer peripheral surface of the connecting body 105 so as to extend in an arc shape of a predetermined length along the circumferential direction of the connecting body 105 . The connecting body 105 connects the expansion/deflation units 80 to each other by aligning the engagement piece 106 with the notch 87B of the connecting portion 87 and pushing it in, and rotating it along the inner circumferential groove 87A.
In addition, each expansion/deflation unit 80 is preferably connected via a connecting body 105 so that the flange 82 having the supply/discharge hole 90 is located on the rear side in the direction of movement.

As shown in FIG. 1, the control unit 70 generally includes a compressed air supply means 73 that generates compressed air to be supplied to the expansion and contraction unit 80, and an expansion and contraction system that connects the compressed air generated by the compressed air supply means 73. It is composed of an air distribution device 1 that distributes to the unit 80, a compressed air supply means 73, and a propulsion control means 75 that controls the air distribution device 1.

The compressed air supply means 73 can use, for example, a compressor, and supplies the air distribution device 1 with air regulated to a predetermined pressure by the compressor.

FIG. 5 is a schematic configuration diagram of the air distribution device 1 according to this embodiment.
For example, as shown in FIG. 1, the air distribution device 1 is disposed at the tail end of the moving section 8 in the traveling direction, and supplies compressed air supplied from the compressed air supply means 73 to the aforementioned expansion and contraction unit 80 in a predetermined manner. This is a device for controlling supply in order and repeating expansion and contraction. The predetermined order here refers to an operation in which the expansion and contraction of the expansion and contraction unit 80 that constitutes the moving section 8 simulates peristaltic motion.

As shown in FIG. 5, the air distribution device 1 generally includes a case 10, a flow path switching gear 30, and a motor 40.
The case 10 includes, for example, a main body 11 that is formed in a cylindrical shape and has an accommodation space for accommodating the flow path switching gear 30 and the motor 40, and the flow path switching gear 30 and the motor 40 accommodated in the main body 11. It is composed of a lid part 12 that allows access to.
Note that the outer shape of the case 10 is not limited to a cylindrical shape, and may be changed as appropriate.

The main body portion 11 is provided with a tube connecting portion 14 to which one end of a tube extending to the inflation/deflation unit 80 is connected. The tube connecting portion 14 is provided, for example, on one end side of the main body portion 11 and is formed in the shape of a disk whose central axis is offset with respect to the axis of the case 10 . The tube connecting portion 14 is formed integrally with the main body portion 11 in this embodiment. An end surface 14a facing the other end of the tube connecting portion 14 is formed into a planar shape orthogonal to the axis of the case 10.

A plurality of holes 17 are formed in the tube connecting portion 14 to penetrate in the thickness direction. The plurality of holes 17 are provided, for example, in the number of the above-mentioned expansion/deflation units 80 (in this embodiment, seven holes as shown in FIG. 1). The plurality of holes 17 are located, for example, on one pitch circle centered on the center line of the tube connecting portion 14, and are arranged at equal intervals in the circumferential direction. One expansion/deflation unit 80 is connected to one hole 17 via a tube. Although the tube is not shown, it is a flexible tube that allows air to flow between the tube connecting portion 14 and the expansion/deflation unit 80, and is a flexible tube that allows air to flow between the tube connection portion 14 and the expansion/deflation unit 80. communicate with. In other words, the tube connection section 14 functions as an actuator communication section.

FIG. 6 is a plan view and an axial cross-sectional view of the flow path switching gear 30. Specifically, FIG. 6(a) is a plan view of the flow path switching gear 30 in the direction of the gear portion 32, and FIG. 6(b) is an axial cross-sectional view shown by arrow k--k in FIG. 6(a). . The flow path switching gear 30 functions as a flow path switching section that controls the supply of air to the expansion/contraction unit 80 connected to the tube connection section 14 and the exhaust of the air supplied to the expansion/contraction unit 80 .

As shown in FIG. 6, the flow path switching gear 30 includes a shaft portion 31 serving as a rotation axis of the flow path switching gear 30, and a gear portion provided at one end side of the shaft portion 31 to which the rotation of the motor 40 is input. 32, and is arranged in the case 10 with the gear part 32 facing the tube connecting part 14.

The shaft portion 31 is constituted by a hollow, for example, cylindrical cylinder, and is rotatably supported by the flow path switching gear support portion 15 provided in the main body portion 11 . The flow path switching gear support section 15 is provided at a position facing the end surface 14a of the tube connection section 14 described above, and includes a through hole 18 that extends with the center line of the tube connection section 14 as an axis. The shaft portion 31 of the channel switching gear 30 is inserted into the through hole 18, and the channel switching gear 30 is rotatably supported.

The gear portion 32 is a gear having gear teeth 34 on its outer periphery that mesh with a gear attached to the motor 40, and is provided on one end side of the shaft portion 31 so that its rotation axis is coaxial with the center axis of the shaft portion 31. It is being

An opposing surface 32 a of the gear portion 32 that faces the tube connecting portion 14 is formed in a planar shape parallel to the end surface 14 a of the tube connecting portion 14 . The gear portion 32 includes a fan-shaped recess 36 on the opposing surface 32a, and an arc-shaped hole 38 penetrating the gear portion 32 from the other side in an arc shape in the thickness direction. The recessed portion 36 has a hole 36h communicating with the hollow space 31s of the shaft portion 31 on the center side, and includes a plurality of holes (two holes in this example) provided in the tube connection portion 14 from the center side. It is formed so as to spread outward in the radial direction in a fan shape (see FIG. 7).

A rotary joint 33 is attached to the other end of the shaft portion 31, and a tube 167 extending from the compressed air supply means 73 is connected via the rotary joint 33. This prevents the tube 167 from rotating together with the shaft portion 31 that rotates together with the gear portion 32. The compressed air flowing from the tube 167 into the hollow space 31s of the shaft portion 31 passes through the recess 36 of the rotating gear portion 32 and is supplied to the hole 17 located at a position overlapping the recess 36. That is, the recess 36 functions as an air supply section to the expansion/deflation unit 80, and the hollow space 31s of the shaft section 31 and the recess 36 function as an air supply passage for compressed air.

The arc-shaped hole 38 is formed in an arc shape along the circumferential direction so as to include the remaining plurality of holes 17 (five holes in this example) provided in the tube connection part 14, excluding the hole 17 that overlaps the recess 36. (See Figure 7). Since the arcuate hole 38 communicates with the inside of the case 10 which is at atmospheric pressure, it is an exhaust gas that exhausts air from the air chamber V of the expansion/deflation unit 80 connected via a tube to the hole 17 overlapping the arcuate hole 38 into the atmosphere. function as a department. In other words, the arcuate hole 38 in this example can also be called an atmosphere opening part that opens the air chamber V of the expansion/contraction unit 80 to the atmosphere. Note that the air chamber V of the expansion/contraction unit 80 does not necessarily need to be opened to the atmosphere.
The flow path switching gear 30 has a recess so that a high pressure state when compressed air is supplied and a low pressure state when air is discharged are isolated from the expansion/deflation unit 80 that communicates with the recess 36 and the arcuate hole 38. 36 or an arcuate hole 38 is sufficient.

The motor 40 includes a rotating shaft having a gear 41 that meshes with a gear provided on the outer periphery of the gear portion 32, and is housed in a motor accommodating portion 16 provided in the case 10. The motor accommodating portion 16 is provided adjacent to the channel switching gear support portion 15 so that the rotation axis of the motor 40 is parallel to the shaft portion 31 of the channel switching gear 30 when the motor 40 is accommodated. As the motor 40, for example, a stepping motor, a servo motor, etc. whose rotation angle can be controlled, a rotation speed which can be controlled, a geared motor having a reduction gear, etc. can be used. The motor 40 is electrically connected to a propulsion control means 75, and its rotational speed and the like are controlled.

Propulsion control means 75 is connected to motor 40 and compressed air supply means 73.
The propulsion control means 75 can be configured with, for example, an on/off switch that instructs to start and stop movement, a volume switch that controls the rotational speed of the motor 40, and the like. Then, when starting the movement, by turning on the switch, compressed air is supplied from the compressed air supply means 73 to the air distribution device 1, and the motor 40 is rotated. As a result, the expansion/contraction unit 80 with the tube connected to the overlapping hole 17 can be expanded through the hole 17 overlapping the recess 36 of the flow path switching gear 30, and the tube can be connected to the hole 17 overlapping the arcuate hole 38. The connected inflation/deflation unit 80 can be deflated.

The rotation of the motor 40 may be controlled by the propulsion control means 75 so that it rotates continuously or intermittently using a simple timer function or the like.

7 to 9 schematically show the relationship between the hole 17 of the tube connection part 14 and the recess 36 and arcuate hole 38 of the flow path switching gear 30 when the air distribution device 1 is operated, and also show the relationship between the moving part 8 is a diagram showing the operation of the expansion/deflation unit 80 in FIG. In this figure, the tube Z shown in FIG. 1 is omitted. In addition, in the following description, in order to specify the positions of the connected expansion/deflation units 80, they will be described as 80A, 80B, . . . , 80G, etc. Further, the holes 17 connected to each of the expansion/contraction units 80A to 80G are also specified as holes 17A, holes 17B, . . . , 17G, etc.

As shown in FIG. 7(a), when the recess 36 communicates with the holes 17A and 17B and the arcuate hole 38 communicates with the holes 17C to 17G, the propulsion device connects the compressed air supply means 73 to the expansion and contraction units 80A and 80B. Compressed air is supplied, and the expansion/contraction units 80A and 80B expand. Further, the expansion/contraction units 80C to 80G are at atmospheric pressure and in a deflated state.

Next, as shown in FIG. 8, when the flow path switching gear 30 is rotated by the drive of the motor 40, the concave portion communicates with the holes 17B; 17C, and the arcuate holes communicate with the holes 17D to 17G; The expanded state of the expansion/contraction unit 80B is maintained, compressed air is supplied from the compressed air supply means 73 to the expansion/contraction unit 80C, and the expansion/contraction unit 80C is expanded. Further, the expansion and contraction units 80D to 80G are maintained in a contracted state, and the supplied compressed air is discharged from the arcuate hole in the expansion and contraction unit 80A, and the expansion and contraction unit 80A contracts.

Furthermore, as shown in FIG. 9, when the flow path switching gear 30 is rotated by the drive of the motor 40, the recessed portions communicate with the holes 17C; 17D, and the arcuate holes communicate with the holes 17E to 17G; 17A; The expansion and contraction unit 80C is maintained in an expanded state, compressed air is supplied from the compressed air supply means 73 to the expansion and contraction unit 80D, and the expansion and contraction unit 80D is expanded. Further, the expansion/contraction units 80E to 80G; 80A are maintained in a deflated state, and the supplied compressed air is discharged from the arcuate hole in the expansion/contraction unit 80B, thereby deflating.

In this way, the motor 40 rotates the flow path switching gear 30 to sequentially shift the position of the hole 17 communicating with the recess 36 and the position of the hole 17 communicating with the arcuate hole 38, thereby expanding and contracting the moving part 8. By moving the expansion of the unit 80 in the traveling direction, a traveling wave imitating peristaltic motion is generated in the moving part 8, and the moving part 8 can be moved within the tube Z.

As explained above, according to the air distribution device 1 of this embodiment, the movement of the moving part 8 is controlled with a simple configuration in which both air supply and exhaust are controlled by rotation of the motor 40 in only one direction. can do. That is, by controlling the rotational speed of the motor 40, the speed at which the expansion/contraction unit 80 is expanded or contracted can be controlled, and the concave portion 36 (air supply portion) communicating with the hole 17 and the arcuate hole 38 ( By increasing or decreasing the size of the exhaust section (exhaust section), the flow rate of air supplied to the expansion/deflation unit and the flow rate of exhaust air from the expansion/deflation unit can be controlled. It can be done freely and easily. Furthermore, by reversing the rotation direction, the traveling direction can be reversed.

In addition, it is possible to eliminate a solenoid valve, a control device, etc. from each expansion/contraction unit 80 as in the past, and the configuration of each expansion/contraction unit 80 can be simplified. As a result, it is possible to reduce the weight of each expansion/contraction unit 80 and improve the moving speed. Further, a control function for controlling a solenoid valve or the like can be made unnecessary. Furthermore, since the number of parts constituting the propulsion device is reduced, the occurrence of failures can be reduced.

FIG. 10 is a diagram showing another form of the flow path switching gear 30. In the above description, the gear part 32 of the flow path switching gear 30 is provided with the fan-shaped recessed part 36 so as to communicate with the hollow space 31s of the shaft part 31. However, the present invention is not limited to this, and FIG. It may be configured as shown.
That is, instead of the fan-shaped recess 36, an arc-shaped recess may be formed so as to include a plurality of holes 17, as shown in FIG. 10(a). At this time, inside the gear part 32, there is a hollow part 36i (fan-shaped in this example) extending from the arc-shaped recess 36 toward the center, and the hollow part 36i communicates with the hollow space 31s of the shaft part 31. An air supply section may be formed by the hole 36j.

Note that in this embodiment, two of the plurality of holes 17 that are continuous in the circumferential direction are made to communicate with the recess 36, but the present invention is not limited to this. It may be changed depending on the form. Moreover, although the description has been made assuming that all of the remaining holes except the holes 17 communicating with the plurality of recesses 36 are opened to the atmosphere through the arcuate holes 38, the present invention is not limited to this, and a portion may be opened to the atmosphere.
When considering the minimum configuration that satisfies peristaltic motion, it is sufficient to provide the recess 36 and the arcuate hole 38 so that when at least two expansion and contraction units 80 are expanded, one expansion and contraction unit 80 contracts.

Furthermore, in the present embodiment, the explanation has been made assuming that the supply and exhaust of air to the expansion/deflation unit 80 is controlled by one flow path switching gear 30 corresponding to one tube connection part 14, but the invention is not limited to this. . For example, the tube connection part 14 is divided into a supply tube connection part and an exhaust tube connection part, and the flow path switching gear 30 is divided into a supply flow path switching gear and an exhaust flow path switching gear, and the two are supplied by one motor. The exhaust flow path switching gear and the exhaust flow path switching gear may be rotated in synchronization. Also, other rotary valve mechanisms may be used.

FIG. 11 is an external perspective view and an exploded perspective view of another embodiment of the air distribution device 1. The air distribution device 1 according to the present embodiment is generally composed of a stator 100 that functions as an actuator communication section, a rotor 200 that functions as a flow path switching section, and a motor 40 that serves as a drive source for switching the flow path.

FIG. 12 is a plan view and an axial cross-sectional view of the stator 100. As shown in FIG. 12, the stator 100 is formed of a cylindrical body having a predetermined wall thickness, and is configured to flow through compressed air supplied to the expansion/contraction unit 80 and when discharging the compressed air supplied to the expansion/contraction unit 80. A supply/discharge path 102 is provided.

The supply/discharge passage 102 has an axially extending portion 104 that opens at one end at the end surface 100t and extends along the axis C direction, and a radially extending portion from the axially extending portion 104 midway inside the thick portion of the stator 100. It is provided as a through hole formed by a radial extension part 106 that extends toward the inner circumferential surface 100a and opens to the inner circumferential surface 100a.

As shown in FIG. 12(a), the supply/discharge passages 102 are provided at equal intervals along the circumferential direction, for example, in the number to be connected. That is, the openings that open in the end surface 100t of the axially extending portion 104 are opened at equal intervals in the circumferential direction, and the openings that open in the inner peripheral surface 100a of the radially extending portion 106 are opened at equal intervals along the circumferential direction. The openings are formed at equal intervals. In this embodiment, the supply/discharge passages 102 are provided at positions equally divided into seven in the circumferential direction, corresponding to the number of expansion/deflation units 80 shown in FIG.

As shown in FIG. 12(a), the axially extending portion 104 is formed as a circular hole having a circular opening at the end surface 100t so that a joint for connecting a tube can be attached thereto, for example.
As shown in FIG. 12(b), the radial extension portion 106 is formed to have a rectangular opening on the inner peripheral surface 100a, for example.

FIG. 13 is a plan view, an axial cross-sectional view, and a radial cross-sectional view of the rotor 200.
As shown in FIGS. 13(a) and 13(b), the rotor 200 has a small diameter portion 202 formed to be accommodated in the inner circumferential space of the stator 100 and an outer diameter larger than the small diameter portion 202 in external view. The large diameter portion 204 is formed as a stepped cylindrical body.

The rotor 200 includes a hollow portion 206 whose end on the small diameter portion 202 side is closed and extends in the direction of the axis C from the end on the large diameter portion 204 side to the inside of the small diameter portion 202 . As shown in FIGS. 13(c) and 13(d), the hollow portion 206 has a circular shape within the range of the large diameter portion 204 and an arc shape within the range of the small diameter portion 202, extending along the axis C direction. It is formed.

The hollow portion 206 in the small diameter portion 202 is formed, for example, by an arcuate surface 202a extending parallel to the outer circumferential surface 202b in an arc shape, and a bulging surface 202c bulging toward the central axis C side. The bulging surface 202c bulges in an arched mountain shape beyond the central axis C of the rotor 200 and approaches the arcuate surface 202a, and forms a bulging portion 208 on the inner peripheral side of the small diameter portion 202.

The bulging portion 208 is provided with a compressed air inflow portion 210 that forms a flow path through which compressed air flows.
As shown in FIGS. 13(e) and 13(f), the compressed air inflow portion 210 extends from the end surface 208t of the bulging portion 208 in the direction of the central axis C, without penetrating the closed end of the small diameter portion 202. It is formed as a flow path that terminates. For example, a rotary joint is attached to the opening in the end surface 208t of the compressed air inlet 210, and a tube extending from the compressed air supply means is connected to this rotary joint. This prevents the tubes from rotating together when the rotor 200 is rotated.

In addition, as shown in FIG. 13(d), the small diameter portion 202 includes a flow path 212 that extends radially from the outer circumferential surface 202b and communicates with the hollow portion 206, and a flow path 212 that extends radially from the outer peripheral surface 202b and communicates with the hollow portion 206. It includes a flow path 214 that communicates with the flow path 214 . The flow path 212 functions as an exhaust path for discharging the air inside the expansion/deflation unit 80. Further, the flow path 214 is formed to extend from the outer circumferential surface 202b of the small diameter portion 202 inside the bulging portion 208 and penetrate to the compressed air inflow portion 210, and is a compressed air supply path along with the compressed air inflow portion 210. functions as In this embodiment, the flow passages 212 are provided at five continuous locations in the circumferential direction, and the flow channels 214 are provided at two continuous locations in the circumferential direction.

When the rotor 200 is inserted into the stator 100 and placed in the drive position, the openings of the flow path 212 and the flow path 214 that open to the outer peripheral surface 202b are connected to the supply and exhaust ports that open to the inner peripheral surface 100a of the stator 100. It is provided so as to be able to match the opening of the channel 102. The shape in which the flow path 212 and the flow path 214 open to the outer peripheral surface 202b is, for example, formed in the same rectangular shape as the supply/discharge path 102 that opens to the inner peripheral surface 100a of the stator 100.

The small diameter portion 202 has an outer diameter dimension that allows the outer circumferential surface 202b to rotate in the circumferential direction around the central axis C while slidingly contacting the inner circumferential surface 100a of the stator 100 when inserted into the inner circumferential side of the stator 100. Ru.

For example, the outer diameter of the large diameter portion 204 is set larger than the outer diameter of the small diameter portion 202. The large diameter portion 204 is provided with a plurality of grooves 216 extending radially around the central axis C from the inner circumferential surface 204a toward the outer circumferential surface 204b. The plurality of grooves 216 are provided at equal intervals in the circumferential direction, each groove 216 extends in the radial direction while maintaining a constant width, and is recessed from the end surface 204t of the large diameter portion 204 along the axis C direction. Formed as a recess. In this embodiment, seven grooves 216 are provided corresponding to the number of expansion/deflation units 80. A protrusion 302 protruding from a rotating plate 300 attached to the motor 40 engages with this groove 216 .

A rotary plate 300 having a protrusion 302 is attached to the motor 40 . The rotary plate 300 is formed, for example, in the shape of a flat disc. The protrusion 302 is configured, for example, by a cylindrical shaft body that is movable in the groove 216, and is attached to the rotary plate 300 so as to extend along the rotation axis of the motor 40. The position where the protrusion 302 is attached to the rotary plate 300 is set as follows, for example.

FIG. 14 is a diagram showing the relationship between the groove 216 provided in the rotor 200 and the protrusion 302 attached to the rotating plate 300. In the figure, Om indicates the center of rotation of the rotary plate 300, which is the center of the rotation axis of the motor 40, and Oj indicates the center of the protrusion 302. As shown in FIG. 14, the rotary plate 300 has a rotation center Om that is located between the two halves of a straight line g that connects the bisecting points fc of a virtual straight line f that connects the open ends 216A and 216A of each of the adjacent grooves 216 and 216, for example. It is arranged so as to be located at the equal dividing point gc. That is, the motor 40 is arranged with respect to the rotor 200 so that the center of the rotating shaft is located at the bisecting point gc.

In the rotary plate 300 arranged in this manner, the protrusions 302 are arranged so that when the rotary plate 300 rotates, the trajectory of the center Oj of the protrusion 302 passes over the bisecting point fc. will be placed in That is, the protrusions 302 are attached to the rotary plate 300 so as to sequentially engage with the grooves 216 provided in the large diameter portion as the rotary plate 300 rotates due to the rotation of the motor 40. That is, the position where the protrusion 302 is attached to the rotating plate 300 is set according to the pitch of the grooves 216 arranged in the circumferential direction.

Then, when the motor 40 rotates the rotary plate 300 in the direction shown by the arrow z1 in the figure, the protrusion 302 engaged at the open end side of the groove 216 moves the groove 216 toward the outside in the radial direction and rotates the rotor 200. is rotated in the direction shown by arrow z2 in the figure. Furthermore, when the rotation angle of the rotary plate 300 exceeds 90 degrees, the protrusions 302 rotate the rotor 200 while moving the grooves 216 radially inward. Furthermore, when the rotating plate 300 rotates 180 degrees, it separates from the groove 216. Then, as the motor 40 idles 180 degrees, the protrusion 302 reaches and engages the open end of the adjacent groove 216. By repeating these steps, the rotor 200 will rotate intermittently relative to the continuous rotation of the motor 40. That is, the plurality of grooves 216 and the rotary plate 300 having the protrusions 302 constitute an intermittent mechanism, and the rotor 200 can be caused to perform pseudo step rotation.

Next, the relationship between the air supply path and exhaust path provided in the rotor 200 rotating as described above and the air supply and exhaust path 102 provided in the stator 100 will be explained. Note that in the following description, the air supply passage and the exhaust passage may be simply referred to as an orifice without distinguishing between them.
FIG. 15 is a diagram showing the relationship between the rotation of the motor 40 and the rotation of the rotor 200, and the relationship between the air supply passage and the exhaust passage with respect to the supply and exhaust passage 102. That is, the relationship between the rotation of the input-side motor 40 and the rotor 200, and the behavior of opening and closing the orifice will be explained.

In the following description, as shown in FIGS. 15(a) and 15(b), for the sake of simplicity, the cam structure of the rotor 200 will be approximated as a linear component rather than a circular component. When considering the change in orifice area over time, the cam structure of the rotating part is approximated to a linear part rather than a circular part for simplicity. The time change in the orifice area refers to the time change in the overlapping state of the openings of the air supply passage and exhaust passage that open to the small diameter portion 202 of the rotor 200 and the supply and exhaust passage that opens to the inner circumferential surface 100a of the stator 100. .
Here, the rotational angle and angular velocity of the motor 40 are respectively θm and ωm, and the rotational diameter of the protrusion (pin) 302 that engages with the groove 216 is rm. FIG. 15(b) shows the state when the motor 40 rotates by θm in the range of 0<θm<π. θm and ωm have the relationship θm=ωm×t (Equation 1) using the time variable t, and the displacement x(t) of the rotor 200 is x(t)=(rm/2) cos It is calculated by (ωm×t) (Equation 2). ωm is the rotational angular velocity of the motor 40.

FIG. 16 is a diagram showing the movement of the rotor 200 and the opening/closing operation of the orifice to the supply/discharge path 102.
Next, the movement of the rotor 200 that approximates linear movement and the opening/closing behavior of the orifice to the supply/discharge path 102 will be considered. As shown in FIGS. 13(a) and 13(b), the diameter of the hollow portion 206 in which the plurality of grooves 216 open in the large diameter portion 204 is R, and the orifice (air supply path and exhaust path) is defined in the small diameter portion 202 of the rotor 200. ) is the diameter of the outer circumferential surface 202b (orifice surface) that opens, and the displacement x0(t) of the rotor 200 on the orifice surface is x0(t)=(R0/R)(rm/2)cos( It is calculated as ωm×t) (Equation 3).

Next, consider the case where the orifice changes from a closed state by the inner circumferential surface 100a of the stator 100 to an open state where it overlaps with the supply/discharge passage 102.
The orifice moves as shown in FIGS. 16(a) to 16(d) due to the rotation of the motor 40, and as shown in FIG. 16(d), the supply/discharge passage 102 of the stator 100 and the orifice of the rotor 200 overlap. Air flows in some parts. In this embodiment, the opening shape of the supply/discharge passage 102 and the opening shape of the orifice are rectangular with a width of 2 am and a length of b mm. The opening and closing of the orifice is divided into cases based on the state shown in FIG. 16(c).
Assuming that the time (boundary time) in the state shown in FIG. 16(c) is T0, T0 is calculated by T0=(1/wm)cos-1((4aR/R0rm)-1) (Equation 4).

FIG. 17 is a graph showing changes in orifice area So over time. As a result, the orifice area So changes over time as shown in FIG. 17. T is the time when the motor 40 makes a half rotation (rotation of 180°). When 0<t<T0, the orifice is closed and So(t)=0. When T0<So(t)<T, the orifices gradually overlap, So(t)=(((-(rm×R0)/2R)+a)-(x0(t)-a))×b This is the area calculated by (Equation 5).

Note that the small diameter portion 202 and the large diameter portion 204 in the rotor 200 may be formed integrally, or may be formed separately and then integrated.

18 to 23 are diagrams showing the operation of the air distribution device 1 according to this embodiment. In the following description, the flow path 212 will be referred to as an exhaust path 212 and the flow path 214 will be referred to as an air supply path 214. Further, each of the supply/discharge passages 102 connected to the expansion/contraction units 80A to 80G will also be described as supply/discharge passages 102A, 102B, . . . , 102G, etc.
FIG. 18 shows the stator 100, rotor 200, and The relationship between the rotary plate 300 is shown.
At this time, as shown in FIG. 18(a), the protrusion 302 has just started engaging with the opening of the groove 216, and as shown in FIG. 18(b), all the exhaust channels of the rotor 200 212 and the air supply path 214 are in a state of being closed by the inner peripheral surface 100a of the stator 100. In this state, the rotation angle of the motor 40 is 0°, that is, the rotation angle of the rotary plate 300 is 0°, and is referred to as a rotation reference.

Next, as shown in FIG. 19(a), when the motor 40 rotates the rotary plate 300 by 45 degrees, the protrusion 302 rotates the rotor 200 while moving toward the outside in the radial direction of the groove 216. In this rotation, as shown in FIG. 19(b), all the exhaust passages 212 and the air supply passages 214 are kept closed by the inner circumferential surface 100a of the stator 100, and the expansion and contraction units 80A and 80B are expanded. The state and the deflated state of the expansion/contraction units 80C to 80G are maintained.

Next, as shown in FIG. 20(a), when the motor 40 further rotates the rotary plate 300 by 45 degrees (90 degrees from the rotation reference), the protrusion 302 moves the groove 216 further radially outward. While rotating the rotor 200. Note that at this time, the protrusion 302 is in a state where it has entered the deepest direction of the groove 216. As a result of this rotation, as shown in FIG. 20(b), each exhaust passage 212 opens to one of the supply/discharge passages 102A; 102D to 102G, and the air supply passage 214 opens to the supply/discharge passage 102B; 102C. , as shown in FIG. 20(c), the air in the expansion/contraction unit 80A is discharged and contracted, and the compressed air is supplied into the expansion/contraction unit 80C and expanded. Note that the exhaust passage 212 and the air supply passage 214 begin to open to the supply and exhaust passages 102A to 102G while the rotation angle of the motor 40 reaches 90°.

Next, as shown in FIG. 21(a), when the motor 40 further rotates the rotary plate 300 by 45 degrees (135 degrees from the rotation reference), the projections 302 move radially inward through the grooves 216 and rotate the rotor 200. Rotate. In this rotation, as shown in FIG. 21(b), the rotor rotates while the exhaust passage 212 and supply/discharge passages 102A; 102D to 102G remain open, and the air supply passage 214 and supply/discharge passages 102B; 200 rotates. As a result, the expansion and contraction unit 80A and the expansion and contraction unit 80C move from the state shown in FIG. 20(c) to the state shown in FIG. The supply of compressed air into the expansion/contraction unit 80C progresses and expands further.

Next, as shown in FIG. 22(a), when the motor 40 further rotates the rotary plate 300 by 45 degrees (180 degrees from the rotation reference), the protrusion 302 moves to a position where it can be removed from the groove 216, and the rotor rotates. Rotate 200. Due to this rotation, as shown in FIG. 22(b), the exhaust passage 212 and the air supply passage 214 are closed by the inner circumferential surface 100a of the stator 100, and the expansion/contraction units 80A, 80D to 80G are in the contracted state, and the expansion/contraction unit 80B , 80C are in an expanded state. In addition, in detail, the exhaust passage 212 and the air supply passage 214 begin to be closed by the inner circumferential surface 100a of the stator 100 while the rotation angle of the motor 40 reaches 180 degrees.

Next, as shown in FIG. 23(a), when the motor 40 further rotates the rotary plate 300 by 45 degrees (360 degrees from the rotation reference), the protrusion 302 moves into the groove 216 adjacent to the previous groove 216 in the circumferential direction. move to the position where it starts engaging. This completes one process of deflating the expansion/contraction unit 80A and expanding the expansion/contraction unit 80C. By repeating the above steps, it is possible to always perform an operation imitating a peristaltic movement in which two adjacent expansion/deflation units 80 are sequentially moved forward in the advancing direction.

Therefore, by controlling the rotational speed (rotational speed) of the motor 40, the moving speed of the moving section 8 can be increased or decreased. That is, the moving speed of the moving unit 8 can be controlled by simple control of controlling only the rotation speed of the motor 40 without performing complicated control.
Note that the exhaust passage 212 and the air supply passage 214 that open on the outer circumferential surface of the rotor 200 are not necessarily limited to opening side by side in the circumferential direction. For example, the exhaust passage 212 and the air supply passage 214 may be provided so as to be offset in the axial direction on the outer circumferential surface 202b. At this time, an opening for the supply/discharge passage 102 may be provided in the inner circumferential surface 202b of the stator 100 so that the supply/discharge passage 102 communicates with the exhaust passage 212 and the air supply passage 214 and is closed by the rotation of the rotor 200. That is, as long as the air flowing through the exhaust passage 212 and the air supply passage 214 is formed so as to flow in the radial direction with respect to the supply/exhaust passage 102, it may be changed as appropriate.

Since the air distribution device 1 of this embodiment has a simple configuration of a stator 100, a rotor 200, and a rotary plate 300, it can be lightweight when connected to the rear of the moving part 8 as shown in FIG. This can contribute to improving the moving speed of the moving section 8.

Furthermore, although the motor 40 has been described as being rotated by an electrical signal, the present invention is not limited thereto, and for example, an air motor that rotates by air pressure may be used.

Further, in this embodiment, the controlled object of the air distribution device 1 expands radially outward and contracts in the axial direction by supplying air, and contracts radially inward by discharging air. Although the explanation has been made as an expansion/contraction unit (actuator) that extends in the axial direction, the invention is not limited to this. For example, the inner cylinder expands radially inward by supplying air, and expands radially inward by discharging air. It is also suitable for controlling a pump or the like connected to an actuator that contracts in the same direction.

1 Air distribution device, 2 Propulsion device, 8 Moving part, 10 Case, 11 Main body part,
12 lid part, 14 tube connection part, 17 hole,
30 flow path switching gear, 31 shaft section, 31s hollow space, 32 gear section,
33 rotary joint, 36 recess, 38 arcuate hole, 40 motor,
73 compressed air supply means, 75 propulsion control means, 80 expansion and contraction unit,
100 stator, 200 rotor, 300 rotating plate.

Claims (4)

An air distribution device in which three or more actuators that expand and contract by supplying and exhausting air are connected, and distributes air to the actuators in a predetermined order,
an actuator communication section having a plurality of holes that individually communicate with the plurality of actuators;
an air supply unit that is rotated by the drive of a motor, communicates with two or more of the plurality of holes, and supplies compressed air from the air supply means to the actuator;
a flow path switching section having an exhaust section that communicates with all or some of the holes other than the hole that communicates with the air supply section among the plurality of holes and exhausts air from the actuator through the communicating hole; , comprising;
The actuator communication portion is made of a cylinder having an inner circumferential surface with a circular cross section,
The plurality of holes are provided in the actuator communication portion so that one end side communicates with the actuator and the other end side opens to the inner peripheral surface,
The flow path switching section is provided on the inner circumferential side of the actuator communication section, and has an outer circumferential surface with a circular cross section facing the inner circumferential surface of the actuator communication section,
The air supply part and the exhaust part are provided such that one end thereof is open to the outer peripheral surface and can be aligned with the plurality of holes opened to the inner periphery of the actuator communication part by rotation of the flow path switching part. , an air distribution device characterized in that the actuator expands and contracts in a manner that simulates peristaltic motion. The motor includes a rotary plate that rotates by rotation of the motor,
The rotary plate includes a protrusion extending parallel to the rotation axis of the motor at a position away from the rotation center,
The flow path switching section includes a plurality of grooves that extend radially in a radial direction and are engaged with the projections,
The air distribution device according to claim 1 , wherein the plurality of grooves are provided so as to be able to engage with adjacent grooves each time the rotary plate rotates once. The actuator according to claim 1, wherein the actuator expands radially outward and contracts axially when air is supplied, and contracts radially inward and expands axially when air is discharged. Air distribution device. The air distribution device according to claim 1, wherein the actuator expands radially inward when air is supplied and contracts radially inward when air is discharged.

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