JPH01103180A - Driver - Google Patents

Abstract

PURPOSE:To simplify the structure and to reduce the cost, by producing driving force through utilization of distortion of an elastic rubber body which exhibits superconductivity through Meissner effect. CONSTITUTION:In a driver, a closed space is formed by an elastic rubber body having small chips 3 composed of superconducting material on the surface of a bag 1, and fluid 2 is fed therein. Fixing sections 2a, 2b are provided at a portion of the bag 1 and constituted with a cylinder 5 and a piston 6, while a field generator 4 is arranged to face with the small chips 3. Superconducting material to be employed for the small chips 3 includes oxide series superconducting material (YBaCuO) containing copper. Upon application of field, the superconductor exhibits Meissner effect and tries to move in the direction departing from the field generating section, and thereby the volume in the bag reduces to operate the piston 6. Upon removal of magnetic field through elasticity of the elastic body, the bag is restored to original shape and driving force is produced.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a drive device capable of driving an object by telescopic movement, and is particularly used for prosthetic hands, prosthetic legs, robots, automatic control equipment, etc. .

Conventional technology Conventionally, methods have been devised for such drive devices in which a motor, linear actuator, or the like is used as a drive source, and the arm is caused to move using a joint as a fulcrum, either directly or through a power transmission device such as a gear. However, there was a problem that the device became complicated. Therefore, in order to solve this problem, a method using electromagnets (for example, Japanese Patent Laid-Open No. 57-86
338) and a method using a bimorph element (for example, Japanese Patent Application Laid-Open No. 61-76295).

These methods will be explained below. Figures 7 and 8
The figure is a configuration diagram of a conventional drive device using electromagnets. Each electromagnet 103, 104, 105, attached to a link 101, 102 forming a predetermined gap 107
A switch 108 is provided between the DC power supply 106 and the DC power supply 110, and the switch 10B causes the electromagnets 103, 104, .
Switch the excitation of electromagnets 105 and 106, and
The gap 1 between the electromagnets is created by the attractive force or repulsive force between the electromagnet 105 and the electromagnet 105 and the electromagnet 104 and the electromagnet 106.
07 to change the relative angle between the two links 10 LiO2.

Next, a method using a bimorph element will be explained.

FIG. 9 is a block diagram of a vI drive device using a bimorph element. The bimorph element 121 consists of polymer piezoelectric films 122a and 122b, each of which has an electrode 124a1124b formed thereon.
If the polarization directions of a and 122b are in the same direction as shown by the solid arrows, and electric fields in opposite directions are applied from the electric field 8125, the film 122a will expand and the film 122b will contract, so this bimorph The element refracts in the direction of the dotted arrow.

Problems to be Solved by the Invention The drive device as described above has the following problems.

That is, in the first conventional example, four electromagnets are required for one joint, which causes heat dissipation, and when a large angle change is required, multiple drive devices are required.
The device becomes larger.

In the second conventional example, since the amount of displacement of the bimorph element is small, it is effective for small displacements, but it is difficult to obtain large amounts of displacement.

In view of these points, the present invention provides a drive with a simple configuration and low cost! 5
The purpose is to provide a

Means for Solving the Problems The present invention provides a bag-like elastic body having an Mi conductor and containing a fluid therein, a strong body that limits the deformation of the bag, and a magnetic field applied to the superconductor. A drive equipped with a magnetic field generating means that adds ly
It is vzR.

Effect In the above-described configuration, when a magnetic field is applied to the superconductor, the superconducting materials on the surface or inside each exhibit the Meissner effect, and try to move away from the magnetic field generating part, facing the magnetic field generating device of the bag. The wall material partially collapses inward and the volume inside the bag tries to decrease, but since this elastic body makes up the bag, it expands in a certain direction to keep the internal volume constant. try to.

Since the deformation of the elastic body is restricted by the strong body, the degree of freedom is limited in a certain direction, and the bag stretches in this direction. Next, when the magnetic field is removed, the repulsive force of the superconducting material against the magnetic field generating part disappears, and the superconducting material tries to return to its original bag-like shape due to the elastic force of the elastic body.

Driving force is obtained by this change in shape.

Embodiment FIG. 1 is a sectional view of a driving device in a first embodiment of the present invention. The bag l constitutes a flywheel made of a rubber-like elastic body having a small piece 3 made of a superconducting material on a part of its surface, and a fluid 12 is contained in this space. A part of l is fixed by a cylinder 5 and a piston 6 in fixed parts 2a and 2b, respectively. Also, a magnetic field generator 14 is provided opposite the small piece 3 made of superconducting material.
is located.

The small pieces 3 made of superconducting material only need to produce a Meissner effect on the magnetic field generated around them, and their shape and size can be selected appropriately. The superconducting material used for the small piece 3 made of superconducting material is, for example, an oxide-based superconducting material containing copper, such as YBacuo (an oxide consisting of yttrium, barium, and copper), 5rBaYCuO (strontium, barium, and yttrium), , copper oxide), ErBac
uo (an oxide consisting of erbium, barium, and copper), etc. can be used. Further, the arrangement on the surface of the rubber-like elastic body can be achieved, for example, by applying an adhesive to the small piece 3 made of superconducting material and bonding it, or by sinking the small piece 3 made of superconducting material into the rubber-like elastic body. It can be done by etc.

In addition, the rubber-like elastic body constituting the bag 1 must be selected from a material that exhibits sufficient elasticity in the environment in which this drive device is used, and which is chemically stable with the fluid 12 contained in the bag 1. Yes, for example, silicone rubber (brittle point -116℃
), a rubber material such as fluoro rubber (R point -70°C), or a foam made of a resin material such as polytetrafluoroethylene (PTFE), etc. can be used.

Also, the fluid to be put in bag 1 is this Kakeru! It is sufficient if it is sufficiently chemically stable in the environment in which the JJ device is used.

For example, liquids such as water and alcohol, gases such as air,
Furthermore, liquid resin materials such as polybutene and silicone oil can be used.

Further, the cylinder 5 and the piston 6 need only be made of materials that do not change their shapes even when the bag l is deformed, and for example, metal materials such as brass and stainless steel, or resin materials such as vinyl chloride can be used. .

Further, although the magnetic field generating device 4 is installed inside the cylinder 5, it may be installed outside the cylinder 5. In this case, the cylinder 5 may be made of a material that does not block the magnetic field, such as a resin material.

FIG. 2 is an operating state diagram illustrating the operating state of the first embodiment of the drive device of the present invention. In Figure 1, the magnetic field generator 4
was installed inside the cylinder 5, but the magnetic field generating device 4 will be installed outside the cylinder 5 for explanation.

A bag l containing a fluid 12, which constitutes a leap block made of a rubber-like elastic body having a small piece 3 made of a superconducting material on its surface, is formed into a cylinder as shown in FIG. 2(A). A part of the bag 1 is fixed in the space surrounded by the piston 6 and the fixing part 2a.
, 2b between the cylinder 5 and the piston 6, and when the magnetic field generator 4 is not generating a magnetic field, the bag l
Since the shape of does not change, the piston 6 does not move.

In this state, when a magnetic field generator 4 generates a magnetic field around the small pieces 3 made of superconducting material provided on the surface of the bag 1, each of the small pieces 3 made of superconducting material exhibits the Meissner effect, and the magnetic field The bag 1 tends to move in a direction away from the generator 4, and the wall material of the bag 1 made of a rubber-like elastic body is dented toward the inside of the bag 1. At this time, the fluid 12 in the bag l
Since no change occurs in the volume of , the bag l tries to expand, but the upper and left wall members of the cylinder 5 prevent the bag l from expanding in these directions.

Therefore, the bag 1 inflates so as to move the piston 6 in the direction of the arrow in the figure. This amount of movement is due to the repulsive force due to the Meissner effect, that is, the generation of a magnetic field! It is proportional to the magnetic field strength from I position 4.

Furthermore, when the generation of the magnetic field by the magnetic field generator 4 is stopped from this state, the small piece 3 made of the superconducting material loses its repulsive force against the magnetic field and tries to return to its original state due to the elastic force of the rubber-like elastic body.

In this way, by repeatedly generating and stopping the magnetic field by the magnetic field generator 4, the piston 6 can reciprocate.

In this example, the small piece 3 made of superconducting material provided on the surface of the bag l was provided only on a part of the bag l, but there was also a small piece 3 on the top of the bag l that was between the front and back of the bag l. A configuration may also be adopted in which a magnetic field generating device is provided in the same manner and opposite to a separately provided small piece made of a superconducting material.

Further, the magnetic field generator t4 only needs to be able to generate and change a magnetic field around the small piece 3 made of superconducting material, for example, whether or not current is passed through an electromagnet made of a coil, or whether it is made to flow. It is sufficient that the current amount can be 1 lrB.

Further, by reducing the diameter of the cylinder 5 in the portion where the piston 6 moves and the diameter of the cylinder 5 in the portion where the bag l extends, the distance traveled by the reciprocating motion of the piston 6 can be increased.

FIG. 3 is a sectional view of a drive device in a second embodiment of the present invention, and the same parts as in FIGS. 1 and 2 are designated by the same numbers.

In FIG. 3, the bag l constitutes an interspace made of a rubber-like elastic body, and a fluid 12 is contained in the interspace, and a protrusion 7 provided on the cylinder 5 as shown in the figure A small piece 3a made of a superconducting material is placed on the surface of both sides of the bag l that sandwiches the protrusion 7,
3b.

Further, a part of this bag l is fixed to pistons 6a and 6b at fixed parts 2a and 2b, respectively, and
The bag l, the cylinder 5, and the protrusion 7 provided on the cylinder 5 are fixed by the fixing part 2c.

The magnetic field generating bags 24a and 4b are installed so as to face the small pieces 3a and 3b made of superconducting material provided at two parts M on the surface of the bag l, respectively.

Next, the operation of the second embodiment of the drive device of the present invention will be explained using FIG. 4. First, a small piece 3a made of superconducting material
, 3b on the surface of a rubber-like elastic body, and the bag l containing the fluid 12 is shown in Fig. 4 (A
), a part of the bag l is fixed between the pistons 6a and 6b by the fixing parts 2a and 2b in the space surrounded by the cylinder 5 and the pistons 6a and 6b, and the fixing part 2C
The pistons 6a and 6b are fixed between the cylinder 5 and a protrusion 7 provided inside the cylinder 5, and the shape of the bag l does not change when the magnetic field generators 4a and 4b are not generating a magnetic field, so the pistons 6a and 6b are Don't move.

In this state, when only the magnetic field generator 4 is operated to generate a magnetic field only around the inner small pieces 3 of the small pieces 3a and 3b made of superconducting material provided on the surface of the bag 1, the magnetic field generator 4 Due to the generated magnetic field, only each of the small pieces 3a made of superconducting material exhibits the Meissner effect and tries to move away from the magnetic field generator 4a,
Magnetic field generator 4 for wall material made of rubber-like elastic material of bag 1
The part facing a is recessed toward the inside of the bag l.

However, since the magnetic field generator 41) does not generate a magnetic field, the small piece 3b does not have a repulsive force due to the magnetic field.

At this time, there is no change in the volume of the fluid 12 in the bag 1, so the bag 1 tries to stretch, but the direction in which the bag 1 tries to stretch freely is limited by the piston 6b due to the cylinder 5, protrusion 7, etc. direction only. Therefore, the piston 6b moves in the direction of the arrow shown in FIG. 4(B).

Furthermore, when the generation of the magnetic field by the magnetic field generator 4a is stopped from this state, the small piece 3b made of the superconducting material loses its repulsive force against the magnetic field and tries to return to its original state due to the elastic force of the rubber-like elastic body.

In this way, by repeatedly generating and stopping the magnetic field by the magnetic field generator 4a, only the piston 6b can reciprocate.

Further, as shown in FIG. 4(C), magnetic field generators 4a, 4
When both pistons 6a and 6b generate magnetic fields at the same time, both pistons 6a and 6b can be reciprocated simultaneously, as shown in the figure.

Further, similarly to the first embodiment, the diameter of the cylinder 5 at the portion where the pistons 6a, 6b move and the diameter of the cylinder 5 at the portion where the bag l extends are made smaller.
The distance traveled by the reciprocating motion of b can be increased. Furthermore, the small piece 3 made of superconducting material provided on the surface of the bag 1 was provided only on a part of the bag 1, but it was also provided in the same way on the top of the bag 1, which is the front and back sides of the bag 1, and this The magnetic field generating position may be placed so as to face a small piece made of a superconducting material provided separately.

FIG. 5 is a sectional view of a drive device in a third embodiment of the present invention.

In FIG. 5, the same numbers are used for the same parts as in FIGS. 1 to 4. The two rod-shaped bodies 9 and 10 are rotatably connected by a rotary portion 8 .

As shown in the figure, a bag l made of a rubber-like elastic material has one end fixed to a rod-shaped body 9 at a fixing part 2a, and the other end of the bag l is attached to a rod-shaped body 9 so as to surround the rod-shaped body IO. It is fixed to the rod-shaped body 9 at the fixed part 2b on the opposite side of the solid part 2a on the bar 9.

Further, the bag 1 is fixed at the end of the rod-shaped body 10 opposite to the rotating part by a locking part 2c of the rod-shaped body IO and the resin 11. Historically, a cavity 13 is provided between the bag 1 and the rotating part 8, forming a space.

Further, the resin 11 around the bag 1 is made of an elastic resin that does not hinder the deformation of the bag 1, and this resin material is harder than the elastic body of the bag 1.

Furthermore, the rod-shaped body 9.10 can be made of a material with low elasticity, such as metal or ceramics.

FIG. 6 is an operational state diagram for explaining the operational state of the third embodiment of the drive B position of the present invention.

The operation of the drive device of this embodiment will be explained using FIGS. 5 and 6. First, construct a wei-ku block of the shape shown in the figure, which is made of a rubber-like elastic body having a small piece 3.3' made of superconducting material on its surface, and the bag l containing the fluid 12 in its width is the sixth As shown in FIG. Part 2
It is fixed by the fixing part 2C on the opposite side of a. In addition, rod-shaped body 1
The opposite end of the rotating part 8 is also fixed by the resin 11 and the rod-shaped body 10 by the fixing part 2b. At this time, the bag 1 is left slightly stretched by the fluid inside.

When the magnetic field generators 4a and 4b are not generating magnetic fields, the shape of the bag 1 does not change and the rod-shaped body 9 does not move, as shown in FIG. 6(A).

Next, for example, when a magnetic field is generated around the small pieces 3a made of superconducting material by the magnetic field generator 4a, each of the small pieces 3a made of superconducting material exhibits the Meissner effect, and the direction moves away from the magnetic field generator @4. bag 1
The portion of the wall material made of a rubber-like elastic material that faces the magnetic field generator 4a is recessed toward the inside of the bag l. but,
Magnetic field generator 8 4b does not generate a magnetic field, so small piece 3b
has no repulsive force due to the magnetic field. At this time, there is no change in the volume of the fluid 12 in the bag l, and because of the resin 11 around the upper part la of the bag 1 and the fixing part 2c, there is no change in the volume of the fluid 12 under the bag 1. +
(lb tries to stretch. The direction in which the lower part Ib of the bag 1 tries to stretch freely is the horizontal direction in the figure, due to the fixed part 2c at the end of the rod-shaped body lO and the resin 11 around it. Since it is in the direction of the hollow part 13 of the bag l and the rotating part 8,
The rod-shaped body 9 moves in the direction indicated by the arrow.

In order to return the rod-shaped body 9 to its original state from this state, the magnetic field generator 4a is stopped. Then, the small piece 3a made of superconducting material loses its repulsive force against the magnetic field and returns to its original state due to the elasticity of the rubber-like elastic body. Furthermore, the returning operation can be performed quickly by stopping the magnetic field generating device 4a and causing the magnetic field generating device 4b to generate a magnetic field.

In this third embodiment, small pieces 3a and 3b made of superconducting material and a magnetic field generating device #
4a and 4b, the rod-shaped body 9 can be moved minutely or quickly by controlling the strength of the magnetic field generated by the magnetic field generators 4a and 4b.

In the above embodiment, explanation was given using one bag, but by using two bags having a similar configuration, installing them so as to sandwich the rod-shaped body 10, and connecting the two bags with a vibrator-shaped body, can also be configured, and similar effects can be obtained.

Furthermore, something that blocks the magnetic field, such as a metal material, may be inserted between the rod-shaped body 10 and the bag l. This blocker can prevent interference of magnetic fields when controlling the magnetic field generators 4a and 4b simultaneously.

Furthermore, in the first, second, and third embodiments, the small piece made of superconducting material is provided on the surface of the rubber-like elastic body, but it may be placed inside the rubber-like elastic body.

As described in detail of the invention, the drive device according to the present invention obtains a driving force by utilizing the distortion of a rubber-like elastic body having a superconducting material due to the Meissner effect of the superconducting material due to the generation of a magnetic field. It is very simple and can achieve everything from minute movements to large movements, as well as agile movements, making it extremely practical.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a drive device according to a first embodiment of the present invention, FIG. 2 is an operating state diagram showing the operating state of the same embodiment, and FIG. 3 is a drive device according to a second embodiment of the present invention. FIG. 4 is an operating state diagram showing the operating state of the same embodiment, and FIG.
The figure is a sectional view of the drive device of the embodiment of the present invention, FIG. 6 is an operating state diagram showing the operating state of the embodiment, and FIG.
The figure is a sectional view of a drive device using a conventional bimorph element. 1...bag, 2a, 2b, 2c...-fixing part, 3.3a
, 3b...Small piece made of superconducting material, 4, /La
, 4b-Magnetic field generator, 5-...Shigen'! ,6.
6a, 6b...Piston rod, 12...Fluid. Name of agent Patent attorney Toshio Nakao One idiot Figure 1; 1KLl: +ノI%Ite Figure 2 Figure g4 Figure 5 (B)

Claims (3)

[Claims] (1) A bag-like elastic body having a superconductor and containing a fluid inside, a strong body that limits deformation of the bag, and a magnetic field generating means for applying a magnetic field to the superconductor, the strong body is harder than the elastic body, the magnetic field generating means generates a magnetic field, and the elastic body obtains a driving force by deforming in a direction not restricted by the strong body. (2) The drive device according to claim 1, wherein the strong body is a cylinder. (3) The drive device according to claim 1, wherein the strong body is made of resin.