JPH04111792A - Actuator - Google Patents

Abstract

PURPOSE:To improve convenience in handling an object such as a soft thing, a brittle thing or a thing having many curved surfaces by giving an anisotropic and elastic characteristic to outer peripheral walls of plural number of actuating bodies fixed onto a common base. CONSTITUTION:Since outer peripheral walls of actuating bodies 3, 5, 7 and 9 have an anisotropic and elastic characteristic, when pressure is applied to pressure chambers (301-303), (501-503), (701-703) and (901-903), the actuating bodies 3, 5, 7 and 9 are deformed elastically so that elastic deformation in the axial direction and a curved deformation in the optional direction are carried out. Thereby, by operating the plural number of actuating bodies 3, 5, 7 and 9 coordinately, the grip or the handling operation of an object can be carried out.

Description

[Detailed description of the invention]

[000 month [Purpose of the invention] [0002]

[Industrial application field]

The present invention relates to an actuator that utilizes elastic deformation due to pressure energy of fluid, and particularly to an actuator that can easily grip objects such as soft objects, easily breakable objects, and objects with shapes having many curved surfaces. [0003]

[Conventional technology]

In recent years, as the range of applications for robots has expanded, robots have been used to handle soft objects such as fruits and small animals, breakable objects such as glass chips, and objects with many curved surfaces such as spheres and cones. There is a demand for the development of a robot hand that can be handled as an object, and there is also an increasing demand to manipulate and operate these objects with the fingertips of the robot hand. [0004]

[Problem to be solved by the invention]

However, most conventional robot hands are two-finger hands, and such robot hands have difficulty handling objects such as soft objects, easily breakable objects, and objects with shapes that have many curved surfaces. In addition, it was not possible to perform sufficient finger manipulation operations, and the control algorithm was complicated. [0005] Furthermore, the multi-fat hand that is currently in the research stage has a complicated mechanism and control algorithm, and cannot fully meet the above-mentioned requirements. [0006] As described above, conventional robot hands and the like are inadequate for handling soft and breakable objects, and the control algorithm may also become complicated. [0007] The object of the present invention is to treat soft or breakable items, and
An object of the present invention is to provide an actuator that can easily grip an object such as an object having a shape with many curved surfaces, and can sufficiently manipulate the object. [0008] [Configuration of the invention] [0009]

[Means for Solving the Problems] In order to achieve the above object, the present invention has a plurality of cylindrical elastic actuating bodies whose interiors are separated into a plurality of pressure chambers by partition walls extending in the axial direction. The pressure of each of the cylindrical elastic actuators is adjusted so that the plurality of cylindrical elastic actuators cooperate to perform a predetermined operation. A means for adjusting the pressure in each chamber is provided. [0010] Another feature of the present invention is that the present invention has a plurality of pressure chambers, at least an outer peripheral wall thereof has anisotropic elastic properties, and operates by adjusting the pressure of each pressure chamber. [0011] According to the above structure, the outer circumferential wall of the actuating body is anisotropic. Since it has elastic properties, when the pressure chamber is pressurized, the actuating body deforms elastically, allowing for expansion and contraction deformation in the axial direction (accompanied by rotation around the axis depending on the direction of anisotropy) and bending deformation in any direction. It will be done. Therefore, by coordinating a plurality of actuating bodies, it is possible to grasp or manipulate an object. [0012]

【Example】

1 to 3 show an actuator according to an embodiment of the present invention. [0013] FIG. 1 is a configuration diagram of a robot hand as a first embodiment of an actuator, FIG. 2a is a plan view, and FIG. 3 is a plan view of a robot hand.
A sectional view taken along the line III-III of FIG. This actuator 1 includes bases 3a, 5a, 7 of a plurality of (four in this embodiment) cylindrical elastic actuators 3, 5, 79, respectively.
a, 9a to the base 11 of the actuator 1 by the holding member 13
, 15, 17, and 19, and fixed with screws 20 or the like. These working bodies 3, 5, 7.9 are
Each cylinder core shaft 3b is arranged at equal intervals on the same circumference of the base body 11,
5b, 7b, and 9b are arranged in parallel. [0014] The actuating bodies 3, 5, 7.9 also include a pressure chamber 3, which will be described later.
01,302,303501.502,503,701
, 702, 703, 901, 902, 903 are attached to the base 11 so as to be arranged as shown in FIG. 2b. [0015] Each of the above-mentioned cylindrical elastic actuating bodies 3, 5, 7.9 is an actuating body 3.
The configuration is as shown in FIGS. 4 and 5, which illustrate. [0016] That is, the actuating body 3 is formed of a cylindrical elastic body 23 whose outer peripheral wall has anisotropic elastic properties (for example, the outer periphery is wrapped with fibers). That is, this cylindrical elastic body 23
is formed by covering the outer periphery of fibers wound spirally at close intervals with silicone rubber, which is an elastic material. Therefore, since the cylindrical elastic body 23 is formed of an anisotropic elastic material made of a composite of fibers and rubber, the direction in which the longitudinal elastic modulus is small is the cylindrical elastic body 23.
3, and is easy to stretch in this axial direction. In addition, in the direction perpendicular to the axial direction, the elastic modulus of MftE is difficult to expand due to fibers. ) elastic partitions 27, 29.3
1 into a plurality (three in this embodiment) of pressure chambers 301, 302, and 303 in cross section. Pressure chamber 3
One end of 01, 302, 303 is sealed with a lid 33, 35, 37, and a tip member 39 with a rounded tip is placed thereon.
is attached with adhesive or the like. Moreover, the pressure chamber 301,
The other ends of 302 and 303 are sealed with lids 47 and 49.51 made of a relatively hard elastic body and having through holes 41 and 43.45. [0017] The material of the lids 47, 49, 51 may be the same as that of the cylindrical elastic body 23, or may be metal, plastic, or the like. The portion provided with this lid is the base 3a.
- Used as 9a. [0018] The pressure chambers 301, 302 are connected to the through holes 41, 43.
, 303, fluid such as air is supplied. [0019] The pressure of the fluid supplied into the pressure chambers 301, 302, 303 is controlled by a valve 57 that adjusts the amount of fluid from the fluid source 54 and a control computer 55 that controls the valve 57, as shown in FIG. adjusted. As this valve 57,
For example, a pressure control valve is used. As a result, the cylindrical elastic body 23 elastically extends in the direction 25 of the cylindrical center or rotates around the cylindrical center, and is further deformed into a curve. [0020] The other operating bodies 5, 7.9 have the same configuration as the operating body 3, and the operating body 5 has pressure chambers 501, 502, 503, and the operating body 7 has pressure chambers 701, 702, 703, . Moreover, pressure chambers 901, 902, 903 are formed in the actuating body 9, and these pressure chambers 501, 502, 503, 701, 70
2,703,901,902,903 has a pressure chamber 301
, 302, 303, the tips of the tubes 53 are exposed, and these tubes 53 are connected to the fluid source 54 via the valve 57. , 37. Tip member 39. It is also possible to integrally form the lid 47°49.51 with silicone rubber or the like. [0022] A bottom plate 59 is attached to the bottom of the base 11 of the actuator 1 to form a space 61, and the tubes 53 are pulled out to the outside through this space 61. protected. [0023] Next, the operation of the actuator 1 will be explained. Note that the actuator 1 can be caused to perform various types of operations, and each will be explained in turn. [0024] In the first operation mode, as shown in FIGS. 6 and 7, the object M
The actuator 1 is controlled so as to grasp the object from all sides. [0025] For this purpose, as shown in FIGS. 6a and 7a, each operating body 3
.
Planes A, B, and C created by connecting b, 5b, 7b, and 9b
, D (a plane perpendicular to the plane of the paper in FIG. 2), each actuating body 3
, 5, 7.9 [0026] Each operating body 3, 5, 7 is operated within the planes A, B, C, D.
．． 9, the respective pressure chambers 302 and 303 . Pressure chambers 502 and 503. Pressure chambers 702 and 703
．． The actuating bodies 3, 5, 7.9 are positioned within the planes A, B, C, and D with the elastic partition walls 29 of the pressure chambers 902 and 903 facing the central axis 65 side. Each of the actuating bodies 3, 57.9 is arranged in this way, and the pressure chambers 301, 501, 701, 901 of each of the actuating bodies 3, 5, 7. If fluid is supplied only to and pressurized, each of the actuating bodies 3, 5, 7.9 will be curved inward within planes A, B, C, and D, respectively. [0027] Furthermore, as shown in FIGS. 8a and 8b, pressure chambers 302 and 303 of each of the actuating bodies 3, 5, 7.9 have the same configuration.
, 502 and 503, 702 and 703, 902 and 903 and pressurize them equally, each actuating body 3, 5, 7
．． 9 are respectively curved outwards in planes A, B, C and D, and the object M is grasped from the inside as shown in Figure 8a. [0028] As described above, the elastic partition walls 29 of each actuating body are arranged on planes A, B,
If it is located between C and D, the first operation mode described above can be easily realized. [0029] However, this embodiment does not limit the direction of the elastic partition 29. That is, since each actuating body can be bent in any direction by a combination of fluid pressure, the elastic partition wall 29
[0030] By controlling the actuator 1 in this way, the object M can be grasped as shown in FIGS. 6 to 8. I can do it. Particularly when gripping a glass object with a complicated shape as shown in FIG.
Each actuating body 3, 5, 7.9 can be curved to suit the shape of. Moreover, by curving each operating body 3, 57.9 outward, the object M can be gripped from the inside as shown in FIG. [0031] Furthermore, as will be explained below with a specific example, by further adjusting the fluid from the above-mentioned gripping state, the object M can be gripped with only the robot hand without moving the robot arm.
can be moved up and down, left and right, and rotated. [0032] Next, the second mode of operation will be explained. In this operation mode, as shown in FIG. 9, the actuator 1 is controlled to grip the object M by inserting it from the front and back or from both the left and right sides. [0033] [0034] [0035] [0036] [0037] The inside is curved outward. [0038] By controlling the actuator 1 in this manner, the object M can be inserted and grasped as shown in FIG. [0039] In this operation mode, the object can be gripped while maintaining a large distance between the actuating bodies 3 and 5 and the actuating bodies 7 and 9, so it is more stable when gripping a long object. Can be grasped. [0040] Next, as shown in FIGS. 10 to 13, an operation mode for controlling the actuator 1 to manipulate the movement of the object M will be described. [0041] That is, in FIG. 10, the object M is sandwiched between the front and rear or left and right sides by the actuating bodies 3, 5, and 7.9 with the same configuration as the second operation mode shown in FIG. In this state (that is, the pressurized state shown in FIG. 90), the pressure chambers 301, 302, 303 . Pressure chamber 501.502
,503. Pressure chambers 701, 702, 703. Pressure chamber 90
If fluid is equally supplied and pressurized into 1,902.903 (see Figure 11b), each actuating body 35.7.9 will extend in the direction of the cylinder core axis 3b, 5b, 7b, 9b, and as a result The object M can be moved upwards as shown in Figure 11a. [0042] Also, from the state of FIG. 11, the pressure chambers 301 and 302, pressure chambers 501 and 502 .
Pressure chambers 701 and 703. By supplying fluid to the pressure chambers 901 and 903 and pressurizing them (see FIG. 12b), each of the actuating bodies 3 and 5
, 7.9 are curved to the right, allowing the object M to be moved to the right as shown in Figure 12a. [0043] Furthermore, if pressure is applied as shown in FIG. 13b to extend the actuating bodies 5 and 7 on the lucky side and cause the actuating bodies 3 and 9 on the other side to remain as they are or to contract, as shown in FIG. 13a. The object M can be tilted vertically. [0044] FIGS. 14 and 15 show a modification of the second operation mode when the number of operating bodies is large. [0045] The operation mode shown in FIG.
, 67, 69 are provided, and the actuating body 3, is pressurized as shown in the figure.
5.67 and the actuating body 7, 9.69, the object M is sandwiched and gripped. [0046] Furthermore, the operation mode shown in FIG. 15 has five operating bodies 3, 5,
7, 9.67 are provided and pressurized as shown in the figure, these actuating bodies 3. - Among 5.7 and 9.67, some operating bodies 3,
5, 7.9 is operated to grasp the object M. [0047] Next, a third mode of operation will be explained. In this operation mode, as shown in FIG. 16, the actuator 1 presses and grips the object M from the front and back or from both left and right sides of the actuating bodies 3, 5, 7.9, or the base 11 of the actuator 1.
It controls the [0048] That is, pressurize as shown in FIG.
, 7.9 so that each operating body 3, 5, 7 does not interfere with each other.
．． 9 inward in different planes G, H, I, and J (perpendicular to the plane of the paper in FIG. 17).
The actuator 3, 57.9 is pressed onto the base 11 of the actuator 1 and is controlled to be gripped. [0049] Furthermore, in the actuator 1 shown in FIG. 6, FIG. 18b
If the pressure is applied as shown in FIG. The object M is rotated while being held. [0050] FIGS. 19 to 22 show second to fourth embodiments. [0051] What is shown in FIG.
are arranged on the base body 11 so as to be inclined outwardly. [0052] By arranging the actuating bodies 3 and 5 in this way, the actuating body 3
．． 5 has a wider range of motion and is suitable for, for example, protecting floating objects or grasping an object M and guiding the robot arm thereto. [0053] Furthermore, what is shown in FIG.
, 5b are arranged on the base body 11 so as to be inclined inward, respectively. [0054] By arranging the actuating bodies 3 and 5 in this way, the base body 11
The tip of the actuating body 3.5 is curved more deeply with respect to the central axis 65 of the robot hand, that is, the central axis of the robot hand.
The object M can be gripped more stably in the third operating state shown in FIG. [0055] Furthermore, the one shown in FIGS. 21 and 22 is constructed to resemble a human hand by five actuating bodies 3, 5, 7, 9.67. [0056] As shown in FIG. 22, the base 71 has a base portion 71a provided with a mounting hole 73 for the actuating body 3 corresponding to the thumb, and a base portion 71a for mounting the actuating bodies 5, 7, 9.67 corresponding to the index finger to the little finger. hole 75
．． 77, 79, and 81 are provided on the base portion 71b. And these mounting holes 73, 75, 77, 7
Each operating body 3, 5, 7, 9.67 is inserted into 9.81 and fixed with adhesive. [0057] The tubes 53 of each of the actuating bodies 3, 5, 7, 9.67 are drawn out to the outside through the space 61 of the base portion 71b, and are collectively protected by a protective tube 63. The space 61 is covered by a back plate 83. [0058] By configuring the actuator 1 in this way and controlling the pressurized state, it is possible to make the actuator 1 move in a manner similar to that of a human hand. [0059] FIGS. 23 to 25 show modified examples of the actuating body. [0060] The one shown in FIG. 23 operates by covering a part of the outer periphery of the cylindrical elastic body 23 with a thin cylinder 85 formed of a material that does not easily deform, such as metal or plastic, and fixing it by means such as adhesive. It constitutes a body 87. [0061] According to this modification, only the portion that covers the thin cylinder 85 is not deformed, so as shown in FIG.
It is possible to change the shape of the curve. [0062] By adjusting the number, length, and mounting position of the thin cylinders 85, a curved form suitable for the object M to be gripped can be realized. [0063] In the structure shown in FIG. 25, a part of the cylindrical elastic body 23 is made of a material that is less deformable than other parts. [0064] That is, in FIG. 25, the cylindrical elastic body 2 of the actuating body 89
3 is a portion 91.93 made of an anisotropic elastic body;
Part 9 made of a material that is less deformable than this part 91.93
5, which are molded separately and then connected and fixed by adhesive or other means. [0065] Therefore, substantially the same effect as shown in FIG. 23 above can be achieved. [0066] In addition, the actuating body strengthens the peripheral wall of the cylindrical elastic body to an angle less than an equilibrium angle (an angle at which it does not expand or contract in the axial direction even when pressurized) with respect to the outer peripheral generatrix (parallel to the cylindrical direction). (i.e., by winding the fibers at an angle less than the equilibrium angle), the pressure chamber causes an axial contraction movement of the working body when pressurized, or an axial contraction movement while rotating around the axis. It can also be configured to do so. Further, the present invention is not limited to a robot hand, and may be configured as a conveyance device that conveys an object in a planar direction by arranging a large number of actuators vertically and densely. [0067]

【Effect of the invention】

As is clear from the above description, according to the configuration of the present invention, the outer peripheral walls of the plurality of actuating bodies fixed to a common base are
Since it has anisotropic elastic properties, when the pressure chamber is pressurized, each of the plurality of actuating bodies elastically deforms, rotates around the axis, and further deforms in a curved manner. [0068] Therefore, the actuator can easily handle objects such as soft objects, easily breakable objects, and objects with a shape having many curved surfaces, and furthermore, the actuator can perform manipulation operations such as tilting and moving the actuating body. It is possible to implement an actuator such as a robot hand that can perform the following actions.

[Brief explanation of the drawing]

[Time 1 is an overall configuration diagram of an actuator embodying the present invention. [Figure 2] FIG. 2 is a plan view of the actuator shown in FIG. 1. FIG.

FIG. 3 is a sectional view taken along the line III-III in FIG. 2b.

[Figure 4] FIG. 4 is an external perspective view of the actuating body shown in FIG. 1.

[Figure 5] FIG. 5 is an exploded perspective view of the actuating body shown in FIG. 1.

FIG. 6 is an explanatory diagram showing a first operation form in the first embodiment shown in FIG. 1.

FIG. 7 is an explanatory diagram showing a first operation form in the first embodiment shown in FIG. 1.

FIG. 8 is an explanatory diagram showing a first operation form in the first embodiment shown in FIG. 1.

FIG. 9 is an explanatory diagram showing a second operation form in the first embodiment.

FIG. 101 FIG. 10 is an explanatory diagram showing the operation form of manipulating the object M in the first embodiment. FIG. 11 is an explanatory diagram showing a manipulation operation form of the object M in the first embodiment.

FIG. 12 FIG. 12 is an explanatory diagram showing a manipulation operation form of the object M in the first embodiment. FIG. 13 is an explanatory diagram showing a manipulation operation form of the object M in the first embodiment.

FIG. 14 is a diagram illustrating a modification example in which the number of actuating bodies is large.

FIG. 15 is a diagram illustrating a modification example in which the number of actuating bodies is large.

FIG. 16 is an explanatory diagram showing a third operation form according to the present invention.

FIG. 17 is an explanatory diagram showing a third mode of operation according to the present invention.

FIG. 18 is an explanatory diagram showing still another operation mode that involves rotation.

FIG. 19 is a configuration diagram showing second to fourth embodiments according to the present invention.

FIG. 201 FIG. 20 is a configuration diagram showing second to fourth embodiments according to the present invention. FIG. 21 is a configuration diagram showing second to fourth embodiments according to the present invention.

FIG. 22 is a configuration diagram showing second to fourth embodiments according to the present invention.

[Figure 23] FIG. 23 is a configuration diagram showing a modification of the operating body.

[Figure 24] FIG. 24 is a configuration diagram showing a modification of the operating body.

[Figure 25] FIG. 25 is a configuration diagram showing a modification of the operating body.

[Explanation of symbols]

3 Working body 5 Working body 7 Working body 9 Working body 67 Working body 69 Working body 3a Base 5a Base 7a Base 9a Base 11 Base 301 Pressure chamber 302 Pressure chamber 303 Pressure chamber 501 Pressure chamber 502 Pressure chamber 503 Pressure chamber 701 Pressure chamber pressure chamber pressure chamber pressure chamber pressure chamber pressure chamber

【Document name】

[Figure 1] drawing

[Figure 2] (a) (b)

[Figure 3]

[Figure 5]

[Figure 6] (a) (b)

[Figure 7]

[Figure 8]

[Figure 9] (b) (C)

[Figure 11] M (a)

[Figure 12] (b) (a)

[Figure 13] (a) (b)

[Figure 16]

[Figure 17]

[Figure 18] (a) (b)

[Figure 19]

[Figure 201 [Figure February [Figure 22]

Claims (1)

[Claims] 1. At least two or more cylindrical elastic actuators whose interiors are separated into a plurality of pressure bodies by a partition wall extending in the axial direction, and each of the cylindrical elastic actuators has multiple degrees of freedom. and means for adjusting the pressure of each pressure element of each of the cylindrical elastic actuators so that the plurality of cylindrical elastic actuators cooperate to perform a desired operation. actuator.