JPH0689739B2 - Fluid machine - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a fluid machine formed by joining a large number of cells.

[Prior Art] Various types of machines, appliances, devices, etc. that have been commonly used in the past have a limit in downsizing, and the functions of machines and the like are simplified with downsizing. I have to do it. Therefore, for example, in a narrow space or in a space where it is necessary to send the equipment through a narrow passage, trying to make the equipment do some work is difficult and practically impossible. There is a desire to address such problems.

[Problems to be Solved by the Invention] A technical object of the present invention is to obtain a fluid machine that satisfies the above-mentioned needs and can freely change the shape of the machine itself as needed.

[Means for Solving the Problems] In order to solve the above problems, the flow type machine of the present invention is provided with arms that can be individually retracted by actuators toward both sides in the three axial directions orthogonal to each other from the cell body. , The tip of each of these arms is attached with a connector for connecting with the arms of the adjacent cells, and the expansion and contraction length of each arm is calculated by comparing the lengths of the arms at the opposite positions in one cell with each other. It is set to 1/2 of the distance between the end faces of the connector at the end of the arm, and a fluid machine is configured by connecting a number of cells formed by this with the connector at the end of the arm, and The electric signal for driving the actuator for expanding and contracting the arm and connecting and disconnecting the connector at the tip of the arm can be transmitted through the signal line in the arm.

[Operation] In the fluid machine, an electric signal is transmitted to each cell through a signal line in the arm, and in each cell, the transmitted information is identified and received, and based on the received electric signal, the actuator and the connection are established. When the child or the like is operated, each arm takes two positions of extension or contraction, and the connector at the tip of each arm takes two states of connection and disconnection. Each cell has such a simple machine, but by controlling the operation of these cells, the connected state of the cells is changed, and the shape of the cell group is changed. It is possible to perform complicated operations, and thereby the fluid machine can perform various functions.

[Embodiment] FIG. 1 and FIG. 2 respectively show a perspective view and a sectional view of a cell constituting a fluid machine of the present invention.

As shown in FIG. 1, this cell 1 is provided with arms 3 capable of projecting and retracting on both sides at each opposing position in the cell body 2 in the directions of three axes orthogonal to each other, and thus in six orthogonal directions from the cell body 2. is there. Although the illustrated cell body 2 has a spherical shape, it may have a cubic shape or any other suitable shape. In addition, as shown in FIG. 2, each arm 3 can be individually retracted into and out of the cell body 2 by an actuator 4 such as a solenoid provided in the cell body 2. It is configured to take two positions, that is, a shortened state in which the cell body 2 is completely retracted and an extended state in which the cell body 2 is completely extended. It is assumed that the arm 3 does not rotate relative to the cell body 2, and a necessary detent means is attached. Further, each actuator 4 may be provided at a position deviated from the axis of the arm to be projected and retracted so as not to interfere with other actuators 4 and the arm 3 provided in the cell body 2.

In this cell 1, each connector 3 is provided with a connector 5 made of an electromagnet or the like for connecting to the arm 3 of the cell 1 adjacent to the tip of each arm 3, and a large number of cells 1 are connected by connecting the connectors 5 to each other. As a result, the fluid machine 10 having the configuration illustrated in FIG. 4 and subsequent figures is constructed. In the figure, many cells are shown as if they were arranged two-dimensionally,
Of course, they can be arranged three-dimensionally.

3A to 3C schematically exemplify the connection and positional relationship between two adjacent cells, and FIG. 3A shows the adjacent cells C ₁ ,
The state in which the arms 3,3 of C ₂ are shortened and the connectors 5,5 thereof are connected, and the same figure B shows the state in which the arms 3,3 of both cells C ₁ , C ₂ are extended and connected. In the same figure C, the connection of the connectors 5, 5 is released to shorten the arm 3 of _one cell C _{1 and} the arm 3 of the other cell C ₂ .
Indicates the state in which it is still stretched.

It is necessary that each of the cells forming the fluid machine is connected to the arm 3 of another cell adjacent to one of the arms 3 of each cell by a connector so that none of the cells is isolated. Therefore, as will be apparent from the later description, in the state where the arms 3 and 3 of the adjacent cells C ₁ and C ₂ are extended and connected (FIG. 3B), the cells C ₁ and C ₂ are It is necessary to be able to connect with other cells that are adjacent to the periphery of the by the arm. Therefore, the arms 3, 3 of the adjacent cells C ₁ , C ₂ are
When the cells are extended and connected (Fig. 3B), the lengths of the arms 3 and 3 must be such that another cell can be connected between the cells C ₁ and C _2. is there. That is, the expansion and contraction length of each arm 3 in the cell is
It is set to 1/2 of the distance between the end faces of the connectors provided at the tips of those arms when 3 is in the shortened state.

In the fluid machine 10 (see FIG. 4A) in which a large number of the cells 1 are connected, driving instructions of the actuator 4 for retracting the arm 3 of each cell 1 and connection of the connector 5 at the tip of the arm 3 and The detachment instruction is given by an electric signal, and in order to transmit the electric signal to the respective cells from the outside, a signal line (not shown) is inserted in the arm 3 and the connector 5 at the tip of the arm 3 A signal line connector (not shown) connected when the arm 3 is connected by the connector 5 is additionally provided.

Further, the fluid machine 10 is connected to a controller that outputs an electric signal for causing it to perform a required operation (see FIG. 4A).

Therefore, an electric signal from the controller is sequentially transmitted to each cell 1 of the fluid machine 10 from the cell on the proximal end side through the signal line in the arm 3 and the signal line connector provided on the connector 5. In this case, since each cell 1 cannot be independently connected to the controller, an electric signal is transmitted serially. Therefore, each cell 1 is given its own address, that is, a cell code. The signal is coded to determine which cell 1 is the instruction data, which arm 3 is the extension or shortening instruction data, and which arm 3 is the connecting or disconnecting instruction data for the connector 5. It is necessary to specify and transmit.

On the other hand, in each cell 1, after identifying whether or not the serially transmitted electric signal is a signal having its own cell code, and recognizing which operation signal is associated with which arm 3 , And causes the actuator 4 and the connector 5 to perform necessary operations. When the transmitted serial electric signal does not have its own cell code, the signal is successively transmitted to the adjacent cells via the arm 3, and only the cell designated by the cell code becomes the designated operation signal. The operation will be followed. Therefore, each cell 1 has a built-in drive controller for identifying and receiving a necessary signal from the transmitted serial electric signals, and causing the actuator 4 and the like to carry out a necessary operation. The controller appropriately controls the power supply from the power source to each actuator.

The cell 1 having the above structure can be formed in any size, but it is desirable to make it as small as technically possible. Desirably, the diameter of the cell body should be made as small as about 1 mm. Is desired.

As can be seen from the above, in the fluid machine 10 configured by connecting the cells 1, each arm 3 in each cell 1 takes two positions of extension and contraction, and a connector 5 at the tip of each arm 3 is used. Has a simple function of taking two states of connection and disconnection, but by controlling these operations with an electric signal from an external controller, as described below, it is extremely complicated as a whole. It is possible to perform various actions, and thereby various functions can be exhibited.

FIGS. 4A to 4E are for explaining the basic operation mode of the flow type machine, and the flow type machine 10 in which 4 × 4 cells are planarly connected are shown in the order of FIGS. It shows a state of operating. In this operation, the connector 5 at the tip of the required arm 3 is connected or disconnected and the required extension or shortening of the arm 3 is performed. Alternatively, it indicates that the stretchable state of the arm has changed.

Next, the operation will be sequentially described with reference to FIGS.

FIG. A schematically shows a state in which each cell is contracted by each arm and connected to each other by a connector at the tip of each arm, and in order to change the connection form of each cell from this state, a controller required An electric signal is sent. FIG. 4B shows a cell
Disconnect coupling according consolidated between C ₁ and between the cell C ₃ and C ₄ and C _2, the arm connecting the cell C ₂ and the cell C _6, and a cell C ₃
Extend the arms connecting C ₇ and cell C ₂ and cell
This is a state in which C ₃ is moved so as to protrude from another cell.

In addition, in the movement of a general cell, only a small part of the cells, that is, a portion having a relatively small weight is sequentially moved,
Since most of the others are kept as they are,
As shown in FIG. 4B, cell C ₂ and cell C ₆ and cell C ₃ and cell C ₇
When the arms 3 connecting the respective cells are extended, the cell C ₆ and the cell C ₇ do not move by reaction force together with all the other cells connected thereto.

FIG. 4C shows cells C ₆ and C ₇ , and cell C ₇ from the state of FIG.
After disconnecting the connection between cells C and C ₈ , the arm between cells C ₇ and C ₃ is shortened, while at the same time the arm between cells C ₇ and C ₁₁ is extended to give cell C ₇ To the cell C ₃ side, while connecting between the cells C ₇ and C ₄ thereafter, the connection between the cells C ₂ and C ₆ is cut to shorten their arms, and the cells C ₁ and It is a state in which it is connected to C ₇ by an extended arm.

Further, FIG. D is from the state of FIG C, the cell C ₁ and the cell C ₅
Refused the connection between, by shortening the arms between the cell C ₁ and the cell C _7, in terms of moving the cell C ₁ to the cell C ₇ side, the cell C ₁ and the cell C _2, and the cell C ₆ shows a state in which ₆ is connected, cells C ₇ and C ₁₁ are disconnected for the next operation, and cells C ₆ and C ₈ are connected by an extended arm.

Further, FIG. 4 E, from the state shown in FIG. D, connection between the cell C ₅ and C _9, and turned down the connection between the cell C ₆ and cell C _1, C ₁₀ respectively, the cell C ₅ and C ₆ It shows a state in which and are moved to the cell C ₈ side in the connected state.

In addition, in these operations, it is necessary to prevent one or more cells from being completely separated from the cell group on the base end side to be in an isolated state. That is, the cells need to be always connected by at least one connector.

In order to let the fluid machine 10 perform the necessary work, in order to sequentially know what kind of operating state the fluid machine is, the operation instruction from the controller to each cell is sequentially tracked, and if necessary, it may be displayed on any display or the like Te, but the causes of certain operations in the flow-type machine, the so-called teaching operation, may be stored or move previously which cells in any order, the By performing the playback, it becomes possible to perform the intended operation without the need for successive monitoring.

In this way, by changing the connection form of the cells 1 and appropriately changing the overall shape, it becomes possible for the fluid machine 10 to exert a desired function.

FIGS. 5A to 5F sequentially show, as an example thereof, the operation when the fluid machine 10 is used to pass the electric wire 12 through the underground pipe 11.

Further, FIGS. 6A to 6F show the operation in the case where the sensor 13 of the microminiature telemeter is moved by the fluid machine 10 in the narrow space 14 inaccessible to humans and various inspections are performed while supporting it from the back. It shows in order.

The fluid machine is not limited to the use example as illustrated here, but may be carried out in a place where humans cannot reach or work in a narrow space where humans cannot access. It can be effectively used for various tasks.

[Effects of the Invention] According to such a fluid machine of the present invention,
In a space where equipment needs to be sent through a narrow passage, it is possible to allow the equipment to perform appropriate work, and each cell has a simple function to easily control them. However, it is possible to perform very complicated movements as a whole by the control, which allows the shape of the fluid machine to freely change,
Various functions can be exerted.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a cell constituting a fluid machine of the present invention, FIG. 2 is a sectional view of the same, and FIGS. 3A to 3C are schematic views showing a connection state and a positional relationship between two adjacent cells. 4A to 4E are explanatory views of the basic operation mode of the fluid machine, and FIGS. 5A to 5F are cases where electric wires are passed through underground piping as an example of the use of the fluid machine. A schematic sectional view of
6A to 6F are schematic cross-sectional views when used as a moving device of a sensor unit of a microminiature telemeter. 1 ... cell, 2 ... cell body, 3 ... arm, 4 ... actuator, 5 ... connector, 10 ... fluid type machine.

Claims (1)

[Claims] 1. Arms are provided so that they can be individually retracted by actuators from both sides of the cell body in the directions of three axes orthogonal to each other, and the tips of these arms are connected to the arms of adjacent cells. , And set the expansion and contraction length of each arm to 1/2 of the distance between the connector end faces of the tips of those arms when the opposing arms in one cell are in the shortened state, A plurality of cells formed by the above are connected to each other by a connector at the tip of the arm to form a fluid machine, and an actuator for extending and contracting the arm of each cell is driven, and a connector at the tip of the arm is connected. A fluid machine capable of transmitting electric signals for connection and disconnection through a signal line in an arm.