JPH0979213A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator that is simple in structure and capable of supporting a relatively large load. SOLUTION: This actuator is equipped with an actuator body 1 consisting of elastic material, twelve pressure chambers 2a to 21 being arranged in this actuator body in the specified array direction, and having longitudinal form being crossed in this array direction, and a pressure impressing means 5 impressing pressure selectively to each of these pressure chambers so as to form a progressive wave, progressing in the array direction, on a surface of the actuator body 1, respectively. In this connection, projections 2a are erected on the surface of the actuator body 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator for a moving mechanism that moves in contact with a wall surface, the inside of a pipe, or the like, or a transfer device that transfers an object.

[0002]

2. Description of the Related Art Conventionally, a wheel drive mechanism has been the most often used as a moving mechanism.

However, the wheel mechanism has a complicated mechanism and is not suitable for miniaturization. For example, the wheel mechanism is not suitable for moving in a small diameter pipe in a plant, a human blood vessel, a digestive tract, or between narrow walls. Further, in the elbow portion or the like in the pipe, for example, if a part of the moving mechanism comes into contact with the pipe wall and the wheels slip, the propulsive force may be lost and the motion may be stopped.

On the other hand, as shown in FIG. 13, by connecting a plurality of rubber actuators operated by air pressure, the structure is simple and suitable for miniaturization, and stable because many actuators are driven. A moving mechanism that can obtain hydraulic power has been proposed (trial manufacture of flexible microactuator by stereolithography: Proceedings No. 3, pp. 10 of the 12th Annual Conference of the Robotics Society of Japan).
19-1020 (1994)).

The moving mechanism shown in FIG. 13 is for moving between walls, and a moving operation is realized by a plurality of flexible microactuators 103 formed on the moving mechanism main body 101. A plurality of pressure chambers are formed in each flexible microactuator 103,
These pressure chambers are selectively applied with pressure by a plurality of fluid flow paths 102. Each flexible microactuator 103 is controlled so as to make a desired deformation, and a moving mechanism is configured.

[0006]

However, as shown in FIG.
The actuator described in 1) is not suitable for miniaturization because of its complicated structure. In addition, there is a problem that the actuator is apt to buckle and cannot sufficiently cope with a relatively large load.

Therefore, an object of the present invention is to solve the above problems of the prior art and provide an actuator which can be used for a moving mechanism or an object conveying mechanism, has a simple structure and can support a relatively large load. It is to be.

[0008]

In order to achieve the above object, an actuator according to the present invention is provided with an actuator body made of an elastic material, and is arranged in the actuator body in a predetermined arrangement direction, and intersects with the arrangement direction. A plurality of pressure chambers having a longitudinal shape in a direction, and a pressure for selectively applying a pressure to each of the plurality of pressure chambers so that a traveling wave traveling in the array direction is formed on the surface of the actuator body. And an application unit.

Preferably, a plurality of protrusions are provided upright on the surface of the actuator body.

Further, the protrusions are erected in a straight line along the longitudinal direction of the pressure chamber.

Further, the actuator body has a flat plate shape.

Further, the actuator body has a hollow cylindrical shape.

Further, a plurality of the actuator bodies are arranged on a plane in a predetermined positional relationship.

According to the present invention, by successively applying pressure to a plurality of pressure chambers arranged in the actuator body in a predetermined arrangement direction, each pressure chamber is sequentially expanded, and a traveling wave of unevenness is generated on the surface of the actuator body. To be done.

When a plurality of protrusions are provided upright on the surface of the actuator body, the traveling wave due to these protrusions is amplified.

When the pressure chambers inside the actuator body are successively pressurized, the surface itself of the actuator body that is in contact with the object, or the projection formed when a projection is formed, makes a wavy motion to generate a traveling wave. Then, the actuator body itself moves, or an object in contact with the surface of the actuator body is conveyed.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of an actuator of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing the overall construction of the first embodiment. In FIG. 1, reference numeral 1 denotes an actuator body made of an elastic material such as a rubber material. Inside the actuator body 1, a plurality of (here, 12) rectangular pressure chambers 2a, 2b, 2c ... , 2l are arranged in parallel with each other. The pressure chambers 2a and the like have a long shape in a direction orthogonal to the arrangement direction A of each other. The actuator body 1 has a flat plate shape extending in the arrangement direction A of the pressure chambers 2a and the like.

On the surface of the actuator body 1, there are provided projection fins 3 standing in a straight line and having a rectangular cross section and extending parallel to each other along the longitudinal direction of the pressure chambers 2a, 2b, 2c. . The protrusion fin 3 is integrally formed with the actuator body 1 from an elastic material such as a rubber material.

The pressure chambers 2a, 2b, 2c, ..., 21 are connected to the pressure applying means 5 via tubes 4a, 4b, 4c ,. The pressure applying means 5 can selectively control the pressurization of each of the pressure chambers 2a, 2b, 2c, ..., 21 and, as will be described later, a traveling wave traveling in the arrangement direction A on the surface of the actuator body 1. Can be formed.

The pattern of pressure control by the pressure applying means 5 will be described below.

FIG. 2 shows a first embodiment of a pressure control pattern by the pressure applying means 5. In FIG. 2, starting from pressurizing the pressure chamber 2c in (a) according to the progress of time t, the pressure chamber 2d in (b), the pressure chamber 2e in (c), the pressure chambers 2f, (e) in (d). ), The pressure chambers adjacent to the pressure chamber 2g are pressurized one after another.

When pressure is applied to the pressure chambers 2a, 2b, 2c, ..., 2l, etc., the protrusion fins 3 at the top are deformed into a sinusoidal shape. By advancing the adjacent pressure chambers one after another after a predetermined time, traveling waves are formed on the surface of the actuator body 1 in the arrangement direction A by the protrusion fins 3. In FIG. 2, the traveling wave propagates to the right side of the drawing with the passage of time.

In the present embodiment, by placing the transported object on the protrusion fins 3, the transported object is transported to the right side, and the actuator functions as a transportation mechanism. In addition, the actuator functions as a moving mechanism when the protrusion fins 3 are turned upside down from the case shown in FIG. In either case, it is possible to support a large load despite its simple structure.

Next, a second embodiment of the pressure control pattern by the pressure applying means 5 will be described with reference to FIG. FIG. 3 shows a pressurization pattern in which two adjacent pressure chambers are pressurized as time t elapses. In (a) showing step 1, the pressure chambers 2b and 2c are pressurized, and step 1
2B, the pressure chamber 2c and the pressure chamber 2d are pressurized. Similarly, in (e) showing step 5, the pressure chambers 2f and 2g are pressurized.

As in the case of FIG. 2, the protrusion fins 3 on the upper portion of the pressure chamber to be pressurized are deformed into a sine wave shape, and a traveling wave traveling to the right side of the drawing is formed on the actuator body 1.

In FIG. 4, attention is paid to a specific projection fin 3a on the actuator body 1 shown in FIG.
The deformed shape of the protrusion fins 3a is extracted from FIG. 1 to show how the protrusion fins 3a undergo a deformation operation from step 1 to step 4. As is apparent from FIG. 4, the protrusion fins 3a are formed from step 1 to step 1.
One cycle of the deforming operation is performed until reaching p4, and the next one cycle of the deforming operation is started again from step 5.

According to the structure of the present embodiment, a larger number of protrusion fins can be operated at once by simultaneously controlling the pressurization of a plurality of adjacent pressure chambers. For example,
In the case of FIG. 2, the number of projecting fins deforming in one step is three, whereas in the case of FIG. 3, the number of projecting fins deforming in one step is five. Is. One ste
By increasing the number of protrusion fins that operate at p, it is possible to perform smoother movement or conveyance.

Next, a third embodiment of the pressurizing control pattern by the pressure applying means 5 will be described with reference to FIG. The pressure pattern in which the number of pressure chambers to be pressurized in one step is alternately repeated by two and one is shown. In this pressurization pattern, the traveling wave formed when the number of pressure chambers that pressurize in one step is two and the traveling wave formed when the number of pressure chambers is one have a time interval of one step. And proceed. As a result, the traveling waves of the two are superposed on the actuator body 1 to form a traveling wave having a complicated waveform.

FIG. 5 shows an example in which the number of pressure chambers pressurized in one step is two and one, but is repeated at the same cycle (or wavelength), but both have different cycles. By doing so, it becomes possible to form a traveling wave having another waveform. Further, by increasing the number of types of pressure chambers pressurized in one step to two instead of two, it becomes possible to form traveling waves having various desired waveforms.

Further, in the above-mentioned various embodiments, the case where the traveling wave travels in a constant direction has been shown, but the traveling direction or movement of the actuator body is set by setting the traveling direction to change with time. The direction can be controlled arbitrarily in time, and various reciprocating motions are possible.

Next, a second embodiment of the present invention will be described with reference to FIG.

In FIG. 6, a plurality (here, nine) of actuator bodies 11a, 11b, ... 11i similar to the actuator body 1 shown in FIG. 1 are fixed on one flat plate 10 in a predetermined positional relationship. There is. In FIG. 6, a plurality of straight lines drawn on each actuator body indicate the protrusion fins 3 of each actuator body. Actuator bodies 11a, 11c, 11e, 11
g and 11i are protrusion fins 3 extending parallel to the Y-axis direction.
And has actuator bodies 11b, 11d, 11f,
11h has protrusion fins 3 extending parallel to the X-axis direction.

Therefore, the actuator bodies 11a, 11
c, 11e, 11g, and 11i have a transporting or moving function in this direction based on a traveling wave traveling in the X or -X direction. On the other hand, the actuator bodies 11b, 11d, 11
f and 11h have a transporting or moving function in this direction based on a traveling wave traveling in the Y or -Y direction.

By arranging a plurality of actuator bodies on the flat plate 10 in this way, it is possible to carry or move in all directions within a plane, and for example, it becomes possible to perform rotational movement.

Here, an example in which the carrying operation is performed with the protrusion fins 3 on the actuator body facing up will be described. Actuator bodies 11a, 11c, 11e, 11
g, 11i only to drive the other actuator body 11
When b, 11d, 11f, and 11h are not driven, the target object placed on the protrusion fin 3 is transported in the X direction or the -X direction. Conversely, the actuator bodies 11b and 11
Actuator body 11 by driving d, 11f and 11h
When a, 11c, 11e, 11g, and 11i are not driven, the object is conveyed in the Y direction or the -Y direction. Also, if the above two operations, that is, the conveyance in the X or −X direction and the conveyance in the Y or −Y direction are alternately performed, the conveyance in the oblique direction is also possible.

On the other hand, for example, the actuator 11b is set to Y
Direction, the actuators 11a and 11g in the X direction, the actuator 11h in the -Y direction, and the actuator 11
i and 11c are driven in the -X direction, and the other actuator 1
When 1d, 11e, and 11f are not driven, the object rotates clockwise in the figure.

The pressure applying means 5 may be provided for each individual actuator main body to control the drive relationship of the plurality of pressure applying means 5, or a single pressure applying means 5 may be used to control the pressure in the plurality of actuator main bodies. The chamber may be pressure controlled.

According to the configuration of the present embodiment, since the plurality of actuator bodies are arranged on the flat plate in a predetermined positional relationship, a carrying mechanism capable of carrying out carrying operation and rotating operation in all directions is formed. can do. Further, by moving each actuator body in the same manner with the protrusion fin facing downward, it is possible to form a moving mechanism capable of performing a moving operation and a turning operation in all directions.

Next, a third embodiment of the present invention will be described with reference to FIGS.

The actuator body 1 in the present embodiment is formed by rolling the actuator body shown in FIG. 1 into a ring shape.

In FIG. 8, the actuator body 1 has a hollow cylindrical shape, and the pressure chambers 2a, 2b, 2c ...
l has an elongated shape that extends to the length of substantially the circumference of this cylindrical shape. The pressure chambers 2a, 2b, 2c, ..., 21 are arranged in a cylindrical axial direction. On the cylindrical surface of the main body of the actuator 1, there are arranged linear fin-like projection fins 3 in the direction in which the pressure chambers 2a and the like are formed.

FIG. 9 is a sectional view showing how the end faces are connected when the actuator body 1 is rolled. Each pressure chamber 2a
T-shaped connection terminals 7a to 7l are embedded and adhered to the end faces of the above. Inside the connection terminals 7a to 7l, a T-shaped channel as shown by a dotted line in FIG. 9 is formed. Air supply tubes 4a to 4l are connected to one end of the T-shaped flow path, and pressure control of the pressure chambers 2a to 2l is performed by a pressure applying means 5 not shown. The pressure chambers 2a to 2l are sealed with the connection terminals 7a to 7l for each pressure chamber.

Inside the cylindrical inner space 6 formed by rolling the actuator main body 1 into an annular shape, for example, an image fiber for observation, an electric cable for a light guide or a sensor, and a feeding cable for medical use. It is possible to insert a water tube or a suction tube.

FIG. 10 shows a modification of the example shown in FIGS. 8 and 9. In FIG. 10, the protrusion fins 3 are formed in intermittent dot shapes instead of the linear shape as in FIG. 9.

By forming the protrusion fins as shown in FIG. 10, the circumferential tension generated when the linear protrusion fins are used is reduced, so that the pressure chamber can be easily expanded by the pressure application. It can be carried out.

The above-described embodiment can be applied to the inspection of the inside of the pipe in the plant, the inspection of the intestine of the human body, and the like. As an example, FIG. 7 shows a case where the actuator body 1 moves in the pipe 20.

Next, with reference to FIGS. 11 and 12, a fourth embodiment of the present actuator formed in an annular shape will be described.

11 and 12 show a view (cross-sectional view) of the actuator 1 as seen from the side and a state of the end face of the actuator as seen from the axial direction. In this actuator, four pressure chambers 2a, 2b, 2c, 2d are formed in a spiral shape. Each pressure chamber 2a, 2b, 2c,
An opening 2d is formed, and air supply tubes 4a, 4b, 4c and 4d are connected to the respective pressure chambers. Therefore, for example, when air is sent to the air supply tube 4a, the pressure chamber 2a formed in a spiral shape swells. If the pressure chambers to be pressurized are sequentially switched, a traveling wave is formed as in the third embodiment, and it is possible to move inside the pipe. In addition, the number of air supply tubes is small (four in this embodiment), and the configuration can be simplified as compared with the third embodiment.

In the above description, the example in which the protrusion fins 3 are formed on the actuator body 1 has been described, but the protrusion fins 3 need not necessarily be provided. It is also possible to drive the actuator body 1 using only the traveling wave generated on the surface itself of the actuator body 1.

Although FIG. 1 shows the case where the protrusion fins 3 are formed on the surface of one side of the actuator body 1, the protrusion fins 3 may be formed on both sides. As a result, the transfer function and the moving function can be switched without turning the actuator body 1 upside down. Alternatively, by contacting the object on both sides, it becomes possible to move between narrow walls.

Further, in the above description, the protruding fin 3
Although the case where the protrusions 3 are formed along the longitudinal direction of the pressure chambers 2a and the like has been described, for example, as shown in the embodiment example of FIG. It may be formed in a direction intersecting with the arrangement direction of the pressure chambers.

[0053]

As described above, according to the structure of the present invention, a plurality of pressure chambers are formed in the actuator body,
Since pressure is sequentially applied to these pressure chambers to form a traveling wave on the surface of the actuator body, an actuator that can support a relatively large load and has a simple structure can be realized.

[Brief description of drawings]

FIG. 1 is a perspective view showing a first embodiment of an actuator of the present invention.

FIG. 2 is a sequence diagram showing a first example of the pressure pressurization pattern in the first embodiment example.

FIG. 3 is a sequence diagram showing a second example of the pressure pressurization pattern in the first embodiment example.

FIG. 4 is a diagram for explaining a deformation operation of a protrusion fin.

FIG. 5 is a sequence diagram showing a third example of the pressure pressurization pattern in the first embodiment example.

FIG. 6 is a plan view illustrating an actuator body in a second embodiment of the actuator of the present invention.

FIG. 7 is a perspective view illustrating an actuator body in an actuator according to a third embodiment of the present invention.

FIG. 8 is a cutaway perspective view showing an actuator body according to a third embodiment.

FIG. 9 is a sectional view showing an actuator body according to a third embodiment.

FIG. 10 is a cross-sectional view showing a modified example of the actuator body.

FIG. 11 is a cutaway perspective view showing an actuator body according to a fourth embodiment.

FIG. 12 is a sectional view showing an actuator body according to a fourth embodiment.

FIG. 13 is a perspective view showing an example of a conventional actuator.

[Explanation of symbols]

 1 Actuator body 2a, 2b, ..., 2l Pressure chamber 3, 3a Projection fins 4a, 4b, ..., 4l Tube 5 Pressure applying means 6 Space 7 Connection terminal

Claims (6)

[Claims] 1. An actuator body made of an elastic material, a plurality of pressure chambers arranged in the actuator body in a predetermined arrangement direction and having a longitudinal shape in a direction intersecting the arrangement direction, and a surface of the actuator body. And a pressure applying unit that selectively applies a pressure to each of the plurality of pressure chambers so that a traveling wave traveling in the array direction is formed in the actuator. 2. The actuator according to claim 1, wherein a plurality of protrusions are provided upright on the surface of the actuator body. 3. The projections are erected in a straight line along the longitudinal direction of the pressure chamber.
An actuator according to claim 1. 4. The actuator according to claim 1, wherein the actuator body has a flat plate shape. 5. The actuator according to claim 1, wherein the actuator body has a hollow cylindrical shape. 6. The actuator according to claim 1, wherein a plurality of the actuator bodies are arranged on a plane in a predetermined positional relationship.