JPWO2012026332A1 - Magnetic response type elastic device - Google Patents

Abstract

In the magnetic response type elastic device, the change in elastic modulus can be easily controlled and the degree of freedom of soft material design is improved with a simple configuration. A magnetic elastic body (2) in which magnetic particles are dispersed in an elastic material, and a magnetic field is applied to the magnetic elastic body (2) from the outside of the magnetic elastic body (2) to change the elastic modulus of the magnetic elastic body (2). And a magnetic field generation unit (3) to be operated. The magnetic elastic body (2) receives an external load (F) under an elastic modulus that changes according to the strength of the magnetic field (B) applied by the magnetic field generator (3). Since the magnetic modulus (B) is applied from the outside of the magnetic elastic body (2) to change the elastic modulus of the magnetic elastic body (2), the magnetic elastic body (2) and the magnetic field generating unit (3) are separated separately. The design efficiency can be improved as compared with the case where the magnetic elastic body (2) and the magnetic field generator (3) are integrated. Since the magnetic field generating part (3) is separated from the magnetic elastic body (2), it is easy to control the magnetic field generating part (3) and hence the elastic modulus change without being restricted by the shape and configuration of the magnetic elastic body. It becomes. [Selection] Figure 1

Description

  The present invention relates to a magnetic response elastic device that changes the elastic modulus of a magnetic elastic body by a magnetic field.

  Conventionally, it is known to change the physical properties and deformation of a magnetic elastic body by a magnetic force. For example, a soft actuator is known in which a coil is embedded in a magnetic elastomer obtained by mixing a powdery ferromagnetic material or a high permeability material in an elastomer, and the magnetic elastomer is deformed by the magnetic force generated by energizing the coil. (For example, refer to Patent Document 1). Such soft actuators are expected to replace motors in fields such as robots with high human compatibility because they move quietly and powerfully like muscles. In addition, magnetically responsive materials with elastic modulus changes and expansion / contraction deformation behavior when a magnetic field is applied are not limited to actuators, but can be used as soft materials in human body contact devices such as chair seats, backrests, and bed mats. Can be considered.

JP 2009-165219 A

  However, since the magnetic elastomer formed by embedding the coil as described above is inseparable from the coil, the design flexibility is limited when designing or commercializing soft materials of various shapes and forms. There is a problem that rapid product development is impaired.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems, and to provide a magnetic response type elastic device that has a simple configuration, has a high degree of freedom in designing soft materials, and can easily control a change in elastic modulus.

  In order to achieve the above object, a magnetic response elastic device of the present invention is a magnetic response elastic device in which the elastic modulus of a magnetic elastic material is changed by a magnetic field, and a magnetic elastic material obtained by dispersing magnetic particles in an elastic material. And a magnetic field generator for applying a magnetic field from the outside of the magnetic elastic body to change the elastic modulus of the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic elastic body has a load receiving portion that receives an external load, and the load receiving portion is provided in an open portion that does not face the magnetic field generating portion in the magnetic elastic body. preferable.

  In this magnetic response elastic device, the magnetic field generator may apply a magnetic field having a component in a direction orthogonal to the direction of the load received by the load receiver to the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generator may have an I-shaped magnetic path, and the magnetic elastic body may be disposed on the side facing between both magnetic poles of the magnetic path.

  In this magnetic response type elastic device, at least two magnetic field generation units may be provided to be spaced apart from each other, and the magnetic elastic body may be disposed between the separated magnetic field generation units.

  In this magnetic response type elastic device, the magnetic field generator may have a C-shaped magnetic path, and the magnetic elastic body may be disposed between opposed open ends of the magnetic path.

  In this magnetic response type elastic device, the magnetic field generator may have a U-shaped magnetic path, and the magnetic elastic body may be arranged in a manner to bridge between the magnetic poles of the magnetic path.

  In this magnetic response type elastic device, the magnetic field generator may have an E-shaped magnetic path, and the magnetic elastic body may be arranged in a manner to bridge between the magnetic poles of the magnetic path.

  In this magnetic response type elastic device, the magnetic field generator may apply a magnetic field having a component in a direction parallel to the direction of the load received by the load receiver to the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generator may have its magnetic pole opposed to the load receiver.

  In this magnetic response type elastic device, the magnetic field generator may have its magnetic poles disposed on the opposite side of the load receiver in the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generation unit may be arranged so that the central axis of the magnetic pole passes through the center of gravity of the load receiving unit.

  In this magnetic response type elastic device, one of the magnetic elastic body and the magnetic field generation unit may have a hollow portion and the other may be inserted and disposed in the hollow portion.

  In this magnetic response type elastic device, the magnetic field generation unit may arrange the magnetic poles sideways with respect to the load receiving unit.

  In this magnetic response type elastic device, the magnetic field generator may have its magnetic poles oriented laterally with respect to the load receiver, and the magnetic poles may be disposed on the opposite side of the load receiver in the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generating unit makes its magnetic pole transverse to the load receiving part, and the magnetic pole is opposed to the side surface between the load receiving part and the facing part of the magnetic elastic body. You may arrange.

  In this magnetic response type elastic device, a plurality of magnetic field generators may be provided so as to have a plurality of magnetic poles arranged laterally and have the same polarity.

  In this magnetic response type elastic device, a plurality of magnetic poles having the same polarity may be arranged symmetrically with respect to the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generator may have a U-shaped magnetic path, and each magnetic pole of the magnetic path may be arranged to face the side surface of the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generator may have an E-shaped magnetic path, and each magnetic pole of the magnetic path may be arranged to face the side surface of the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generation unit may apply a magnetic field having a component in a direction oblique to the direction of the load received by the load receiving unit to the magnetic elastic body.

  In this magnetic response type elastic device, the magnetic field generation unit may be configured by arranging the magnetic poles obliquely with respect to the load receiving unit.

  In this magnetic response type elastic device, a plurality of magnetic field generation units may be provided so that a plurality of magnetic poles arranged obliquely are provided, and the magnetic elastic body may be sandwiched between diagonal positions of the magnetic elastic body.

  In this magnetic response type elastic device, a plurality of magnetic field generators are provided with a plurality of magnetic poles arranged obliquely and different from each other, and the magnetic poles having different polarities are opposed to the load receiving part in the magnetic elastic body. The magnetic elastic body may be sandwiched between the two.

  In this magnetic response type elastic device, the plurality of magnetic poles sandwiching the magnetic elastic body may be magnetic poles included in the same magnetic path.

  In this magnetic response type elastic device, a plurality of magnetic elastic bodies, a plurality of magnetic field generating sections corresponding to the respective magnetic elastic bodies, and the magnetic field applied to the magnetic elastic bodies are changed by controlling each magnetic field generating section. And a control unit.

  In this magnetic response type elastic device, the magnetic elastic bodies may be arranged in a uniaxial direction.

  In this magnetic response elastic device, the magnetic elastic bodies may be arranged in two axial directions.

  The magnetic response elastic device may include a moving device that moves the magnetic field generating unit relative to the magnetic elastic body.

  In this magnetic response type elastic device, the moving device may move the magnetic field generation unit one-dimensionally along the magnetic elastic body.

  In this magnetic response type elastic device, the moving device may move the magnetic field generator two-dimensionally along the magnetic elastic body.

  In the magnetic response type elastic device, the moving device may move the magnetic field generating unit so as to be able to approach and separate from the magnetic elastic body.

  In this magnetic response type elastic device, a plurality of moving devices and magnetic field generating units may be provided, and each moving device may move each magnetic field generating unit individually.

  In this magnetic response type elastic device, the magnetic field generator may be an electromagnet.

  In this magnetic response type elastic device, the magnetic field generator may be a permanent magnet.

  In this magnetic response type elastic device, the magnetic field generator may be an electromagnet in which an exciting coil is wound around the surface of the magnetic elastic body.

  According to the magnetic response type elastic device of the present invention, a magnetic field is applied from the outside of the magnetic elastic body to change the elastic modulus of the magnetic elastic body, so that the magnetic elastic body and the magnetic field generator can be separated to improve the design efficiency. In addition, the change in elastic modulus can be easily controlled without being restricted by the shape and configuration of the magnetic elastic body.

FIG. 1A is a schematic configuration diagram of a magnetic response elastic device according to the first embodiment of the present invention, and FIG. 1B is a schematic configuration diagram showing a modification of the device. 2A is a side view showing the mutual relationship between the magnetic field and the direction of the load in the magnetoelastic body of the apparatus, and FIG. 2B is a side view when the direction of the magnetic field in FIG. is there. FIG. 3A is a schematic view for explaining the structure of the magnetic elastic body, and FIG. 3B is a schematic view for explaining changes when a magnetic field is applied to the magnetic elastic body. FIG. 4A is a schematic diagram for explaining the structure of the magnetic elastic body. FIG. 4B shows a state when a magnetic field is applied to the magnetic elastic body and a load in a direction perpendicular to the magnetic field direction is applied. It is a schematic diagram to explain. FIG. 5A is a schematic diagram illustrating the structure of a magnetic elastic body, and FIG. 5B is a schematic diagram illustrating a state when a magnetic field is applied to the magnetic elastic body and a load in the magnetic field direction is applied. It is. Fig.6 (a) is a side view which shows the example of the apparatus based on embodiment which uses an electromagnet for the magnetic response type elastic apparatus, FIG.6 (b) is a front view of the apparatus. Fig.7 (a) is a side view which shows the modification of the apparatus, FIG.7 (b) is the front view. FIG. 8 is a side view showing another example of the apparatus. FIG. 9 is a side view showing a modification of the other example shown in FIG. FIG. 10 is a side view showing still another example of the apparatus. FIG. 11 is a side view showing still another example of the apparatus. FIG. 12 is a side view showing still another example of the apparatus. Fig.13 (a) is a side view which shows the example of the apparatus based on embodiment which uses a permanent magnet for the magnetic response type elastic apparatus, FIG.13 (b) is a side view which shows the other state of (a). . 14A is a side view showing a modification of the apparatus, FIG. 14B is a perspective view of the modification, FIG. 14C is a front view of the modification, and FIG. (D) is a front view which shows the other state of (c). FIG. 15A is a side view showing another example of the apparatus, and FIG. 15B is a side view showing another state of FIG. FIG. 16A is a side view showing still another example of the apparatus, and FIG. 16B is a side view showing another state of FIG. FIG. 17A is a side view showing still another example of the apparatus, and FIG. 17B is a side view showing another state of FIG. 18A is a side view showing a modification of the other example shown in FIG. 16, and FIG. 18B is a side view showing a modification of the other example shown in FIG. FIG. 19 is a side view showing still another example of the apparatus. FIG. 20A is a side view showing the correlation between the magnetic field and the direction of the load in the magnetoelastic body of the magnetic response elastic device according to the second embodiment, and FIG. 20B is the side view of the magnetic field of FIG. FIG. 20C is a side view when the direction of the load is inclined, and FIG. 20C is a side view when the direction of the load of FIG. FIG. 21A is a side view showing an example of an apparatus according to an embodiment using an electromagnet for the magnetic response elastic device, and FIG. 21B is a side view showing a modification of the apparatus. (C) is a side view showing another modification of the same device. FIGS. 22A and 22B are side views for explaining the arrangement of electromagnets in the apparatus of FIG. FIG. 23 (a) is a partially broken perspective view showing still another example of the apparatus, FIG. 23 (b) is a sectional view of FIG. 23 (a), and FIG. 23 (c) is shown in FIG. It is a partially broken perspective view which shows the modification of an example, FIG.23 (d) is sectional drawing of (c). FIG. 24 is a sectional view showing still another example of the apparatus. FIG. 25A is a perspective view showing still another example of the apparatus, FIG. 25B is a sectional view of FIG. 25A, and FIG. 25C is a modification of the example shown in FIG. It is a permeation | transmission perspective view which shows an example, FIG.25 (d) is sectional drawing of (c). Fig.26 (a) is a side view which shows the example of the apparatus based on embodiment which uses a permanent magnet for the magnetic response type elastic apparatus, FIG.26 (b) is a side view which shows the modification of the apparatus, (c). FIG. 10 is a side view showing another modification of the same device. FIGS. 27A and 27B are side views for explaining the arrangement of permanent magnets in the apparatus of FIG. 28A is a perspective view showing still another example of the apparatus, FIG. 28B is a sectional view of FIG. 28A, and FIG. 28C is a modification of the example shown in FIG. It is a perspective view which shows an example, FIG.28 (d) is sectional drawing of (c). FIG. 29 is a sectional view showing still another example of the apparatus. FIG. 30 is a side view of a device according to another embodiment of the magnetic response elastic device. FIG. 31 is a side view showing an example of an apparatus using an electromagnet in the other embodiment shown in FIG. FIG. 32 is a side view showing another example of the apparatus. FIG. 33 is a side view of a device according to still another embodiment of the magnetic response elastic device. FIG. 34 is a side view showing an example of an apparatus using an electromagnet in still another embodiment shown in FIG. FIG. 35 is a side view showing another example of the apparatus. FIG. 36 is a side view showing still another example of the apparatus. FIG. 37 is a side view showing still another example of the apparatus. FIG. 38 is a side view showing an example of an apparatus using permanent magnets in the other embodiment shown in FIG. FIG. 39 is a side view showing another example of the apparatus. FIG. 40 is a side view showing an example of an apparatus using a permanent magnet in still another embodiment shown in FIG. FIG. 41 is a side view showing another example of the apparatus. FIG. 42A is a side view showing still another example of the apparatus, and FIG. 42B is a side view showing still another example of the apparatus. FIG. 43 is a side view showing a correlation between a magnetic field and a load direction in the magnetoelastic body of the magnetic response elastic device according to the third embodiment. FIG. 44A is a perspective view of the apparatus, and FIG. 44B is a cross-sectional view of the apparatus. FIG. 45 is a side view showing an example of an apparatus according to an embodiment in which an electromagnet is used for the magnetic response type elastic apparatus. FIG. 46 is a side view showing another example of the apparatus. FIG. 47 is a side view showing a modification of the other example shown in FIG. FIG. 48 is a side view showing still another example of the apparatus. FIG. 49A is a side view showing still another example of the apparatus, and FIG. 49B is a side view showing still another example of the apparatus. FIG. 50 is a side view showing an example of an apparatus according to an embodiment using a permanent magnet in the magnetic response type elastic apparatus. FIG. 51 is a side view showing another example of the apparatus. FIG. 52 is a side view showing a modification of the other example shown in FIG. FIG. 53 is a side view showing still another example of the apparatus. FIG. 54A is a side view showing still another example of the apparatus, and FIG. 54B is a side view showing still another example of the apparatus. FIG. 55 is a perspective view of a magnetic response type elastic device according to the fourth embodiment. FIG. 56 is a side view showing another example of the apparatus. FIG. 57 is a side view showing still another example of the apparatus. FIG. 58 is a perspective view of a magnetic response type elastic device according to an embodiment. FIG. 59A is a plan view of the apparatus, and FIG. 59B is a side view of FIG. FIG. 60 is an exploded perspective view showing another example of the apparatus. 61 (a) is a plan view of the apparatus shown in FIG. 60, and FIG. 60 (b) is a side view of (a). FIG. 62 is an exploded perspective view showing still another example of the apparatus. FIG. 63 is a side view of the apparatus shown in FIG. FIG. 64A is a graph showing the local change in the elastic modulus in the apparatus shown in FIG. 63, and FIG. 64B is a state of the magnetic field generation unit with respect to the representative value of the elastic modulus shown in FIG. FIG. FIG. 65 is an exploded perspective view showing still another example of the apparatus. FIG. 66 is a side view showing an embodiment of the magnetic response type elastic device. FIG. 67 is a side view showing another embodiment of the magnetic response type elastic device. 68 (a) is a schematic cross-sectional view of a magnetic elastic body used in the magnetic response elastic device, FIG. 68 (b) is a perspective view of the base material of the magnetic elastic body, and FIG. It is a perspective view of the impregnation liquid used for manufacture of the magnetic elastic body. FIG. 69 is a flowchart of the manufacturing method of the magnetic elastic body.

(First embodiment)
Hereinafter, a magnetic response elastic device according to an embodiment of the present invention will be described with reference to the drawings. The description will be made with reference to the xyz orthogonal coordinate axes appropriately illustrated in the drawings. 1 to 19 show a first embodiment. First, the basic configuration of the present invention will be described with reference to FIGS. As shown in FIG. 1 (a), a magnetic response elastic device 1 (hereinafter referred to as device 1) is a magnetic elastic body 2 in which magnetic particles are dispersed in an elastic material, and a magnetic field is applied to the magnetic elastic body 2 from the outside. And a magnetic field generator 3 that changes the elastic modulus of the magnetic elastic body 2. Although the magnetic field is indicated by magnetic field lines B in the figure, the same symbol is used below to denote the magnetic field B. The magnetic elastic body 2 receives an external load F under an elastic modulus that changes in accordance with the strength of the magnetic field B applied by the magnetic field generator 3. One surface of the magnetic elastic body 2 is set as a load receiving portion 21 that receives a load F. The opposing surface of the load receiving portion 21 in the magnetic elastic body 2 is supported by the support member 22, whereby the magnetic elastic body 2 is supported by the support member 22. The magnetic field generator 3 is composed of an electromagnet, a permanent magnet, or a combination thereof. The support member 22 is usually a nonmagnetic material. Further, the apparatus 1 includes a control unit 10 (magnetic field strength changing device) that changes the strength of the magnetic field B applied by the magnetic field generating unit 3. For example, when the magnetic field generator 3 is an electromagnet, the control unit 10 is a current value control device for exciting coil current. When the magnetic field generator 3 is a permanent magnet, the controller 10 brings the permanent magnet closer to the magnetic elastic body 2. It is a moving device that moves or separates. The load F is usually a compressive stress such as a load, but may be a tensile stress.

  In the apparatus 1 shown in FIG. 1A, the magnetic field generator 3 applies a magnetic field B in a direction (x-axis direction) orthogonal to the direction of the load F (y-axis direction) received by the load receiving unit 21 to the magnetic elastic body 2. It is set as the structure to apply. In the modified apparatus 1 shown in FIG. 1B, the magnetic field generator 3 applies a magnetic field in the direction (y-axis direction) along the direction of the load F (y-axis direction) to the magnetic elastic body 2. It is set as the structure to apply. Since the apparatus 1 shown in FIGS. 1A and 1B changes the elastic modulus of the magnetic elastic body 2 by applying the magnetic field B from the outside of the magnetic elastic body 2, the magnetic elastic body 2 and the magnetic field generator 3 are separated. The magnetic elastic body 2 and the magnetic field generating unit 3 can be designed individually, and the design efficiency is higher than that of the integrated one. Since the magnetic field generating unit 3 is separated from the magnetic elastic body 2, the magnetic elastic body 2 is not restricted by the shape and configuration, and the control of the magnetic field generating unit 3, and hence the elastic modulus change, is easy. The magnetic elastic body 2 will be described later (see FIGS. 3, 4, and 5).

  Further, the magnetic field B applied to the magnetic elastic body 2 by the magnetic field generator 3 of the apparatus 1 is shown in the x-axis direction orthogonal to the direction of the load F, as shown in FIG. Thus, the magnetic field B having at least the magnetic field component Bx in the x-axis direction is preferable. This is preferable in that the resistance to the shear load is improved because the deformation resistance to the shear load increases and the elastic modulus increases by the application of the magnetic field B. In addition, for example, the magnetic field generator 3 that generates the magnetic field B can be disposed on the side (x-axis direction) of the magnetic elastic body 2, so that interference between the load F generation source and the magnetic field generator 3 can be avoided. It can be said that it is preferable in that it is easy. As shown in FIGS. 1 (a) and 1 (b), the apparatus 1 can be provided with a load receiving portion 21 in an open portion of the magnetic elastic body 2 that does not face the magnetic field generating portion 3.

(Magnetic elastic body)
As shown in FIG. 3A, the magnetic elastic body 2 is obtained by dispersing magnetic particles 2b in an elastic material 2a. The elastic material 2a is a gel state material or a solid material, and for example, natural rubber, synthetic rubber, butyl rubber, polyurethane and the like can be used. As the magnetic particles 2b, ferromagnetic materials such as iron, carbonyl iron, and ferrite, powders of high permeability materials, and the like can be used. In such a magnetic elastic body 2, when a magnetic field B is applied, as shown in FIG. 3B, the magnetic particles 2b are magnetically polarized, and a magnetic coupling is formed between the polarized particles. The magnetic particles 2b have a strong structure because the magnetic particles 2b are aligned in the direction along the magnetic field lines B, and the magnetic coupling force between the particles is increased. Due to such polarization, the magnetic elastic body 2 undergoes a physical change in which the elastic modulus changes, a shape change that expands or shortens, etc., depending on the strength of the applied magnetic field B. As shown in FIGS. 4 (a) and 4 (b), in the direction perpendicular to the direction of the magnetic field B, the deformation resistance against the load F (shear load) increases, and thereby the elastic modulus of the magnetic elastic body 2 increases. Further, as shown in FIGS. 5A and 5B, in the direction parallel to the direction of the magnetic field B, the deformation resistance against the load F in the magnetic field direction increases so that the magnetic elastic body 2 is not easily deformed. The rate increases. That is, the magnetic elastic body 2 can change the elastic modulus of the magnetic elastic body 2 by changing the direction and magnitude of the magnetic field B to be applied. The magnetic particles 2b may be non-magnetized particles that do not have magnetism, or may be magnetized particles that have magnetism.

  According to the apparatus 1, the elastic modulus of the magnetic elastic body 2, and hence the hardness and softness of the magnetic elastic body 2 can be controlled by electromagnetic means (that is, the magnetic field generating unit 3). It can be applied to realization of soft materials for contact use. For example, the device 1 can be used for applications in which the hardness of a human body contact portion such as a sofa or a seat portion of a chair, a backrest portion thereof, or a mat for a nursing bed is temporally changed. In this case, the magnetic elastic body 2 is spread two-dimensionally or along an appropriate curved surface, and the elastic modulus of each part of the magnetic elastic body 2 is locally or globally changed by the magnetic field B. do it. The time change may be changed under a complex period according to a preset program, or may be changed based on the detection result provided with a load F detection sensor. When the device 1 is applied to such a magnetically responsive soft material for contact with the human body, the human body is safer with a soft touch than the device based on the rigid body drive by the electromagnetic motor, and can freely move without a transmission mechanism. It is possible to reduce the size of the apparatus. In addition, the magnetic responsive soft material does not have the risk of applying an electric field (electric shock) to the human body contact portion, and provides a sense of safety, and has a relatively high output (both force and deformation). There is an advantage that output control corresponding to the magnitude of the magnetic field B is possible.

(Embodiment using electromagnet)
6 to 12 show an embodiment in which an electromagnet 4 is used as the magnetic field generator 3. As shown in FIGS. 6A and 6B, the magnetic field generator 3 of the apparatus 1 is composed of an electromagnet 4 having an I-shaped magnetic path, and the magnetic elastic body 2 is formed between the two magnetic poles of the electromagnet 4 (both magnetic poles). It is arranged on the side facing the connecting space. In the magnetic elastic body 2, the opposing surface of the load receiving portion 21, that is, the peripheral portion of the lower surface of the magnetic elastic body 2 is supported by the support member 22, and the magnetic elastic body 2 can be bent by the load F. The amount of deflection depends on the elastic modulus of the magnetic elastic body 2 when the load F is applied. The support member 22 may support not only the lower surface peripheral portion of the magnetic elastic body 2 but also the entire lower surface. The electromagnet 4 is formed, for example, by winding a coil 41 around a cylindrical bobbin 40. The bobbin 40 can be an iron core, or can be an empty core (no iron core). Such an electromagnet 4 is arranged on the lower side (support member 22 side) of the magnetic elastic body 2 and applies a magnetic field B generated outside the coil 41 to the magnetic elastic body 2. With this configuration, the magnetic field B applied to the magnetic elastic body 2 passes through the inside of the magnetic elastic body 2 substantially linearly, and the direction of the magnetic field B is substantially perpendicular to the direction of the load F. 7A and 7B, even if the electromagnet 4 is disposed on the side of the magnetic elastic body 2, the direction of the magnetic field B applied to the magnetic elastic body 2 is substantially equal to the load F. The direction is orthogonal. Although two electromagnets 4 are provided on both sides of the magnetic elastic body 2 in FIG. 7, only one electromagnet 4 may be provided on either side, and a total of three electromagnets 4 on both sides and below, or more. An arbitrary number of electromagnets 4 may be provided.

  FIG. 8 shows another example of the device 1. The magnetic field generator 3 of the device 1 is composed of two electromagnets 4 facing each other. The magnetic elastic body 2 is disposed between the magnetic poles having different polarities of the two electromagnets 4 arranged in series. With this configuration, the magnetic field B applied to the magnetic elastic body 2 improves the parallelism of the magnetic lines of force and becomes more orthogonal to the direction of the load F than the apparatus 1 of FIGS. , Energy efficiency is improved. Further, in the modification shown in FIG. 9, two electromagnets 4 are arranged with the same polarity magnetic poles facing each other, and the magnetic elastic body 2 is arranged between the same polarity magnetic poles. Also in the apparatus 1 having this configuration, the elastic modulus of the magnetic elastic body 2 can be changed by the magnetic field B.

  FIG. 10 shows still another example of the apparatus 1. The magnetic field generator 3 of the device 1 is composed of an electromagnet 4 having a C-shaped magnetic path, and the magnetic elastic body 2 is disposed between the opposed open ends 4 a and 4 b of the magnetic path of the electromagnet 4. FIG. 11 shows still another example of the device 1. The magnetic field generator 3 of the device 1 is composed of an electromagnet 4 whose magnetic path is U-shaped, and the magnetic elastic body 2 is a mode in which the magnetic poles of the U-shaped magnetic path are bridged, with opposing open ends 4a, 4a, 4b. FIG. 12 shows still another example of the apparatus 1. The magnetic field generating unit 3 of the device 1 is composed of an electromagnet 4 having an E-shaped magnetic path, and the magnetic elastic body 2 is configured so as to bridge between the magnetic poles of the E-shaped magnetic path. Is placed on top. 6 to 12 uses the electromagnet 4 as the magnetic field generation unit 3, and thus can easily control the intensity of the magnetic field B by controlling the current exciting the electromagnet 4. Therefore, the increase and decrease of the elastic modulus of the magnetic elastic body 2 can be easily controlled.

(Embodiment using permanent magnet)
13 to 19 show an embodiment in which a permanent magnet 5 is used as the magnetic field generator 3. The apparatus 1 of this embodiment uses a permanent magnet 5 as the magnetic field generator 3 and uses a moving device that moves the permanent magnet as the controller 10 that changes the magnetic field strength. In other words, the control unit 10 is a device that relatively changes the distance between the permanent magnet 5 and the magnetic elastic body 2. As shown in FIGS. 13 (a) and 13 (b), the magnetic elastic body 2 is disposed on the side facing between the magnetic poles of the permanent magnet 5, and the control unit 10 applies the magnetic field B applied to the magnetic elastic body 2. The permanent magnet 5 is moved so that the strength changes. For example, as shown in FIG. 13A, the permanent magnet 5 is movable along the double arrow a direction (direction of the load F), and is separated in the arrow b direction as shown in FIG. 13B. As a result of the movement, the strength of the magnetic field B applied to the magnetic elastic body 2 is weakened, and the elastic modulus of the magnetic elastic body 2 decreases. 14A to 14D, even if the permanent magnet 5 is disposed on the side of the magnetic elastic body 2, the direction of the magnetic field B applied to the magnetic elastic body 2 is different from the load F. The direction is approximately orthogonal to The movement of the permanent magnet 5 in the directions of arrows a and b shown in FIGS. 13 and 14 is an example, and the movement direction of the permanent magnet 5 is not limited to this.

  FIGS. 15A and 15B show another example of the apparatus 1. The magnetic field generator 3 of the device 1 includes two permanent magnets 5 arranged in series apart from each other, and a control unit 10 that moves the permanent magnets 5 toward and away from the magnetic elastic body 2. It has. The magnetic elastic body 2 is disposed between the magnetic poles of different polarities of the separated permanent magnet 5, and the control unit 10 moves the permanent magnet 5 so that the intensity of the magnetic field applied to the magnetic elastic body 2 changes. That is, as shown in FIG. 15A, the permanent magnet 5 is moved, for example, in the direction of a double arrow a (direction of the load F), and is moved away in the direction of arrow b as shown in FIG. 15B. As a result, the strength of the magnetic field B applied to the magnetic elastic body 2 is weakened, and the elastic modulus of the magnetic elastic body 2 is reduced. The magnetic elastic body 2 may be disposed between the magnetic poles of the same polarity of the separated permanent magnets 5 (see FIG. 9). The movement of the permanent magnet 5 in the directions of arrows a and b shown in FIG. 15 is an example, and the movement direction of the permanent magnet 5 is not limited to this.

  FIGS. 16A and 16B show still another example of the apparatus 1. The magnetic field generating unit 3 of the apparatus 1 includes a permanent magnet 5 having a C-shaped magnetic path and a control unit 10 that moves the permanent magnet 5 to and away from the magnetic elastic body 2. The magnetic elastic body 2 is disposed between the opposed open ends of the magnetic path of the permanent magnet 5, and the control unit 10 moves the permanent magnet 5 so that the intensity of the magnetic field B applied to the magnetic elastic body 2 changes. For example, the permanent magnet 5 is moved along the double arrow a direction (the direction of the load F) as shown in FIG. 16A, and is moved apart in the arrow b direction as shown in FIG. As a result, the strength of the magnetic field B applied to the magnetic elastic body 2 is weakened, and the elastic modulus of the magnetic elastic body 2 is reduced. The movement of the permanent magnet 5 in the directions of arrows a and b shown in FIG. 16 is an example, and the movement direction of the permanent magnet 5 is not limited to this.

  FIGS. 17A and 17B show still another example of the apparatus 1. The magnetic field generator 3 of the apparatus 1 includes a permanent magnet 5 having a U-shaped magnetic path, and a controller 10 that moves the permanent magnet 5 to and away from the magnetic elastic body 2. The magnetic elastic body 2 is arranged in a manner that bridges between the magnetic poles of the U-shaped magnetic path, and the control unit 10 moves the permanent magnet 5 so that the intensity of the magnetic field B applied to the magnetic elastic body 2 changes. For example, the permanent magnet 5 is moved along the double arrow a direction (the direction of the load F) as shown in FIG. 17A, and is moved apart in the arrow b direction as shown in FIG. As a result, the strength of the magnetic field B applied to the magnetic elastic body 2 is weakened, and the elastic modulus of the magnetic elastic body 2 is reduced. The movement of the permanent magnet 5 in the directions of arrows a and b shown in FIG. 17 is an example, and the movement direction of the permanent magnet 5 is not limited to this. The C-shaped magnetic path shown in FIG. 16 and the U-shaped magnetic path shown in FIG. 17 are each provided with a yoke (relay) 50 on the permanent magnet 5 as shown in FIGS. You may form by the structure which added. FIG. 19 shows still another example of the device 1. The magnetic field generating unit 3 of the apparatus 1 is composed of a permanent magnet 5 having a magnetic path, and the magnetic elastic body 2 is configured so as to bridge between the magnetic poles of the E-shaped magnetic path. It is arranged on 5b. Since the apparatus 1 of the embodiment shown in FIGS. 13 to 19 uses the permanent magnet 5 as the magnetic field generation unit 3 and includes the control unit 10 that moves the permanent magnet 5, the elastic modulus of the magnetic elastic body 2 is increased. Increase / decrease control can be easily performed.

(Second Embodiment)
20 to 42 show a second embodiment. As shown in FIGS. 20A, 20B, and 20C, the apparatus according to the second embodiment has a component in a direction parallel to the direction of the load F acting on the magnetic elastic body 2 via the load receiving portion 21. Is a device configured to apply a magnetic field B having The magnetic field B is applied by a magnetic field generator 3 (not shown) (see FIG. 1B). The configuration of the magnetic elastic body 2 and the support member 22 is the same as the configuration in the first embodiment. It is assumed that the load F acts on the load receiving portion 21 set in advance in the magnetic elastic body 2. Further, the direction of the load F may act obliquely on the load receiving portion 21. Therefore, the relationship between the direction of the load F and the direction of the magnetic field B is relative, and is not limited to the case where the load F and the magnetic field B are substantially parallel to each other as shown in FIG. In other words, in the present embodiment, when there are appropriate amounts of parallel components such as the By component for F in FIG. 20B, the Bf component for F in FIG. 20C, or the Fy component for B, Is also included. The magnetic elastic body 2 changes its elastic modulus by applying such a magnetic field B, as in the first embodiment described above. That is, the magnetic particles dispersed in the magnetic elastic body 2 operate so as to be aligned in parallel to the direction of the magnetic field B by applying the magnetic field B, and the magnetic elastic body 2 has an increased deformation resistance against the external load F in the magnetic field direction. , The elastic modulus increases. The amount of the parallel component (By component or Bf component) is such that the amount of change in the elastic modulus of the magnetic elastic body 2 that occurs when the strength of the magnetic field B is changed matches the application and conditions of the magnetic response elastic device. Any amount is sufficient.

(Embodiment using electromagnet)
21 to 25 show an embodiment in which an electromagnet 4 is used as the magnetic field generator 3. As shown in FIGS. 21A, 21B, and 21C, the apparatus 1 includes an electromagnet 4 as the magnetic field generator 3, and the magnetic poles of the electromagnet 4 used for applying the magnetic field (N pole and magnetic pole N in the example shown in the figure). The direction of load F). With this configuration, the apparatus 1 applies a magnetic field B having a component in a direction parallel to the direction of the load F from the N pole of the electromagnet 4 to the magnetic elastic body 2. In the apparatus 1, the magnetic elastic body 2 is placed on the upper surface of the flat support member 22, the upper surface of the magnetic elastic body 2 is used as the load receiving portion 21, and the N pole of the electromagnet 4 is brought close to the lower surface of the support member 22. It is configured. In other words, the electromagnet 4 has its magnetic pole N opposed to the load receiving portion 21 via the magnetic elastic body 2. More specifically, the magnetic pole N is opposed to the surface of the magnetic elastic body 2 facing the load receiving portion 21, that is, the surface of the magnetic elastic body 2 facing the support member 22, and the magnetism between the load receiving portion 21 and the magnetic pole N is magnetic. The main body portion of the elastic body 2 is interposed. According to such an arrangement of the electromagnet 4, the magnetic field B generated in the magnetic pole N can be directly applied to the inside of the magnetic elastic body 2, and the arrangement and design of the electromagnet 4 and the magnetic elastic body 2 are easy. By supporting the magnetic elastic body 2 directly on the magnetic pole N, the support member 22 can be omitted. Further, since the magnetic field B (magnetic flux density) increases or decreases in proportion to the value of the current flowing through the coil of the electromagnet 4, it is easy to control the elastic behavior using the electromagnet 4. In any of such devices 1, there is an open portion that does not face the magnetic field generator 3 in the magnetic elastic body 2, and a load receiving portion 21 can be provided in the open portion.

  In the above, the direction of the magnetic pole is the main direction of the lines of magnetic force in the region considered as the magnetic pole in the electromagnet 4. For example, the normal direction of the coil end face in a coil without an iron core or the normal direction of the iron core end face of an electromagnet with an iron core can be regarded as the direction of the magnetic pole. In addition, the central axis of the magnetic pole, which will be described later, is usually a normal line passing through the position of the center of the coil end face or the end face of the iron core or the center of gravity of the face. The magnetic pole used for applying the magnetic field is a magnetic pole that substantially applies a magnetic field to the magnetic elastic body 2, and is usually a magnetic pole disposed on the side close to the magnetic elastic body 2.

  Details and differences of each device 1 shown in FIGS. 21A, 21B, and 21C will be described. The electromagnet 4 in FIG. 21A is obtained by winding an exciting coil around a cylindrical bobbin, and the bobbin can be an iron core or an empty core (no iron core). The magnetic elastic body 2 in FIG. 21 (a) has a quadrangular shape, and its flat upper surface is the load receiving portion 21, and the flat lower surface (that is, the opposite surface of the magnetic elastic body 2 to the load receiving portion 21) is flat. It is supported by the support member 22. The apparatus 1 of FIG. 21B is the same as the apparatus 1 of FIG. 21A except that the magnetic elastic body 2 has a semi-elliptical shape that protrudes upward. The apparatus 1 in FIG. 21C is the same as the apparatus in FIG. 21A except that the bobbin of the electromagnet 4 is bent in the direction along the support member 22. In these devices 1, magnetic field lines B that diverge from the magnetic pole N of the electromagnet 4 emerge, pass through the magnetic elastic body 2, and increase or decrease the elastic modulus of the magnetic elastic body 2 according to the magnitude of the magnetic field B. The change control of the intensity of the magnetic field B is performed by controlling the current that excites the electromagnet 4.

  The apparatus 1 not only sets the direction of the magnetic pole used for applying the magnetic field in the electromagnet 4 to the direction of the load F, but also arranges the electromagnet so that the central axis of the magnetic pole passes through the center of gravity of the load receiving portion 21 in the magnetic elastic body 2. More preferably. For example, in the device 1 shown in FIG. 22A, the central axis of the magnetic pole N passes through the center of gravity G of the load receiving portion 21. In the apparatus 1 having the configuration shown in FIG. 22B, the central axis of the magnetic pole N used for magnetic field application does not pass through the center of gravity G of the load receiving portion 21 in the magnetic elastic body 2. The apparatus 1 in FIG. 22A in which the central axis of the magnetic pole N passes through the center of gravity G is preferable because the magnetic field application efficiency to the magnetic elastic body 2 is superior to the apparatus 1 in FIG. That is, the magnetic field B has an intensity distribution that changes in the radial direction of the coil, and the center of the coil axis is the maximum, so that the axis passing through the center axis of the magnetic pole N that is the center axis of the coil axis and the center of gravity G of the load receiving portion 21 Match. With such a configuration, the maximum magnetic field B can be applied to the load receiving portion 21 and the variable elastic effect can be maximized. The effect obtained by changing the elasticity or elastic modulus of the magnetic elastic body 2 is referred to as a variable elastic effect. Conversely, from another point of view, the magnetic field applied to the magnetic elastic body 2 by changing the state of the device 1 between the states of FIGS. 22A and 22B, that is, by moving the position of the magnetic pole N. It is also possible to control the degree of application and hence the change in elastic modulus. The center of gravity G of the load receiving portion 21 can be, for example, the geometric center of gravity of the surface set as the load receiving portion 21, in other words, designed as a region that mainly receives the load F in the magnetic elastic body 2. The center position of the selected area can be used.

  FIGS. 23A and 23B show another example of the device 1. In this device 1, a cylindrical magnetic elastic body 2 is inserted and disposed in a hollow portion of an electromagnet 4 having a bottomed cylindrical bobbin. The magnetic elastic body 2 has a bottom surface supported by the bottom portion of the electromagnet 4 as a support member 22 and protrudes from a hollow portion of the electromagnet 4 with the top surface as a load receiving portion 21. With this structure, the direction of the magnetic pole used for applying the magnetic field in the electromagnet 4 is the direction of the load F, and the magnetic field B having a component in a direction parallel to the direction of the load F acting on the magnetic elastic body 2 is applied to the magnetic elastic body 2. To do. The magnetic lines of force in the hollow portion are parallel to the axial direction of the electromagnet 4 and the magnetic elastic body 2 and can pass through the magnetic elastic body 2 to obtain an efficient variable elastic effect. Moreover, FIG.23 (c) (d) shows a modification. In this modification, the electromagnet 4 has a cylindrical bobbin with no bottom, and the magnetic elastic body 2 is supported by a support member 22 provided separately, except that the lower part is supported in FIG. This is the same as the apparatus 1 shown in FIG. FIG. 24 shows still another example of the device 1. In this modification, an electromagnet 4 having a columnar bobbin is inserted and arranged in the coaxial space in the internal space of the cylindrical magnetic elastic body 2. The cylindrical upper surface of the magnetic elastic body 2 is the load receiving portion 21, and the cylindrical axis direction is the direction of the load F acting on the magnetic elastic body 2, and the direction of the magnetic field applied to the magnetic elastic body 2. Magnetic lines of force that travel outside the electromagnet 4 from one magnetic pole to the other magnetic pole along the longitudinal direction of the electromagnet 4 pass through the inside of the magnetic elastic body 2.

  FIGS. 25A and 25B show still another example of the device 1. This device 1 is a device in which an excitation coil constituting an electromagnet 4 is wound around the outer circumference of a cylindrical magnetic elastic body 2. For example, it can be considered that the bobbin is omitted in the apparatus 1 shown in FIGS. 23A and 23B and the magnetic elastic body 2 and the exciting coil are brought close to each other. According to the apparatus 1 having this configuration, the number of parts can be reduced. Further, even if the exciting coil is directly wound while being in contact with the magnetic elastic body 2, the exciting coil is made to be an elastic spring coil so that the electromagnet 4 and the magnetic elasticity against the axial deformation caused by the load F can be obtained. The body 2 can be expanded and contracted flexibly and integrally. FIGS. 25C and 25D show still another example of the device 1. This device 1 corresponds to the device 1 of FIG. 24 in which the bobbin is omitted, and an excitation coil for constituting the electromagnet 4 is wound around the inner circumference of the columnar magnetic elastic body 2.

(Embodiment using permanent magnet)
26 to 29 show an embodiment in which a permanent magnet 5 is used as the magnetic field generator 3. The apparatus 1 of this embodiment is obtained by replacing the electromagnet 4 as the magnetic field generating unit 3 with a permanent magnet 5 in the apparatus 1 shown in FIGS. 21 to 24 using the above-described electromagnet 4. Therefore, the configuration of the magnetic elastic body 2, the support member 22, and the magnetic pole used for applying the magnetic field in the direction of the load F in the present embodiment is the same as the configuration in the above-described embodiments shown in FIGS. It is. The device 1 using the permanent magnet 5 includes, for example, a moving device (not shown) as the control unit 10 (see FIG. 1). The moving device is a device that moves the permanent magnet 5 relatively close to and away from the magnetic elastic body 2 and moves the permanent magnet 5 so that the intensity of the magnetic field B applied to the magnetic elastic body 2 changes. . According to these embodiments, the magnetic field B generated in the magnetic poles of the permanent magnet 5 can be directly applied to the inside of the magnetic elastic body 2, and the arrangement and design of the permanent magnet 5 and the magnetic elastic body 2 are easy. .

(Other embodiments belonging to the second embodiment)
30 to 42 show another embodiment belonging to the second embodiment. In the apparatus 1 of these embodiments, as shown in FIG. 30, the direction of the magnetic pole N used for applying the magnetic field of the magnetic field generating unit 3 is orthogonal to the direction of the load F acting on the magnetic elastic body 2. This is an apparatus configured to apply a magnetic field B having a component in a parallel direction to the magnetic elastic body 2. In other words, the magnetic field generation unit 3 has a configuration in which the magnetic pole N is disposed laterally with respect to the load receiving unit 21. Here, the horizontal arrangement means an arrangement in which the direction of the load receiving portion 21 and the direction of the magnetic poles are substantially orthogonal. The direction of the load receiving unit 21 is defined by the direction of the load F acting on the load receiving unit 21 or the normal direction at the point of application (working surface) of the load receiving unit 21 on the load receiving unit 21. In the apparatus 1 shown in FIG. 30, the magnetic pole N used for applying the magnetic field is disposed on the lower end side of the both ends of the magnetic elastic body 2 in the load F direction, that is, on the lower part of the support member 22. In other words, the magnetic field generating unit 3 has the magnetic pole N oriented laterally with respect to the load receiving unit 21 and disposed on the facing side (that is, the lower end side) of the load receiving unit 21 in the magnetic elastic body 2. The apparatus 1 in FIG. 30 differs from the apparatus 1 shown in FIGS. 20 to 29 described above in that the direction of the magnetic pole used for applying the magnetic field is orthogonal to the direction of the load F, and the load F is applied to the magnetic elastic body 2. The structure of the point which applies the magnetic field B which has a component of the direction parallel to the direction of this, the support member 22, etc. is the same. In FIG. 30, the magnetic field lines B emitted from the magnetic pole N of the magnetic field generator 3 in the normal direction of the magnetic pole end surface diverge from the direction of the load F diverge, and a part of the magnetic force lines is substantially perpendicular to the vicinity of the magnetic pole. The deflected magnetic field B passes through the magnetic elastic body 2. The deflection magnetic field B passing through the magnetic elastic body 2 has a component in a direction parallel to the direction of the load F. Thus, when the direction of the magnetic pole is orthogonal to the direction of the load F, the magnetic field generator 3 can be turned sideways, and the overall vertical dimension of the device 1 can be shortened, so that design flexibility is increased. There are advantages.

(Embodiment using electromagnet)
31 to 37 show an embodiment in which an electromagnet 4 is used as the magnetic field generator 3 shown in FIG. The apparatus 1 shown in FIG. 31 is the same as that shown in FIG. 30 except that an electromagnet 4 is used as the magnetic field generator 3. By configuring the magnetic field generator 3 with the electromagnet 4, the magnetic field B increases or decreases in proportion to the value of the excitation current that excites the electromagnet 4, so that the variable elastic behavior of the magnetic elastic body 2 can be easily controlled. Further, the device 1 shown in FIG. 32 is obtained by adding the electromagnet 4 to the device 1 shown in FIG. 31 and arranging the two electromagnets 4 so that the magnetic poles N of the same polarity face each other. The two electromagnets 4 are arranged compactly at the lower part of the support member 22 with the central axis oriented sideways (direction perpendicular to the direction of the load F) and the magnetic poles N oriented sideways. This device 1 can apply a magnetic field B to the magnetic elastic body 2 more strongly by adding an electromagnet. Further, since the magnetic poles N of the same polarity are opposed to each other, the magnetic field lines B at the center of both the magnetic poles N are deflected in the direction of 90 degrees, so that the load is more efficient than the case of the single magnetic pole N alone. A magnetic field B having a component in a direction parallel to the direction of F can be applied to the magnetoelastic body 2. Accordingly, the two electromagnets 4 arranged to face each other can be configured by electromagnets having a weaker output than the single electromagnet 4. In addition, the number of electromagnets 4 is not limited to two, and a plurality of electromagnets 4 can be provided. For example, three or four electromagnets 4 can be arranged radially with magnetic poles N having the same polarity as the center. . By arranging two or more electromagnets 4, the magnetic field B generated by the magnetic poles of the electromagnet 4 becomes strong, and the variable elastic effect of the magnetic elastic body 2 becomes high. Further, by making the same poles face each other, the magnetic field B is deflected at a right angle so that it passes through the inside of the magnetic elastic body 2 more efficiently. Further, the magnetic poles N facing each other of the plurality of electromagnets 4 are preferably arranged symmetrically with respect to the magnetic elastic body 2. As a result, the center of the magnetic field B deflected at right angles passes through the center (center of gravity) of the load receiving portion 21 of the magnetic elastic body 2, and the variable elastic effect can be further enhanced.

  The apparatus 1 shown in FIG. 33 is configured such that the magnetic field generating unit 3 in the apparatus 1 shown in FIG. 30 is arranged not on the side of the magnetic elastic body 2 but on the side of the magnetic elastic body 2, and the magnetic pole N used for applying the magnetic field. Is disposed on the side facing both ends of the magnetic elastic body 2 in the load F direction. In this configuration, the direction of the magnetic pole N is arranged perpendicular to the direction of the load F, and a magnetic field B having a magnetic force line B that diverges from the magnetic pole N is applied to the magnetic elastic body 2. This magnetic field B has a magnetic field component in a direction parallel to the direction of the load F. The apparatus 1 shown in FIG. 34 uses an electromagnet 4 as the magnetic field generator 3 in the apparatus 1 shown in FIG. In addition, the apparatus 1 shown in FIG. 35 has an additional electromagnet 4 in the apparatus 1 shown in FIG. 34, and the two electromagnets 4 are arranged to face each other with the same polarity magnetic poles N facing each other. Is arranged. 33, FIG. 34, and FIG. 35 correspond to the configuration in which the electromagnet 4 in the above-described device 1 of FIGS. 30, 31, and 32 is moved to the side of the magnetic elastic body 2, respectively.

  The apparatus 1 shown in FIG. 36 comprises the magnetic field generator 3 in the apparatus 1 shown in FIG. 33 with an electromagnet 4 having a U-shaped magnetic path, and the magnetic poles N and S of the electromagnet 4 are made of a magnetic elastic body 2. It is arrange | positioned so as to oppose the side surface. In this configuration, the directions of the magnetic poles N and S are arranged so as to be orthogonal to the direction of the load F, and the magnetic field lines B from the magnetic pole N to the magnetic pole S have magnetic field components in a direction parallel to the direction of the load F. ing. In this device 1, the electromagnet 4 can include not only one side of the magnetic elastic body 2 but also a plurality of magnetic poles of the same polarity facing each other around the magnetic elastic body 2. It can be set as the structure arrange | positioned continuously around the body 2. FIG.

  In the apparatus 1 shown in FIG. 37, the electromagnet 4 having a U-shaped magnetic path in the apparatus 1 shown in FIG. 36 is replaced with an electromagnet 4 having an E-shaped magnetic path. The magnetic elastic body 2 is disposed so as to face the side surface. In this configuration, the directions of the magnetic poles N and S are arranged so as to be orthogonal to the direction of the load F, and the magnetic field lines B from the magnetic pole N to the magnetic pole S have magnetic field components in a direction parallel to the direction of the load F. ing. In this apparatus 1, the configuration in which a plurality of electromagnets 4 are provided or the magnetic poles are continuously arranged is the same as that in FIG. In the apparatus 1 shown in FIGS. 36 and 37, since the gap on the magnetic circuit can be reduced, the deflection magnetic field B generated and applied by the electromagnet 4 is concentrated inside the magnetic elastic body 2 and efficiently passes. Can be made.

(Embodiment using permanent magnet)
38 to 42 show an embodiment in which the permanent magnet 5 is used as the magnetic field generator 3. The apparatus 1 of these embodiments is obtained by replacing the electromagnet 4 as the magnetic field generating unit 3 with a permanent magnet 5 in the apparatus 1 shown in FIGS. 31 to 37 using the above-described electromagnet 4. Therefore, the configuration of the magnetic elastic body 2, the support member 22, and the arrangement of the magnetic poles used for applying the magnetic field in the direction of the load F is the same as the configuration in the above-described embodiment shown in FIGS. Each device 1 shown in FIGS. 38 to 41 and FIGS. 42A and 42B corresponds to each device 1 shown in FIGS. 31 to 37 described above. The apparatus 1 using such a permanent magnet 5 includes, for example, a moving device (not shown) as the control unit 10 (see FIG. 1) as described above.

(Third embodiment)
43 to 54 show a third embodiment. As shown in FIG. 43, the apparatus 1 of the third embodiment generates a magnetic field B having a component in a direction oblique to the direction of the load F acting on the magnetic elastic body 2 via the load receiving portion 21. 2 is an apparatus configured to be applied to 2. The magnetic field B is applied by a magnetic field generator 3 (not shown) (see FIG. 1B). The configuration of the magnetic elastic body 2 and the support member 22 is the same as the configuration in the first embodiment. It is assumed that the load F acts on the load receiving portion 21 set in advance in the magnetic elastic body 2. Further, the direction of the load F may act on the load receiving portion 21 obliquely, and therefore the relationship between the direction of the load F and the direction of the magnetic field B is relative. The amount of the component in the direction oblique to the direction of the load F of the magnetic field B is the amount of change in the elastic modulus in the magnetic elastic body 2 generated when the strength of the magnetic field B is changed. Any amount that conforms to 44 (a) and 44 (b), a square-shaped magnetic elastic body 2 is mounted on a flat support member 22, and the direction of the magnetic pole N is inclined diagonally upward. The directed magnetic field generator 3 is arranged. The upper surface of the magnetic elastic body 2 is a load receiving portion 21, and an external load F applied to the load receiving portion 21 is received by the support member 22 via the magnetic elastic body 2. That is, the magnetic field generator 3 is arranged with its magnetic pole N obliquely with respect to the load receiver 21, and the load receiver 21 is provided in an open portion of the magnetic elastic body 2 that does not face the magnetic field generator 3. The direction of the load F is normally set so as to be perpendicular to the upper surface of the magnetic elastic body 2, and thus perpendicular to the support member 22, but depending on the application status and usage status of the apparatus 1, The direction can change. For such a load F, the magnetic field B applied to the magnetic elastic body 2 from the magnetic pole N used for applying the magnetic field has at least a component in a direction oblique to the load F. In such an apparatus 1, the magnetic particles dispersed in the magnetic elastic body 2 tend to be aligned in parallel to the magnetic field direction by the action of the magnetic field B. Therefore, when an external load acts obliquely with respect to the magnetic field direction, the magnetic elastic body 2 has an increased deformation resistance due to a load component parallel to the magnetic field B and a deformation resistance due to a load component perpendicular to the magnetic field B. To increase.

(Embodiment using electromagnet)
45 to 49 show an embodiment in which an electromagnet 4 is used as the magnetic field generator 3. The apparatus 1 shown in FIG. 45 uses the magnetic field generator 3 in the apparatus 1 shown in FIGS. 44 (a) and 44 (b) as an electromagnet 4. The electromagnet 4 can be arranged at another diagonal position so that a plurality of electromagnets 4 are provided. The apparatus 1 shown in FIG. 46 includes two electromagnets 4 as the magnetic field generating unit 3, and these electromagnets 4 are arranged at diagonal positions on the magnetic elastic body 2 with magnetic poles having different polarities facing each other. The apparatus 1 in FIG. 46 has a configuration in which a second electromagnet 4 is added obliquely upward to the right in the apparatus 1 in FIG. Since the magnetic poles N and S having different polarities face each other with the magnetic elastic body 2 sandwiched therebetween, the magnetic lines of force B are concentrated between the magnetic poles arranged obliquely with respect to the load receiving portion 21. The passing magnetic field B increases and the elastic modulus increase is further improved. That is, by arranging the different polarities of the two permanent magnets 4 diagonally, a magnetic field B along the diagonal line is formed inside the magnetic elastic body 2. A plurality of sets of electromagnets 4 can be provided by arranging the sets of electromagnets 4 at other diagonal positions. The load receiving portion 21 is provided in an open portion of the magnetic elastic body 2 that does not face the electromagnet 4. FIG. 47 shows the device 1 in which the opposite magnetic poles in FIG. 45 have the same polarity. The magnetic field B generated in the magnetic elastic body 2 includes a magnetic field component in a direction oblique to the direction of the load F. 47 and 45 can be easily switched by reversing the direction of the excitation current that excites the electromagnet 4. Therefore, for example, when the magnetic elastic body 2 is used as a massager treatment element, the variable elastic behavior of the magnetic elastic body 2 can be varied by controlling the excitation current. Can be given and effective treatment can be performed.

  In the apparatus 1 shown in FIG. 48, two electromagnets 4 are disposed obliquely on the support member 22 side, which is one end side in the direction of the load F in the magnetic elastic body 2, as the magnetic field generating section 3, and the magnetic elastic body 2 is sandwiched between magnetic poles having different polarities. That is, the magnetic poles N and S arranged obliquely are arranged so as to sandwich the magnetic elastic body 2 on the opposite side (support member 22 side) of the load receiving portion 21 in the magnetic elastic body 2. The two electromagnets 4 are arranged so as to face the magnetic elastic body 2 from diagonally below on both sides, and the magnetic field lines B that draw a curve from the N pole of one electromagnet 4 to the S pole of the other electromagnet 4 are arranged. Passes through the magnetic elastic body 2. The magnetic field B includes a magnetic field component in a direction oblique to the direction of the load F. Compared with the apparatus 1 shown in FIG. 45, this apparatus 1 uses two electromagnets 4 to make the magnetic poles different from each other. Therefore, the magnetic field B passing through the inside of the magnetic elastic body is increased, and the elastic modulus increase is further improved. To do. The apparatus 1 shown in FIG. 49 (a) is an apparatus in which the two electromagnets 4 in the apparatus 1 shown in FIG. 48 are combined by a common yoke (junction), and the magnetic poles used for magnetic field application have the same magnetic path. Is included. Similarly, the apparatus 1 shown in FIG. 49 (b) is an apparatus in which the two electromagnets 4 in the apparatus 1 shown in FIG. Since these devices 1 having a magnetic path reduce the gap on the magnetic circuit by the magnetic path and increase the magnetic field passing through the inside of the magnetic elastic body, the elastic modulus increase is further improved.

(Embodiment using permanent magnet)
50 to 54 show an embodiment in which a permanent magnet 5 is used as the magnetic field generator 3. The apparatus 1 of these embodiments is obtained by replacing the electromagnet 4 as the magnetic field generation unit 3 with a permanent magnet 5 in the apparatus 1 shown in FIGS. 45 to 49 using the above-described electromagnet 4. Therefore, the configuration of the magnetic elastic body 2, the support member 22, and the magnetic pole used for applying the magnetic field in the direction of the load F in the present embodiment is the same as the configuration in the embodiment shown in FIGS. 45 to 49 described above. It is. The device 1 using such a permanent magnet 5 includes, for example, a moving device (not shown) as the control unit 10 (see FIG. 1). The moving device moves the permanent magnet 5 so that the intensity of the magnetic field B applied to the magnetic elastic body 2 changes.

(Fourth embodiment)
55 to 57 show a fourth embodiment. In this embodiment, a magnetic response type elastic device is configured as a system. The apparatus 1 shown in FIGS. 55, 56, and 57 includes a plurality of sets of the magnetic elastic body 2 and the magnetic field generation unit 3, and controls the magnetic field generation unit 3 to control the strength of the magnetic field B applied to the magnetic elastic body 2. The control part 10 which changes is provided. FIG. 55 shows three magnetic elastic bodies 2, three magnetic field generators 3 corresponding to the magnetic elastic bodies 2, and the strength of the magnetic field B applied to the magnetic elastic bodies 2 by controlling the magnetic field generators 3. The apparatus 1 provided with the one control part 10 which changes is shown. In the example of this figure, two magnetic elastic bodies 2 are made highly elastic by applying a magnetic field B, and the other one magnetic elastic body 2 is kept low elastic without applying the magnetic field B. Thus, each magnetic elastic body 2 of the apparatus 1 can change an elasticity modulus each independently.

  FIG. 56 shows the device 1 in which three magnetic elastic bodies 2 are arranged in a uniaxial (x-axis) direction on a common support member 22, and FIG. 57 shows nine magnetic elastic bodies on the common support member 22. 1 shows a device 1 in which a body 2 is arranged in two axial (x-axis, z-axis) directions. The support member 22 can be a free-form surface in a three-dimensional space, and a plurality of magnetic elastic bodies 2 are arranged at arbitrary intervals on the support member 22 having such a curved surface, and the magnetic field generator 3 is provided on each magnetic elastic body 2. Accordingly, the magnetic response elastic device 1 can be configured as a system. The individual devices 1 in the first to third embodiments described above can be combined into a system. When the apparatus 1 is systemized, the plurality of magnetic elastic bodies 2 are arranged in a planar shape on the planar support member 22, so that the load receiving portion 21 in each magnetic elastic body 2 is configured in a planar shape. This is because the load receiving portion 21 in each device 1 is provided in the open portion that does not face the magnetic field generating portion 3, that is, the electromagnet 4 or the permanent magnet 5. Due to this advantage, the apparatus 1 can be easily applied to a mattress, a seat portion of a chair, a backrest portion, or the like. Each magnetic elastic body 2 of such a device 1 can independently change its elastic modulus to an arbitrary size. Therefore, for example, when applied to a mattress, etc., it is possible to change the elastic modulus arbitrarily with respect to the surface pressure distribution due to the external load from the human body to obtain an optimal surface pressure state, or to change the elastic modulus temporally and spatially to massage. And treatment effects can be generated.

  The apparatus 1 shown in FIGS. 58 to 65 includes a single magnetic elastic body 2 spread in a planar shape, a single or plural magnetic field generators 3, and a magnetic field generator 3 (electromagnet or permanent magnet) as a magnetic elastic body. The system is provided with a moving device 6 that moves relative to 2. These devices 1 move the place where the elastic modulus is changed with respect to the magnetic elastic body 2, and can locally and dynamically change the elastic modulus of each part of the magnetic elastic body 2. Hereinafter, it demonstrates individually.

  The apparatus 1 shown in FIGS. 58, 59 (a) and 59 (b) includes one magnetic field generation unit 3 and one movement device 6, and the magnetic field generation unit 3 is mat-shaped magnetic elastic body 2 by the movement device 6. Is moved one-dimensionally in the x direction in the figure along the lower surface of the. The magnetic elastic body 2 is supported from the lower surface by a planar support member 22, and the upper surface of the magnetic elastic body 2 serves as a load receiving portion 21 that receives a load F. The moving device 6 includes a driving motor 6a, a ball screw 6b that is rotationally driven by the motor 6a, a base 6c that is screwed into the ball screw 6b and moves along the ball screw 6b as the ball screw 6b rotates, and a motor 6a. And a movement control unit 6d that controls the driving of the vehicle. The ball screw 6 b is disposed below the support member 22 and in parallel with the support member 22. The magnetic field generator 3 is fixed to the pedestal 6c. Accordingly, the magnetic field generator 3 moves along the ball screw 6b. The magnetic field generation unit 3 includes a magnetic field control unit 10a. For example, when the magnetic field generator 3 is an electromagnet 4, the magnetic field controller 10 a is a current control circuit that controls the amount of electricity to the excitation coil of the electromagnet 4. The control unit 10 includes a magnetic field control unit 10a, a moving device 6, a computer (not shown), and the like. The control unit 10 controls the magnetic elastic body 2 to locally and dynamically change the elastic modulus of each part of the magnetic elastic body 2. For example, when the magnetic field generator 3 is the permanent magnet 5, the apparatus 1 moves the position of the magnetic field generator 3 to move the magnetic elastic body 2 from, for example, the position P1 to the position P2. The elastic modulus can be changed sequentially. When the magnetic field generator 3 is the electromagnet 4, the magnitude of the elastic modulus can be changed, or the place where the elastic modulus can be changed can be moved.

  The apparatus 1 shown in FIGS. 60, 61 (a) and 61 (b) includes the two moving devices 61 and 62 in the apparatus 1 shown in FIGS. 2 is moved in a two-dimensional manner along the lower surface of 2. The moving device 61 moves the magnetic field generator 3 in the x direction in the figure, and the moving device 62 moves the magnetic field generator 3 in the z direction in the figure. The moving device 61 includes a motor 61a, a ball screw 61b, a base 61c that moves along the ball screw 61b, a guide shaft 61d that supports and guides the base 61c, and a movement control unit (not shown). The pedestal 61c is long in the z direction, is screwed with the ball screw 61b at the center, and is slidably supported by the guide shaft 61d at both ends. The moving device 62 is provided on an upper portion of the pedestal 61c, and includes a motor 62a, a ball screw 62b, a pedestal 62c that moves along the ball screw 62b, and ball screw bearings 62d that are provided at both ends of the pedestal 61c. A movement control unit (not shown). The magnetic field generator 3 is fixed to the pedestal 62c. Therefore, the magnetic field generator 3 can move to an arbitrary position two-dimensionally along the lower surface of the magnetic elastic body 2 as the ball screws 61b and 62b rotate. Such an apparatus 1 moves the place where the elastic modulus is changed two-dimensionally with respect to the magnetic elastic body 2 by moving the position of the magnetic field generation unit 3 from the position P1 to the position P2, for example. Can do.

  The device 1 shown in FIGS. 62, 63, 64 (a) and 64 (b) is the same as the device 1 shown in FIGS. 60 and 61, except that the moving device 63 that moves toward and away from the magnetic elastic body 2 can be moved. The base 62c and the magnetic field generator 3 are provided. The moving device 63 can be configured by using various actuators that move the magnetic field generator 3 in the vertical direction (y direction in the figure) by a short distance. The moving device 63 can be configured by, for example, an actuator using an air bag, a fluid cylinder, a bolt and a nut, a spring and an electromagnet, or the like. Such a device 1 can change the elastic modulus by the moving device 63 regardless of whether the magnetic field generating unit 3 is the electromagnet 4 or the permanent magnet 5, and the moving devices 61 and 62 can change the elastic modulus. The place to change can be moved. FIGS. 64A and 64B show how the magnitude of the elastic modulus is changed along the x-axis direction.

  The apparatus 1 shown in FIG. 65 is a set of the magnetic field generation unit 3, the moving apparatus 62, and the moving apparatus 63 instead of including the moving apparatus 61 in the x-axis direction in the apparatus 1 shown in FIGS. , A plurality (six sets in this example) are arranged in the x-axis direction. Such a device 1 includes a plurality of moving devices 62 and 63 and a plurality of magnetic field generating units 3, and each moving device 62 and 63 individually moves each of the magnetic field generating units 3. The elastic modulus can be changed at the same time.

(Example)
FIG. 66 shows a usage example of the apparatus 1. In this embodiment, a massage machine is configured by incorporating the above-described apparatus 1 shown in FIG. 58 into the backrest of a chair with a backrest. The massage machine includes a magnetic elastic body 2 disposed along the backrest portion, and a magnetic field generating section 3 that moves up and down along the backrest portion on the back surface of the magnetic elastic body 2, in addition to those shown in FIG. A configuration similar to that of the apparatus 1 is provided. The moving device such as the motor 6a moves the magnetic field generator 3 up and down along the backrest. When the magnetic field generator 3 is composed of a permanent magnet, the magnetic field controller 10a converts the magnetic field generator 3 into the magnetic elastic body 2 by a drive unit (not shown) (for example, the moving device 63 in FIG. 62 described above). Move close to each other. When the magnetic field generator 3 moves up and down along the magnetic elastic body 2 or moves closer to and away from the magnetic elastic body 2, an uneven shape is formed on the surface of the backrest portion, or the uneven shape is moved. The user's back leaning on the chair can be massaged. That is, one surface of the magnetic elastic body 2 positioned on the surface side of the backrest portion is the load receiving portion 21, and the load F acting on the load receiving portion of the magnetic elastic body 2 is a force with which the user's back presses the backrest portion. . In addition, when the magnetic field generation unit 3 is composed of an electromagnet, the magnetic field control unit 10a controls the power supplied to the electromagnet that is the magnetic field generation unit 3 to change the magnetic field strength. Thereby, a massage can be performed like the case where a permanent magnet is used.

  FIG. 67 shows another embodiment of the apparatus 1. In this embodiment, the massage machine is configured by incorporating the device 1 in a bed. In this massage machine, the magnetic elastic body 2 is arranged in a mat shape on the upper surface of the bed, and the magnetic field generating unit 3 is moved along the back surface of the bed. In this case, the weight of the user is the load F, and the upper surface of the magnetic elastic body 2 is the load receiving portion 21. This massage machine can perform massage on a portion of the user who is sleeping on the bed and in contact with the bed. Such a bed can be used not only as a massage machine, but also for preventing bed slippage of a bedridden user in a care bed. In the usage examples shown in FIGS. 66 and 67, a plurality of magnetic field generation units 3 can be provided, and a massaging operation by the magnetic elastic body 2 can be performed simultaneously in a wide area.

(Structure and manufacturing method of magnetic elastic body)
68 and 69, the structure and manufacturing method of the magnetic elastic body 2 will be described. In the first embodiment described above, referring to FIG. 3A, the magnetic elastic body 2 is obtained by dispersing the magnetic particles 2b in the elastic material 2a, and the elastic material 2a is a gel state material or a solid material. I explained that there was. The magnetic elastic body 2 will be further described. The elastic material 2a can be a porous body as shown in FIG. 68 (a). By making the elastic material 2a a porous body, the elastic material 2a can be deformed more flexibly, so that the substantial change width of the elastic modulus of the magnetic elastic body 2 can be increased. Various methods can be used as a method of manufacturing the magnetic elastic body 2 in which the elastic material 2a is a porous body. For example, a magnetic elastic body in which magnetic particles are dispersed in partition walls that define pores of the foam can be produced by mixing magnetic particles in a foam material and foaming the magnetic particles. In the magnetic elastic body manufactured by this method, if the filling amount of magnetic particles is increased in order to make it respond more strongly to the magnetic field, the partition walls become hard and difficult to be deformed. is there. Below, the other manufacturing method of the magnetic elastic body 2 is demonstrated.

  The magnetic elastic body 2 shown in FIG. 68 (a) includes an elastic body material 2a (hereinafter referred to as a base material 2a) and an additive material 2e, and the base material 2a is an elastic material having a large number of holes 2d. The additive 2e contains the magnetic particles 2b and is embedded in a part of the holes 2d and integrated with the base material 2a. The base material 2a is a porous structure elastic body having a foam structure, and has pores 2d. The magnetic elastic body 2 is formed using a base material 2a having a large number of holes 2d (not shown) shown in FIG. 68 (b) and an impregnating liquid 2f in which magnetic particles 2b shown in FIG. 68 (c) are mixed. Is done.

  As shown in FIG. 69, the magnetic elastic body 2 is manufactured through a base material formation step (S1), a liquid preparation step (S2), an impregnation step (S3), and a solidification step (S4). In the base material forming step (S1), the raw material to be an elastic body is foamed to form a base material 2a which is a porous structure elastic body having a large number of communicating pores 2d. In the liquid preparation step (S2), solidification is performed. Thus, an impregnation liquid is prepared by mixing the magnetic particles 2b with the liquid to be the binder. Either the base material forming step (S1) or the liquid preparation step (S2) may be performed first or in parallel. In the impregnation step (S3), the base material 2a formed in the base material formation step (S1) is impregnated with the impregnation liquid 2f prepared in the liquid preparation step (S2). In the solidification step (S4), the impregnating liquid 2f in the base material that has undergone the impregnation step (S3) is solidified to form the additive 2e, and the magnetic particles 2b are bonded to the base material 2a by the additive 2e. The additive 2e maintains the bond between the base material 2a and the magnetic particles 2b when the base material 2a is deformed. The additive 2e need not be filled in the cross section of a certain hole 2d, and may be embedded in a part of the hole 2d, and the hole 2d that does not contain the additive 2e exists appropriately. Is preferable. Therefore, a step of measuring the amount of the impregnating liquid 2f to be impregnated in the base material 2a in advance, or a step of squeezing the excess impregnating liquid 2f from the base material 2a after impregnating the base material 2a with a sufficient amount of the impregnating liquid 2f, Prepare before the solidification step (S4). Further, before the solidification step (S4), for example, by measuring the weight of the base material 2a containing the impregnating liquid 2f, an appropriate amount of impregnation can be set, and an appropriate amount of pores 2d not containing the additive 2e is formed. It can be secured in the magnetic elastic body 2. The shape of the hole 2d may be a spherical hole extending in an arbitrary direction or a long hole having a uniform longitudinal direction in addition to a spherical shape. The impregnating liquid 2f may be any liquid that can be impregnated in the base material 2a while holding the magnetic particles 2b and then solidified to bond the magnetic particles 2b to the holes 2d of the base material 2a. The impregnating liquid 2f is preferably one that is easily deformed in a solidified state. For example, an impregnating liquid that is solidified to become a silicone resin is used. Further, the impregnating liquid 2f may be mixed with a foaming agent so that the additive 2e itself in a solidified state has pores.

  The present invention is not limited to the above-described configuration, and various modifications can be made. For example, the configurations of the above-described embodiments can be combined with each other. For example, in the second and third embodiments, the example in which the electromagnet 4, the permanent magnet 5, and the control unit 10 are used has been described, but the electromagnet 4 in the second embodiment is moved by the control unit 10. Alternatively, the electromagnet 4 may be used in combination in the third embodiment. Also in other embodiments, the electromagnet 4 can be moved similarly, the electromagnet 4 and the permanent magnet 5 can be used together, or these magnets can be added. Further, the shape of the magnetic elastic body 2 is not limited to the shape shown in each figure, and may be any shape, for example, a rectangular parallelepiped, a cylindrical shape, a dome shape, a kamaboko shape, a combination of these, a corrugated shape, etc. It can be. Further, the load receiving portion 21 is not limited to a flat surface, but can be an uneven surface or a curved surface having an arbitrary shape. Further, the outer shape and the cross-sectional shape of the electromagnet 4 and the permanent magnet 5 can be arbitrary shapes. Moreover, although I-shaped, C-shaped, U-shaped, E-shaped, etc. have been shown as the shape of the magnetic path, these shapes can be cross-sectional shapes orthogonal to the longitudinal direction of the long shape, and can be rotated. A cross section including the axis center of the symmetric body may be used. Further, in each device 1, the magnetic field generator 3, that is, the N pole and the S pole in the electromagnet 4 and the permanent magnet 5 can be replaced with each other. Further, the support member 22 may share part of the members constituting the electromagnet 4 and the permanent magnet 5. The support member 22 does not need to be a rigid body, and the support member 22 itself may be an elastic body that is appropriately deformed.

  This application is based on the Japan patent application 2010-258370, The content should be united with this invention as a result by referring the specification and drawing of the said patent application.

DESCRIPTION OF SYMBOLS 1 Magnetic response type elastic device 2 Magnetic elastic body 21 Load receiving part 3 Magnetic field generating part 4 Electromagnet 5 Permanent magnet 6, 61-63 Moving apparatus 10 Control part B Magnetic field (line of magnetic force)
F Load G Center of gravity

Claims (36)

In a magnetic response elastic device that changes the elastic modulus of a magnetic elastic body by a magnetic field,
A magnetic elastic body obtained by dispersing magnetic particles in an elastic material;
A magnetic response type elastic device comprising: a magnetic field generating unit configured to apply a magnetic field to the magnetic elastic body from outside the magnetic elastic body to change an elastic modulus of the magnetic elastic body. The magnetic elastic body has a load receiving portion that receives a load from the outside,
The magnetic response elastic device according to claim 1, wherein the load receiving portion is provided in an open portion of the magnetic elastic body that does not face the magnetic field generating portion.   The magnetic response elastic device according to claim 2, wherein the magnetic field generation unit applies a magnetic field having a component in a direction orthogonal to a direction of a load received by the load receiving unit to the magnetic elastic body. The magnetic field generator has an I-shaped magnetic path,
4. The magnetic response elastic device according to claim 2, wherein the magnetic elastic body is disposed on a side facing between both magnetic poles of the magnetic path. 5. At least two magnetic field generators are provided spaced apart from each other;
The magnetic response elastic device according to claim 2, wherein the magnetic elastic body is disposed between the separated magnetic field generation units. The magnetic field generator has a C-shaped magnetic path,
The magnetic response elastic device according to claim 2, wherein the magnetic elastic body is disposed between opposed open ends of the magnetic path. The magnetic field generator has a U-shaped magnetic path,
4. The magnetic response elastic device according to claim 2, wherein the magnetic elastic body is arranged in a manner of bridging between magnetic poles of the magnetic path. 5. The magnetic field generator has an E-shaped magnetic path,
4. The magnetic response elastic device according to claim 2, wherein the magnetic elastic body is arranged in a manner of bridging between magnetic poles of the magnetic path. 5.   The magnetic response elastic device according to claim 2, wherein the magnetic field generation unit applies a magnetic field having a component in a direction parallel to a direction of a load received by the load receiving unit to the magnetic elastic body.   The magnetic response elastic device according to claim 9, wherein the magnetic field generation unit has a magnetic pole opposed to the load receiving unit.   11. The magnetic response type elastic device according to claim 9, wherein the magnetic field generating unit has a magnetic pole disposed on a side facing the load receiving unit in the magnetic elastic body.   The magnetic response type elastic device according to claim 11, wherein the magnetic field generating unit is arranged such that a central axis of a magnetic pole thereof passes through a center of gravity of the load receiving unit.   The magnetic response according to claim 11 or 12, wherein one of the magnetic elastic body and the magnetic field generator has a hollow portion, and the other is inserted and disposed in the hollow portion. Mold elastic device.   The magnetic response type elastic device according to claim 9, wherein the magnetic field generation unit has a magnetic pole disposed laterally with respect to the load receiving unit.   15. The magnetic field generation unit is configured such that the magnetic pole is oriented laterally with respect to the load receiving unit, and the magnetic pole is disposed on the opposite side of the load receiving unit in the magnetic elastic body. Magnetic response type elastic device.   The magnetic field generator is arranged so that its magnetic pole is transverse to the load receiver and the magnetic pole is opposed to the side surface between the load receiver and the facing portion of the magnetic elastic body. The magnetic response type elastic device according to claim 14.   17. The magnetic response type elastic device according to claim 15, wherein a plurality of the magnetic field generation units are provided to have a plurality of magnetic poles arranged in the lateral direction and have the same polarity.   18. The magnetic response type elastic device according to claim 17, wherein the plurality of magnetic poles having the same polarity face each other and are arranged symmetrically with respect to the magnetic elastic body.   The magnetic response type according to claim 16, wherein the magnetic field generation unit has a U-shaped magnetic path, and each magnetic pole of the magnetic path is arranged to face a side surface of the magnetic elastic body. Elastic device.   17. The magnetic response type according to claim 16, wherein the magnetic field generator has an E-shaped magnetic path, and each magnetic pole of the magnetic path is arranged to face a side surface of the magnetic elastic body. Elastic device.   The magnetic response elastic device according to claim 2, wherein the magnetic field generating unit applies a magnetic field having a component in a direction oblique to a direction of a load received by the load receiving unit to the magnetic elastic body.   The magnetic response type elastic device according to claim 21, wherein the magnetic field generation unit is configured by arranging the magnetic poles obliquely with respect to the load receiving unit.   The magnetic field generator is provided with a plurality of magnetic poles arranged obliquely by being provided with a plurality, and is arranged so as to sandwich the magnetic elastic body at diagonal positions in the magnetic elastic body. The magnetic response type elastic device according to 22.   The magnetic field generator is provided with a plurality of magnetic poles arranged obliquely and different from each other, and the magnetic poles having different polarities are arranged on the opposite side of the load receiving portion of the magnetic elastic body. The magnetic response type elastic device according to claim 22, wherein the magnetic response type elastic device is arranged so as to sandwich the elastic body.   24. The magnetic response elastic device according to claim 22, wherein the plurality of magnetic poles sandwiching the magnetic elastic body are magnetic poles included in the same magnetic path.   A plurality of magnetic elastic bodies, a plurality of magnetic field generating sections corresponding to the magnetic elastic bodies, and a control section for controlling the magnetic field generating sections to change the strength of the magnetic field applied to the magnetic elastic bodies. The magnetic response type elastic device according to any one of claims 1 to 25, further comprising:   27. The magnetic response elastic device according to claim 26, wherein the magnetic elastic bodies are arranged in a uniaxial direction.   27. The magnetic response elastic device according to claim 26, wherein the magnetic elastic bodies are arranged in two axial directions.   The magnetic response elastic device according to any one of claims 1 to 28, further comprising a moving device that moves the magnetic field generation unit relative to the magnetic elastic body.   30. The magnetic response elastic device according to claim 29, wherein the moving device moves the magnetic field generation unit one-dimensionally along the magnetic elastic body.   30. The magnetic response elastic device according to claim 29, wherein the moving device moves the magnetic field generator two-dimensionally along the magnetic elastic body.   32. The magnetic response type elastic device according to claim 29, wherein the moving device moves the magnetic field generating unit so as to approach and separate from the magnetic elastic body.   33. The mobile device according to any one of claims 29 to 32, wherein the mobile device includes a plurality of the moving devices and the magnetic field generating units, and the moving devices individually move the magnetic field generating units. Magnetic response type elastic device.   The magnetic response elastic device according to any one of claims 1 to 33, wherein the magnetic field generation unit is an electromagnet.   The magnetic response type elastic device according to any one of claims 1 to 33, wherein the magnetic field generation unit is a permanent magnet.   The magnetic response type elastic device according to claim 9 or 10, wherein the magnetic field generation unit is an electromagnet in which an excitation coil is wound around a surface of the magnetic elastic body.

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