WO2003067097A1 - Verin hydraulique et son procede de fabrication - Google Patents

Verin hydraulique et son procede de fabrication Download PDF

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Publication number
WO2003067097A1
WO2003067097A1 PCT/JP2003/001330 JP0301330W WO03067097A1 WO 2003067097 A1 WO2003067097 A1 WO 2003067097A1 JP 0301330 W JP0301330 W JP 0301330W WO 03067097 A1 WO03067097 A1 WO 03067097A1
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WIPO (PCT)
Prior art keywords
expansion
elastic
mesh
contraction
covering
Prior art date
Application number
PCT/JP2003/001330
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English (en)
Japanese (ja)
Inventor
Mitsuhiro Koseki
Hiroshi Kobayashi
Makoto Konami
Kazuaki Hiramatsu
Yutaka Sato
Original Assignee
Hitachi Medical Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Medical Corporation filed Critical Hitachi Medical Corporation
Publication of WO2003067097A1 publication Critical patent/WO2003067097A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the present invention relates to a hydraulic actuator driven by the supply and discharge of a fluid such as air, and a method of manufacturing the same.
  • Fig. 15 and Fig. 16 are explanatory diagrams showing an example of a conventional pneumatic actuator.
  • the elastic elastic body 1 is a rubber tube 2 and a high tension covering the outer periphery of the tube 2. And a net-like covering 3 made of fibers.
  • the coating body 3 is fixed to the tube 2 at both ends in the axial direction of the elastic elastic body 1.
  • An air supply / discharge device 4 for supplying / discharging air into / from the tube 2 is connected to one end of the tube 2 via a pipe 5. By supplying / discharging air to / from the tube 2, the diameter of the elastic expandable body 1 is increased / decreased and the entire length is expanded / contracted.
  • Such a pneumatic actuator is disclosed, for example, in Japanese Patent Application Laid-Open No. Hei 7-24771.
  • FIG. 17 is an explanatory diagram showing a partial movement of the cover 3 of FIGS. 15 and 16.
  • the mesh of the fibers constituting the covered body 3 has a flat diamond shape as indicated by a dashed line, and when the air is supplied to the tube 2 and the tube 2 expands, a broken line is formed. It becomes a square shape shown by.
  • dashed-dotted diamond is approximated by a straight line ABC, points A, B, and C move to points D, E, F, and F 'by air supply.
  • the length dimension of the part shown in Fig. 17 is calculated from the length of the line segment AC to the length of the line segment DE. To be shortened.
  • This length change ratio can be considered as a change ratio of the entire length of the elastic elastic body 1. So, when you calculate the change ratio,
  • Length AB length DF.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a hydraulic actuator capable of obtaining a sufficient amount of expansion and contraction and a method for producing the same.
  • a hydraulic actuating device includes an expansion / contraction body that expands / contracts when a fluid is supplied / discharged, and a mesh-shaped covering body that covers an outer periphery of the expansion / contraction body.
  • the length of both ends decreases and expands due to expansion and contraction of the elastic body.
  • the size of the mesh of the covering is changed by the position of the elastic body in the axial direction.
  • the line elements of the covering that intersect at the intersection are fixed to each other at the intersection.
  • the method of manufacturing a hydraulic actuator according to the present invention includes a step of covering the expansion / contraction body with a curved outer peripheral surface at the time of expansion, a step of expanding the expansion / contraction body, The process of pulling both ends of the mesh to adjust the size of the mesh, and fixing the wire elements of the mesh intersecting at the intersection of the mesh to each other at the intersection, so that the size of the mesh is the axial position of the elastic elastic body.
  • the step of producing a coating changed by the above method.
  • FIG. 1 is a configuration diagram schematically showing a state when air is supplied during a pneumatic actuation according to Embodiment 1 of the present invention.
  • FIG. 2 is an explanatory diagram for explaining the contraction rate of the length of the expandable body model having a continuously changing diameter
  • FIG. 3 is a configuration diagram showing the shape of the elastic elastic body according to the second embodiment of the present invention at the time of expansion
  • FIG. 4 is a configuration diagram showing the shape of the elastic elastic body according to the third embodiment of the present invention at the time of expansion
  • FIG. 6 is an enlarged view of a main part of FIG. 5,
  • FIG. 7 is a side view showing a main part of a crane device according to Embodiment 5 of the present invention.
  • FIG. 8 is a side view showing a non-inflated state of a pneumatic actuator according to Embodiment 6 of the present invention.
  • FIG. 9 is a side view showing an inflated state of the pneumatic actuator of FIG. 8;
  • FIG. 10 is a side view showing a state in which the pneumatic actuator according to the seventh embodiment of the present invention is expanded.
  • FIG. 11 is a side view showing a state of the cover of the pneumatic actuator according to Embodiment 8 of the present invention when the cover is not inflated
  • FIG. 12 is a side view showing the state of the cover of FIG. 11 when inflated
  • FIG. 13 is a side view showing an unexpanded state of the expansion / contraction body combined with the covering of FIG. 11,
  • FIG. 14 is a front view showing a pneumatic actuator according to Embodiment 9 of the present invention
  • FIG. 15 is an explanatory diagram showing an example of a conventional pneumatic actuator.
  • FIG. 16 is an explanatory view showing a reduced form of the pneumatic actuator of FIG. 15;
  • FIG. 17 is an explanatory view showing a partial movement of the covering of FIGS. 15 and 16;
  • FIG. 18 is a side view showing an example of a conventional crane device. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 is a configuration diagram schematically showing a state in which air is supplied during a pneumatic actuation according to Embodiment 1 of the present invention.
  • the elastic elastic body 11 has an expansion and contraction body 12 made of an elastic body such as silicon rubber, natural rubber or butyl rubber, and a net-like covering 13 that covers the outer periphery of the expansion and contraction body 12. are doing.
  • the cover 13 is made of a wire such as a high-tensile fiber.
  • the covering body 13 is fixed to the expansion / contraction body 12 at both ends in the axial direction (the left-right direction in FIG. 1) of the elastic stretching body 11.
  • An air supply / discharge device 14 for supplying / discharging air into / from the expansion / contraction body 12 is connected to one end of the expansion / contraction body 12 via a pipe 15.
  • the expansion and contraction body 12 is expanded and contracted, and accordingly, the entire length of the elastic expansion and contraction body 11 is reduced and expanded.
  • the covering body 13 is covered over the entire circumference of the expansion / contraction body 12, but only a part of the covering body is schematically shown in the figure.
  • the size of the mesh (braid) of the cover 13 is continuously changed according to the position in the axial direction (the direction along the line connecting both ends) of the elastic elastic body 11. Specifically, the size of the mesh is maximum at the central portion in the axial direction of the elastic elastic body 11, and gradually decreases from the central portion to both ends. In the circumferential direction of the elastic stretch member 11, the mesh sizes are equal to each other.
  • the mesh of the covering body 13 becomes substantially square. Further, the line elements that intersect at the intersections of the meshes of the covering 13 (portions of the wire constituting the covering 13) are fixed to each other at the intersections so as to prevent relative movement. Therefore, the shape of the mesh of the cover 13 changes with the expansion and contraction of the expansion and contraction body 12, but the length of the side constituting the mesh does not substantially change.
  • the operation will be described.
  • the elastic body 11 can be moved by reducing the length. Also, when air is exhausted from the expansion / contraction body 12, the elastic elastic body 11 becomes thinner like a string, and the length of the elastic elastic body 11 as a whole in the axial direction (the length between both ends) becomes longer. Become.
  • the shrinkage ratio is the ratio of the length reduced at the time of expansion to the length at the time of expansion.
  • the elastic elastic body 11 is fixed as in the conventional example. It expands into a rugby ball shape with a continuously changing diameter (thickness) instead of a cylindrical shape with a diameter.
  • FIG. 2 is an explanatory diagram for explaining the contraction rate of the length of the expandable body model having a continuously changing diameter.
  • the inflatable body model 16 is expanded into a rugby ball shape by supplying air to the inflatable body model 16 which is linearly approximated by the line segment AB.
  • the length of the expanded body model 16 at this time is the length of the line segment CD.
  • the circumference of the cross-section circle is twice the length of the line segment AB.
  • the length of the expanded body model 16 at this time is the length of the line segment EF, that is, the diameter of the cross-sectional circle. Therefore, the contraction rate of the length of the expanded body model 16 is larger than 0%,
  • the expandable body model 16 is a model for analyzing a change in length due to a change in the outer shape, and it can be seen that a maximum shrinkage of 36% can be obtained by the change in the outer shape.
  • the expansion / contraction body 12 expands, the outer peripheral surface of the elastic elastic body 11 is curved according to the change in the size of the mesh while the covering body 13 itself contracts in the axial direction. I do.
  • the elastic when the air is supplied, the elastic At the same time, the length of the arc forming the outer shape is reduced at the contraction rate as described in Fig. 17. In other words, the length of the curve CD itself in Fig. 2 becomes shorter.
  • the contraction rate of the length of the elastic elastic body 11 is the product of the contraction rate due to the change (curvature) of the outer shape and the contraction rate of the length of the arc of the outer shape. That is, in the calculation, the contraction rate of the length of the elastic elastic body 11 is ⁇ 11 (2 / ⁇ ) ⁇ X
  • the contraction rate (the ratio of the length reduced by expansion to the length at the time of air discharge) can be sufficiently increased, and sufficient elasticity can be obtained. You can get the quantity.
  • the wire elements of the cover 13 are fixed to each other at the intersections, wear of the wire constituting the cover 13 is prevented, and the life can be extended. Furthermore, it is possible to prevent the occurrence of hysteresis due to the friction of the coating 13 and improve the responsiveness, prevent the occurrence of energy loss, and generate a high tension.
  • the outer periphery of the mesh body is covered with a rubber coating, for example, by dipping the expansion / contraction body 12 and the mesh body in the molten rubber. As a result, the intersections of the line elements of the mesh are fixed, and the cover 13 is completed.
  • the fixing of the intersections of the line elements in the cover 13 may be performed by a coating made of a material other than rubber.
  • the fixing of the intersections of the line elements may be performed for each intersection with an adhesive or the like.
  • the knitting device capable of continuously changing the size of the mesh may knit a line element on the outer periphery of the expansion and contraction body 12 and then fix the intersection of the line element. Further, the line elements may be fixed to each other at the intersections at the time of knitting.
  • the elastic elastic body 11 which becomes a rugby ball shape when inflated is shown.
  • the elastic elastic body 22 shown in FIG. It may be one that expands to have a shape. That is, at least one (one or more) constrictions may be provided in the axial direction of the elastic contraction body.
  • the diameter may be gradually changed only at one end in the axial direction during expansion, for example, as in an elastic elastic body 23 shown in FIG.
  • the elastic elastic body may have a portion where the mesh size of the covering is constant in the axial direction.
  • the elastic expandable body of the present invention can have various shapes when inflated according to the use and the like.
  • FIG. 5 is a configuration diagram showing a pneumatic actuator according to a fourth embodiment of the present invention
  • FIG. 6 is an enlarged view of a main part of FIG.
  • a net-like protective cover 21 is placed on the outer peripheral portion of the elastic stretching member 11 at the central portion in the axial direction.
  • Other configurations are the same as in the first embodiment.
  • the protective cover 21 is made of, for example, the same wire as the cover 13.
  • the size of the mesh of the protective cover 21 is equal to the size of the mesh of the covering 13 of the covered portion.
  • the protective cover 21 is arranged such that its mesh is shifted by half a pitch from the mesh of the cover 13.
  • the protective cover 21 does not restrict the expansion and contraction of the elastic elastic body 11 in the axial direction, and does not directly affect the tensile force generated by the elastic elastic body 11. That is, the protective cover 21 sufficiently allows the elastic elastic body 11 to expand and contract in the axial direction. In such an event, the protective cover 21 is put on the portion where the mesh of the cover 13 is coarse.
  • the expansion and contraction body 1 2 is made of a soft material, the expansion and contraction body 1 2 may protrude from the coarse portion of the covering 13 when expanded, but by covering the protective cover 21, The expansion and contraction body 12 is prevented from projecting from the mesh of the covering body 13. Thereby, the expansion / contraction body 12 can be made of a soft material, and the expansion / contraction property can be improved.
  • the protective cover may cover the entire elastic elastic body. Further, the material of the protective cover is not limited to the same material as the cover. Further, when a net-like protective cover is used, the mesh may be finer than the mesh of the covering. Furthermore, the protection cover may be a meshless one. Embodiment 5
  • FIG. 7 is a side view showing a main part of a crane device according to Embodiment 5 of the present invention.
  • the base end of a lattice-type (ladder-shaped) boom 32 including a plurality of oblique members 33 is rotatably connected to a crane support 31.
  • First and second elastic elastic members 34 and 35 are connected between the crane support 31 and the tip of the boom 32.
  • Fluid hydraulic oil is supplied and discharged into the first and second elastic elastic members 34 and 35.
  • the first and second elastic elastic members 34 and 35 have the expansion and contraction member 12 and the covering member 13 as described in the first embodiment, and the supplied fluid is hydraulic oil. Except for this, the configuration is basically the same as that of the elastic elastic body 11 of the first embodiment.
  • first and second elastic expandable members 34, 35 expand and shorten in length when the hydraulic oil is supplied, and contract when the hydraulic oil is discharged.
  • the length of the lever is extended.
  • the boom 32 is rotated (raised and lowered) by the expansion and contraction of the first and second elastic elastic bodies 34 and 35 as described above.
  • the length of the first and second elastic elastic members 34 and 35, the contraction rate of the length, and the like can be set individually.
  • the boom 32 is bent. This can prevent the occurrence of a shear stress.
  • the structure of the boom 32 can be made a lightweight lattice type, and since the actuator itself is also lightweight, the entire crane device can be reduced in weight.
  • FIG. 18 is a side view showing a conventional crane device disclosed in, for example, Japanese Patent Application Publication No. 2000-151471.
  • a hydraulic cylinder 43 is connected between the crane support 41 and an intermediate portion of the boom 42. This is because it is difficult to manufacture a hydraulic cylinder 43 having a length corresponding to the length of the boom 42.
  • the hydraulic cylinder 43 is connected to the middle part of the boom 42 as described above, a large bending stress is generated in the boom 42 when a load or the like is lifted. Therefore, the boom 42 is configured as a rigid body having sufficient strength against bending stress.
  • the boom 42 becomes heavier, and the hydraulic cylinder 43 also weighs heavier than the elastic elastic members 34, 35, so that the entire device becomes heavier.
  • the elastic elastic members 34 and 35 of the fifth embodiment are sufficiently long and easily configured to be lightweight, so that the entire crane device can be reduced in weight.
  • the elastic elastic bodies 34 and 35 of the fifth embodiment did not have a hydraulic pressure. A contraction rate equal to or higher than that of the cylinder can be obtained. Therefore, the elastic elastic bodies 34 and 35 can be used in place of the hydraulic cylinder in any hydraulic equipment, and the weight of the equipment can be reduced.
  • the boom is driven by a combination of a winch and a wire.
  • the elastic elastic members 34 and 35 By using the elastic elastic members 34 and 35, the whole can be reduced in weight and the structure can be reduced. Can be easy. Also, it is only necessary to connect one of the elastic elastic bodies 34 and 35 to port A of the hydraulic circuit and the other to port B of the hydraulic circuit, so that control can be simplified.
  • the hydraulic actuator according to the present invention can be used as a drive source for any device.
  • the present invention can be applied to a device such as a hydraulic excavator having a multi-joint arm, and can drive each joint. It can also be used as a device to drive robot joints. it can.
  • a pair of elastic elastic members 34 and 35 are used, but the boom 32 can be raised and lowered with only the first elastic elastic member 34.
  • the boom 32 can maintain the posture.
  • excavation force can be obtained by using a pair of elastic elastic bodies.
  • the covering body may be a part of a flexible suit of the clothing robot. That is, the clothing robot can be configured by mounting a plurality of elastic elastic bodies at once.
  • FIG. 8 is a side view showing a state of the pneumatic actuator according to Embodiment 6 of the present invention when not inflated
  • FIG. 9 is a side view showing a state of the pneumatic actuator of FIG. 8 when inflated.
  • the elastic body 51 is an expansion / contraction body (balloon tube) 52 made of an elastic body such as silicon rubber, natural rubber or butyl rubber, and a mesh (mesh structure) covering the outer periphery of the expansion / contraction body 52 And a cover 53.
  • the cover 53 is formed by, for example, Russell knitting a wire such as polyester fiber.
  • the covering body 53 is fixed to the expansion / contraction body 52 at both ends in the axial direction of the elastic elastic body 51.
  • a supply / discharge pipe 54 for supplying / discharging air into / from the expansion / contraction body 52 is connected to one end of the expansion / contraction body 52.
  • a gas escape preventing pin 55 and a gas escape preventing pin fixing tool 56 are fixed to the other end of the expansion and contraction body 52.
  • the shrinkage ratio (the ratio of the length reduced by expansion to the length in the non-expanded state) can be sufficiently increased.
  • the amount of expansion and contraction can be obtained.
  • wear of the wire constituting the cover 53 is prevented, and the life can be prolonged.
  • FIG. 10 is a side view showing a state in which a pneumatic actuator according to Embodiment 7 of the present invention is inflated.
  • the elastic elastic body 51 expanding in a spherical shape shown in the sixth embodiment is connected in series via the connecting portion 57.
  • the connecting portion 57 is formed, for example, by fixing an end of the elastic elastic body 51 to a connecting pipe with an adhesive. Further, the number of elastic elastic members 51 to be connected is not particularly limited.
  • connection portion 57 can be bent using the joint as a joint, and can be arranged along a curved surface of, for example, a human body, so that the applicable range can be expanded.
  • FIG. 11 is a side view showing a non-inflated state of the pneumatic actuator according to the eighth embodiment of the present invention
  • FIG. 12 is a state of the pneumatic actuator of FIG. 11 when inflated
  • FIG. 13 is a side view showing a state where the inflated / contracted body of FIG. 11 is not inflated.
  • the elastic elastic body 61 is an expansion / contraction body (balloon tube) made of an elastic body such as rubber.
  • the expansion / contraction body 62 includes a plurality of expansion portions 6 that expand spherically when air is supplied. 2a, and a plurality of constricted portions 62b arranged between the inflated portions 62a adjacent to each other.
  • the cover 63 is continuously knitted in the longitudinal direction of the elastic elastic body 61. Further, the covering body 63 includes a plurality of expansion auxiliary portions 63 a that cooperate with the expansion portion 62 a to expand the expansion portion 62 a spherically, and a plurality of expansion auxiliary portions 63 a adjacent to each other. And a plurality of restricting portions 63 b arranged in the same manner.
  • the configuration of each of the expansion assisting portions 63 a is the same as that of the cover 53 (FIGS. 8 and 9) of the sixth embodiment.
  • the restricting portion 63b is knitted so as to prevent an increase in the diameter of the constricted portion 62b when air is supplied into the expansion / contraction body 62.
  • the restricting portion 63b is fixed to the outer peripheral surface of the constricted portion 62b.
  • Such a pneumatic actuator operates substantially in the same manner as the seventh embodiment in which a plurality of elastic elastic bodies are connected in series. For this reason, it is possible to obtain a large shrinkage ratio while suppressing the radial dimension of the entire actuator as a whole during expansion.
  • the constricted portion 62b and the restricting portion 63b can be bent as joints, and the applicable range can be expanded.
  • FIG. 14 is a front view showing a pneumatic actuator according to Embodiment 9 of the present invention.
  • the pneumatic actuator according to the ninth embodiment is worn on a part of a human body 70 as a link connecting body, that is, on an arm 71.
  • the arm 71 connects the upper arm part 72, the forearm part 73, and the hand part 74 as the link body, and the upper arm part 72 and the forearm part 73.
  • a wrist joint 76 connecting the forearm 73 and the hand 74.
  • the cloth body 77 is made of, for example, a knitted or woven fabric of synthetic fibers or natural fibers.
  • the cloth 7 7 is a non-woven fabric It is also possible to use a sheet material of synthetic resin or synthetic resin.
  • the cloth body 77 is provided with a plurality of bag-shaped accommodation sections 77a as a covering body.
  • the accommodation portion 77a is configured in the same manner as the cover 63 of the eighth embodiment.
  • expansion and contraction bodies 62 similar to those in the eighth embodiment are respectively housed.
  • An elastic elastic body 61 similar to that of the eighth embodiment is configured by the housing portion 77a and the expansion / contraction body 62.
  • the expansion / contraction body 62 is connected to the accommodation portion 77 a so that the cloth body 77 is pulled by the expansion / contraction body 62.
  • the tensile force applied to the cloth body 77 by the expansion / contraction body 62 changes due to the expansion / contraction of the expansion / contraction body 62.
  • Each of the expansion / contraction bodies 62 is connected to an air supply / discharge unit 79 serving as a fluid supply / discharge unit via a flexible air supply / discharge pipe 78.
  • Supply and discharge of air to the expansion / contraction body 62 by the air supply / discharge unit 79 are individually controlled by the control unit 80.
  • the control section 80 controls the air supply / discharge section 79 with the pressure in the expansion / contraction body 62.
  • the pneumatic actuator according to the ninth embodiment includes a cloth body 77, an expansion / contraction body 62, an air supply / discharge pipe 78, an air supply / discharge section 79, and a control section 80.
  • control method of the air supply / discharge unit 79 is as follows. Even if the control is performed by a preset process in the control unit 80, a command signal from another control device (not shown) is transmitted to the control unit 80. You may control by inputting. In this case, by using a control device having a mechanism similar to that of the link connector 71, it is also possible to perform control of the master-slave system.
  • the corresponding joints 75 and 76 are driven by the combined force of the tensile forces generated by the plurality of expansion / contraction bodies 62. That is, by adjusting the amount of expansion and contraction of each expansion / contraction body 62, the tensile force applied to the cloth body 77 changes for each part, and the forearm 73 is an elbow joint 75 and the hand 7 4 Are rotated at the wrist joints 76, respectively.
  • the entire device can be downsized, and driving efficiency can be improved.
  • joints are generated by the pressure difference between the Since the units 75 and 76 are driven, the device can be reduced in size and weight.
  • the cloth-like body 77 covering the link connecting body 71 is used as a tension member, the tensile force of the expansion-contraction body 62 can be dispersed and received over a wide area, and the human body 50 The burden can be reduced.
  • the hydraulic actuator for driving the elbow joint 75 and the wrist joint 76 has been described.
  • the shoulder joint, the finger joint, the knee joint, the waist, etc. it can be used for driving any joint.
  • an elastic elastic body 61 may be arranged on a cloth-like body covering at least the feet and waist so as to drive the joints necessary for walking, and used as a device to assist walking.c
  • the control unit The expansion and contraction operation of the inflating and contracting body 62 for realizing the movement of each joint when walking can be preset as a moment, and the elastic elastic body can be expanded and contracted according to the moment.
  • the arrangement position, the number, the size, and the like of the elastic body can be variously changed according to the movement of the joint and the required force.
  • the elastic elastic body 61 of the type of the eighth embodiment is attached to the cloth body 77, but the elastic elastic body of the type shown in the other embodiments may be used.
  • the fluid pressure type actuator is worn on a part of the human body.
  • the clothing type robot is worn on a human-shaped link connecting body having a link structure similar to the human body or a part thereof. (Pneumatic robot) It is also possible to move as ⁇
  • the link body can be rotated in the twisting direction by, for example, arranging the elastic expansion body in a spiral shape on the link connecting body.
  • the allowable amount of elongation of the cloth body 77 and the direction in which the elongation is allowed are appropriately set for each part.
  • the fluid supplied to the elastic body is not limited to air and oil, and various gases or liquids can be used depending on the application.
  • the application of the hydraulic actuator of the present invention is not limited to construction machines such as hydraulic excavators and crane devices, robots and medical equipment. It can be applied to equipment in the technical field.

Abstract

L'invention concerne un vérin hydraulique comprenant un corps élastique pouvant se dilater/contracter et une enveloppe réticulaire recouvrant l'extérieur du corps élastique. La dimension des mailles de l'enveloppe varie de façon axiale en fonction de la dilatation ou de la contraction du corps élastique. Les éléments linéaires de l'enveloppe se croisant au niveau des points d'intersection des mailles sont fixés les uns aux autres au niveau des points d'intersection. Ces caractéristiques permettent d'assurer, lors de la dilatation du corps élastique et, de ce fait, du raccourcissement de l'enveloppe, que la surface externe du corps élastique se courbe en fonction de la variation de la dimension des mailles.
PCT/JP2003/001330 2002-02-07 2003-02-07 Verin hydraulique et son procede de fabrication WO2003067097A1 (fr)

Applications Claiming Priority (4)

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JP2002-31274 2002-02-07
JP2002031274 2002-02-07
JP2002084197A JP2003301807A (ja) 2002-02-07 2002-03-25 流体圧式アクチュエータ
JP2002-84197 2002-03-25

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WO2011054394A1 (fr) 2009-11-06 2011-05-12 Abb Research Ltd Muscle artificiel à amas de cellules
WO2013093879A1 (fr) * 2011-12-21 2013-06-27 Engin Murat Sinan Mécanisme de substitution de muscles antagonistes élastique réglable
WO2015066143A1 (fr) * 2013-10-29 2015-05-07 President And Fellows Of Harvard College Actionneurs renforcés à plusieurs segments et applications

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WO2007058327A1 (fr) * 2005-11-18 2007-05-24 National University Corporation Okayama University Actionneur a fluide, dispositif d'assistance au demarrage et dispositif d'assistance au fonctionnement dotes de l'actionneur a fluide
US20090173223A1 (en) 2006-02-13 2009-07-09 Squse Inc., Actuator, driving device, hand device, and conveyance device
JP5023938B2 (ja) * 2007-09-28 2012-09-12 凸版印刷株式会社 チューブアクチュエーター
JP6095055B2 (ja) * 2013-01-09 2017-03-15 学校法人立命館 直線駆動装置及び長尺ツール
JP6226360B2 (ja) * 2013-05-16 2017-11-08 国立大学法人 岡山大学 流体圧式アクチュエータおよび湾曲駆動装置
JP6226359B2 (ja) * 2013-05-16 2017-11-08 国立大学法人 岡山大学 流体圧式アクチュエータおよび湾曲駆動装置
WO2015182178A1 (fr) * 2014-05-30 2015-12-03 シャープ株式会社 Dispositif de flexion, dispositif de commande, et instrument médical
KR20180082228A (ko) * 2017-01-10 2018-07-18 주식회사 에프알티 스마트 액추에이터
KR20180082229A (ko) * 2017-01-10 2018-07-18 주식회사 에프알티 스마트 액추에이터

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JPS59115035A (ja) * 1982-12-22 1984-07-03 工業技術院長 動力装具の姿勢制御装置
US4733603A (en) * 1983-11-21 1988-03-29 Mirko Kukolj Axially contractable actuator
JPS60190948A (ja) * 1984-03-09 1985-09-28 内藤　善文 人工筋肉
JPS61153008A (ja) * 1984-12-25 1986-07-11 Bridgestone Corp トルク・アクチユエ−タ
JPS61236905A (ja) * 1985-04-12 1986-10-22 Bridgestone Corp ニユ−マチツク・アクチユエ−タ
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011054394A1 (fr) 2009-11-06 2011-05-12 Abb Research Ltd Muscle artificiel à amas de cellules
WO2013093879A1 (fr) * 2011-12-21 2013-06-27 Engin Murat Sinan Mécanisme de substitution de muscles antagonistes élastique réglable
US9808335B2 (en) 2011-12-21 2017-11-07 Murat Sinan Engin Adjustable elastic antagonist muscle replacement mechanism
WO2015066143A1 (fr) * 2013-10-29 2015-05-07 President And Fellows Of Harvard College Actionneurs renforcés à plusieurs segments et applications

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