WO2005021980A1 - 圧縮性流体圧アクチュエータ - Google Patents
圧縮性流体圧アクチュエータ Download PDFInfo
- Publication number
- WO2005021980A1 WO2005021980A1 PCT/JP2004/012182 JP2004012182W WO2005021980A1 WO 2005021980 A1 WO2005021980 A1 WO 2005021980A1 JP 2004012182 W JP2004012182 W JP 2004012182W WO 2005021980 A1 WO2005021980 A1 WO 2005021980A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pressure
- internal space
- compressible fluid
- pressure loss
- actuator
- Prior art date
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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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- 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
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
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- 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
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- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
- F15B2211/40507—Flow control characterised by the type of flow control means or valve with constant throttles or orifices
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7052—Single-acting output members
-
- 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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/755—Control of acceleration or deceleration of the output member
Definitions
- the present invention relates to a compressible fluid pressure controller.
- a pneumatic actuator using a compressible fluid has been proposed and put into practical use as one of actuators suitable for fields where safety is important, such as home robots.
- a restraining means 303a made of a fiber cord is arranged on the outer surface of a tubular elastic body 302a made of a rubber material, and both ends of the tubular elastic body 302a are sealed inside with parts 321a and 322a. , And is hermetically sealed by fixing means 331a and 331b.
- a compressive fluid such as air through the tubular fluid injecting and discharging member 31la and the inner sealing part 32la provided with a conduit
- the tubular elastic body 302a is mainly in the radial direction.
- this McKibben-type actuator is mainly composed of an elastic body, it is a flexible, safe and lightweight actuator (see, for example, JP-A-59-197605).
- Increasing the force and displacement of the pneumatic actuator can be realized by increasing the size of the pneumatic actuator, but in this case, the volume of the internal space is increased, and the consumption of the compressible fluid is increased. If the response of the pneumatic actuator decreases, there is a problem. Further, a similar pneumatic actuator is disclosed in Japanese Patent Publication No. 5-67397, but there is a similar problem that the response of the pneumatic actuator decreases due to a change in the volume of the internal space. In order to solve such a problem, it is necessary to reduce the volume occupied by the compressible fluid in the internal space. As an example of such a pneumatic actuator, a pneumatic actuator shown in FIG. 10 has been proposed.
- This pneumatic actuator has a double structure of the pneumatic actuator shown in FIG. 9, and includes a tubular elastic body 302b having a restraining means 303b inside a tubular elastic body 302a. It is fixed to the inner sealing parts 321b, 321c provided with the conduit by fixing means 331c, 331d. As a result, the internal space is divided into two internal spaces 305b and 305c. Fluid is supplied to the internal space 305c of the tubular body 302b from the outside through a tubular fluid injecting / dispensing member 31 lb and an inner sealing member 321c provided with a conduit.
- the pneumatic actuator shown in Fig. 10 described above can improve responsiveness by reducing the volume occupied by the compressible fluid in the entire internal space, but is characterized by the pneumatic actuator. There was a problem that flexibility was lost.
- the present invention is configured as follows.
- the pressure in the space provided inside is changed by the pressure of the compressible fluid supplied from the pressure source, and the compression that generates displacement or force in response thereto.
- hydraulic fluid actuators In hydraulic fluid actuators,
- a compressible fluid pressure actuator comprising: a tubular member having at least one internal space.
- the pressure in the space provided inside changes due to the pressure of the compressible fluid supplied from the pressure source, and the compression that generates displacement or force accordingly.
- hydraulic fluid actuators In hydraulic fluid actuators,
- a first tubular elastic member having a first internal space connected to the pressure source
- a second cylindrical elastic member connected to the pressure source via the first cylindrical elastic member and having a second internal space independent of the pressure of the first internal space;
- a compressible fluid pressure actuator comprising at least one pressure loss portion.
- the pressure in the space provided inside is changed by the pressure of the compressible fluid supplied from the pressure source, and the compression is performed to generate displacement or force in accordance with the pressure.
- the pressure in hydraulic fluid actuators In hydraulic fluid actuators,
- a compressible hydraulic actuator characterized by having:
- the responsiveness can be improved for high-acceleration motion that requires responsiveness, and the compressive fluid pressure that maintains flexibility for low-acceleration motion that emphasizes safety is maintained.
- Actuator can be obtained.
- the internal space connected to the pressure source is connected to the internal space via one or more pressure loss portions for the flow of the compressible fluid, and does not depend on the pressure of the first internal space. (In other words, the volume does not change due to the pressure of the first internal space.) When the pressure of the pressure source is rapidly changed by providing one or more internal spaces, the internal space is not actually changed.
- the volume of the compressive fluid has not decreased in the entire internal space even though the volume of the The same effect as when the entire internal space is a single space can be obtained, the responsiveness can be improved for high acceleration movements that require responsiveness, and for low acceleration movements that emphasize safety, Compressible fluid body pressure that maintains flexibility It is possible to obtain.
- the pressure in the internal space connected via the pressure loss portion follows the pressure in the internal space connected to the pressure source with a delay due to a small amount of inflowable compressive fluid.
- the effect of the internal space connected via the pressure loss part is reduced, which is equivalent to reducing the volume occupied by the compressible fluid in the entire internal space. Effect can be obtained.
- the pressure in the internal space connected to the pressure source and the pressure in the internal space connected to it through the pressure loss part are almost the same. The same effect can be obtained as if the entire interior space was one space.
- FIG. 1 is a sectional view schematically showing a pneumatic actuator according to a first embodiment of the present invention.
- FIG. 2 is a sectional view schematically showing a pneumatic actuator according to a second embodiment of the present invention.
- FIG. 3 is a view showing a pressure loss portion provided in a sealing means in a pneumatic actuator according to a second embodiment of the present invention
- FIG. 4 is a view showing a pneumatic actuator according to a second embodiment of the present invention in which the effect of a pressure loss portion provided in a sealing means is variable.
- FIG. 5 is a sectional view schematically showing a pneumatic actuator according to a third embodiment of the present invention.
- FIG. 6 is a sectional view schematically showing a pneumatic actuator according to a fourth embodiment of the present invention.
- FIG. 7 is a sectional view schematically showing a pneumatic actuator according to a fifth embodiment of the present invention.
- FIG. 8 is a sectional view schematically showing a pneumatic actuator according to a sixth embodiment of the present invention.
- FIG. 9 is a cross-sectional view schematically showing a conventional pneumatic actuator.
- FIG. 10 is a cross-sectional view schematically showing a pneumatic actuator having a conventional configuration.
- FIG. 11 (A) and (B) are schematic cross-sectional views showing the operation of the pneumatic actuator in the depressurized state and the pressurized state, respectively.
- FIG. 12 is a schematic sectional view showing another configuration example of the pneumatic actuator according to the first embodiment of the present invention.
- FIG. 13] (A) and (B) are graphs showing the frequency response of pressure in the pneumatic actuator according to the first embodiment of the present invention.
- FIG. 14 illustrates a pressure relationship in a pneumatic actuator according to a first embodiment of the present invention.
- FIG. 4 is a block diagram for explaining
- FIG. 15 is a schematic view of a robot hand using a pneumatic actuator according to a second embodiment of the present invention.
- FIG. 16 is a schematic view of a self-propelled robot in which a robot hand using a pneumatic actuator according to the embodiment of the present invention is mounted on a movable trolley.
- the pressure in the space provided inside changes due to the pressure of the compressible fluid supplied from the pressure source, and the compression that generates displacement or force accordingly.
- hydraulic fluid actuators In hydraulic fluid actuators,
- the pressure in the internal space connected to the pressure source depends on the pressure in the internal space connected via the pressure loss portion and connected to the pressure source. (In other words, the volume does not change due to the pressure of the internal space connected to the pressure source.)
- the pressure in the internal space follows the flow with a small amount of compressible fluid.
- the compressible fluid pressure actuator according to the first aspect, wherein the pressure loss portion is a small hole connecting the internal spaces.
- the tubular member is formed between the inner surface of the first tubular elastic member and the first internal space of the first tubular elastic member.
- a first cylindrical member connected via a pressure loss portion and having a second internal space independent of the pressure of the first internal space; and a first cylindrical member coaxially arranged in the first cylindrical member;
- a second cylindrical member formed between the inner surface of the cylindrical member and connected to the second internal space via another pressure loss portion and having a third internal space independent of the pressure of the second internal space.
- the pressure in the third internal space follows the pressure in the first internal space even later than the pressure in the second internal space, so that the intermediate acceleration It is possible to obtain a compressible fluid pressure actuator with a finer balance between the responsiveness and flexibility of the movement.
- the compressive fluid pressure according to any one of the first to third aspects, wherein a plurality of the first to third forces are connected to each other through one or more pressure loss portions with respect to the flow of the compressive fluid.
- an actuator Provide an actuator.
- the displacement is reduced for high-acceleration motion to improve responsiveness, and the displacement is increased for low-acceleration motion to increase flexibility.
- a compressible fluid pressure actuator can be obtained.
- the pressure in the space provided inside is changed by the pressure of the compressible fluid supplied from the pressure source, and the compression that generates displacement or force in response thereto.
- hydraulic fluid actuators In hydraulic fluid actuators,
- a first tubular elastic member having a first internal space connected to the pressure source
- a second cylindrical elastic member connected to the pressure source via the first cylindrical elastic member and having a second internal space independent of the pressure of the first internal space;
- a compressible fluid pressure actuator comprising at least one pressure loss portion.
- the internal pressure of the compressible fluid pressure actuator connected via the pressure loss portion is smaller than the internal pressure of the compressible fluid pressure actuator connected to the pressure source.
- the effect of the compressible fluid pressure actuator connected via the pressure loss part becomes small, since the fluid follows and is followed with a delay because the fluid is small.
- an effect equivalent to reducing the volume of the internal space by shortening the length of the compressible fluid pressure actuator can be obtained. Therefore, it is equivalent to a compressible fluid actuator with small displacement for high acceleration motion and excellent response, and equivalent to a compressible fluid actuator with large displacement and excellent flexibility for low acceleration motion. It is possible to obtain a compressible fluid pressure actuator exhibiting various characteristics.
- the pressure loss portion when the pressure loss portion is compared with the pressure loss at the same flow rate, the pressure loss portion on the downstream side of the pressure loss portion on the upstream side with respect to the pressure source is compared.
- the present invention provides the compressible fluid pressure actuator according to any one of the first to fifth aspects, wherein the pressure loss is always increased.
- the pressure loss section is configured such that the pressure loss in the pressure loss section changes in accordance with the displacement of the compressible fluid pressure actuator.
- the present invention provides a compressible hydraulic actuator according to one embodiment.
- the pressure loss portion includes a pore (41c, 41k-11) communicating with the upstream internal space of the internal space, and a pore (41c, 41k-11). It moves according to the displacement of the plurality of through holes (41k-12) that communicate with the downstream internal space of the above internal space and the second tubular elastic body (2c) that constitutes the downstream internal space. Then, a closing member (22c-1) for selectively covering the plurality of through holes (41k-12) may be provided.
- the pressure loss section is configured such that the pressure loss in the pressure loss section changes in accordance with the pressure of the compressible fluid pressure actuator.
- the present invention provides a compressible hydraulic actuator according to one embodiment.
- the pressure in the space provided inside is changed by the pressure of the compressible fluid supplied from the pressure source, and the compression is performed to generate displacement or force in accordance with the pressure.
- the pressure in hydraulic fluid actuators In hydraulic fluid actuators,
- a compressible hydraulic actuator characterized by having:
- the pressure loss section is configured so that the pressure loss amount in the pressure loss section is adjustable from the outside in one of the first to ninth aspects.
- a robot constituting a robot arm with the compressible fluid pressure actuator according to the first aspect.
- the compressive fluid pressure actuator capable of adjusting the balance between the responsiveness and the flexibility, and the force S for obtaining the mouth bot constituting the robot arm by the compressible fluid pressure actuator can be obtained.
- FIG. 1 is a sectional view schematically showing a pneumatic actuator 1 as an example of a compressible fluid actuator of a first embodiment according to the present invention.
- 2a is inside A first tubular elastic body that has a space and is formed of rubber or a rubber-like elastic body and functions as an example of a first tubular elastic member.
- 3a is formed by knitting a resin or metal fiber cord which is hardly stretchable in material to form a mesh, and the radial deformation due to the expansion of the first tubular elastic body 2a is converted into the contraction of the axial length.
- Reference numerals 21a and 22b denote inner sealing parts which function as an example of a rigid sealing means such as metal or hard plastic for sealing one end of the first tubular elastic body 2a, and outer sealing parts which function as an example of the fixing means. Sealing is performed by sandwiching both ends of the first tubular elastic body 2a between 31 a and 3 lb.
- one end of the first tubular elastic body 2a is formed by the inner sealing component 21a in which the inside is a fluid flow path 21x and the outer sealing component 31a that seals in cooperation with the inner sealing component 21a.
- the first tubular elastic body is sealed by an inner sealing component 22b having no fluid flow path therein and an outer sealing component 31b performing sealing in cooperation with the inner sealing component 22b. Seal by sandwiching the other end of 2a.
- Numeral 11a is a tubular fluid injecting / dispensing member, which is disposed on the inner sealing component 21a such that an internal conduit communicates with the flow path 21x of the inner sealing component 21a.
- the tubular fluid injection / ejection member 11a is connected to an external pressure source 100 such as a compressor via a predetermined pipe under the control of a control device 110 capable of controlling the pressure of the external pressure source 100.
- the fluid flows between the external pressure source 100 and the internal space of the first tubular elastic body 2a through the fluid injecting and discharging member 11a and the inner sealing member 21a having a conduit.
- Air or an inert gas such as helium can be used as the compressible fluid. In particular, air is desirable because it can be easily supplied.
- each is formed coaxially and preferably formed as a rigid body having such a rigidity that it does not expand with a compressive fluid such as air and the volume does not change even by external pressure.
- First and second cylindrical members each having an opening at each fixed end side and having a bottom at each free end side, and functioning as an example of a first cylindrical member and a second cylindrical member as an example of a cylindrical member, respectively.
- Covers 8a and 8b are provided.
- the fixed ends of the first and second cylindrical covers 8a and 8b are fitted and fixed to the inner sealing component 22b.
- the inside of the first tubular elastic body 2a is divided into first, second and third internal spaces 5a, 5b and 5c by the first and second cylindrical covers 8a and 8b.
- first tubular elastic body 2a and the first cylindrical A first cylindrical internal space 5a is formed between the first cylindrical cover 8a and the second cylindrical cover 8b, and a second cylindrical internal space 5b is formed between the first cylindrical cover 8a and the second cylindrical cover 8b.
- a third internal space 5c is formed in the cylindrical cover 8b.
- the first and second internal spaces 5a and 5b, and the second and third internal spaces 5b and 5c are connected by pressure loss portions 41a and 41b for the flow, respectively.
- the holes 41a and 41b can be used as the pressure loss portion.
- the pores 41a and 41b are desirable because they can be easily prepared.
- the first pore 41a is a pore formed through the side surface near the fixed end side of the first cover 8a, and is disposed as far as possible from the opening 21e of the passage 21x of the inner sealing component 21a. It is more preferable to perform the pressure loss function.
- the second pore 41b is a pore formed substantially at the center of the end surface on the free end side of the second cover 8b, and is located at a position as far as possible from the first pore 41a of the first cover 8a. It is preferable to place them in order to exhibit the pressure loss function.
- the inner diameters of the pores 41a and 41b are substantially the same, and are smaller than the inner diameter of the flow path 2 lx.
- the minimum size is about the maximum inner diameter lmm or less so as to function as a pressure loss portion, and the minimum size is such that the pores are not clogged with dust in the air used. What is necessary is just to select suitably within the range of an inside diameter.
- the inner diameter is about 0.1 to 2 mm, more preferably about 0.5 to lmm.
- the size of the inner diameter varies depending on the length of the elastic body, the first and second cylindrical covers, and the cleanliness of the air.
- the inner diameter of the pore is preferably about 0.1 to 12 mm.
- the pneumatic actuator 1 generates displacement or force according to the internal pressure. Compared with the depressurized state shown in FIG. 11 (A), when no external force acts, the first tubular elastic body 2a expands in the radial direction in the pressurized state as shown in FIG. The actuator 1 contracts in the length direction by the dimension t.
- the internal pressure is determined by the amount of compressible fluid stored inside the pneumatic actuator 1.
- the amount of compressible fluid flowing into the pneumatic actuator 1 from the tubular fluid injecting and discharging member 11a is determined by the difference between the pressure on the supply side (external pressure source 100 side) of the compressible fluid and the internal pressure of the pneumatic actuator 1, so that the pneumatic actuator Internal pressure of 1 is supply of compressible fluid It can be seen that the response is close to that of the first-order lag system with respect to the pressure on the side. Between the supply side of the compressible fluid and the pneumatic actuator 1 (more specifically, between the first internal space 5a and the second internal space 5b, and between the second internal space 5b and the third internal space 5c).
- the pressure loss sections 41a and 41b for the flow of the compressible fluid are provided, the pressure loss is larger than when the pressure loss sections 41a and 41b are not provided. Will be reduced. Therefore, the time required for the internal pressure of the pneumatic actuator 1 to become equal to the pressure on the supply side of the compressive fluid becomes longer. This means that the time constant in the first-order lag system becomes large.
- the pressure of the external pressure source 100 is changed by the control device 110, the pressure of the second internal space 5b is delayed with respect to the pressure of the first internal space 5a.
- the pressure in the third internal space 5c changes with a delay with respect to the pressure in the second internal space 5b.
- T the time constant of the pressure response of the first internal space 5a to the pressure of the external pressure source 100.
- T the time constant of the pressure response of the third internal space 5c to the pressure of the internal space 5b.
- the loss sections 41a and 41b when the pressure of the external pressure source 100 is rapidly changed by the control device 110, even if the pressure of the first internal space 5a is close to the pressure of the external pressure source 100, the second and the second (3) The pressure in the internal spaces 5b and 5c hardly changes. In this case, the characteristics of the pneumatic actuator 1 are almost the same as when only the first internal space 5a exists. This state is the same as the case where the volume occupied by the compressible fluid occupies the entire internal space, so that the responsiveness is superior to the conventional example. It is desirable that the time constant be increased toward the downstream as viewed from the external pressure source 100 in order to exert the effects of the pressure loss portions 41a and 41b.
- the inner diameter of the pores 41b is made smaller than that of the pores 41a, so that the pressure loss at the same flow rate becomes larger toward the downstream side.
- the first internal space 5a connected to the external pressure source 100 is connected to the first internal space 5a via one or more pressure loss portions 41a and 41b for the flow of the compressible fluid. And not dependent on the pressure of the first internal space 5a (in other words, the volume does not change due to the pressure of the first internal space 5a).
- the volume occupied by the compressible fluid in the entire internal space is reduced even though the volume of the internal space is not actually changed.
- FIG. 12 shows a cross-sectional view when the second cylindrical cover 8b is omitted in FIG. 1 and the internal space is divided into two.
- FIGS. 13A and 13B show examples of calculating the frequency response of the internal pressure of the actuator 1 to the pressure of the external pressure source 100 in this configuration.
- FIG. 13A shows the calculation result of the phase difference
- FIG. 13B shows the calculation result of the magnification.
- the frequency on the horizontal axis is represented by ⁇ ⁇ which is the product of the angular frequency ⁇ for changing the pressure of the external pressure source 100 and the time constant ⁇ .
- ⁇ ⁇ which is the product of the angular frequency ⁇ for changing the pressure of the external pressure source 100 and the time constant ⁇ .
- the response indicated by the fine dotted line of ⁇ only 5a '' is the response in the case where the pressure loss portion 41a does not exist and the compressive fluid does not enter and exit the second internal space 5b. This is the response of the actuator, which is superior in flexibility but less flexible.
- the response indicated by the finest dotted line of “5a + 5b” is the first cylindrical force separating the first internal space 5a and the second internal space 5b as in the conventional example shown in FIG.
- the time constant T of the pressure response of the internal space 5a is 20 times the time constant T, and the volume of the second internal space 5b is
- the volume is twice the volume of the space 5a.
- the change in volume due to pressure is assumed to be negligible compared to the total volume.
- the differential pressure between the pressure in the external pressure source 100 and the atmospheric pressure is ⁇
- the differential pressure between the pressure in the first internal space 5a and the atmospheric pressure is ⁇
- a plurality of internal spaces are connected in series, but a case where a part of the divided internal spaces is connected in parallel is also included in the present invention.
- FIG. 2 is a sectional view schematically showing a second embodiment of the pneumatic actuator according to the present invention. Note that the same reference numerals are given to portions that perform the same functions as those in the above-described first embodiment, and overlapping descriptions will be omitted.
- the pneumatic actuator including the first tubular elastic body 2a both ends of the first tubular elastic body 2a and the inner sealing parts 21a, 23a functioning as an example of the sealing means, and the fixing means.
- Outer encapsulation component that functions as an example 3 While sealing using la and 31e, a second tubular elastic body 2c functioning as an example of a second tubular elastic member, the outer surface of which is covered with a deformation direction regulating member 3c similar to the deformation direction regulating member 3a.
- inner sealing parts 22a, 23b functioning as an example of sealing means and outer sealing parts 31b, 31f functioning as an example of the fixing means are sealed using inner sealing parts 22a, 23b functioning as an example of sealing means and outer sealing parts 31b, 31f functioning as an example of the fixing means, and the first tubular elastic body 2a is sealed.
- the convex portion on the end surface of the inner sealing component 23b of the second tubular elastic body 2c is fitted and fixed to the concave portion on the end surface of the inner sealing component 23a and connected in series.
- the second tubular elastic body 2c has substantially the same outer diameter and inner diameter as the first tubular elastic body 2a, but the second tubular elastic body 2c is longer than the first tubular elastic body 2a.
- pores 41c and 41d functioning as an example of a pressure loss portion are provided so as to be coaxial with each other and penetrate roughly at the center and communicate with each other.
- the first and second internal spaces 5a and 5d are connected through 41d.
- the inner diameters of the pores 41c and 41d are substantially the same, and are smaller than the inner diameter of the flow path 21x.
- the operation of the pneumatic actuator will be described.
- the pressure of the external pressure source 100 when the pressure of the external pressure source 100 is changed under the control of the control device 110, the pressure of the second internal space 5d is delayed with respect to the pressure of the first internal space 5a. Change.
- the pressure of the second internal space 5d When the pressure of the external pressure source 100 is suddenly changed by the control of the control device 110, the pressure of the second internal space 5d hardly changes even if the pressure of the first internal space 5a approaches the pressure of the external pressure source 100. It will be in a state where it does not.
- the characteristics of the pneumatic actuator are almost the same as those of the pneumatic actuator using only the first tubular elastic body 2a, and the displacement is small, but the pneumatic actuator has a small internal space volume and excellent responsiveness.
- the pressure of the external pressure source 100 is gradually changed, or when a static load is applied from the outside, the flow rate of the compressible fluid passing through the pores 41c and 41d as the pressure loss part is reduced. Since the number is small, the influence of the pressure loss portion is reduced, and the first and second internal spaces 5a and 5d exhibit substantially the same characteristics as those in the case where they are two internal spaces.
- the actuator is flexible and has a large displacement, and acts as a pneumatic actuator.
- the pressure loss portions 41c and 4Id provided in the inner sealing components 23a and 23b are pores, and the center part of the side view of the inner sealing component 23a is shown in FIG. Become like In this case, the characteristics of the pneumatic actuator determined by the processing accuracy cannot be changed, As shown in FIG. 4, instead of one pore 41c, a plurality of pores 41e,. Drilling an arc-shaped hole 41x that extends to a range that allows communication with the plurality of pores 41e, 41, and 41e in the part 23b results in an angle at which the plurality of pores 41e and the arc-shaped hole 41x overlap.
- the inner sealing component 23a and the inner sealing component 23b are relatively rotatable so as to change the pressure.
- the effect as a loss part can be changed.
- the characteristics of the pneumatic actuator can be freely changed. That is, since the pressure loss section is configured such that the pressure loss amount in the pressure loss section can be adjusted from the outside, it is possible to obtain a pneumatic actuator capable of adjusting the balance between responsiveness and flexibility. .
- the first internal space 5a connected to the external pressure source 100 is connected to the first internal space 5a via one or more pressure loss portions 41c and 41d for the flow of the compressive fluid.
- the second internal space 5d in series, which does not depend on the pressure of the first internal space 5a (in other words, the volume does not change due to the pressure of the first internal space 5a)
- the pressure of the external pressure source 100 can be reduced. In the case of a rapid change, the same effect as reducing the volume occupied by the compressible fluid in the entire internal space can be obtained even though the volume of the internal space has not actually changed.
- the case where two first and second tubular elastic bodies 2a and 2c are used has been described. To do Can do.
- the tubular elastic bodies 2a and 2c are connected in series.
- the present invention includes a case where a part of the tubular elastic bodies is connected in parallel.
- FIG. 15 shows a configuration example of a robot hand using a pneumatic actuator according to the second embodiment.
- the pneumatic actuators la lh corresponding to the pneumatic actuators in the second embodiment are paired into two and have an antagonistic muscle structure.
- An external pressure source 100 is connected to each pair of pneumatic actuators, and the pressure of each external pressure source 100 can be controlled by the control device 110, and the pair of pneumatic actuators By controlling the pressure of each of the external pressure sources 100 by the control device 110 so as to depress one pneumatic actuator and pressurize the other pneumatic actuator, the two pneumatic actuators are located between a pair of pneumatic actuators. A rotational movement can be generated on the shaft.
- FIG. 1 shows a configuration example of a robot hand using a pneumatic actuator according to the second embodiment.
- the pneumatic actuators la lh corresponding to the pneumatic actuators in the second embodiment are paired into two and have an antagonistic muscle structure.
- An external pressure source 100 is connected to each pair of pneumatic actuators, and the pressure
- the shaft 101 is rotated by the pair of pneumatic actuators la and lb, and similarly, the shaft 102 is driven by the pair of pneumatic actuators lc and Id.
- the shafts 104 are rotated by a pair of pneumatic actuators lg and lh, each of which has a shaft 103 with the aid of the actuators le and If.
- the present invention is not limited to this. Instead of the pneumatic actuator in the second embodiment, the configuration in another embodiment is described. By appropriately using the pneumatic actuator, it is possible to configure a robot hand capable of exhibiting effects specific to the respective embodiments.
- FIG. 5 is a sectional view schematically showing a third embodiment of the pneumatic actuator according to the present invention. Note that portions that perform the same functions as in the above-described second embodiment are denoted by the same reference numerals, and redundant description will be omitted.
- first and second bellows-like elastic bodies 4a and 4b are used instead of the first and second tubular elastic bodies 2a and 2c in the second embodiment. Although the overall length of the tubular elastic body is reduced by increasing the internal pressure, the first and second bellows-like elastic bodies 4a 4b has a longer overall length due to increased internal pressure.
- the pneumatic actuator using the first and second bellows-like elastic bodies 4a and 4b shows almost the same response of the first-order lag system, there is no significant difference in the effect of providing the pressure loss portion.
- the present invention is applicable regardless of the type of pneumatic actuator.
- a combination of a pneumatic cylinder with a rebound mechanism such as a panel can be used. These can be applied not only to the third embodiment but also to other embodiments.
- a porous plate 4 ⁇ made of a porous material, fine holes 41g, a wide pipe 41h due to a sudden change in the pipe cross-sectional area, and a thin pipe including a bent portion are provided. Combined with 41i.
- the porous plate 41f and the pores 41g function as an example of the sealing means and are provided in the inner sealing component 23c corresponding to the inner sealing component 23a.
- the inner sealing component 23d which functions as an example of the sealing means and corresponds to the inner sealing component 23b, is provided.
- the inner diameter of each of the pore 41g and the thin tube 41i is substantially the same, and is smaller than the inner diameter of the flow path 21x.
- various types can be used as the pressure loss portion, and the present invention also includes a case where these are arbitrarily combined as the pressure loss portion. These pressure loss sections can be applied to other embodiments.
- FIG. 6 is a sectional view schematically showing a fourth embodiment of the pneumatic actuator according to the present invention. Note that the same reference numerals are given to portions that perform the same functions as those in the above-described first embodiment, and overlapping descriptions will be omitted.
- an internal space 5e surrounded by a cover 8c is provided outside a pneumatic actuator, and a pipe and a pressure inside an inner sealing component 21d functioning as an example of a sealing means similarly to the inner sealing component 21a. They are connected via pores 41j functioning as an example of the loss part. Further, the inner diameter of the pore 41j is smaller than the inner diameter of the flow path 21x.
- the cover 8c is disposed coaxially with the first tubular elastic body 2a, and is preferably formed as a rigid body having such a rigidity that it does not expand with a compressive fluid such as air and does not change its volume even by external pressure.
- a cylindrical cover that functions as an example of a cylindrical member and has an opening on the fixed end side fixed to the inner sealing component 21d and a bottom on the free end side.
- the internal space 5e is connected to the flow path 21x connecting the pressure source 100 and the internal space 5a via the one or more pressure loss portions 41j for the flow of the compressible fluid.
- Air space that does not depend on the pressure of the air (in other words, does not change in volume due to the pressure of the internal space 5e). You can get a writer.
- FIG. 7 is a sectional view schematically showing a fifth embodiment of the pneumatic actuator according to the present invention. Note that portions that perform the same functions as in the above-described second embodiment are denoted by the same reference numerals, and redundant description will be omitted.
- a large number of through-holes 41k of the pressure loss mechanism 41k functioning as an example of a pressure loss portion provided in the inner sealing part 23e functioning as an example of a sealing means. 2 is partially covered by the inner sealing part 22c.
- a first cylindrical projection 23e-1 having a pipe 41k-11 therein is provided at the center of the right end of the inner sealing component 23e, A large number of through holes 41k-2,..., 41k-2 penetrating in the radial direction in communication with the conduit 41k-l are formed at the end of the protruding portion 23e-1.
- a plurality of long hole openings 22c_2 which can be slidably fitted on the outer surface of the first cylindrical protrusion 23e-1 and can open and close a large number of through holes 41k-1, 2,.
- a second cylindrical protrusion 22c-1 which is an example of a closing member, having a central member 22c_2 is provided at the left end of the inner sealing member 22c.
- the inner diameters of the pore 41c, the conduit 41k-11, and the through holes 41k-12 are substantially the same, and are smaller than the inner diameter of the flow path 21x.
- a large number of through-holes 41k-1 2 of the first cylindrical protrusion 23e_l are formed at portions where there is no long hole opening 22c-2,..., 22c_2 of the second tubular elastic body 2c. ,..., Most of them are closed except 41k-2, a very small part of 41k_2.
- the first internal space 5a Even if the pressure of the second internal space 5d approaches the pressure of the external pressure source 100, the pressure in the second internal space 5d hardly changes. In this case, the characteristics of the pneumatic Akuchiyueta will become substantially equal to the first tubular elastic body 2 a only pneumatic Akuchiyueta, displacement although small, an excellent pneumatic Akuchiyueta the small instrument response is the volume of the internal space.
- the pressure of the external pressure source 100 is gradually changed or when a static load is applied from the outside, the compressibility that passes through the pores 41c and the pipeline 41k-1 as the pressure loss part is used.
- the first and second internal spaces 5a and 5d exhibit substantially the same characteristics as those in the case where they are one internal space.
- the overall length of the pneumatic actuator decreases, in other words, when the length of the second tubular elastic body 2c decreases, the second cylindrical
- the protrusion between the cylindrical protrusion 22c-1 and the first cylindrical protrusion 23e-1 slides on each other to increase the overlapping portion, and a large number of through holes 41k-1, 2, ..., 41k of the first cylindrical protrusion 23e-1. , 2 and a plurality of elongated holes 22c-2, ...
- the number of openings for the through holes increases, and the number of covers for the large number of through holes 41k-12 decreases. That is, the pressure loss caused by the pressure loss portion changes according to the displacement of the pneumatic actuator. When the pressure loss changes, the flow rate changes even for the same pressure difference, so that the time response characteristic of the pressure in the second internal space 5d changes. As described above, by changing the pressure loss by the displacement, it becomes possible to adjust the time response characteristic of the pressure to some extent.
- the force is such that the pressure loss decreases as the total length of the pneumatic actuator decreases.
- This force can be freely changed as needed. Either case is included in the present invention.
- FIG. 8 is a sectional view schematically showing a sixth embodiment of the pneumatic actuator according to the present invention. Note that the same reference numerals are given to portions that perform the same functions as those in the above-described first embodiment, and overlapping descriptions will be omitted.
- the plurality of pores 411 provided as an example of the pressure loss portion provided in the cover 8d are partially covered by the body 10a of the slide rod 10.
- the cover 8d is arranged coaxially with the first tubular elastic body 2a, and is preferably air or the like.
- the slide rod 10 slidable on the inner peripheral surface of the force bar 8d has a shaft portion 10b located at the center and a body portion arranged near the end of the shaft portion 10b to slide and guide the inner peripheral surface of the cover 8d.
- a disk-shaped rigid partition plate 300 through which the shaft portion 10b slidably penetrates, is fixed, and the pores 411, ⁇ , 411 are inserted into the cover 8d.
- the volume of the space into which the water flows (that is, the volume of the fourth internal space 5g) is defined by the partition plate 300 and the cover 8d regardless of the fluctuation of the elastic body 9, so that the volume of the fourth internal space 5g does not change.
- the responsiveness is improved.
- the covering for the plurality of pores 411,..., 411 each having an inner diameter smaller than the inner diameter of the flow path 21x is changed. That is, the pressure loss by the pressure loss section changes according to the pressure of the pneumatic actuator.
- the flow rate also changes for the same pressure difference, so that the time response characteristic of the pressure in the fourth internal space 5g changes.
- the inner sealing component 22d corresponds to the inner sealing component 22b of the pneumatic actuator of the first embodiment.
- the pressure loss is reduced as the pressure difference between the pneumatic actuators is reduced.
- the pressure loss can be freely changed as needed. Either case is included in the present invention.
- the pneumatic actuator according to the above embodiment of the present invention is applied to a self-propelled robot in which a robot hand suitable for home use is mounted on a traveling vehicle.
- the self-propelled robot 200 can be controlled by the control device 110.
- the mobile trolley 204 is provided with four traveling wheels 206 connected to a driving device such as a drive motor, and a camera or sensor 205 for detecting a person or an object is provided on the side of the mobile trolley 204.
- the portion from the axis 101 in FIG. 15 to the hand 203 at the tip of the arm is mounted on the upper surface of the movable trolley 204, and a pair of pneumatic actuators le and If are arranged in the second arm 201.
- a pair of pneumatic actuators lg and lh are arranged inside the arm 202.
- the mobile trolley 204 moves under the control of the control device 110 to perform desired operations using the first arm 202, the second arm 201, and the hand 203 as appropriate.
- a camera or sensor 205 detects the environment around the mobile trolley 204 to detect whether a person or an object is around the mobile trolley 204 or not, and uses it to control the desired operation. . Therefore, for example, if a person is around the self-propelled robot 200 (when a person enters the room where the self-propelled robot 200 is located), the first arm 202, the second arm 201, and the hand 203 move.
- the trolley 204 operates slowly to ensure safety, and when no person is around the self-propelled robot 200, the first arm 202, the second arm 201, the hand 203, and the mobile trolley 204 are quickly snapped. It can be operated by appropriately switching between the two modes of operating. More specifically, use two modes, such as operating quickly when folding laundry at a position away from people, and slowly operating and delivering folded laundry to people. As a result, it is possible to realize a robot suitable for home use, which achieves improved responsiveness while maintaining flexibility.
- the present invention is not limited to the above-described first to sixth embodiments, and various modifications are possible based on the gist of the present invention, and these are also included in the present invention. For example, by appropriately combining any of the various embodiments described above, the effects of the respective embodiments can be achieved.
- the compressible fluid pressure actuator according to the present invention can improve the responsiveness to high-acceleration motion requiring responsiveness, and maintains the flexibility for low-acceleration motion that emphasizes safety.
- a fluid pressure actuator can be obtained and is useful as a pneumatic actuator or the like.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Actuator (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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JP2005513444A JP3923504B2 (ja) | 2003-08-29 | 2004-08-25 | 圧縮性流体圧アクチュエータ |
US11/360,815 US7213503B2 (en) | 2003-08-29 | 2006-02-24 | Compressible fluid pressure actuator |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003306450 | 2003-08-29 | ||
JP2003-306450 | 2003-08-29 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/360,815 Continuation US7213503B2 (en) | 2003-08-29 | 2006-02-24 | Compressible fluid pressure actuator |
Publications (1)
Publication Number | Publication Date |
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WO2005021980A1 true WO2005021980A1 (ja) | 2005-03-10 |
Family
ID=34269390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/012182 WO2005021980A1 (ja) | 2003-08-29 | 2004-08-25 | 圧縮性流体圧アクチュエータ |
Country Status (4)
Country | Link |
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US (1) | US7213503B2 (ja) |
JP (1) | JP3923504B2 (ja) |
CN (1) | CN100380002C (ja) |
WO (1) | WO2005021980A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018071740A (ja) * | 2016-11-02 | 2018-05-10 | 学校法人 中央大学 | 流体装置 |
US10704571B2 (en) | 2015-03-27 | 2020-07-07 | Other Lab, Llc | Poppet valve system and method |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2007058107A1 (ja) * | 2005-11-15 | 2009-04-30 | 日本シグマックス株式会社 | 流体圧式アクチュエータ及びそれを用いた運動装置 |
WO2008090753A1 (ja) * | 2007-01-22 | 2008-07-31 | Panasonic Corporation | 圧縮性流体圧アクチュエータ駆動機構およびその制御装置 |
WO2010023278A2 (en) * | 2008-08-29 | 2010-03-04 | Vestas Wind Systems A/S | Control system in wind turbine blades |
WO2010036775A1 (en) * | 2008-09-25 | 2010-04-01 | Utilequip, Inc. | Fabric fluid-powered cylinder |
IT1402325B1 (it) | 2010-09-16 | 2013-08-30 | Scuola Superiore Di Studi Universitari E Di Perfez | Arto robotico continuo bioispirato |
WO2016183484A2 (en) | 2015-05-14 | 2016-11-17 | Worcester Polytechnic Institute | Variable stiffness devices and methods of use |
WO2016207855A1 (en) * | 2015-06-26 | 2016-12-29 | Scuola Superiore Sant'anna | Pneumatic device for actuating organs |
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- 2004-08-25 WO PCT/JP2004/012182 patent/WO2005021980A1/ja active Application Filing
- 2004-08-25 JP JP2005513444A patent/JP3923504B2/ja not_active Expired - Fee Related
- 2004-08-25 CN CNB2004800249038A patent/CN100380002C/zh active Active
-
2006
- 2006-02-24 US US11/360,815 patent/US7213503B2/en active Active
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JPS51143178A (en) * | 1975-06-05 | 1976-12-09 | Kawasaki Heavy Ind Ltd | Tensile device using fluid pressure expansion bag |
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US10704571B2 (en) | 2015-03-27 | 2020-07-07 | Other Lab, Llc | Poppet valve system and method |
JP2018071740A (ja) * | 2016-11-02 | 2018-05-10 | 学校法人 中央大学 | 流体装置 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2005021980A1 (ja) | 2007-11-01 |
CN100380002C (zh) | 2008-04-09 |
US7213503B2 (en) | 2007-05-08 |
JP3923504B2 (ja) | 2007-06-06 |
US20060174761A1 (en) | 2006-08-10 |
CN1846069A (zh) | 2006-10-11 |
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