WO2021152992A1 - Shape retention member, and chair, robot arm and mask including same - Google Patents

Abstract

A shape retention member includes a group of flakes, and a sack that includes the group of flakes such that jamming transition occurs in the group of flakes.

Description

Shape-retaining members, as well as chairs, robot arms, and masks that include them.

The present disclosure relates to a shape-retaining member, and a chair, a robot arm, and a mask including the same. This international application incorporates all the contents disclosed in Japanese Patent Application No. 2020-12512 filed on January 29, 2020.

In recent years, three-dimensional shapes have been formed using various methods. For example, a solid having a specific shape is formed by an irreversible curing reaction of a curable material, thermoforming of a thermoplastic material, cutting of a material using a tool, or the like. Among these methods, thermoforming of a material having thermoplasticity makes it possible to change the shape of the material once formed. However, it is not easy to reshape the three-dimensional shape once formed by thermoforming a material having thermoplasticity.

On the other hand, if a jamming transition that can switch between the fluid state and the solid state by increasing or decreasing the density of the powder or granular material is used, the three-dimensional shape of the object can be easily recreated. Therefore, as described in Patent Document 1, a technique for forming a robot hand or the like using jamming transition has been developed.

Japanese Patent No. 3096433

In the robot hand where the above-mentioned jamming transition occurs, a group of powders and granules are contained in a bag. The bag containing this group of powders and granules is called a jamming transfer bag. According to the technique described above, each of the group of powders and granules is spherical or granular. When spherical or granular powders are used, the desired bending strength and hardness are exhibited if the jamming transition bag has a certain thickness.

However, in the case of a sheet-shaped three-dimensional shape or a strip-shaped three-dimensional shape, the thickness of the jamming transfer bag is small. In this case, even if the above-mentioned group of powders and granules are in a solid state, the bending strength and hardness of the jamming transition bag are small.

The reason is that when each of the group of powders and granules in the jamming transfer bag is spherical or granular, if the thickness of the jamming transfer bag is small, the jamming transfer bag that occurs between adjacent powders and particles This is because the frictional force in the thickness direction is small. That is, when a force is applied to the jamming transfer bag in the thickness direction, adjacent powders and granules slide in the thickness direction of the jamming transfer bag.

Therefore, when the thickness of the jamming transfer bag is small, the shape-retaining member formed by using the jamming transfer bag cannot obtain the desired bending strength and hardness.

This disclosure has been made in view of the above problems. An object of one aspect of the present disclosure is to provide a shape-retaining member or the like capable of obtaining a desired bending strength and hardness regardless of the thickness.

The shape-retaining member of one aspect of the present disclosure includes a group of flakes and a bag containing the group of flakes so that a jamming transition occurs in the group of flakes.

The chair of one aspect of the present disclosure is a chair including the above-mentioned shape-retaining member, such that the shape-retaining member extends along at least one of the surface of the seat of the chair and the surface of the backrest of the chair. It is provided in.

The robot arm of one aspect of the present disclosure includes the above-mentioned shape-retaining member and a holding portion for gripping an object, and the shape-retaining member is provided between the object and the pair of holding portions. Has been done.

The mask of one aspect of the present disclosure is a mask including the above-mentioned shape-retaining member, and the shape-retaining member is provided so as to extend at least along the end portion of the mask.

It is sectional drawing of the shape-retaining member of Embodiment 1. FIG. It is a figure for demonstrating the characteristic of each shape of the group of flakes contained in the shape-retaining member of Embodiment 1, and is the schematic diagram which shows the plane, elevation, and side surface of one flake. It is a figure for demonstrating the state of the group of flakes contained in the shape-retaining member of Embodiment 1, and is the plan view of some flakes, the xx cross-sectional view in the plan view, and y in a plan view. -Y is a cross-sectional view. It is a photograph of a group of flakes contained in the shape-retaining member of the first embodiment. It is a schematic diagram which shows the evacuation apparatus for hardening the shape-retaining member of Embodiment 1 by jamming transition. It is a figure for demonstrating the state in which the space of the jamming transfer bag of Embodiment 1 is filled with a group of flakes. It is a figure which shows the measuring method of the bending strength of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the amount of sinking when the group of flakes of Embodiment 1 is each of paper flakes, sand, and cotton cloth. It is a graph which shows the relationship between the hardness of the shape-retaining member of Embodiment 1 and the gauge pressure. It is a figure which shows the 1st example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 2nd example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 3rd example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 4th example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 5th example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the sixth example of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 7th example of the shape-retaining member of Embodiment 1. FIG. It is the first figure for demonstrating the method which causes the jamming transition in the flake of the group of the shape-retaining member of Embodiment 1. FIG. FIG. 2 is a second diagram for explaining a method of causing a jamming transition in a group of flakes of a shape-retaining member according to the first embodiment. FIG. 3 is a third diagram for explaining a method of causing a jamming transition in a group of flakes of the shape-retaining member of the first embodiment. FIG. 4 is a fourth diagram for explaining a method of causing a jamming transition in a group of flakes of a shape-retaining member according to the first embodiment. FIG. 5 is a fifth diagram for explaining a method of causing a jamming transition in a group of flakes of a shape-retaining member according to the first embodiment. It is a figure which shows the 1st evacuation apparatus for causing a jamming transition in a group of flakes of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the 2nd evacuation apparatus for causing a jamming transition in a group of flakes of the shape-retaining member of Embodiment 1. FIG. It is a figure which shows the internal structure of the chair using the shape-retaining member of Embodiment 2. It is a figure for demonstrating the method of changing a chair using the shape-retaining member of Embodiment 2 into a specific shape. It is a figure which shows the robot arm using the shape-retaining member of Embodiment 3. It is a figure for demonstrating the method of changing the robot arm using the shape-retaining member of Embodiment 3 into a specific shape. It is a figure for demonstrating the method of changing the robot arm of the modified example using the shape-retaining member of Embodiment 3 into a specific shape. It is a figure which shows the mask using the shape-retaining member of Embodiment 4. It is a first cross-sectional view for demonstrating the shape of the shape-retaining member of Embodiment 4. It is a 2nd sectional view for demonstrating the shape of the shape-retaining member of Embodiment 4. FIG. It is a figure for demonstrating the material of the flake of the shape-retaining member of Embodiment 5. It is a photograph which shows the 1st state of the material of the flake of the shape-retaining member of Embodiment 6. It is a photograph which shows the 2nd state of the material of the flake of the shape-retaining member of Embodiment 6.

Hereinafter, the shape-retaining member according to the embodiment of the present invention and the chair using the same will be described with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate explanations will not be repeated.

(Embodiment 1)
The shape-retaining member 100 of the first embodiment will be described with reference to FIGS. 1 to 13.

FIG. 1 is a cross-sectional view of the shape-retaining member 100 of the present embodiment. As shown in FIG. 1, the shape-retaining member 100 includes a jamming transfer bag 10. The jamming transfer bag 10 contains a group of flakes 1 and bag 2. The jamming transfer bag 10 of the present embodiment contains only a group of flakes 1 and air in the bag 2. However, the jamming transfer bag 10 may include a member other than the group of flakes 1 in the bag 2. The jamming transfer bag 10 may contain any group of flakes 1 as long as it contains a group of flakes 1 and thereby causes a jamming transfer.

In other words, the jamming transfer bag 10 is deformed according to the contour of the human body or the outer shape of the object when the group of flakes 1 is in a fluid state, and the shape is constant when the group of flakes 1 is in an individual state. It may be anything as long as it is held in.

In general, a group of powders and granules changes like a fluid when the density of the powders and granules contained therein is lower than a certain threshold value, while changes like a solid when the density of the powder or granular material contained therein is higher than the threshold value. This density-dependent state change of a group of powders is called a jamming transition. In this embodiment, a group of powder or granular materials is composed of a group of flakes 1.

The average particle size of the flakes 1 in the group is preferably 0.1 μm or more and 5 mm or less. This is because if the flakes 1 in the group have an average particle size of 0.1 μm or more and 5 mm or less, jamming transition is likely to occur.

Further, if the thickness of each of the flakes 1 in the group is smaller than 0.1 μm, some of the flakes 1 in the group are damaged when the shape-retaining member 100 is repeatedly deformed. , There is a risk that the initial characteristics of the shape-retaining member 100 will deteriorate. However, if the average particle size of the flakes 1 in the group is 0.1 μm or more, it is possible to prevent deterioration of the initial characteristics of the shape-retaining member 100 due to repeated deformation of the shape-retaining member 100.

On the other hand, if the average particle size of the flakes 1 in the group is larger than 5 mm, the bag 2 contains the flakes 1 composed of a large number of layers in order to sufficiently secure the frictional force caused by the contact between the flakes 1 adjacent to each other. Need to be. Therefore, the overall thickness of the shape-retaining member 100 may become too large. However, if the average particle size of the flakes 1 in the group is smaller than 5 mm, it is possible to prevent the shape-retaining member 100 from becoming excessively thick.

The average particle size of the flakes 1 in the group is more preferably 0.3 μm or more and 250 μm or less. When the average particle size of the flake 1 of the group is 0.3 μm or more, it is possible to provide the jamming transfer bag 10 having higher durability of the flake 1 of the group when the deformation is repeated.

Further, when a film cut into a large number of film pieces is used as a group of flakes 1, the bending of each film can be used for shape change. In this case, if the thickness of each film is 250 um or less, jamming transition can be easily caused by utilizing the bending of each film.

In the present specification, the average particle size of a group of flakes 1 is the volume average diameter (MV) of the particle size distribution measured by the laser diffraction method. Specifically, the volume average diameter is calculated by the following formula.

MV = Σ (Vi · di) / Σ (Vi)
Vi: i-th volume when arranged in the order of particle size di: i-th particle size when arranged in the order of particle size Next, the material of the group of flakes 1 used in the shape-retaining member 100 of the present embodiment. Will be explained.

A group of flakes 1 may comprise at least one of natural mica, talc, synthetic mica, aluminum, copper, resin, and glass. Further, the group of flakes 1 may include a material in which at least one of paper, a film, a rubber, a resin sheet, a resin film, a metal, and a resin film with a metal film is cut. The group of flakes 1 may contain a material whose surface is coated with an oxide or resin such as _{SiO 2, iron oxide, or titanium oxide.}

The group of flakes 1 may be made by cutting the above material with a shredder. In this case, each of the flake 1s in the group has a strip shape. If the group of flakes 1 has a strip shape, the space inside the bag 2 can be used as effectively as possible when the jamming transfer bag 10 has a sheet shape or a band shape.

However, the material and manufacturing method of the group of flakes 1 are not limited to the above-mentioned shredder cutting. The group of flakes 1 may be manufactured using any material and manufacturing method as long as it has a shape capable of causing a jamming transition in the bag 2. The group of flakes 1 preferably contains at least one of a mineral piece, a metal piece, a resin piece, a rubber piece, a paper piece, and a glass piece.

Next, the bag 2 used in the shape-retaining member 100 of the present embodiment will be described. The bag 2 is a container for storing things, and is made of a material that is flexible enough to be folded when there are no things in the container. The bag 2 contains a group of flakes 1 so that a jamming transition occurs in the group of flakes 1. The bag 2 elastically deforms according to the state change of a group of flakes 1 caused by the jamming transition.

The bag 2 has flexibility to the extent that its shape changes with the exhaust or intake of air in its internal space. Further, the bag 2 is not breathable or has low breathability. The bag 2 may be made of, for example, silicone rubber. Silicone rubber, in the rubber gas permeability is relatively high, the oxygen permeability of about ^{10E -10 cm 3 · cm / (} cm 2 · s · Pa). That is, the bag 2 has an airtightness capable of changing the space inside the bag 2 into a vacuum state to which a jamming transition occurs in a group of flakes 1. The "vacuum state" in the present specification means a state of a space filled with a gas having a pressure lower than the normal atmospheric pressure, as defined by JIS.

The bag 2 includes an opening / closing member or a check valve 2a that opens / closes the opening. In the example shown in FIG. 1, the opening / closing member or the check valve 2a is directly provided on the material of the bag 2. However, the bag 2 may have an opening / closing member or a check valve 2a in a tube extending from the material of the bag 2. If the bag 2 is provided with an opening / closing member or a check valve 2a, the space 20 in the bag 2 can be changed into a vacuum state and a state in which air is contained.

When the space 20 in the bag 2 is in a vacuum state, the group of flakes 1 is in an individual state. On the other hand, when the space 20 in the bag 2 is filled with air, the group of flakes 1 is in a fluid state. The bag 2 has an airtightness that keeps the space 20 in a vacuum state.

The bag 2 may contain one or more materials selected from a rubber sheet containing at least one of natural rubber, butyl rubber, urethane rubber, chloroprene rubber, and nitrile rubber. The bag 2 may also contain one or more materials selected from a film containing at least one of polyethylene, polypropylene, nylon, and ionomer. Further, the bag 2 may contain vinyl leather.

The thickness of the bag 2 is appropriately selected in consideration of the flexibility and durability required depending on the jamming transfer bag 10 used.

For example, when the jamming transfer bag 10 is used for an office chair, a vehicle seat, a wheelchair, or the like, a relatively strong load is applied to the bag 2. In this case, the bag 2 is preferably easily deformed and preferably has high durability. Therefore, for example, when natural rubber is used as the material of the bag 2, the bag 2 preferably has a thickness of about 0.5 mm to 2 mm.

Similarly, when the jamming transfer bag 10 is used as a gripper for gripping a bed seat, a shoe sole, an inner circumference of a helmet, or a relatively hard and heavy object such as a metal part, the bag 2 is 0.5 mm. It preferably has a thickness of about 2 mm.

When the jamming transfer bag 10 is used as a gripper for gripping food ingredients, it is necessary to deform it with a weak force so as not to destroy the food ingredients. In this case, when the bag 2 is made of natural rubber, for example, it preferably has a thickness of about 0.1 mm to 1 mm. Similarly, when the jamming transfer bag 10 is used for a pillow or a mask, it preferably has a thickness of about 0.1 mm to 1 mm.

However, the thickness of the bag 2 is not limited to the above because the flexibility and durability of the bag 2 differ depending on the material constituting the bag 2. For example, when nitrile rubber or the like is used as the material of the bag 2, the thickness of the bag 2 can be made smaller than that when natural rubber is used because the durability against tearing is particularly high.

According to the jamming transition bag 10 of the present embodiment, a state change caused by the jamming transition of a group of flakes 1 is caused. When a jamming transition of a group of flakes 1 occurs, the jamming transition bag 10 can obtain a desired bending strength and hardness regardless of the thickness of the jamming transition bag 10. As a result, the shape-retaining member 100 can also obtain desired bending strength and hardness.

The jamming transfer bag 10 may have a thin and wide sheet shape, or may have a strip shape extending linearly with a constant width. Since each of the group of flakes 1 is arranged in the bag 2 so as to extend along the sheet shape or band shape of the jamming transfer bag 10, the jamming transfer bag 10 can exhibit high bending rigidity and hardness.

The shape-retaining member 100 of the present embodiment includes an elastic member 3 fixed to the jamming transfer bag 10. In the present embodiment, since the jamming transfer bag 10 has a sheet shape or a band shape, the elastic member 3 is fixed to one of the opposing main surfaces of the jamming transfer bag 10 and has a sheet shape or a band shape. Is preferable. The elastic member 3 is elastically deformed as the jamming transition bag 10 is deformed. The elastic member 3 is used to return the jamming transfer bag 10 deformed by its own restoring force to the initial state.

However, the shape-retaining member 100 does not have to include the elastic member 3 as long as it includes the jamming transfer bag 10. When the shape-retaining member 100 does not include the elastic member 3, a person may manually return the jamming transfer bag 10 to the initial state.

The elastic member 3 preferably contains at least one of a sponge, polyethylene foam, rubber, an air cushion, and a spring. However, the elastic member 3 can be elastically deformed with the deformation of the jamming transfer bag 10 and can return the deformed jamming transfer bag 10 to the initial state by its own restoring force. good.

FIG. 2 is a diagram for explaining the characteristics of each shape of the group of flakes 1 included in the shape-retaining member 100 of the present embodiment, and is a view for explaining the characteristics of each shape of the flake 1, and the plane, elevation, and side surface of one flake 1. It is a figure which shows.

As can be seen from FIG. 2, each of the group of flakes 1 has a maximum length a, a maximum width b, and a maximum thickness c. The maximum length a is the distance between the two opposite main surfaces 1A and 1B of the flakes 1 at the farthest positions on the outer circumference. The maximum width b is the distance between the positions of the outer circumferences orthogonal to the line segment indicating the maximum length a. The maximum thickness c is the distance between the positions having the largest distance between the two opposing main surfaces 1A and 1B of the flakes 1. The peripheral end surface C1 shown in FIG. 2 is the surface of a portion connecting the main surface 1A and the main surface 1B.

The maximum length a of the two opposing main surfaces 1A and 1B is preferably 5 μm or more and 200 mm or less. Further, it is preferable that the maximum lengths a of the two opposing main surfaces 1A and 1B are appropriately designed depending on the material of the flakes 1. For example, when the flakes 1 are mineral pieces, the maximum length a of the two opposing main surfaces 1A and 1B is more preferably 5 μm or more and 20 mm or less. When the flakes 1 are mineral pieces, if the maximum length a of the two opposing main surfaces 1A and 1B exceeds 20 mm, the flakes 1 may become brittle. On the other hand, when the flakes 1 are a resin piece, a rubber piece, a paper piece, or a metal piece, the maximum length a of the two opposing main surfaces 1A and 1B is more preferably 2 mm or more and 200 mm or less. When the flakes 1 are a resin piece, a rubber piece, a paper piece, or a metal piece, when the maximum length a of the two opposing main surfaces 1A and 1B exceeds 200 mm, the flakes 1 tend to be twisted. According to this, even when the jamming transfer bag 10 is wide and thin, the desired bending strength and hardness can be exhibited.

FIG. 3 is a diagram for explaining the state of a group of flakes 1 included in the shape-retaining member 100 of the present embodiment, and is a plan view of some flakes 1 and an xx cross section in the plan view. It is a cross-sectional view of yy in the figure and the plan view.

As shown in FIG. 3, when a group of flakes 1 are intertwined and in contact with each other as a whole, the jamming transfer bag 10 exhibits high bending strength.

FIG. 3 shows the solid state of a group of flakes 1 contained in the bag 2. Each of the group of flakes 1 shown in FIG. 3 is a rectangular flakes 1 having an aspect ratio of 4: 1 in a plan view, which is an example of a strip shape. It is assumed that the two opposing main surfaces 1A and 1B of the flakes 1 are both rectangular planes, and the thickness of the flakes 1 is constant.

FIG. 3 shows a plan view of a group of flakes 1, a cross-sectional view taken along line xx in the plan view, and a cross-sectional view taken along line yy in the plan view. In each of the two cross-sectional views, when a force is applied to the position indicated by the arrow of the group of flakes 1, a bending moment is generated in each of the group of flakes 1. At this time, a frictional force is generated between the adjacent flakes 1 constituting the group of flakes 1. In addition, tensile stress is generated inside each of the flakes 1 in the group. This frictional force and tensile stress are resistance forces against bending moments.

The orientation of the long side of the rectangle in the plan view of each of the strip-shaped flakes 1 constituting the group of flakes 1 shown in FIG. 3 is random. Therefore, a group of flakes 1 can exert a high resistance to a bending moment in any direction.

As can be seen from FIG. 3, in the present embodiment, each of the group of flakes 1 is in the shape of a strip. Also, each of the group of flakes 1 has an ellipsoidal shape. Further, the group of flakes 1 has two opposing main surfaces 1A and 1B and a peripheral end surface 1C connecting the two opposing main surfaces 1A and 1B. A jamming transition occurs using the frictional force between the main surfaces 1A and 1B of each of the flake 1s in the group. Therefore, even if the thickness of the jamming transfer bag 10 is small, the desired bending strength and hardness can be more reliably exhibited. In another embodiment, each of the group of flakes 1 has a rectangular parallelepiped shape.

Each of the group of flakes 1 of the present embodiment has two opposing planes that are substantially parallel to each other. The maximum diameter of the two opposing main surfaces 1A, 1B of the flakes 1, that is, the distance between the maximum length a and the two opposing main surfaces 1A, 1B of the group of flakes 1, that is, the maximum thickness. The ratio to c is 4: 1 or more and 30: 1 or less. That is, the maximum length a / maximum thickness c = 4 or more and 30 or less. Therefore, a group of flakes 1 are arranged so as to extend along a virtual plane. When the maximum length a exceeds 30 times the maximum thickness c between the two opposing main surfaces 1A and 1B, the flakes 1 are easily twisted and easily torn. Further, in each of the flake 1s of the group of the present embodiment, the ratio of the maximum length a and the maximum width b of the two opposing main surfaces 1A and 1B is preferably 1.4: 1 or more and 30: 1 or less. More preferably, it is 9: 1 or more and 17: 1 or less. According to this, even when the jamming transfer bag 10 is wide and thin, it is possible to further exhibit the desired bending strength and hardness.

For example, when each of a group of flakes 1 has the shape of a cylinder or a regular quadrangular prism, the area of two planes of a circle or a square is more than twice the total side surface area.

Even when each of the flake 1s in the group has a shape other than a cylinder or a regular quadrangular prism, the adjacent flakes 1 tend to overlap each other in a layered manner. Therefore, a strong frictional force is generated between the adjacent flakes 1, so that the group of flakes 1 can exhibit high bending strength and hardness when they are in a solid state.

Since the group of flakes 1 have different shapes, all the main surfaces of the adjacent flakes 1 do not completely overlap each other. Further, the vector toward the position of the contour farthest from the position of the center of gravity of each of the flake 1s in the group is random. When a group of flakes 1 have the same shape, the main surfaces of adjacent flakes 1 may completely overlap each other, but when each main surface of a group of flakes 1 is rectangular, the main surfaces of the adjacent flakes 1 may completely overlap each other. The long side directions of the main surface of the group of rectangles are randomly arranged in the entire group of flakes 1.

Therefore, for almost all flakes, it is possible for the main surfaces of a plurality of flakes 1 to come into contact with one main surface of one flake. For example, if the direction of the maximum length a of one flake 1 and the direction of the maximum length a of the other flake 1 adjacent to the flake 1 form 90 degrees, one flake 1 is plural. It is possible to contact other flakes 1.

Therefore, when the group of flakes 1 is in a solid state, strong friction can be obtained in which the main surfaces of adjacent flakes 1 come into contact with each other. Further, the plurality of flakes 1 are entangled with each other to exert a high resistance to the bending moment. Further, when the flake 1 in the group is in a fluid state, even if it changes to any shape, problems such as wrinkles on the jamming transition bag 10 are unlikely to occur.

The jamming transfer bag 10 may have a thin shape such as a sheet or a band. In this case, the flakes 1 in the fluid state are intertwined with each other. Therefore, it is possible to prevent the sheet-like or strip-like shape from collapsing due to the misalignment of the flakes 1.

Next, in a group of flakes 1, the effect that the adjacent flakes 1 are unlikely to be misaligned will be described. First, in the jamming transfer bag, the case where a spherical or granular material is used as the powder or granular material is examined. In this case, when the powder or granular material in the bag is in a fluid state, if the jamming transfer bag is suspended with one end thereof as a fulcrum, the amount of powder or granular material in the jamming transfer bag is increased. There is a large bias.

In addition, when the powder or granular material in the jamming transfer bag is in a fluid state, even when a part or an object of a person's body is shaken and pressed against the jamming transfer bag, the powder or granular material in the jamming transfer bag is also pressed. There will be a large bias in the amount of. In such a case, a place in the jamming transfer bag where almost no powder or granular material is present is formed. Therefore, even if a group of powders and granules in the jamming transfer bag becomes a solid state, the shape or the degree of bending of the jamming transfer bag cannot be stably fixed.

Next, when a group of flakes 1 is used instead of a group of powders and granules, a case where the ratio of the above-mentioned maximum length a to the maximum width b is 2: 1 or more will be examined. In this case, since the flakes 1 are entangled with each other even in the fluid state, it is possible to prevent a group of flakes 1 from moving significantly in the bag 2. Therefore, it is possible to prevent a large bias in the amount of flakes 1 in the group in the bag 2. Therefore, the group of flakes 1 can be made into a solid state without adjusting the state of the group of flakes 1 immediately before the shape-retaining member 100 is used. As a result, the shape of the jamming transfer bag 10, for example, the degree of bending can be fixed.

Further effects when a group of flakes 1 are used in place of a group of powders and granules are as follows.

In Special Table 2007-516109, in order to avoid the movement of a group of powders and granules in the container, an adhesive is applied to the inner surface of the container, unevenness is formed on the inner surface of the container, and the container is used. There is a partition on the inner surface of the. However, it is not possible to prevent the powder or granular material from flowing in the in-plane direction at a position away from the inner surface of the container.

Therefore, the initial state of the container containing the powder or granular material cannot be maintained. In the first place, the jamming transition using beads changes its shape due to the fluidity of the beads themselves in the in-plane direction, and fixes the changed shape. Therefore, the shape of the jamming transfer bag 10 containing the group of beads cannot be changed or fixed only by the elastic deformation of the beads due to the pressing force applied to the beads in the state where the beads are not fluid.

On the other hand, in the jamming transition using a group of flakes 1, the jamming transition bag 10 can be bent only by a small movement such as an overlap deviation between adjacent flakes 1. Further, the displacement between the adjacent flakes 1 is eliminated due to the increase in the frictional force between the adjacent flakes 1. Therefore, the bending of the jamming transfer bag 10 is suppressed. Therefore, even if the flow of adjacent flakes 1 in the in-plane direction is small, it is possible to easily switch between a state in which the shape of the jamming transfer bag 10 can be changed and a state in which the shape of the jamming transfer bag 10 is fixed. can.

FIG. 4 is a photograph of a group of flakes 1 contained in the bag 2 of the present embodiment. As shown in FIG. 4, the two opposing main surfaces 1A and 1B of each of the group of flakes 1 are in a state close to two substantially parallel planes. When the two opposing main surfaces 1A and 1B are both close to a flat surface, the frictional force between the adjacent flakes 1 becomes larger. Therefore, even if the thickness of the jamming transfer bag 10 is small, the desired bending strength and hardness can be more reliably exhibited.

FIG. 5 is a schematic view showing a vacuuming device 30 for curing the jamming transfer bag 10 of the present embodiment. As can be seen from FIG. 5, the evacuation device 30 includes a vacuum gauge V and a vacuum pump P. The vacuum pump P and the vacuum gauge V are connected by a tube. The jamming transfer bag 10 and the vacuum gauge V are also connected by a tube.

In addition, an experiment was conducted in which the hardness of the jamming transfer bag 10 in which a group of flakes 1 were contained in the bag 2 was measured using the vacuuming device 30. In this experiment, the bag 2 is a latex rubber balloon with a diameter of about 8 cm. The average particle size of the flake 1 in the group is 23 μm, the average thickness is about 0.3 μm, and the material thereof is mica (Muscovite) (Yamaguchi Mica Co., Ltd., product name: A-21S).

A group of flakes made of 25 g of mica was put into the bag 2 from the mouth of the bag 2 made of balloons via a filter paper (Toyo Filter Paper Co., Ltd., product name: qualitative filter paper No. 1). In the same manner, 31 g of mica (Yamaguchi Mica Co., Ltd., product name: B-82) having an average particle size of 180 μm and an average thickness of about 1.8 μm is placed in the bag 2 via a filter paper. Was put in.

As a comparative example, a jamming transfer bag in which glass beads having an average particle size of 20 μm and glass beads having an average particle size of 120 μm were each placed in a bag made of balloons was also prepared. The mouths of these rubber balloons are connected to the vacuum pump P via a container with a vacuum gauge V, and the air inside the balloon is discharged. Thereby, the jamming transfer bag was hardened by increasing the volume density of the powder or granular material in the balloon.

At this time, the gauge pressure indicated by the vacuum gauge V was changed from 0 mmHg to 150 mmHg. Further, the average value of the hardness measured three times at the center of the bag using a JIS K 6253 compliant type A durometer was taken as the hardness.

FIG. 6 is a diagram showing a jamming transfer bag 10 in which a group of flakes 1 used in an experiment for measuring strength using a vacuuming device 30 is filled in a space inside a bag 2.

Here, the amount of powder or cloth in the jamming transfer bag 10 was adjusted so that the total thickness t of the bag in the solid state was about 1 cm.

FIG. 7 is a diagram showing a method of measuring the bending strength of the jamming transfer bag 10 of the first embodiment. With reference to FIG. 7, the effect of improving the bending strength of the jamming transition bag 10 when a group of flakes 1 is used will be described.

It was experimentally confirmed that when a group of flakes 1 was used instead of a group of spherical or granular powders, the hardness of the jamming transfer bag 10 against bending increased. Here, what is expressed as "hardness against bending" is not the bending strength that indicates the stress leading to fracture, nor the bending rigidity that evaluates elastic deformation, but is a measure of how hard it is against bending. This is to mean.

This "hardness against bending" is measured as follows. First, a measurement sample of the jamming transfer bag 10 in which a group of flakes 1 is in a solid state is placed on a table 200. ^{A weight having a contact area of 1 cm 2} and a weight of 2 kg is placed at a position 10 cm from the table 200 in the portion protruding from the table 200. At that time, the amount of sinking x in which the measurement sample of the jamming transfer bag 10 was bent was measured.

A group of flakes 1 includes a group of paper flakes cut by a shredder, having a maximum length a of about 27 mm, a maximum width b of 2.5 mm, and a maximum thickness c of 90 μm. Natural sand and a group of cotton cloths were used, respectively. The bag 2 is made of polyethylene.

FIG. 8 is a diagram showing the amount of sinking x when the group of flakes 1 of the present embodiment is paper flakes, sand, or cotton cloth.

As can be seen from FIG. 8, the sinking amount x in the case of the jamming transfer bag 10 containing a group of paper flakes is 2.0 cm. The amount of sinking x in the case of the jamming transfer bag 10 containing a group of sand is 12.0 cm. In the case of the jamming transfer bag 10 containing a group of cotton cloths, the sinking amount x is 3.5 cm. From this result, the amount of sinking x is smaller in the order of the jamming transfer bag 10 containing a group of paper flakes, the jamming transfer bag 10 containing a group of cotton cloth, and the jamming transfer bag 10 containing a group of sand. It can be seen that the hardness against bending is large.

In short, it can be seen from FIG. 8 that the jamming transfer bag 10 containing a group of paper flakes has a larger "hardness against bending" than the jamming transfer bag 10 containing a group of granular sand. Further, from FIG. 8, it can be seen that the jamming transfer bag 10 containing a group of cotton also has a larger "hardness against bending" than the jamming transfer bag 10 containing a group of granular sand.

Also, in the fluid state, the jamming transfer bag filled with a group of paper flakes as a group of powders and granules can be bent into a free shape. However, the jamming transfer bag 10 filled with a group of cotton cloths requires 40 pieces of cloth to bring the total thickness t of the bag in the solid state to 1 cm, so that when folded There was a big twist on the inside.

FIG. 9 is a graph showing the relationship between the hardness of the jamming transfer bag 10 and the gauge pressure of the present embodiment. From FIG. 9, it can be seen that the jamming transfer bag 10 containing a group of mica has a higher hardness than the jamming transfer bag 10 containing a group of glass beads, regardless of its size. Specifically, it was found that the jamming transfer bag 10 containing a group of mica can obtain approximately 1.5 to 2 times the hardness of the jamming transfer bag containing a group of glass beads. rice field.

Variations of the shape-retaining member 100 will be described with reference to FIGS. 10A to 10G. As shown in FIGS. 10A to 10G, the shape-retaining member 100 includes a jamming transfer bag 10 and an elastic member 3 fixed to the jamming transfer bag 10. The elastic member 3 is for restoring the changed shape of the jamming transition bag 10 by its own restoring force.

In the shape-retaining member 100 shown in FIG. 10A, the main surface of the jamming transfer bag 10 and the main surface of the elastic member 3 are in contact with each other and have the same shape and the same size. In the shape-retaining member 100 shown in FIG. 10A, all of one main surface of the jamming transfer bag 10 and all of one main surface of the elastic member 3 are adhered or heat-sealed with an adhesive or double-sided tape A or the like. Or are integrated with fasteners.

In the shape-retaining member 100 shown in FIG. 10B, the main surfaces in contact with the jamming transfer bag 10 and the elastic member 3 have the same shape and the same size. In the shape-retaining member 100 shown in FIG. 10B, the ends of the jamming transfer bag 10 and the elastic member 3 along at least two or more sides are bonded or heat-sealed with an adhesive, double-sided tape A, or the like. Or are integrated by fasteners.

In the shape-retaining member 100 shown in FIG. 10C, the main surface of the jamming transfer bag 10 is smaller than the main surface of the elastic member 3. An end portion along two or more sides of the main surface of the jamming transfer bag 10 and a part of the main surface of the elastic member 3 facing the end portion are adhered or heat-welded with an adhesive or double-sided tape A or the like. Or are integrated by fasteners.

In the shape-retaining member 100 shown in FIG. 10D, the main surface of the jamming transfer bag 10 is larger than the main surface of the elastic member 3. An end portion along two or more sides of the main surface of the elastic member 3 and a part of the main surface of the jamming transfer bag 10 facing the end portion are adhered or heat-welded with an adhesive or double-sided tape A or the like. Or are integrated by fasteners.

In the shape-retaining member 100 shown in FIG. 10E, the main surface of the jamming transfer bag 10 is larger than the main surface of the elastic member 3. In the shape-retaining member 100, the end portion of the jamming transfer bag 10 is provided so as to cover the end portion of the elastic member 3 from the main surface on the front side of the elastic member 3 to the end portion of the main surface on the back side of the elastic member 3. ing. The end portion along two or more sides of the main surface of the jamming transfer bag 10 and the portion of the main surface on the back side of the elastic member 3 facing the end portion are adhered or heat-welded with an adhesive or double-sided tape A or the like. Or are integrated by fasteners.

In the shape-retaining member 100 shown in FIG. 10F, in addition to the configuration of FIG. 10A, a cover C or a bag that integrally includes the jamming transfer bag 10 and the elastic member 3 is provided. The cover C or the bag may be made of a water-repellent material or a material having good breathability.

In the shape-retaining member 100 shown in FIG. 10G, a member other than the jamming transfer bag 10 and the elastic member 3 is provided inside the cover C or the bag. As another member, a cushion CU or a heater having good air permeability is inserted on the side closer to the human body than the jamming transfer bag 10. In this case, the bottom plate or back plate of the chair is put in the cover C or the bag. The cover C or the bag contains a plurality of members existing inside the cover C or a bag in such a state that the adjacent members are in close contact with each other.

The jamming transfer bag 10 described above is in a curved state, and when the air inside is evacuated, it becomes an individual state in the curved state. Then, the gas is put in 10 jamming transfer bags. As a result, the jamming transfer bag 10 becomes soft. At this time, the jamming transition bag 10 is naturally flattened by the restoring force of the elastic member 3.

Therefore, according to the jamming transfer bag 10 described above, it is not necessary for a person to perform the work of flattening. This can be achieved because the group of flakes 1 does not have fluidity in the in-plane direction like the group of beads.

11A to 11E are diagrams for explaining a method of deforming or restoring the shape-retaining member 100 of the shape-retaining member 100 of the present embodiment.

As shown in FIG. 11A, in the method for forming a specific shape of the present embodiment, first, the shape-retaining member 100 in the initial state is prepared. In the shape-retaining member 100, the jamming transfer bag 10 is fixed on the elastic member 3. In the initial state, the shape-retaining member 100 also has a flat plate-shaped jamming transfer bag 100 due to the restoring force of the flat plate-shaped elastic member 3.

As shown in FIG. 11B, a person HU or an object is pressed against the jamming transfer bag 10 of the shape-retaining member 100. As a result, the shape-retaining member 100 is deformed into a shape corresponding to the shape of the human HU or the object. In this state, the air in the bag 2 is discharged by the vacuum pump P from the opening or the check valve 2a in the state where the opening / closing member is opened. This causes a group of flakes 1 to undergo a fluid-to-solid jamming transition.

According to this, as shown in FIG. 11C, the jamming transfer bag 100 can be changed into a three-dimensional shape having a shape corresponding to the shape of the human HU or the object.

On the other hand, if it is desired to change the shape-retaining member 100 to a shape different from the shape shown in FIG. 11C, it is necessary to cause a jamming transition from an individual to a fluid in a group of flakes 1.

At this time, as shown in FIG. 11D, air is introduced into the jamming transfer bag 10. As a result, the restoring force RF indicated by the white arrow is generated in the elastic member 3.

As a result, as shown in FIG. 11E, the shape-retaining member 100 is restored to the initial state by the restoring force RF of the elastic member 3.

FIG. 12 is a diagram showing a first evacuation device for causing a jamming transition in flakes 1 of a group of shape-retaining members 100 of the present embodiment.

As shown in FIG. 12, in the shape-retaining member 100, the bottom plate BP, the elastic member 3, the jamming transfer bag 10, and the cushion CU are laminated in this order. The bottom plate BP, the elastic member 3, the jamming transfer bag 10, and the cushion CU are included in the cover C. The tip nozzle of the tube T1 is inserted into the opening of the jamming transfer bag 10. A check valve CH is provided at one end of the tube T1. A joint J is connected to this check valve CH. The joint J is connected to the tube T2. The tube T2 is connected to the vacuum pump P.

When the vacuum pump P is driven with the joint J connected to the check valve CH, the air in the jamming transition bag 10 is discharged by the vacuum pump P. As a result, the jamming transfer bag 10 becomes an individual state. The shape of the jamming transfer bag 10 in the individual state is retained.

FIG. 13 is a diagram showing a second evacuation device for causing a jamming transition in flakes 1 of a group of shape-retaining members 100 of the present embodiment. The second evacuation device shown in FIG. 13 has been replaced by a hand pump HP. The inside of the jamming transfer bag 10 can also be evacuated by the hand pump HP.

(Embodiment 2)
Next, the chair CHA of the second embodiment will be described. Since the shape-retaining member 100 used for the chair CHA of the present embodiment is the same as the shape-retaining member 100 of the first embodiment, the description thereof will not be repeated.

FIG. 14 is a diagram showing an internal structure of a chair CHA using the shape-retaining member 100 of the present embodiment. FIG. 15 is a diagram for explaining a method of changing the chair CHA using the shape-retaining member 100 of the present embodiment into a specific shape.

As shown in FIG. 14, in the chair CHA of the present embodiment, the shape-retaining member 100 is provided on each of the seat and the backrest. As shown in FIG. 15, the shape-retaining member 100 is arranged so as to change into a shape corresponding to the surface of the body of the human HU by jamming transition while the human HU is sitting on the chair CHA.

In the present embodiment, the sheet-shaped shape-retaining member 100 is used as a posture assisting member in the chair CHA. In the sheet-shaped shape-retaining member 100, the jamming transfer bag 10 is arranged on the body side, and the elastic member 3 is installed on the bottom plate side which is a support member of the chair CHA. Specifically, the sheet-shaped shape-retaining member 100 is a chair selected from a seat surface, a backrest, a headrest (not shown), a footrest (not shown), an elbow rest (not shown), and the like. It may be placed in part or in each part of those chairs.

Specifically, the shape-retaining member 100 is provided so as to spread along at least one of the surface of the seat of the chair CHA and the surface of the backrest of the chair CHA. The jamming transfer bag 10 is provided so as to face the front side of the chair CHA, and the elastic member 3 is provided so as to face the back side of the chair CHA. The front side of the chair CHA is the side that contacts the person HU when the person HU sits on the chair CHA, and the back side of the chair CHA is the side that does not contact the person HU when the person HU sits on the chair CHA. be.

FIG. 15 shows a chair in which each of the seat and the backrest contains a separate shape-retaining member 100. However, the sheet-shaped shape-retaining member 100 may be continuously provided from the seat surface to the backrest.

In the seat of the chair CHA of the present embodiment, the bottom plate, the elastic member 3, the jamming transfer bag 10, and the cushion CU material are laminated in this order from the bottom. A cover C is provided so as to put these together. A vacuum tube may be connected to the sealed jamming transfer bag 10.

Although not shown, a plurality of vacuum tubes may be connected to a plurality of chair CHA portions. In this case, the jamming transfer bag 10 may be divided into a plurality of sealed sachets. A plurality of sealed sachets and a plurality of nozzles of a vacuum tube may be connected in a one-to-one relationship. In this way, if the jamming transfer bag 10 is divided into a plurality of sealed pouches, the sealed pouches having different hardness can be arranged for each chair portion.

Similar to the first embodiment, a check valve 2a is provided at or near the opening of the bag 2 into which the nozzle of the vacuum tube is inserted so that air can flow only in the exhaust direction. Instead of the check valve 2a, the bag 2 may be provided with an opening / closing member that is opened / closed by an elastic force. The opening / closing member is a tubular portion made of an elastic member such as rubber. The opening / closing member is such that the valve is released and the air is taken into the bag by pressing the peripheral surface of the pipe inward or piercing a rod-shaped object into the pipe.

The vacuum pump P (the vacuum tube extending from FIG. 12 9 is connected to the check valve 2a via the joint portion, whereby the air in the bag 2 can be discharged by the vacuum pump P. With this configuration, the hardness of a plurality of jamming transition bags 10 can be controlled by one vacuum pump P. Although not shown, the gauge pressure in the jamming transition bags 10 may be adjusted by a regulator (not shown). ..

A hand pump HP (see FIG. 13) can be used instead of the vacuum pump P. At this time, even if the lightweight and compact hand pump HP is installed at a position such as the back side surface of the bottom plate of the seat surface of the chair or the back side surface of the elbow rest, the entire chair does not become very heavy.

In this embodiment, an example is shown in which the shape-retaining member 100 is applied to a general chair. However, the shape-retaining member 100 may be applied to a wheelchair. When the shape-retaining member 100 is applied to a wheelchair, it is possible to prevent a person from slipping or slanting due to sitting for a long time. Therefore, it is possible to prevent a person from slipping off a wheelchair, causing a pressure ulcer, or deforming a joint. In addition, since the number of times the posture of a person sitting in a wheelchair is corrected in a care facility or the like can be reduced, the labor of the caregiver can be reduced.

Furthermore, the shape of the wheelchair can be changed so that the sitting person can be guided to the ideal posture or the desired posture.

Further, according to the chair of the present embodiment, the ideal or desirable posture is guided to the person sitting on the chair in a state where the degree of freedom of the body is maintained without strongly fixing the body. Therefore, it is possible to avoid being regarded as restraining the body as in the case where the patient or the elderly is tied to the chair.

The shape-retaining member 100 is spontaneously restored to the initial state when the group of flakes 1 is returned to the state of an individual and then returned to the state of a fluid by the restoring force of the elastic member 3. In addition to the above chairs, the shape-retaining member 100 may be a bed, a pillow, an elbow rest, a mask, an inner peripheral portion of a helmet, shoes, boots, various grips, or the like. In any case, it is preferable that the jamming transfer bag 10 is provided so as to face the side of the person or the object, and the elastic member 3 is provided so as to face the side opposite to the side of the person or the object.

(Embodiment 3)
Next, the robot arm 500 of the third embodiment will be described. Since the shape-retaining member 100 used for the chair CHA of the present embodiment is the same as the shape-retaining member 100 of the first embodiment, the description thereof will not be repeated.

FIG. 16 is a diagram showing a robot arm 500 using the shape-retaining member 100 of the present embodiment. FIG. 17 is a diagram for explaining a method of changing the robot arm 500 into a specific shape by using the shape-retaining member 100 of the present embodiment. FIG. 18 is a diagram for explaining a method of changing the robot arm 500 of the modified example using the shape-retaining member 100 of the present embodiment into a specific shape.

The robot arm 500 of the present embodiment is a robot arm 500 provided in sandwiching portions P1 and P2 in which a pair of shape-retaining members 100 sandwich an object 50. The pair of shape-retaining members 100 are arranged so that the pair of holding portions P1 and P2 change into a shape corresponding to the surface of the object 50 by jamming transition while sandwiching the object 50.

Specifically, the pair of sandwiching portions P1 and P2 face each other. The pair of shape-retaining members 100 are provided on the inner side surfaces of the pair of holding portions P1 and P2, respectively. A pair of shape-retaining members 100 are provided between the object 50 and the pair of holding portions P1 and P2, respectively.

According to this, since the jamming transfer bag 10 has a shape corresponding to the shape of the food, the shape-retaining member 100 can easily grip the food without crushing it. However, the object 50 may be anything, for example, an organism such as a person, an animal, or a plant.

FIG. 18 is a diagram for explaining a method of changing the robot arm 500 of the modified example using the shape-retaining member of the present embodiment into a specific shape. As shown in FIG. 18, the shape-retaining member 100 may include a jamming transfer bag 10 including a group of flakes 1 and a bag 2, and an elastic member 3 fixed to the jamming transfer bag 10. In this case, the sheet-shaped jamming transfer bag 10 is provided so as to extend along the surface of the elastic member 3.

The jamming transfer bag 10 is provided at a position closer to the object 50 than the elastic member 3 with the pair of holding portions P1 and P2 sandwiching the object 50. Specifically, the jamming transfer bag 10 is provided so as to face the object 50 side, and the elastic member 3 faces the holding portion P1 or the holding portion P2. In the present embodiment, the object 50 is an inanimate object such as food.

Therefore, a group of flakes 1 are arranged so as to extend along the surface of the jamming transfer bag 10. Even with the shape-retaining member 100 of the present embodiment, the same effect as that obtained by the shape-retaining member 100 of the first embodiment can be obtained. As a result, it is possible to form a robot arm 500 that has a shape corresponding to the shape of the object 50 and can grip the object 50 without damaging it.

(Embodiment 4)
Next, the mask M of the fourth embodiment will be described. Since the shape-retaining member 100 used for the mask M of the present embodiment is the same as the shape-retaining member 100 of the first embodiment, the description thereof will not be repeated.

FIG. 19 is a diagram showing a mask M using the shape-retaining member 100 of the present embodiment.

The mask M is a mask M worn on the human face F. The mask M has a shape that allows the inner surface facing the face F and the outer surface facing the space to be understood when worn on the face F. The mask M includes the shape-retaining member 100. The shape-retaining member 100 is arranged so that the mask M is attached to the face F and changes into a shape corresponding to the surface of the face F due to a jamming transition. The shape-retaining member 100 has a strip shape.

The shape-retaining member 100 is provided so as to extend at least along the end portion of the mask M. The shape-retaining member 100 may extend along the entire outer peripheral end of the mask M, but may extend only along a part of the outer peripheral end of the mask M. In the present embodiment, the strip-shaped shape-retaining member 100 is provided so as to extend along one long side of the rectangular mask M. However, the strip-shaped shape-retaining member 100 may be provided so as to extend along each of the two long sides or the two short sides of the rectangular mask M. It should be noted that at least one example of the shape extending along the end portion of the mask M includes a shape in which an opening is provided in the central portion of the mask M.

As shown in FIGS. 20A and 20B, the shape-retaining member 100 including the jamming transfer bag 10 of the present embodiment has a strip shape. The shape-retaining member 100 includes a jamming transfer bag 10 including a group of flakes 1 and a bag 2, and an elastic member 3 fixed to the jamming transfer bag 10. The jamming transfer bag 10 is provided at a position closer to the face F than the elastic member 3 with the mask M attached to the face F. In other words, the jamming transfer bag 10 is provided so as to face the outside of the mask M, and the elastic member 3 is provided so as to face the inside of the mask M.

According to such a mask M, since the shape of the mask M can correspond to the shape of the face F, the amount of air flowing from the gap between the mask M and the face F to the mouth is reduced. Therefore, the effect of reducing the amount of air sucked by a person that does not pass through the mask M can be enhanced.

The strip-shaped shape-retaining member 100 of the present embodiment can also be easily restored to the initial state by the restoring force of the elastic member 3. Therefore, the shape of the end portion of the mask M can be changed according to the shape of the faces F of various people.

(Embodiment 5)
The shape-retaining member 100 of the fifth embodiment will be described with reference to FIG. The shape-retaining member 100 of the present embodiment is substantially the same as the shape-retaining member 100 of the first embodiment. However, the shape-retaining member 100 of the present embodiment is different from the shape-retaining member 100 of the first embodiment in the following points.

In the present embodiment, a plurality of sandbag sheets from which the sandbags have been cut are used as a group of flakes 1. In this embodiment, the polyethylene sheet used for the sandbag is called a sandbag sheet. A plurality of sandbag sheets are laminated in the bag 2. In the present specification, a plurality of sandbag sheets shall be regarded as a group of flakes 1. The reason is that each portion constituting one sandbag sheet has the same structure as the flakes 1 of the first embodiment. More specifically, the sandbag sheet can be regarded as being composed of a material in which the plurality of flakes 1 of the first embodiment are continuously formed in a ribbon shape.

The space inside the bag 2 is evacuated as in the first embodiment. In this case, it was confirmed that the jamming transfer bag 10 having a plurality of laminated sandbag sheets was cured, although the strength was slightly lower than that of the group of flakes 1 composed of the group of paper pieces described in the first embodiment. .. That is, when the space 20 in the bag 2 is in a vacuum state, the plurality of laminated sandbag sheets are in a solid state, while when the space 20 in the bag 2 is filled with air, the stacked sandbag sheets are laminated. The multiple sandbag sheets that have been made are in a fluid state.

In general, a sandbag made of a plurality of sandbag sheet materials has the following structure, for example. The warp threads of the sandbag are ribbon-shaped with a size of about 2.3 mm × 600 mm. The weft of the sandbag has a ribbon shape of about 2.3 mm × 64 m. A set of four spirally wound weft threads is woven into a large number of warp threads. Polyethylene is used as the material of the sandbag sheet, but polypropylene may be used. However, one sandbag sheet may be any sheet as long as it has a ribbon-shaped portion in which strip-shaped portions having the same size as the flakes 1 described in the first embodiment have continuous ribbon-shaped portions. good.

In the present embodiment, the plurality of sandbag sheets functioning as the flake 1 of the group of the first embodiment are obtained by cutting the material constituting the sandbag into 40 cm × 40 cm. However, it is not necessary to manufacture a plurality of sandbag sheets by cutting the sandbags after manufacturing the sandbags, and each of the plurality of sandbags may be directly manufactured. In these cases, the size of the ribbon-shaped portion in which a plurality of strip-shaped portions having the same size as the flakes 1 described in the first embodiment is continuous is about 2.3 mm × 400 mm. The width of the ribbon-shaped portion may be 1 mm to 30 mm, but various widths of the ribbon-shaped portion can be considered. If the width of the ribbon-shaped portion is narrower than 1 mm, the weaving when creating the sandbag sheet becomes fine and the production efficiency becomes poor. When the width of the ribbon-shaped portion is wider than 30 mm, when the space 20 in the bag 2 is filled with air, it becomes difficult for the plurality of laminated sandbag sheets to bend freely. When a plurality of laminated sandbag sheets are used as a group of flakes 1 as in the present embodiment, even if the size of the jamming transfer bag 10 is large, each of the group of rakes 1 in the jamming transfer bag 10 is used. It is possible to avoid being easily twisted.

As described above, the material constituting the sandbag sheet can be regarded as being composed of a ribbon-shaped material in which a plurality of flakes 1 extend continuously along the longitudinal direction. Therefore, when the space inside the jamming transfer bag 10 is in a vacuum state, when the main surfaces of the adjacent sandbag sheets among the plurality of stacked sandbag sheets come into contact with each other, strong friction is generated between the adjacent sandbag sheets. Occurs. This frictional force is applied between adjacent flakes 1 when a sheet composed of yarns, nets, or nets knitted with a large number of fibers, each having a nearly circular cross section, is used as a material for a group of flakes 1. It is much larger than the frictional force generated by. When a material that is knitted with a large number of fibers whose cross sections are close to a circle and constitutes a yarn, a net, or a net is used as the material of the flake 1, even if the space inside the jamming transfer bag 10 is in a vacuum state. , The jamming transfer bag 10 is not sufficiently cured.

Further, since the material constituting the sandbag sheet is very loosely woven, when a plurality of laminated sandbag sheets are used as a group of flakes 1 of the embodiment, the surface of the jamming transfer bag 10 is wrinkled. Therefore, before the space inside the jamming transfer bag 10 is put into a vacuum state, the surface of the jamming transfer bag 10 is relatively liable to change to a shape along the human body.

As described above, if a plurality of laminated sandbag sheets are filled in a bag 2 made of rubber as a group of flakes 1, it is easy to make the group of flakes 1 in the bag 2 uniform. Further, when the jamming transfer bag 10 is arranged so that its longitudinal direction is along the vertical direction, the plurality of sandbag sheets as a group of flakes 1 are unlikely to slip off or be biased in the bag 2.

(Embodiment 6)
The shape-retaining member 100 of the sixth embodiment will be described with reference to FIGS. 22 and 23. The shape-retaining member 100 of the present embodiment is substantially the same as the shape-retaining member 100 of the first embodiment. However, the shape-retaining member 100 of the present embodiment is different from the shape-retaining member 100 of the first embodiment in the following points.

In the present embodiment, a plurality of laminated cushion papers are used as a group of flakes 1. Also in the present embodiment, the jamming transfer bag 10 changes into a flexible state and a hardened state. One cushion paper has a structure as shown in FIG. 22. One piece of cushion paper has a notch in kraft paper, and when it is stretched, it is in a state as shown in FIG. 23. The stacked cushion papers look like a magazine. That is, the laminated cushion paper is not soft, but when stretched, it becomes a flexible material. In this case, the plurality of cushion papers have a hardness slightly lower than that of the group of flakes 1 composed of the group of paper pieces described in the first embodiment.

In the present embodiment, the plurality of cushion papers are superposed in a state where the plurality of cushion papers are stretched and the notches of the adjacent cushion papers are different by about 90 degrees. In this case, the plurality of cushion papers are likely to be held in the stretched state. Further, when the space inside the jamming transfer bag 10 is evacuated, the jamming transfer bag 10 is cured.

One cushion paper of the present embodiment can be regarded as being formed in the form of a sheet in which a part of a plurality of flakes 1 each having a size of about 4 mm × 10 mm is connected. Therefore, the jamming transfer bag 10 changes between a flexible state and a cured state for the following reasons.

One cushion paper has a similar shape as the flake 1 of the first embodiment. Therefore, when the space inside the jamming transfer bag 10 is evacuated, strong friction is generated between the adjacent cushion papers among the plurality of laminated cushion papers. As a result, the jamming transfer bag 10 becomes hard.

On the other hand, one piece of cushion paper has the same shape as flakes 1 made of narrow paper, when viewed partially. Therefore, one cushion paper is easy to rotate with the direction along the two parallel notches when viewed partially as a rotation axis, that is, it is easy to twist. However, in the present embodiment, the plurality of cushion papers are laminated so that the rotation axes of the adjacent cushion papers described above overlap each other substantially perpendicularly to each other as a whole. Therefore, before the space in the bag 2 is evacuated, the jamming transfer bag 10 is flexible and relatively easily deformed along the human body.

As described above, if a plurality of laminated cushion papers are filled in a bag 2 made of rubber as a group of flakes 1, it is easy to make the group of flakes 1 in the bag 2 uniform. Further, when the jamming transfer bag 10 is arranged so that its longitudinal direction is along the vertical direction, a plurality of cushion papers as a group of flakes 1 are unlikely to slip off or be biased in the bag 2.

Claims (21)

1. A group of flakes and
   A shape-retaining member comprising a bag containing the group of flakes so that a jamming transition occurs in the group of flakes.
2. The shape-retaining member according to claim 1, wherein each of the group of flakes includes two opposing main surfaces and a peripheral end surface connecting the two opposing main surfaces.
3. The shape-retaining member according to claim 2, wherein the maximum length of the two opposing main surfaces is four times or more the maximum thickness between the two opposing main surfaces.
4. The shape-retaining member according to any one of claims 1 to 3, wherein each of the group of flakes has a strip shape.
5. The shape-retaining member according to claim 1, wherein each of the group of flakes has an ellipsoidal shape.
6. The shape-retaining member according to any one of claims 1 to 5, wherein the average particle size of the flakes in the group is 0.1 μm or more and 5 mm or less.
7. The shape-retaining member according to claim 6, wherein the average particle size of the flakes in the group is 0.3 μm or more and 250 μm or less.
8. The shape-retaining member according to any one of claims 1 to 6, wherein the bag has an airtightness that maintains a space inside the bag in a vacuum state.
9. The shape-retaining member according to any one of claims 1 to 8, wherein the bag includes at least one of an opening / closing member for opening / closing an opening and a check valve.
10. The flake according to any one of claims 1 to 9, wherein the group of flakes comprises at least one of a mineral piece, a metal piece, a resin piece, a rubber piece, a paper piece, a glass piece, a sandbag sheet, and a cushion paper. Shape-retaining member.
11. The shape-retaining member according to any one of claims 1 to 10, wherein the group of flakes includes a material whose surface is coated with an oxide or a resin.
12. The bag is a rubber sheet containing at least one of natural rubber, butyl rubber, urethane rubber, chloroprene rubber, and nitrile rubber, a film having at least one of polyethylene, polypropylene, nylon, and ionomer, and a film. The shape-retaining member according to any one of claims 1 to 10, comprising one or more materials selected from the group comprising vinyl leather.
13. The shape-retaining member according to any one of claims 1 to 12, wherein the group of flakes and the bag have a sheet shape or a band shape as a whole.
14. The shape-retaining member according to any one of claims 1 to 13, further comprising an elastic member fixed to the bag so that the group of flakes and the shape of the bag are restored.
15. The shape-retaining member according to claim 14, wherein the elastic member includes at least one of a sponge, polyethylene foam, rubber, an air cushion, and a spring.
16. A chair including the shape-retaining member according to any one of claims 1 to 15.
    The shape-retaining member is a chair provided so as to extend along at least one of the surface of the seat of the chair and the surface of the backrest of the chair.
17. The shape-retaining member
    With the bag
    Includes the group of flakes and an elastic member secured to the bag so that the shape of the bag is restored.
    The chair according to claim 16, wherein the bag is provided so as to face the front side of the chair, and the elastic member is provided so as to face the back side of the chair.
18. The shape-retaining member according to any one of claims 1 to 15.
    With a holding part for gripping the object,
    A robot arm in which the shape-retaining member is provided between the object and the holding portion.
19. The shape-retaining member
    With the bag
    Includes the group of flakes and an elastic member secured to the bag so that the shape of the bag is restored.
    The robot arm according to claim 18, wherein the bag is provided so as to face the object and the elastic member faces the holding portion.
20. A mask including the shape-retaining member according to any one of claims 1 to 15.
    The shape-retaining member is a mask provided so as to extend at least along the end portion of the mask.
21. The shape-retaining member
    With the bag
    Includes the group of flakes and an elastic member secured to the bag so that the shape of the bag is restored.
    The mask according to claim 20, wherein the bag is provided so as to face the outside of the mask, and the elastic member is provided so as to face the inside of the mask.

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