JP2015113918A - Actuator - Google Patents
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- JP2015113918A JP2015113918A JP2013256535A JP2013256535A JP2015113918A JP 2015113918 A JP2015113918 A JP 2015113918A JP 2013256535 A JP2013256535 A JP 2013256535A JP 2013256535 A JP2013256535 A JP 2013256535A JP 2015113918 A JP2015113918 A JP 2015113918A
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- 239000012783 reinforcing fiber Substances 0.000 claims abstract description 30
- 230000008859 change Effects 0.000 claims abstract description 20
- 239000012530 fluid Substances 0.000 claims description 19
- 229920001971 elastomer Polymers 0.000 claims description 17
- 239000000835 fiber Substances 0.000 claims description 11
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- 239000013013 elastic material Substances 0.000 claims description 4
- 239000004020 conductor Substances 0.000 claims description 2
- 230000002787 reinforcement Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 13
- 210000003205 muscle Anatomy 0.000 description 26
- 238000006073 displacement reaction Methods 0.000 description 9
- 229920002379 silicone rubber Polymers 0.000 description 9
- 239000004945 silicone rubber Substances 0.000 description 9
- 238000005259 measurement Methods 0.000 description 6
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- 239000007924 injection Substances 0.000 description 4
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- 230000002093 peripheral effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
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- 239000004760 aramid Substances 0.000 description 2
- 229920003235 aromatic polyamide Polymers 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
Description
本発明は、流体を注入することで収縮を発生させるマッキベン型のアクチュエータ（人工筋肉）に関し、特に収縮量検知機能付きのアクチュエータに関する。 The present invention relates to a McKibben actuator (artificial muscle) that generates contraction by injecting a fluid, and more particularly to an actuator with a contraction amount detection function.
従来より提案されているマッキベン（McKibben）型人工筋肉は、その端部から加圧流体（空気）を供給することで収縮力を発生させる人工筋肉であり、Pneumatic Artificial Muscles（PAM）と称されたり、あるいは、流体の注入により収縮力を発生させるアクチュエータとしての用途があることからニューマチック・アクチュエータ（Pneumatic Actuator）とも呼ばれる。 The conventionally proposed McKibben artificial muscle is an artificial muscle that generates contractile force by supplying pressurized fluid (air) from its end, and is called Pneumatic Artificial Muscles (PAM). Alternatively, it is also called a pneumatic actuator (Pneumatic Actuator) because of its use as an actuator that generates contractile force by fluid injection.
図９は、従来の人工筋アクチュエータの外観構造を模式的に示している。図９の人工筋アクチュエータ５００は、管状体５０１と、管状体５０１の外側に配置した編組み補強繊維体５０３と、管状体５０１および編組み補強繊維体５０３を固定するための端部閉鎖部材５０５ａ，５０５ｂとからなる。管状体５０１にはゴムまたはゴム状弾性材料が使用されるが、その他、これらと同様の弾性を有し、かつ、注入される流体を漏らさず圧力に耐える材料であれば、各種のプラスチック材料で代替してもよい。また、編組み補強繊維体５０３は、管状体５０１の内圧上昇による最大膨径時において静止角に至るような編組み構造を有しており、例えば、芳香族ポリアミド繊維等の有機繊維、極細金属ワイヤの撚り線等の無機質高張力繊維類などが使用できる。 FIG. 9 schematically shows the external structure of a conventional artificial muscle actuator. 9 includes a tubular body 501, a braided reinforcing fiber body 503 disposed outside the tubular body 501, and an end closing member 505a for fixing the tubular body 501 and the braided reinforcing fiber body 503. , 505b. Rubber or rubber-like elastic material is used for the tubular body 501. In addition, various plastic materials can be used as long as they have the same elasticity as the tubular body 501 and can withstand pressure without leaking fluid to be injected. It may be replaced. The braided reinforcing fiber body 503 has a braided structure that reaches a stationary angle when the tubular body 501 has a maximum expanded diameter due to an increase in internal pressure. For example, an organic fiber such as an aromatic polyamide fiber, an ultrafine metal, or the like. Inorganic high-strength fibers such as wire strands can be used.
端部閉鎖部材５０５ａ，５０５ｂは、管状体５０１を軸（長手）方向の両側から気密に封止し、実質的に張力を発生する編組み補強繊維体５０３を固定しており、流体の注入部５０７と、駆動力を伝えるための連結部５１１ａ，５１１ｂを有する構成をとる。また、管状体５０１は気密を保てるような方法、例えば端部閉鎖部材５０５ａ，５０５ｂ各々の外周に溝を形成し、その溝を利用して管状体５０１の端部を、押さえリングを用いる等の方法で固定する。編組み補強繊維体５０３は、バインド５０９ａ，５０９ｂで固定するか、あるいは接着等の手段で固定する。 The end closing members 505a and 505b hermetically seal the tubular body 501 from both sides in the axial (longitudinal) direction, and fix a braided reinforcing fiber body 503 that substantially generates tension, and a fluid injecting portion. 507 and the connection part 511a and 511b for transmitting a driving force are taken. Further, the tubular body 501 can be kept airtight, for example, a groove is formed on the outer periphery of each of the end closing members 505a and 505b, and the end of the tubular body 501 is used to press the end of the tubular body 501 using the groove. Fix in the way. The braided reinforcing fiber body 503 is fixed by the binds 509a and 509b, or fixed by means such as adhesion.
図９に示す人工筋アクチュエータの動作について簡単に説明する。注入部５０７より管状体５０１の内部空洞内に加圧流体（空気）を導入することにより、管状体５０１が直径方向に膨脹し、管状体５０１の周囲に形成された編組み補強繊維体５０３が径方向に変形する。管状体５０１の外側に配された編組み補強繊維体５０３の補強繊維体の繊維は、斜めに編んで形成されているため、編組み補強繊維体５０３の径方向への変形により、長手方向に大きな駆動力を発生する。よって、このような収縮時の駆動力を利用して人工筋をリンク機構に組み込むことで、流体の注入により所望の力を得る動作、例えば、人間の体に装着して筋力を補助するウエアラブルな装置等を実現できる。 The operation of the artificial muscle actuator shown in FIG. 9 will be briefly described. By introducing a pressurized fluid (air) into the internal cavity of the tubular body 501 from the injection part 507, the tubular body 501 expands in the diameter direction, and a braided reinforcing fiber body 503 formed around the tubular body 501 is formed. Deform in the radial direction. Since the fibers of the reinforcing fiber body of the braided reinforcing fiber body 503 arranged on the outside of the tubular body 501 are formed by knitting obliquely, the braided reinforcing fiber body 503 is deformed in the radial direction in the longitudinal direction. A large driving force is generated. Therefore, an operation for obtaining a desired force by injecting fluid by incorporating the artificial muscle into the link mechanism using the driving force at the time of contraction, for example, a wearable that is attached to a human body and assists the muscle strength. A device or the like can be realized.
このように空気で動作するマッキベン型のアクチュエータは、油圧シリンダを用いた往復運動アクチュエータやサーボモータに比べて、装置自体の重量が軽く、作動油の漏洩による環境汚染がない、構造が簡単で軽量でありながら高出力である等の優れた特徴を有している。しかしその反面、他の直線運動タイプのシリンダや角度を検知できるサーボモータと比較すると、収縮量を把握しにくいという課題がある。 The McKibben actuator that operates with air in this way is lighter in weight compared to reciprocating actuators and servo motors using hydraulic cylinders, has no environmental pollution due to leakage of hydraulic oil, and is simple and lightweight. However, it has excellent features such as high output. On the other hand, however, there is a problem that it is difficult to grasp the amount of contraction as compared with other linear motion type cylinders and servo motors that can detect angles.
マッキベン型人工筋においても、その収縮量を読み取る手段が提案されているが、流体圧力で収縮量を見る場合、無負荷のときと、大負荷の掛かっているときとでは力の釣り合うポイントがずれてしまい、収縮量を正しく読み取ることができないという問題がある。 In McKibben artificial muscles, a means to read the amount of contraction has been proposed, but when looking at the amount of contraction with fluid pressure, the point of balance of force is different between when there is no load and when there is a large load. Therefore, there is a problem that the contraction amount cannot be read correctly.
例えば、特許文献１には、弱い引張ばねを用いた長さセンサ、および圧力センサを内蔵した流体圧式アクチュエータが開示されている。ここでは、アクチュエータ内部に制御基板ごとにセンサを内蔵することで、ホストコンピュータに長さ情報、および圧力情報を素早くフィードバックしている。また、特許文献２では、アクチュエータ内に光源と受光素子を組み込み、位置変位に対する光量変化をカウントすることで管状体の長手方向の収縮量変位（両閉鎖部材の相対変位量）を測定する技術を開示している。 For example, Patent Literature 1 discloses a fluid pressure actuator that includes a length sensor using a weak tension spring and a pressure sensor. Here, the length information and the pressure information are quickly fed back to the host computer by incorporating a sensor for each control board inside the actuator. In Patent Document 2, a technique for measuring the displacement of the tubular body in the longitudinal direction (the relative displacement amount of both closing members) by incorporating a light source and a light receiving element in the actuator and counting changes in the amount of light relative to the position displacement. Disclosure.
しかしながら、特許文献１のようにアクチュエータの長さ等を検出するために、アクチュエータ一つ一つに制御回路ユニットを入れることは、大幅なコスト上昇となる。また、特許文献１では、アクチュエータ内部において軸方向に長さ測定用スプリングを通し渡していることから構造が複雑となり、ばねの張り圧調整や固定についての課題も生じるため、軽量、簡便を特徴とするマッキベン型人工筋の特徴を活かせないという問題がある。 However, in order to detect the length of an actuator etc. like patent document 1, putting a control circuit unit in every actuator will raise a cost greatly. Further, in Patent Document 1, since the length measuring spring is passed in the axial direction inside the actuator, the structure becomes complicated, and the problem of adjusting and fixing the tension of the spring also arises. There is a problem that the characteristics of the McKibben type artificial muscle that cannot be used.
一方、特許文献２は、アクチュエータ内部に（直線的に）受光素子等の測定部材を組み込むことで測定精度が向上するという利点はあっても製造が難しく、コスト高になる。また、特許文献２の構成では、エアーバック型アクチュエータの最大の利点である軽さや、横方向に曲げても問題がないという柔軟性を損なう構造となる。そして、最悪の場合、アクチュエータが伸長時（不動作時）に横向きの力を受けて曲がった場合、アクチュエータ内部の変位測定部分が破損するおそれがある。 On the other hand, Patent Document 2 is difficult to manufacture even if there is an advantage that the measurement accuracy is improved by incorporating a measurement member such as a light receiving element (linearly) inside the actuator, resulting in high cost. Further, the configuration of Patent Document 2 has a structure that impairs the lightness that is the greatest advantage of the air bag type actuator and the flexibility that there is no problem even if it is bent in the lateral direction. In the worst case, when the actuator is bent by receiving a lateral force when it is extended (not operating), the displacement measurement portion inside the actuator may be damaged.
このように特許文献１，２では、いずれもアクチュエータの管状体内部にセンサを設ける構成となっているため、測定精度を向上できても、製造時にセンサ周辺部を気密構造の内部に入れる必要があり、信号線や電源線の取り回し等も含めて構造や工程が複雑になり、さらには、センサの交換、調整を行うメンテナンス性に欠けるという問題がある。 As described above, in both Patent Documents 1 and 2, since the sensor is provided inside the tubular body of the actuator, even if the measurement accuracy can be improved, it is necessary to put the sensor peripheral portion into the airtight structure during manufacturing. In addition, there are problems that the structure and process including the handling of signal lines and power supply lines are complicated, and that maintenance is not performed for exchanging and adjusting the sensors.
また、特許文献１，２のように、センサをアクチュエータの軸に平行な方向に取り付けた場合、入力である注入流体量または圧力と、出力である伸縮量とが反比例する。また、ばね等の弾性体をセンサに使用すると、非動作時にもかかわらずセンサには常に最大荷重がかかり、ばね等が伸びている状態になってしまうため、長時間の安定性を維持するという観点からは問題が生じる。 In addition, as in Patent Documents 1 and 2, when the sensor is attached in a direction parallel to the axis of the actuator, the amount of injected fluid or pressure that is an input and the amount of expansion and contraction that is an output are inversely proportional. In addition, when an elastic body such as a spring is used for the sensor, the sensor always receives the maximum load even when it is not in operation, and the spring or the like is in an extended state, so that long-term stability is maintained. Problems arise from the point of view.
本発明は、上述した課題に鑑みなされたものであり、その目的とするところは、構造が簡単で簡易軽量、かつメンテナンス性を向上させた収縮量の検出手段を備えるアクチュエータを提供することである。 The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an actuator including a contraction amount detection unit that has a simple structure, is simple and lightweight, and has improved maintainability. .
かかる目的を達成し、上述した課題を解決する一手段として、例えば、以下の構成を備える。すなわち、本発明は、ゴム状弾性材料からなる管状体部の外側に、その管状体部全体を覆う、有機または無機質の高張力繊維類の編組み補強繊維体部を配設し、前記管状体部および前記編組み補強繊維体部の両端開口部を一対の閉鎖部材で封止合着して、前記管状体部に流体を注入することで、その管状体部が径方向に拡大し、前記一対の閉鎖部材間の距離が減少して軸方向に引張力を発生させるアクチュエータであって、前記一対の閉鎖部材間の距離が減少することによるアクチュエータの収縮動作に対応する収縮量を検出するための所定の出力を取り出すことができるセンサを、前記管状体部の外側の周方向に密着配置したことを特徴とする。 As a means for achieving this object and solving the above-mentioned problems, for example, the following configuration is provided. That is, the present invention provides a braided reinforcing fiber body portion of organic or inorganic high-tensile fibers covering the entire tubular body portion outside the tubular body portion made of a rubber-like elastic material, and the tubular body. And the both ends of the braided reinforcing fiber body part are sealed and bonded with a pair of closing members, and fluid is injected into the tubular body part so that the tubular body part expands in the radial direction, An actuator for generating a tensile force in the axial direction by reducing a distance between a pair of closing members, and detecting a contraction amount corresponding to a contracting operation of the actuator due to a decrease in the distance between the pair of closing members. The sensor capable of taking out the predetermined output is closely arranged in the circumferential direction outside the tubular body portion.
例えば、前記センサは、前記所定の出力として、前記管状体部の径方向への拡大によって印加される外力に応じた変形による抵抗率の変化を電気的な信号として取り出すことを特徴とする。また、例えば、前記センサは、前記外力に応じた変形により抵抗率が変化するセンサ部と、前記電気的な信号を取り出すための電極部とを備え、前記センサ部が当該アクチュエータの前記周方向のほぼ全周に渡って取り付けられていることを特徴とする。また、例えば、前記センサは、前記外力に応じた変形により抵抗率が変化するセンサ部と、前記電気的な信号を取り出すための電極部と、前記センサ部と前記電極部とを結合する非導電性の連結部とを備え、前記センサ部が当該アクチュエータの前記周方向のほぼ１／２に渡って取り付けられていることを特徴とする。また、例えば、前記センサ部は、導電材料を分散させたエラストマからなる部材を所定寸法に裁断して形成したことを特徴とする。 For example, the sensor extracts, as the predetermined output, a change in resistivity caused by deformation according to an external force applied by expansion of the tubular body portion in the radial direction as an electrical signal. Further, for example, the sensor includes a sensor unit whose resistivity changes due to deformation according to the external force, and an electrode unit for taking out the electrical signal, and the sensor unit is arranged in the circumferential direction of the actuator. It is attached over almost the entire circumference. In addition, for example, the sensor includes a sensor unit whose resistivity changes due to deformation according to the external force, an electrode unit for extracting the electrical signal, and a non-conductive unit that couples the sensor unit and the electrode unit. And the sensor portion is attached over substantially half of the circumferential direction of the actuator. Further, for example, the sensor section is formed by cutting a member made of an elastomer in which a conductive material is dispersed into a predetermined size.
さらに、例えば、前記センサは、前記所定の出力として、前記管状体部の長手方向の収縮によって印加される外力に応じた変形による抵抗率の変化を電気的な信号として取り出すことを特徴とする。また、例えば、前記センサは、印加される荷重により抵抗値が変化するセンサ部と、前記抵抗値の変化を電気的な信号として取り出すための電極部とを備え、前記センサ部は、前記管状体部の外面上において、当該アクチュエータの前記周方向の全周に渡って取り付けた非伸長性のベルト状部材と前記管状体部とで挟持されていることを特徴とする。 Furthermore, for example, the sensor extracts a change in resistivity due to deformation according to an external force applied by contraction in the longitudinal direction of the tubular body portion as the predetermined output as an electrical signal. In addition, for example, the sensor includes a sensor portion whose resistance value changes according to an applied load, and an electrode portion for taking out the change in the resistance value as an electrical signal, and the sensor portion includes the tubular body. On the outer surface of the part, the actuator is sandwiched between the non-extensible belt-like member attached over the entire circumference in the circumferential direction and the tubular body part.
本発明によれば、アクチュエータ（人工筋）の円周方向に収縮検知手段を設置することで、アクチュエータ（人工筋）が収縮する長手方向に検知手段を設置する方法に比べて、センサ部を含むセンサ全体として使用する材料が少なくて済み、構造が簡素化されることで、コスト低減・軽量化ができる。 According to the present invention, the sensor unit is included in comparison with the method in which the detection means is installed in the longitudinal direction in which the actuator (artificial muscle) contracts by installing the contraction detection means in the circumferential direction of the actuator (artificial muscle). The material used for the entire sensor can be reduced, and the structure can be simplified to reduce costs and weight.
また、アクチュエータの円周方向へのセンサの取り付けの際、取り付け位置はアクチュエータの中央部分に限定されず、例えば、管状体の固定部（管末端部）に近い部分を選択して取り付けることで、変位量の少ないセンサも利用できる。さらに、取り付け位置によって、変位させる量を調整することができる。 In addition, when mounting the sensor in the circumferential direction of the actuator, the mounting position is not limited to the central portion of the actuator, for example, by selecting and mounting a portion close to the fixed portion (tube end portion) of the tubular body, Sensors with little displacement can also be used. Furthermore, the amount to be displaced can be adjusted by the mounting position.
以下、添付図面を参照して、本発明に係る一実施の形態例を詳細に説明する。図１は、本実施の形態例に係るアクチュエータ（人工筋）を外観を示し、図２は、図１のアクチュエータの収縮動作に対応する収縮量を検出するためのセンサの一例を示している。ここでは、以降の各実施例において詳述するように、図１に示すアクチュエータ１０の管状体１の外側であって、その円周方向（外周方向）に、図２に示すセンサ２１を密着させて収縮量を検出する。より詳細には、アクチュエータ１０の収縮動作に応じた出力を取り出すセンサ２１を、アクチュエータ１０の管状体１の外側に配置した編組み補強繊維体４の表面に密着状態で配置する。 Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows the appearance of an actuator (artificial muscle) according to this embodiment, and FIG. 2 shows an example of a sensor for detecting a contraction amount corresponding to the contraction operation of the actuator of FIG. Here, as will be described in detail in each of the following embodiments, the sensor 21 shown in FIG. 2 is brought into close contact with the outer circumference of the tubular body 1 of the actuator 10 shown in FIG. To detect the amount of contraction. More specifically, the sensor 21 that extracts an output corresponding to the contraction operation of the actuator 10 is disposed in close contact with the surface of the braided reinforcing fiber body 4 disposed outside the tubular body 1 of the actuator 10.
図１に示すように、本実施の形態例に係るアクチュエータ１０は、管状体１全体を覆って気密に封止し、実質的に張力を発生する編組み補強繊維体３と、編組み補強繊維体３を固定するための一対の端部閉鎖部材５ａ，５ｂとを備える。端部閉鎖部材５ａ，５ｂ各々には、外部に駆動力を伝えるための連結部１１ａ，１１ｂが設けられ、一方の端部閉鎖部材には流体の注入部１８が配置されている。 As shown in FIG. 1, an actuator 10 according to this embodiment includes a braided reinforcing fiber body 3 that covers the entire tubular body 1 and hermetically seals and substantially generates tension, and a braided reinforcing fiber. A pair of end closing members 5a and 5b for fixing the body 3 are provided. Each of the end closing members 5a and 5b is provided with connecting portions 11a and 11b for transmitting a driving force to the outside, and a fluid injecting portion 18 is disposed on one end closing member.
管状体１には、例えば、ゴムまたはゴム状弾性材料を使用するが、これらと同様の弾性を有し、かつ、注入される流体を漏らさず圧力に耐える材料であれば、各種のプラスチック材料で代替してもよいことは、従来のアクチュエータと同様である。また、編組み補強繊維体３は、管状体１の内圧上昇による最大膨径時において静止角に至るような編組み構造を有し、例えば、芳香族ポリアミド繊維等の有機繊維、極細金属ワイヤの撚り線等の無機質高張力繊維類などが使用できる。 For the tubular body 1, for example, rubber or rubber-like elastic material is used, and various plastic materials can be used as long as they have the same elasticity and can withstand pressure without leaking fluid to be injected. What can be replaced is similar to the conventional actuator. The braided reinforcing fiber body 3 has a braided structure that reaches a stationary angle when the tubular body 1 has a maximum expansion diameter due to an increase in internal pressure. For example, an organic fiber such as an aromatic polyamide fiber or an ultrafine metal wire is used. Inorganic high-strength fibers such as stranded wires can be used.
なお、本実施の形態例に係るアクチュエータにおいて、管状体１の気密を保持しながら管状体１の端部を端部閉鎖部材５ａ，５ｂに固定する方法、および編組み補強繊維体３を固定等する方法は、従来のアクチュエータと同様であるため、ここでは、その説明を省略する。 In the actuator according to the present embodiment, a method for fixing the end of the tubular body 1 to the end closing members 5a and 5b while maintaining the airtightness of the tubular body 1, and fixing the braided reinforcing fiber body 3 and the like. Since the method to do is the same as that of the conventional actuator, the description is omitted here.
図２に示すセンサ２１は、アクチュエータの収縮量に応じた変位量を検出する手段として機能する伸びセンサである。このセンサ２１は、ゴム状エラストマにカーボンを練り込んだ導電性ゴムシート（例えば、共和工業（株）製の導電シリコーンゴム）を所定の長さ、および所定の幅に切断してなるセンサ部２３と、そのセンサ部２３の両端の対向する位置に取り付けた電極部２５ａ，２５ｂとを含んで構成される。センサ部２３の幅、および長さは、使用する導電性ゴムシートの比抵抗、取り出す出力、使用する位置等により適宜、決めることができる。 The sensor 21 shown in FIG. 2 is an elongation sensor that functions as a means for detecting a displacement amount corresponding to the contraction amount of the actuator. The sensor 21 is a sensor unit 23 formed by cutting a conductive rubber sheet (for example, conductive silicone rubber manufactured by Kyowa Kogyo Co., Ltd.) kneaded into rubber-like elastomer into a predetermined length and a predetermined width. And electrode portions 25a and 25b attached at opposite positions on both ends of the sensor portion 23. The width and length of the sensor unit 23 can be appropriately determined depending on the specific resistance of the conductive rubber sheet to be used, the output to be taken out, the position to be used, and the like.
次に、本発明の実施の形態例に係るアクチュエータの種々の実施例について具体的に説明する。
＜実施例１＞
図３は、本実施の形態例の実施例１に係るアクチュエータ（人工筋）における収縮量の検出動作を説明するための図である。図３（ａ）は、アクチュエータ４０の非収縮時において、実施例１で使用するセンサ（環状伸びセンサ）３０を取り付けたときの様子を示している。ここでは、図３（ａ）に示すように、アクチュエータ４０の周方向の全周に渡って環状伸びセンサ３０を取り付ける。
Next, various examples of the actuator according to the embodiment of the present invention will be specifically described.
<Example 1>
FIG. 3 is a diagram for explaining a contraction amount detection operation in the actuator (artificial muscle) according to Example 1 of the present embodiment. FIG. 3A shows a state where the sensor (annular elongation sensor) 30 used in the first embodiment is attached when the actuator 40 is not contracted. Here, as shown in FIG. 3A, the annular stretch sensor 30 is attached over the entire circumference of the actuator 40 in the circumferential direction.
図３（ｂ）は、図３（ａ）のＡ部の詳細拡大図であり、非収縮時における環状伸びセンサ３０の外観を示している。環状伸びセンサ３０は、伸縮性の導電性シリコーンゴムを、例えば、長さが約１０ｃｍ、幅が約１．５ｃｍとなるように切り取ってセンサ部３３とし、その長手方向の両端に電極部３５ａ，３５ｂを取り付け、さらに、電極部３５ａ，３５ｂの導電性ゴムの付いていない端部同志を非伸長性部材で連結した構成を有する。 FIG. 3B is a detailed enlarged view of a portion A in FIG. 3A, and shows the appearance of the annular stretch sensor 30 when not contracted. The annular stretch sensor 30 is made of, for example, a stretchable conductive silicone rubber cut out to have a length of about 10 cm and a width of about 1.5 cm to form a sensor portion 33, and electrode portions 35 a, 35b is attached, and the ends of the electrode portions 35a and 35b that are not attached with conductive rubber are connected by a non-extensible member.
なお、環状伸びセンサ３０の外周寸法を、非収縮時のアクチュエータ４０の外周寸法よりもやや小さく作成することで、環状伸びセンサ３０自身の収縮性を利用してアクチュエータ４０に取り付けることができる。また、位置ずれしないようにするために、環状伸びセンサ３０の電極部３５ａ，３５ｂを、アクチュエータ４０の管状体全体を覆う編組み補強繊維体３４（図３において格子模様を付して示した部分）に接着等によって固定しても良い。さらには、環状伸びセンサ３０のセンサ部３３は、取り外しが容易になるように脱着ができる機構を備えるようにしても良い。 In addition, by making the outer periphery dimension of the annular stretch sensor 30 slightly smaller than the outer periphery dimension of the actuator 40 at the time of non-shrinkage, the annular stretch sensor 30 itself can be attached to the actuator 40 using the contractibility. In order to prevent displacement, the electrode portions 35a and 35b of the annular stretch sensor 30 are formed by braided reinforcing fiber bodies 34 (parts shown with a lattice pattern in FIG. 3) covering the entire tubular body of the actuator 40. ) May be fixed by bonding or the like. Furthermore, the sensor unit 33 of the annular stretch sensor 30 may be provided with a mechanism that can be attached and detached so as to be easily removed.
実施例１に係るアクチュエータ４０の管状体に流体を注入すると、図３（ｃ）に示すように管状体が直径方向に膨脹するため、アクチュエータ４０の管状体上（より詳細には、図３（ａ）で格子模様を付して示す編組み補強繊維体３４の上面）の外周方向に密着させた環状伸びセンサ３０のセンサ部３３も、管状体の膨脹に追随して伸びる。そのときの環状伸びセンサ３０の様子を、図３（ｃ）のＢ部の詳細拡大図である図３（ｄ）に示す。図３（ｄ）に示すようにセンサ部３３が伸びることで抵抗値が変化し、電極部３５ａ，３５ｂに接続されたリード線３７を介して、環状伸びセンサ３０のセンサ部３３の抵抗値変化を出力として取り出すことができる。 When a fluid is injected into the tubular body of the actuator 40 according to the first embodiment, the tubular body expands in the diameter direction as shown in FIG. The sensor portion 33 of the annular elongation sensor 30 adhered in the outer peripheral direction of the braided reinforcing fiber body 34 shown with a lattice pattern in a) also extends following the expansion of the tubular body. The state of the annular stretch sensor 30 at that time is shown in FIG. 3D, which is a detailed enlarged view of a portion B in FIG. As shown in FIG. 3D, the resistance value changes as the sensor unit 33 extends, and the resistance value of the sensor unit 33 of the annular extension sensor 30 changes via the lead wire 37 connected to the electrode units 35a and 35b. Can be extracted as output.
なお、アクチュエータ４０における環状伸びセンサ３０の円周方向への取り付け位置は、必ずしもアクチュエータ４０の中央部分に限定されず、例えば、管状体の固定部（管末端部）に近い部分を選択して取り付けてもよい。こうすることで、環状伸びセンサ３０として、変位量の少ない（つまり、あまり伸びない）センサも利用できる。また、取り付け位置で変位させる量を調整することができる。 In addition, the attachment position in the circumferential direction of the annular elongation sensor 30 in the actuator 40 is not necessarily limited to the central portion of the actuator 40. For example, a portion close to the fixing portion (tube end portion) of the tubular body is selected and attached. May be. By doing so, a sensor with a small amount of displacement (that is, not stretched so much) can be used as the annular stretch sensor 30. Further, the amount of displacement at the attachment position can be adjusted.
図４は、実施例１におけるアクチュエータの収縮率と、環状伸びセンサの抵抗値との関係を示している。図４に示すように、アクチュエータの収縮率と、環状伸びセンサ３０のセンサ部３３の抵抗値の逆数（１／抵抗値）との関係は、アクチュエータの使用範囲において一次で近似しても実用上、問題がないと解される。 FIG. 4 shows the relationship between the contraction rate of the actuator and the resistance value of the annular elongation sensor in the first embodiment. As shown in FIG. 4, the relationship between the contraction rate of the actuator and the reciprocal of the resistance value (1 / resistance value) of the sensor portion 33 of the annular elongation sensor 30 is practical even if it is approximated by the first order in the range of use of the actuator. It is understood that there is no problem.
また、図５は、実施例１におけるアクチュエータの収縮率と、環状伸びセンサの抵抗値変化との関係を示している。図５から明らかなように、アクチュエータの長さ方向の収縮率と、環状伸びセンサの抵抗値変化ΔＲとに比例関係が認められる。このことから、アクチュエータの収縮量を環状伸びセンサの抵抗値変化で測定できることが分かる。 FIG. 5 shows the relationship between the contraction rate of the actuator and the change in resistance value of the annular elongation sensor in the first embodiment. As is apparent from FIG. 5, a proportional relationship is recognized between the contraction rate in the longitudinal direction of the actuator and the resistance value change ΔR of the annular elongation sensor. From this, it can be seen that the contraction amount of the actuator can be measured by the change in the resistance value of the annular elongation sensor.
なお、図５によれば、荷重負荷の違いにより、アクチュエータの長さ方向の収縮率と、環状伸びセンサの抵抗値変化量とが若干ずれるが、このようなずれは、圧力とのバランス点がずれるという原理的なものであるため補正可能であり、アクチュエータの収縮量の検出において特段の問題は生じない。また、アクチュエータの収縮と膨張を何度か繰り返したところ、繰り返し誤差は５％程度であった。 According to FIG. 5, the contraction rate in the length direction of the actuator and the resistance value change amount of the annular elongation sensor are slightly shifted due to the difference in load, but such a deviation is caused by a balance point with the pressure. Since it is a principle of shifting, it can be corrected, and no particular problem occurs in detecting the contraction amount of the actuator. Further, when the actuator contracted and expanded several times, the repetition error was about 5%.
＜実施例２＞
本実施の形態例の実施例２では、伸縮性の導電性シリコーンゴムを、例えば、長さが約５ｃｍ、幅が１．５ｃｍとなるように切り取り、それをセンサ部として、その長手方向の両端に電極部を取り付けたものを準備する。ここでは、図示を省略するが、電極部の導電性ゴムの付いていない端部同志を、別の伸長性のある非導電性エラストマ部材で連結して環状伸びセンサを作成する。
<Example 2>
In Example 2 of the present embodiment, the stretchable conductive silicone rubber is cut out so that, for example, the length is about 5 cm and the width is 1.5 cm, and this is used as a sensor portion, and both ends in the longitudinal direction are used. Prepare an electrode with an electrode attached. Here, although not shown in the figure, the end portions of the electrode portion not attached with the conductive rubber are connected by another non-conductive elastomer member having extensibility to create an annular stretch sensor.
上記実施例１では、アクチュエータの管状体のほぼ全周方向に渡って、環状伸びセンサのセンサ部を密着させる構成をとったが、実施例２では、アクチュエータの管状体の周方向の１／２程度にセンサ部を密着させ、その周方向の残りの部分には、伸縮性エラストマが配置される構成としたことを特徴とする。このように実施例２では、センサを構成する導電性シリコーンゴムの一部を、それと同様の伸縮性を持つエラストマに置き換えることで、センサに使用するセンサ部材を減らすことができる。 In the first embodiment, the sensor unit of the annular stretch sensor is brought into close contact with almost the entire circumference of the tubular body of the actuator. However, in the second embodiment, 1/2 of the circumferential direction of the tubular body of the actuator is used. The sensor part is closely contacted to the extent, and a stretchable elastomer is arranged in the remaining part in the circumferential direction. Thus, in Example 2, the sensor member used for a sensor can be reduced by replacing a part of electroconductive silicone rubber which comprises a sensor with the elastomer which has the same elasticity as it.
このような構成とした実施例２の環状伸びセンサによっても、アクチュエータの収縮率と、環状伸びセンサの抵抗値変化とは、実施例１の場合と同様の関係が得られた。 Also with the annular elongation sensor of Example 2 having such a configuration, the contraction rate of the actuator and the change in resistance value of the annular elongation sensor have the same relationship as in Example 1.
＜実施例３＞
図６は、本実施の形態例の実施例３に係るアクチュエータ（人工筋）における収縮量の検出動作を説明するための図である。図６（ａ）は、アクチュエータ４０の非収縮時において、実施例３で使用する環状伸びセンサ７０を取り付けたときの様子を示しており、ここでは、アクチュエータ４０の周方向の全周に渡って環状伸びセンサ７０を取り付ける。
<Example 3>
FIG. 6 is a diagram for explaining a contraction amount detection operation in the actuator (artificial muscle) according to Example 3 of the present embodiment. FIG. 6A shows a state where the annular elongation sensor 70 used in the third embodiment is attached when the actuator 40 is not contracted. Here, the entire circumference of the actuator 40 in the circumferential direction is shown. An annular stretch sensor 70 is attached.
図６（ｂ）は、図６（ａ）のＣ部の詳細拡大図であり、非収縮時における環状伸びセンサ７０の外観を示している。実施例３の環状伸びセンサ７０は、伸縮性の導電性シリコーンゴムを、例えば、長さが約５ｃｍ、幅が１．５ｃｍとなるように切り取ってセンサ部７３とし、その長手方向の両端に電極部７５ａ，７５ｂを取り付け、さらに、電極部７５ａ，７５ｂの導電性ゴムの付いていない端部同志を非伸長性、かつ非導電性部材で連結した構成を有する。 FIG. 6B is a detailed enlarged view of a portion C in FIG. 6A, and shows the appearance of the annular elongation sensor 70 when not contracted. The annular elongation sensor 70 of Example 3 is obtained by cutting a stretchable conductive silicone rubber so as to have a length of about 5 cm and a width of 1.5 cm, for example, as a sensor unit 73, and electrodes on both ends in the longitudinal direction. The portions 75a and 75b are attached, and the ends of the electrode portions 75a and 75b that are not attached with conductive rubber are connected to each other by a non-extensible and non-conductive member.
なお、実施例３の環状伸びセンサ７０の外周寸法についても、実施例１に係る環状伸びセンサと同様、収縮前のアクチュエータ４０の外周寸法よりもやや小さく作成して、アクチュエータ４０の管状体上の編組み補強繊維体への密着性を確保する。 As with the annular elongation sensor according to the first embodiment, the outer circumferential dimension of the annular elongation sensor 70 according to the third embodiment is made slightly smaller than the outer circumferential dimension of the actuator 40 before the contraction, so Ensuring adhesion to braided reinforcing fiber body.
実施例３において、アクチュエータ４０の管状体に流体が注入されると、図６（ｃ）に示すように管状体が直径方向に膨脹する。このとき、アクチュエータ４０の管状体上に配置した編組み補強繊維体の外周方向に密着させた環状伸びセンサ７０のセンサ部７３も、図６（ｃ）のＤ部の詳細拡大図である図６（ｄ）に示すように、管状体の膨脹に追随して伸びる。 In Example 3, when fluid is injected into the tubular body of the actuator 40, the tubular body expands in the diametrical direction as shown in FIG. At this time, the sensor part 73 of the annular stretch sensor 70 closely attached in the outer peripheral direction of the braided reinforcing fiber body arranged on the tubular body of the actuator 40 is also a detailed enlarged view of the D part in FIG. As shown in (d), the tube body expands following the expansion of the tubular body.
しかしながら、実施例３の環状伸びセンサ７０では、センサ部７３以外の部分が、電極部７５ａ，７５ｂの導電性ゴムの付いていない端部同志を非伸長性、かつ非導電性部材（例えば、非伸縮性テープ等）で連結してなる非伸縮部７９からなるため、アクチュエータ４０の収縮時にはセンサ部７３のみが伸びることになる。その結果、アクチュエータ４０の収縮量の検出時には、図６（ｃ）に示すように、管状体の直径方向への膨脹により、アクチュエータ４０の環状伸びセンサ７０を密着させた周回部分にくびれ４１が生じることから、環状伸びセンサ７０が管状体に、より強固に締め付けられ、センサの密着性を確保できる。 However, in the annular elongation sensor 70 of the third embodiment, the portions other than the sensor portion 73 are non-extensible and non-conductive members (for example, non-conductive members) of the electrode portions 75a and 75b without the conductive rubber. Therefore, when the actuator 40 is contracted, only the sensor unit 73 is extended. As a result, at the time of detecting the contraction amount of the actuator 40, as shown in FIG. 6C, the constriction 41 is generated in the circumferential portion where the annular elongation sensor 70 of the actuator 40 is in close contact due to the expansion of the tubular body in the diameter direction. For this reason, the annular elongation sensor 70 is more firmly tightened to the tubular body, and the adhesion of the sensor can be ensured.
このように実施例３は、アクチュエータの周方向の１／２程度にセンサ部が密着され、周方向の残りの部分を非伸縮部とした構成の環状伸びセンサ７０を使用することを特徴とする。この場合においても、実施例２と同様、環状伸びセンサ７０を構成するセンサ部材（導電性シリコーンゴム）を減らすことができるとともに、環状伸びセンサ７０の管状体への密着性を向上できる。 As described above, the third embodiment uses the annular stretch sensor 70 having a configuration in which the sensor portion is in close contact with about 1/2 of the circumferential direction of the actuator and the remaining portion in the circumferential direction is a non-stretchable portion. . Even in this case, as in the second embodiment, the number of sensor members (conductive silicone rubber) constituting the annular elongation sensor 70 can be reduced, and the adhesion of the annular elongation sensor 70 to the tubular body can be improved.
なお、実施例３に係る環状伸びセンサ７０においても、電極部７５ａ，７５ｂに接続されたリード線７７を介して、環状伸びセンサ７０のセンサ部７３の抵抗値変化を出力として取り出すが、アクチュエータの収縮率と環状伸びセンサの抵抗値変化との関係は、実施例１の場合と同様であるため、それらの説明を省略する。 In the annular elongation sensor 70 according to the third embodiment, the change in the resistance value of the sensor portion 73 of the annular elongation sensor 70 is taken out as an output via the lead wire 77 connected to the electrode portions 75a and 75b. Since the relationship between the shrinkage rate and the change in resistance value of the annular elongation sensor is the same as that in the first embodiment, the description thereof is omitted.
＜実施例４＞
図７は、本実施の形態例の実施例４に係るアクチュエータ（人工筋）の収縮量検出動作を説明するための図である。ここでは、図７に示すように、伸びセンサ９０を、アクチュエータ４０の全周方向の一部に貼り付ける。そのため、伸びセンサ９０は、伸縮性の導電性シリコーンゴムを所定の大きさに切り取ったものをセンサ部９３とし、そのセンサ部９３の一方端に電極部９５ａを、他方端に電極部９５ｂを設けた構成とする。そして、これらの電極部９５ａ，９５ｂに、伸びセンサ９０のセンサ部９３の抵抗値変化を出力として取り出すためにリード線９７を接続する。
<Example 4>
FIG. 7 is a diagram for explaining the contraction amount detection operation of the actuator (artificial muscle) according to Example 4 of the present embodiment. Here, as shown in FIG. 7, the stretch sensor 90 is attached to a part of the entire circumference of the actuator 40. Therefore, the elongation sensor 90 is obtained by cutting a stretchable conductive silicone rubber into a predetermined size as a sensor portion 93, and an electrode portion 95a is provided at one end of the sensor portion 93 and an electrode portion 95b is provided at the other end. The configuration is as follows. Then, a lead wire 97 is connected to these electrode portions 95a and 95b in order to take out a change in resistance value of the sensor portion 93 of the stretch sensor 90 as an output.
実施例４では、伸びセンサ９０の電極部９５ａ，９５ｂを直接、アクチュエータ４０表面の編組み補強繊維体９４（図７で格子模様を付して示す部分）に接着で固定する。そこで、実施例４に係るアクチュエータ４０の管状体に流体を注入すると、図７（ｂ）に示すように、管状体の直径方向への膨脹によって、編組み補強繊維体９４に接着固定された電極部９５ａ，９５ｂが互いに離間する方向へ移動する。その結果、電極部９５ａ，９５ｂ間に配置されたセンサ部９３は、アクチュエータ４０の管状体の円周方向に伸びる。 In Example 4, the electrode portions 95a and 95b of the stretch sensor 90 are directly fixed to the braided reinforcing fiber body 94 (the portion shown with a lattice pattern in FIG. 7) on the surface of the actuator 40 by adhesion. Therefore, when a fluid is injected into the tubular body of the actuator 40 according to the fourth embodiment, as shown in FIG. 7B, the electrode bonded and fixed to the braided reinforcing fiber body 94 due to the expansion of the tubular body in the diameter direction. The parts 95a and 95b move in directions away from each other. As a result, the sensor portion 93 disposed between the electrode portions 95a and 95b extends in the circumferential direction of the tubular body of the actuator 40.
このように実施例４では、伸びセンサ９０を上述した構成とすることで、伸びセンサ９０の小型化が可能となり、それによりアクチュエータの管状体の外側面の一部に貼り付けることができるので、簡単な構成でアクチュエータの収縮率と、伸びセンサの抵抗値変化との関係を得ることができる。 As described above, in the fourth embodiment, the extension sensor 90 is configured as described above, so that the extension sensor 90 can be reduced in size, and thus can be attached to a part of the outer surface of the tubular body of the actuator. A relationship between the contraction rate of the actuator and the change in resistance value of the elongation sensor can be obtained with a simple configuration.
＜実施例５＞
本実施の形態例の実施例５では、実施例１等と同様、アクチュエータ（人工筋）の周方向の全周に渡ってセンサを取り付けるが、そのセンサのセンサ部として、導電性シリコーンゴムではなく、張力によってその抵抗値が変わるセンサ部材を使用した張力センサとする。このような構成とすることで、アクチュエータの管状体の周方向（径方向）の膨張がやや阻害され、アクチュエータの収縮量は減ることがあっても、アクチュエータそのものの動作に影響はない。
<Example 5>
In Example 5 of the present embodiment, a sensor is attached over the entire circumference of the actuator (artificial muscle) in the same manner as in Example 1 and the like, but the sensor portion of the sensor is not conductive silicone rubber. The tension sensor uses a sensor member whose resistance value changes depending on the tension. With such a configuration, even if the expansion in the circumferential direction (radial direction) of the tubular body of the actuator is somewhat hindered and the contraction amount of the actuator may be reduced, the operation of the actuator itself is not affected.
すなわち、実施例５では、張力センサを用いることでアクチュエータの繰り返し動作における出力シフトが抑制され、精度の高い測定が可能となる。なお、張力に対するセンサの直径を、非収縮時のアクチュエータの直径よりも小さくし、自己の収縮性を利用して取り付けることができる。また、アクチュエータに対する、より強固な固定が必要な場合には、電極部を直接、アクチュエータ表面の編組み補強繊維体に接着等で固定してもよい。 That is, in Example 5, by using the tension sensor, an output shift in the repetitive operation of the actuator is suppressed, and highly accurate measurement is possible. In addition, the diameter of the sensor with respect to tension can be made smaller than the diameter of the actuator at the time of non-shrinkage, and it can attach using self contractibility. In addition, when a stronger fixation to the actuator is required, the electrode portion may be directly fixed to the braided reinforcing fiber body on the actuator surface by adhesion or the like.
実施例５のように、張力によって抵抗値が変わるセンサ部材を使用した張力センサを用いても、アクチュエータの収縮率と張力センサの抵抗値変化については、実施例１の場合と同様の関係が得られる。 Even if a tension sensor using a sensor member whose resistance value changes depending on the tension as in the fifth embodiment, the same relationship as in the first embodiment is obtained with respect to the contraction rate of the actuator and the change in the resistance value of the tension sensor. It is done.
＜実施例６＞
図８は、本実施の形態例の実施例６に係るアクチュエータ（人工筋）の収縮量検出動作を説明するための図である。実施例６では、アクチュエータの収縮量の検出に収縮センサを使用し、その収縮センサの抵抗値変化からアクチュエータの収縮率を検出する。そのため、例えば、図８（ａ）に示すように、所定の大きさに切り取った伸縮性の導電性シリコーンゴム部をセンサ部１０３とし、そのセンサ部１０３の両端の対向する位置に電極部１０５ａ，１０５ｂを取り付けた収縮センサ１００を準備する。そして、その収縮センサ１００を、アクチュエータ４０の全周方向に渡って取り付けたベルト１１１の下部に固定する。すなわち、実施例６では、収縮センサ１００が、アクチュエータ４０の管状体上の編組み補強繊維体１０４（図８で格子模様を付した部分）と、ベルト１１１とで挟まれた状態で固定される。
<Example 6>
FIG. 8 is a diagram for explaining the contraction amount detection operation of the actuator (artificial muscle) according to Example 6 of the present embodiment. In the sixth embodiment, a contraction sensor is used to detect the contraction amount of the actuator, and the contraction rate of the actuator is detected from a change in the resistance value of the contraction sensor. Therefore, for example, as shown in FIG. 8 (a), a stretchable conductive silicone rubber portion cut to a predetermined size is used as a sensor portion 103, and electrode portions 105a, A contraction sensor 100 to which 105b is attached is prepared. Then, the contraction sensor 100 is fixed to the lower portion of the belt 111 attached over the entire circumference of the actuator 40. That is, in Example 6, the shrinkage sensor 100 is fixed in a state of being sandwiched between the braided reinforcing fiber body 104 (portion marked with the lattice pattern in FIG. 8) on the tubular body of the actuator 40 and the belt 111. .
実施例６に係るアクチュエータ４０の管状体に流体を注入すると、図８（ｂ）に示すように管状体が直径方向に膨脹し、編組み補強繊維体１０４は長手方向に収縮する。一方、ベルト１１１は非伸長性材料からなるので、ベルト１１１部分の管状体は、くぼみ１０１を形成しながら膨脹し、その部分において、ほぼ非収縮時の径が維持される。 When fluid is injected into the tubular body of the actuator 40 according to the sixth embodiment, the tubular body expands in the diameter direction as shown in FIG. 8B, and the braided reinforcing fiber body 104 contracts in the longitudinal direction. On the other hand, since the belt 111 is made of a non-extensible material, the tubular body of the belt 111 portion expands while forming the recess 101, and the diameter at the time of non-shrinkage is maintained in that portion.
実施例６では、アクチュエータ４０の管状体の直径方向への膨脹時、管状体（より詳細には、編組み補強繊維体１０４）と、ベルト１１１とによって挟まれた収縮センサ１００のセンサ部１０３も、アクチュエータ４０の長手方向に収縮する。そして、電極部１０５ａ，１０５ｂに接続されたリード線１０７を介して、収縮センサ１００のセンサ部１０３の抵抗値変化を出力として取り出す。 In Example 6, when the actuator 40 expands in the diameter direction of the tubular body, the sensor unit 103 of the contraction sensor 100 sandwiched between the tubular body (more specifically, the braided reinforcing fiber body 104) and the belt 111 is also provided. The actuator 40 contracts in the longitudinal direction. Then, a change in resistance value of the sensor unit 103 of the contraction sensor 100 is taken out as an output via the lead wire 107 connected to the electrode units 105a and 105b.
なお、図８では、電極部１０５ａ，１０５ｂをセンサ１００の長さ方向に取り出しているが、適宜、金属箔を貼り合せたり、あるいは導電テープを貼る等により厚み方向に電極部を形成するようにしても良い。また、センサ部には、導電ゴム系に限らず、管状体の直径方向への膨脹により、管状体（編組み補強繊維体１０４）とベルト１１１との間に発生する圧縮圧力（荷重）により抵抗値が変化する圧電センサを使用することもできる。 In FIG. 8, the electrode portions 105a and 105b are taken out in the length direction of the sensor 100. However, the electrode portions are appropriately formed in the thickness direction by attaching metal foil or attaching a conductive tape. May be. Further, the sensor unit is not limited to the conductive rubber system, and is resisted by a compression pressure (load) generated between the tubular body (braided reinforcing fiber body 104) and the belt 111 due to expansion of the tubular body in the diameter direction. Piezoelectric sensors that vary in value can also be used.
以上説明したように、本実施の形態例に係るアクチュエータは、そのアクチュエータの収縮量を検知するセンサとして、柔軟な導電性エラストマからなる伸びセンサを使用することで、人工筋としてのアクチュエータが持つ柔軟性を損なうことがない。また、センサを人工筋アクチュエータの外部の周囲方向に取り付ける構成とすることで、センサ構造を極めて簡素化でき、かつ、簡便軽量でコストが抑えられ、交換、調整等のメンテナンス性も向上する。 As described above, the actuator according to the present embodiment uses the extension sensor made of a flexible conductive elastomer as a sensor for detecting the contraction amount of the actuator, so that the actuator as the artificial muscle has the flexibility. There is no loss of sex. In addition, by adopting a configuration in which the sensor is attached in the peripheral direction outside the artificial muscle actuator, the sensor structure can be extremely simplified, the weight can be reduced simply and lightly, and maintenance such as replacement and adjustment is improved.
また、本実施の形態例に係るアクチュエータは、上述した構造によりアクチュエータの収縮量に応じて荷重がセンサ部に加わり、それに応じてセンサ部の抵抗値が変化することから、収縮時に荷重がかかり、伸長（弛緩）時には荷重がかからないというセンサ本来の動きを実現でき、アクチュエータの収縮量と、センサより得た抵抗値の逆数とから、収縮量に対して比例する出力を取り出すことができる。 In addition, the actuator according to the present embodiment is applied with a load according to the contraction amount of the actuator according to the structure described above, and the resistance value of the sensor unit changes accordingly. It is possible to realize the original movement of the sensor in which no load is applied during expansion (relaxation), and an output proportional to the contraction amount can be extracted from the contraction amount of the actuator and the reciprocal of the resistance value obtained from the sensor.
さらには、センサをアクチュエータの外周部に密着して配置し、センサそのものも小型であるため、センサをアクチュエータの外部に取り付けても大きな容積を占めることがなく、センサのないアクチェータと同様に取り扱うことができる。 Furthermore, because the sensor is placed in close contact with the outer periphery of the actuator and the sensor itself is small, it does not occupy a large volume even if the sensor is mounted outside the actuator and should be handled in the same way as an actuator without a sensor. Can do.
また、人工筋は流体の注入がない非動作時には小さくしぼむため、使用法によってはアクチュエータが曲がることも想定されるが、その場合でも、センサの配置をアクチュエータ外側の周方向とし、人工筋の長手方向に軸を通した可動部を持たない構成としたので、アクチュエータの曲げによる影響を受けることがない。 In addition, since the artificial muscle is squeezed small during non-operation without fluid injection, it is assumed that the actuator bends depending on the usage, but even in that case, the sensor is placed in the circumferential direction outside the actuator and the length of the artificial muscle is Since there is no movable part that passes the shaft in the direction, it is not affected by the bending of the actuator.
さらに、柔軟なゴム系センサでは、変形を繰り返すことで弾性変形から塑性変形が増加して出力値がシフトすることも考えられるが、人工筋アクチュエータでは、収縮の繰り返しに用いられ、同じ位置で長時間保持することがほとんどない。そのため、無負荷時にゼロ点合わせ（原点合わせ）を行うことで出力値のシフトが回避可能となる。また、センサを人工筋の外部に取り付けることが可能な構成としたので、無負荷時の測定で数値が基準範囲外になったセンサを容易に交換できるというメンテナンス面での利点がある。 Furthermore, in flexible rubber-based sensors, it is conceivable that plastic deformation increases from elastic deformation due to repeated deformation, and the output value shifts, but in artificial muscle actuators, it is used for repeated contraction and is long at the same position. There is almost no time holding. Therefore, the shift of the output value can be avoided by performing zero point alignment (origin alignment) when there is no load. In addition, since the sensor can be attached to the outside of the artificial muscle, there is an advantage in terms of maintenance that the sensor whose numerical value is out of the reference range in the measurement under no load can be easily replaced.
１ 管状体
４，３４，９４，１０４ 編組み補強繊維体
５ａ，５ｂ 端部閉鎖部材
１０，４０ アクチュエータ
１１ａ，１１ｂ 連結部
１８ 注入部２１ センサ２３，３３，７３，９３，１０３ センサ部２５ａ，２５ｂ，３５ａ，３５ｂ７５ａ，７５ｂ，９５ａ，９５ｂ，１０５ａ，１０５ｂ 電極部３０，７０ 環状伸びセンサ
３７，７７，９７，１０７ リード線
９０ 伸びセンサ１００ 収縮センサ１１１ ベルト
DESCRIPTION OF SYMBOLS 1 Tubular body 4,34,94,104 Braided reinforcement fiber body 5a, 5b End part closing member 10,40 Actuator 11a, 11b Connection part 18 Injection | pouring part 21 Sensor 23, 33, 73, 93, 103 Sensor part 25a, 25b 35a, 35b75a, 75b, 95a, 95b, 105a, 105b Electrode part 30, 70 Annular elongation sensor 37, 77, 97, 107 Lead wire 90 Elongation sensor 100 Contraction sensor 111 Belt
Claims (7)
前記一対の閉鎖部材間の距離が減少することによるアクチュエータの収縮動作に対応する収縮量を検出するための所定の出力を取り出すことができるセンサを、前記管状体部の外側の周方向に密着配置したことを特徴とするアクチュエータ。 A braided reinforcing fiber body portion of organic or inorganic high-tensile fibers covering the entire tubular body portion is disposed outside the tubular body portion made of a rubber-like elastic material, and the tubular body portion and the braided reinforcement By sealing and joining the opening portions at both ends of the fiber body portion with a pair of closing members and injecting a fluid into the tubular body portion, the tubular body portion expands in the radial direction, and between the pair of closing members An actuator that generates a tensile force in the axial direction by reducing the distance,
A sensor capable of taking out a predetermined output for detecting a contraction amount corresponding to the contraction operation of the actuator due to a decrease in the distance between the pair of closing members is closely arranged in the circumferential direction outside the tubular body portion An actuator characterized by that.
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|---|---|---|---|---|
| CN107440414A (en) * | 2017-08-17 | 2017-12-08 | 张石均 | A kind of intelligent balloon people system and its control method |
| JP2020176664A (en) * | 2019-04-16 | 2020-10-29 | 株式会社ブリヂストン | Fluid pressure actuator and detection unit |
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| JPH0754124B2 (en) * | 1984-12-28 | 1995-06-07 | 株式会社ブリヂストン | Pneumatic actuator |
| JP2009257573A (en) * | 2008-04-17 | 2009-11-05 | Nara Institute Of Science & Technology | Linear motion expandable actuator |
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| JPH0754124B2 (en) * | 1984-12-28 | 1995-06-07 | 株式会社ブリヂストン | Pneumatic actuator |
| JPH04147024A (en) * | 1990-10-09 | 1992-05-20 | Alps Electric Co Ltd | Displacement sensor and detecting device using this displacement sensor |
| JP2009257573A (en) * | 2008-04-17 | 2009-11-05 | Nara Institute Of Science & Technology | Linear motion expandable actuator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107440414A (en) * | 2017-08-17 | 2017-12-08 | 张石均 | A kind of intelligent balloon people system and its control method |
| JP2020176664A (en) * | 2019-04-16 | 2020-10-29 | 株式会社ブリヂストン | Fluid pressure actuator and detection unit |
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