JP4212644B1 - 回動装置 - Google Patents
回動装置 Download PDFInfo
- Publication number
- JP4212644B1 JP4212644B1 JP2008533802A JP2008533802A JP4212644B1 JP 4212644 B1 JP4212644 B1 JP 4212644B1 JP 2008533802 A JP2008533802 A JP 2008533802A JP 2008533802 A JP2008533802 A JP 2008533802A JP 4212644 B1 JP4212644 B1 JP 4212644B1
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- actuator
- rotation
- projecting
- rotating
- fluid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- BZHJMEDXRYGGRV-UHFFFAOYSA-N Vinyl chloride Chemical compound ClC=C BZHJMEDXRYGGRV-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 150000002148 esters Chemical class 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
回動部材13を回動可能に連結した配置部材12は、上面12bに突出部20を設け、その突出部20の突出面20aに流体圧式のアクチュエータ14を配置し、線材15でアクチュエータ14と回動部材13を繋ぐ。突出部20は、回動部材13側の先端縁20eから長手方向の途中部分へと高くなるようにすると共に、その途中部分から後端縁20fへと低くなるようにしている。それにより、アクチュエータ14に流体を供給してアクチュエータ14の全長を短くさせると、アクチュエータ14の先端14aが突出部20の突出面20aに沿って移動し、配置部材12の上面12bから離れて高く位置する。その結果、傾いた姿勢の線材15を介してアクチュエータにより回動部材13は引っ張られるので、回動部材13の回動角度が大きくなる。
【選択図】図1
Description
また、本発明にあっては、回動部材の連結側から突出部の途中部分の方へ高くなる斜面を突出部の突出面にするので、アクチュエータの作動による回動部材の回動角度を従来より大きくできる。
さらに、本発明にあっては、突出部の途中部分からアクチュエータの固定側へ低くなる斜面を突出部の突出面にするので、アクチュエータが回動部材を引っ張る際、従来、アクチュエータの固定箇所へ集中していた応力を、アクチュエータを支える斜面に分散でき、アクチュエータの固定箇所の劣化を抑制できると共に、回動部材の回動角度を大きくすることにも貢献できる。
本発明にあっては、複数のアクチュエータを平行的に配置させて回動装置を使用するような場合に間隔を縮めて各アクチュエータを配置しても、流体の供給により膨らんだアクチュエータ同士の干渉を防止でき、複数のアクチュエータをコンパクトに配置できる。
12 配置部材
13 回動部材
14 アクチュエータ
15 線材
17 ホース
20、45 突出部
20a 突出面
20b 第1斜面
20c 第2斜面
45a、45b 側面
Claims (4)
- 流体の供給により全長が短くなるように径方向へ膨らむチューブ状のアクチュエータと、前記アクチュエータを配置して前記アクチュエータの一端部側が固定される配置部材と、前記アクチュエータの他端部側で前記配置部材に回動可能に連結してある回動部材と、前記アクチュエータの他端部及び前記回動部材を繋ぐ線材とを備える回動装置において、
前記配置部材は、前記アクチュエータが配置される面に突出部を設けており、
前記アクチュエータは、前記突出部の突出面に配置してあり、
前記配置部材はさらに、他のアクチュエータが前記アクチュエータと平行的に配置可能にしてあり、
前記配置部材に配置可能な他のアクチュエータが対向する前記突出部の側面は、凹状に窪ませてあることを特徴とする回動装置。 - 前記突出部の突出面は、前記アクチュエータの全長方向に応じた方向で、前記回動部材の連結側から前記突出部の途中部分へ突出寸法が高くなる斜面にしてある請求項1に記載の回動装置。
- 前記突出部の突出面は、前記アクチュエータの全長方向に応じた方向で、前記突出部の途中部分から前記アクチュエータの固定側へ突出寸法が低くなる斜面にしてある請求項1又は請求項2に記載の回動装置。
- 前記突出部の突出面は、前記アクチュエータの全長方向に応じた方向で、前記回動部材の連結側から前記突出部の途中部分へ突出寸法が高くなる第1斜面にしてあると共に、前記途中部分から前記アクチュエータの固定側へ突出寸法が低くなる第2斜面にしてあり、
前記第2斜面は、第1斜面に比べて滑りにくくしてある請求項1に記載の回動装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/056597 WO2009122578A1 (ja) | 2008-04-02 | 2008-04-02 | 回動装置 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008277042A Division JP5137255B2 (ja) | 2008-10-28 | 2008-10-28 | 回動装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP4212644B1 true JP4212644B1 (ja) | 2009-01-21 |
JPWO2009122578A1 JPWO2009122578A1 (ja) | 2011-07-28 |
Family
ID=40361297
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008533802A Expired - Fee Related JP4212644B1 (ja) | 2008-04-02 | 2008-04-02 | 回動装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8701545B2 (ja) |
EP (1) | EP2286965B1 (ja) |
JP (1) | JP4212644B1 (ja) |
DK (1) | DK2286965T3 (ja) |
ES (1) | ES2440742T3 (ja) |
WO (1) | WO2009122578A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017046754A (ja) * | 2015-08-31 | 2017-03-09 | ダイヤ工業株式会社 | アクチュエータ及び身体支援装置 |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5517195B2 (ja) * | 2009-11-20 | 2014-06-11 | スキューズ株式会社 | 回動装置、回動制御システム、及び回動装置への流体供給制御方法 |
US10132336B1 (en) * | 2013-04-22 | 2018-11-20 | Vecna Technologies, Inc. | Actuator for rotating members |
US10028878B1 (en) * | 2012-11-28 | 2018-07-24 | Vecna Technologies, Inc. | Body worn apparatus |
US9506481B1 (en) | 2013-01-31 | 2016-11-29 | Daniel Theobald | High force hydraulic actuator |
US9463085B1 (en) | 2013-02-20 | 2016-10-11 | Daniel Theobald | Actuator with variable attachment connector |
US9440361B1 (en) | 2013-06-28 | 2016-09-13 | Daniel Theobald | Activation element and method |
DE102013114660B4 (de) * | 2013-12-20 | 2015-10-22 | Technische Hochschule Nürnberg Georg Simon Ohm | Drehantrieb |
US9194403B2 (en) * | 2014-02-23 | 2015-11-24 | Dylan Pierre Neyme | Modular hinged joint for use with agonist-antagonist tensile inputs |
WO2016207855A1 (en) * | 2015-06-26 | 2016-12-29 | Scuola Superiore Sant'anna | Pneumatic device for actuating organs |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR1003449A (fr) * | 1947-01-03 | 1952-03-18 | Membrane en forme de fourreau dont la paroi est constituée par des éléments d'étanchéité et par des éléments de traction | |
CA1228096A (en) | 1983-11-21 | 1987-10-13 | Mirko Kukolj | Axially contractable actuator |
GB8625144D0 (en) * | 1986-10-21 | 1986-11-26 | Hennequin J R | Pneumatic/hydraulic artificial muscle |
US4819547A (en) * | 1988-03-28 | 1989-04-11 | Mirko Kukolj | Axially contractable actuator |
EP0413000B1 (en) | 1988-05-19 | 1995-03-08 | EDWARDS, Eric Frank Rhys | Improvements relating to movement actuators |
DE4107134A1 (de) | 1991-03-06 | 1992-09-10 | Wenzel Ralph | Vorrichtung zum erzeugen einer zugkraft mittels druckmittel |
JPWO2006080088A1 (ja) | 2005-01-31 | 2008-06-19 | スキューズ株式会社 | アクチュエータ、駆動装置、及びハンド装置 |
JPWO2007094031A1 (ja) | 2006-02-13 | 2009-07-02 | スキューズ株式会社 | アクチュエータ、駆動装置、ハンド装置、及び搬送装置 |
JP4818016B2 (ja) | 2006-07-31 | 2011-11-16 | スキューズ株式会社 | ハンド装置、及びハンド装置の駆動方法 |
-
2008
- 2008-04-02 DK DK08739708.9T patent/DK2286965T3/da active
- 2008-04-02 ES ES08739708.9T patent/ES2440742T3/es active Active
- 2008-04-02 WO PCT/JP2008/056597 patent/WO2009122578A1/ja active Application Filing
- 2008-04-02 US US12/935,875 patent/US8701545B2/en not_active Expired - Fee Related
- 2008-04-02 JP JP2008533802A patent/JP4212644B1/ja not_active Expired - Fee Related
- 2008-04-02 EP EP08739708.9A patent/EP2286965B1/en not_active Not-in-force
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2017046754A (ja) * | 2015-08-31 | 2017-03-09 | ダイヤ工業株式会社 | アクチュエータ及び身体支援装置 |
WO2017038599A1 (ja) * | 2015-08-31 | 2017-03-09 | ダイヤ工業株式会社 | アクチュエータ及び身体支援装置 |
Also Published As
Publication number | Publication date |
---|---|
US8701545B2 (en) | 2014-04-22 |
WO2009122578A1 (ja) | 2009-10-08 |
EP2286965A4 (en) | 2012-04-18 |
EP2286965B1 (en) | 2013-08-14 |
ES2440742T3 (es) | 2014-01-30 |
EP2286965A1 (en) | 2011-02-23 |
JPWO2009122578A1 (ja) | 2011-07-28 |
DK2286965T3 (da) | 2013-11-04 |
US20110023474A1 (en) | 2011-02-03 |
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