JPH0754124B2 - Pneumatic actuator - Google Patents
Pneumatic actuatorInfo
- Publication number
- JPH0754124B2 JPH0754124B2 JP59279771A JP27977184A JPH0754124B2 JP H0754124 B2 JPH0754124 B2 JP H0754124B2 JP 59279771 A JP59279771 A JP 59279771A JP 27977184 A JP27977184 A JP 27977184A JP H0754124 B2 JPH0754124 B2 JP H0754124B2
- Authority
- JP
- Japan
- Prior art keywords
- actuator
- insertion member
- tubular body
- closing
- relative displacement
- 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 - Lifetime
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
-
- 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)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Actuator (AREA)
Description
【発明の詳細な説明】 （技術分野） 本発明は加圧流体の導入により膨径変形して軸線方向に
収縮力を生起するニユーマチツク・アクチユエータ、具
体的には伸縮する際の、ニユーマチツク・アクチユエー
タの両端の閉鎖部材間の直線相対変位を、直接的に、か
つ高い精度で検出することができるニユーマチツク・ア
クチユエータに関するものである。Description: TECHNICAL FIELD The present invention relates to a new-type actuator that expands and expands by the introduction of a pressurized fluid to generate a contracting force in the axial direction, specifically, a new-type actuator when expanding and contracting. The present invention relates to a linear actuator capable of detecting linear relative displacement between closing members at both ends directly and with high accuracy.
（従来技術とその問題） 加圧流体を導入することにより半径方向に膨張しつつ長
手方向に収縮するエアーバツク・タイプのニユーマチツ
ク・アクチユエータは、電動モータや液圧シリンダを用
いる装置に比べ、極めて重量が軽く、かつ運動が滑らか
でコントロールが容易であるなど、従来のアクチユエー
タにない数多くの優れた特徴を有している。このような
アクチユエータとしては、例えば第３図に示すものが特
公昭52−40378号公報により既知である。第３図におい
て１は管状体、２はその外周の編組み補強構造、３は両
端の閉鎖部材、４はかしめキヤツプである。(Prior art and its problems) An air-back type pneumatic actuator, which expands in the radial direction and contracts in the longitudinal direction by introducing a pressurized fluid, is much heavier than a device using an electric motor or a hydraulic cylinder. It has many excellent features that conventional actuators do not have, such as light weight, smooth movement, and easy control. As such an actuator, for example, the one shown in FIG. 3 is known from Japanese Patent Publication No. 52-40378. In FIG. 3, 1 is a tubular body, 2 is a braided reinforcing structure on the outer periphery thereof, 3 is a closing member at both ends, and 4 is a caulking cap.
管状体１は、ゴム又はゴム状弾性材料がエアー不透過
性、可撓性の面で重宝に活用されるが均等材料、たとえ
ば各種のプラスチック材料で代替しても良い。For the tubular body 1, rubber or a rubber-like elastic material is useful in terms of air impermeability and flexibility, but a uniform material, for example, various plastic materials may be substituted.
編組み補強構造２は、管状体１の内圧充てんによる最大
膨径時においていわゆる静止角（54°44′）に至るよう
な編組み構造をしており、有機又は無機質高張力繊維
類、たとえば芳香族ポリアミド繊維（ケブラー：商品
名）や、極細金属ワイヤの如きフイラメントの撚りまた
は無撚りの束などが適合する。The braided reinforcing structure 2 has a braided structure that reaches a so-called static angle (54 ° 44 ′) when the tubular body 1 is filled with the internal pressure and has a maximum expansion diameter. Group polyamide fibers (Kevlar: trade name) and twisted or untwisted bundles of filaments such as ultrafine metal wires are suitable.
閉鎖部材３の一方は少なくとも片側で、ニツプル５の長
さ方向に形成した孔６を介し管状体１の内部空洞７に連
通する接続孔８をあけ、ここにフイツテイング９を取付
ける。フイツテイング９には図示しないが操作圧力源、
たとえばエアーコンプレツサを流量制御弁を含む管路に
より接続し、管状体１の内部空洞７内に制御圧力を適用
することにより編組み補強構造２の編組み角の拡大、つ
まりパンタグラフ運動によつて管状体１の膨径とそれに
由来した軸線方向の収縮、すなわち閉鎖部材３の連結ピ
ン孔間距離の縮小がもたらされる。At least one side of the closing member 3 is provided with a connection hole 8 communicating with the internal cavity 7 of the tubular body 1 through a hole 6 formed in the length direction of the nipple 5, and a fitting 9 is attached thereto. Although not shown in the fitting 9, an operating pressure source,
For example, an air compressor is connected by a pipe line including a flow control valve, and a control pressure is applied to the internal cavity 7 of the tubular body 1 to increase the braiding angle of the braided reinforcing structure 2, that is, pantograph movement. The bulging diameter of the tubular body 1 and the contraction in the axial direction resulting therefrom, that is, the distance between the connecting pin holes of the closing member 3 is reduced.
しかしながら、このように適用する加圧流体の圧力を調
整して軸線方向に変位を生起するニユーマチツク・アク
チユエータにおいては、ゴム又はゴム状弾性体製の管状
体や編組み補強構造は膨径及び収縮に際し、いわゆるヒ
ステリシス誤差を生じるため、加圧流体を管状体内部空
洞内に導入する場合と排出する場合とで軸線方向の収縮
長さが異なると言う問題があつた。このため収縮長さを
正確に知ろうとすれば、管状体及び編組み構造のヒステ
リシス特性を考慮して加圧流体の圧力を調整しなければ
ならず、作業性を悪いものとさせていた。However, in a new actuator / actuator that adjusts the pressure of the pressurized fluid applied in this way and causes displacement in the axial direction, the tubular body or braided reinforcing structure made of rubber or a rubber-like elastic body is used when expanding or contracting. However, since a so-called hysteresis error occurs, there is a problem that the contraction length in the axial direction is different between when the pressurized fluid is introduced into the hollow inside the tubular body and when it is discharged. For this reason, in order to accurately know the contraction length, the pressure of the pressurized fluid must be adjusted in consideration of the hysteresis characteristics of the tubular body and the braided structure, resulting in poor workability.
（発明の目的） 本発明の目的は、エアーバツク・タイプのニユーマチツ
ク・アクチユエータの優れた特徴を損なうことなく、上
述した問題を解決したニユーマチツク・アクチユエータ
を提供することである。(Object of the Invention) An object of the present invention is to provide a new-type actuator which solves the above-mentioned problems without impairing the excellent characteristics of the air-back type new-type actuator.
（発明の構成） この目的を達成するため、本発明のニユーマチツク・ア
クチユエータは、有機又は無機質高張力繊維類を耐張強
化素子とする編組み補強構造をもつて外周を補強し両端
開口は少なくとも片側にて接続孔を有する閉鎖部材でも
つて封止合着したゴム又はゴム状弾性材料製の管状体
と、一方の閉鎖部材に設けられて管状体の内部空洞内に
延在する挿通部材と、他方の閉鎖部材に設けられ、その
挿通部材を挿通自在に収容すると共に挿通部材の直線相
対変位を検出する検出手段を有する収容部と、収容部に
設けられ、挿通部材もしくはそれの支持部材の直線運動
を案内するガイド部材と、検出手段からの検出信号に基
づいて両閉鎖部材間の相対変位を出力する出力手段とを
具えてなり、加圧流体の供給により膨径変形して軸線方
向に収縮力を生起する。(Structure of the Invention) In order to achieve this object, the novel actuator of the present invention has a braided reinforcing structure in which organic or inorganic high-strength fibers are used as a tensile strength reinforcing element to reinforce the outer periphery and open both ends at least on one side. A tubular body made of rubber or a rubber-like elastic material and sealed and joined by a closing member having a connection hole, an insertion member provided in one closing member and extending into an internal cavity of the tubular body, and the other Of the closing member, which accommodates the insertion member so that the insertion member can be inserted therethrough and has a detection means for detecting a linear relative displacement of the insertion member; and a linear movement of the insertion member or a supporting member thereof provided in the accommodation part. And a means for outputting relative displacement between the two closing members based on a detection signal from the detecting means. Produces contraction force.
（発明の作用） 従つて上述した構成の本発明のニユーマチツク・アクチ
ユエータにおいて、管状体の内部空洞内に加圧流体を供
給するとアクチユエータは膨径変形し、軸線方向に収縮
する。それ故管状体の両端開口を封止する閉鎖部材は互
いに接近する。このため一方の閉鎖部材に取付けられた
挿通部材は他方の閉鎖部材に取付けた収容部に更に入り
込むことになる。ところで収容部には挿通部材の侵入
量、すなわち量閉鎖部材の相対変位量を検出する検出手
段が設けられており、相対変位量に正確に比例した検出
信号を出力する。この出力信号を出力手段に導き、両閉
鎖部材間の相対変位量を出力する。従つてここでは、管
状体への、加圧流体の供給時と排出時との、管状体及び
編組み補強構造のヒステリシス誤差を考慮するまでもな
く、両閉鎖部材の相対変位量を、直接的に、かつ高精度
に求めることができ、アクチュエータへの加圧流体の給
排制御を、簡易・迅速に行うことができる。(Operation of the Invention) Therefore, in the new-type actuator of the present invention having the above-described structure, when a pressurized fluid is supplied into the inner cavity of the tubular body, the actuator is diametrically deformed and contracted in the axial direction. Therefore, the closing members that seal the openings at both ends of the tubular body are close to each other. Therefore, the insertion member attached to one of the closing members will further enter into the accommodation portion attached to the other closing member. By the way, the accommodating portion is provided with detection means for detecting the amount of penetration of the insertion member, that is, the relative displacement amount of the amount closing member, and outputs a detection signal that is accurately proportional to the relative displacement amount. This output signal is led to the output means to output the relative displacement amount between the both closing members. Therefore, here, without considering the hysteresis error of the tubular body and the braided reinforcing structure at the time of supplying and discharging the pressurized fluid to the tubular body, the relative displacement amount of both closing members is directly measured. In addition, it is possible to accurately and accurately obtain, and it is possible to easily and quickly control the supply and discharge of the pressurized fluid to and from the actuator.
しかもここでは、収容部に設けたガイド部材と、挿通部
材もしくはそれの支持部材との作用下で、アクチュエー
タの曲がりを常に十分に阻止して、両閉鎖部材の正確な
直線相対変位を担保することができるので、それらの相
対変位量の測定精度を一層高めることができる。Moreover, here, the bending of the actuator is always sufficiently prevented under the action of the guide member provided in the accommodating portion and the insertion member or the supporting member thereof, and an accurate linear relative displacement of both closing members is ensured. Therefore, the measurement accuracy of the relative displacement amount can be further enhanced.
加えて、収容部及び挿通部材のそれぞれを、管状体の内
部空洞内に配設することにより、アクチュエータの体積
を、従来技術のそれに比して全く増加させることなく、
相対変位量を測定することができ、また、内部空洞に給
排する加圧流体の絶対量を十分少ならしめることができ
る。In addition, by disposing each of the accommodating portion and the insertion member in the inner cavity of the tubular body, the volume of the actuator is not increased at all as compared with that of the prior art,
The relative displacement amount can be measured, and the absolute amount of the pressurized fluid supplied to and discharged from the internal cavity can be sufficiently reduced.
（実施例） 以下図面を参照して本発明を詳述する。なお簡略のた
め、第３図と同等の作用をなすものは同一符号を付す。(Example) Hereinafter, the present invention will be described in detail with reference to the drawings. Note that, for simplification, the same reference numerals are attached to the same functions as those in FIG.
第１図の（ａ）は本発明のニユーマチツク・アクチユエ
ータを一部断面にして示す図であり、高張力繊維類の編
組み補強構造２により、ゴム又はゴム状弾性材料よりな
る管状体１の外周を補強し、その両端開口は閉鎖部材３
により封止合着することは従来通りである。さらに管状
体１及び編組み補強構造２は閉鎖部材３のニツプル５に
協働するかしめキヤツプ４を用いて一層確実に合着す
る。管状体１の内部空洞７には閉鎖部材３に設けた接続
孔８にフイツテイング９を取り付け加圧流体を給排す
る。FIG. 1 (a) is a diagram showing a partial cross section of the novel actuator of the present invention, showing the outer periphery of the tubular body 1 made of rubber or a rubber-like elastic material by the braided reinforcing structure 2 of high-tensile fibers. And the openings at both ends are the closing member 3.
Sealing and adhering by is conventional. Furthermore, the tubular body 1 and the braided reinforcing structure 2 are more securely attached to each other by the crimping cap 4 which cooperates with the nipple 5 of the closing member 3. A fitting 9 is attached to a connection hole 8 provided in the closing member 3 in the internal cavity 7 of the tubular body 1 to supply and discharge the pressurized fluid.
一方の閉鎖部材３、本実施例ではフイツテイング９側の
閉鎖部材３の内部空洞側端面に支持部材12を、螺着又は
接着等の従来既知の方法を用いて固着する。この支持部
材12に，同じく螺着又は接着等の既知の方法を用いて挿
通部材14を取付ける。内部空洞７内に延在する挿通部材
14は第１図の（ｂ）に示す様に、周期的に繰返されるス
リツト状の模様が形成されている。これに対し支持部材
12を固着した閉鎖部材３に対向して離間する他方の閉鎖
部材３には、挿通部材14を挿通自在に収容する収容部16
が固着されている。そしてこの収容部には挿通部材14の
軸線方向の変位を検出する検出手段が設けられている。
検出手段は第１図の（ｂ）に示すように、光源18a及び
集光レンズ18bを含む発光素子18と、互いに位相が90°
ずれたスリツトを上下に持ち挿通部材14に対向する検出
素子20と、挿通部材14及び検出素子20を通過した光源18
aからの光を受光する受光素子22とを具える。また、収
容部16は、挿通部材14に接触して、その挿通部材14が検
出手段に対し実質的に常に一定の幾何学関係を持つて相
対移動することを保障するガイド24を有する。The support member 12 is fixed to the inner cavity side end surface of the closing member 3 on one side, which is the fitting 9 side in this embodiment, by using a conventionally known method such as screwing or bonding. The insertion member 14 is attached to the support member 12 by using a known method such as screwing or adhesion. Insertion member extending into the internal cavity 7
As shown in FIG. 1 (b), 14 has a slit-like pattern which is periodically repeated. On the other hand, support member
An accommodating portion 16 for accommodating the insertion member 14 so that the insertion member 14 can be inserted into the other closure member 3 which is opposed to and separated from the closure member 3 to which 12 is fixed.
Is stuck. The accommodating portion is provided with detection means for detecting displacement of the insertion member 14 in the axial direction.
As shown in FIG. 1 (b), the detecting means has a light emitting element 18 including a light source 18a and a condenser lens 18b and a phase of 90 ° with respect to each other.
The detection element 20 that has the shifted slits vertically and faces the insertion member 14, and the light source 18 that has passed through the insertion member 14 and the detection element 20.
a light receiving element 22 for receiving the light from a. Further, the accommodating portion 16 has a guide 24 that comes into contact with the insertion member 14 and ensures that the insertion member 14 moves relative to the detection means while having a substantially constant geometric relationship.
このように構成したニユーマチツク・アクチユエータ
に、フイツテイング９を介して加圧流体を内部空洞７内
に導入する。その結果アクチユエータ、すなわち管状体
１が膨径変形し、両閉鎖部材３間の相対距離が縮小し、
挿通部材14が収容部内に侵入することになる。このとき
受光素子22は、挿通部材及び検出素子のそれぞれのスリ
ツトの位置に応じた光量の変化を検出する。この検出信
号の変化の様子を第１図の（ｃ）に示す。受光素子22か
らの検出信号はリード線26を介して出力手段28に伝えら
れる。出力手段28は、挿通部材のスリツトのピツチに対
応したピツチ数をカウントすると共に、最大光量LMAXと
最小光量LMiNとの間の値を内挿法により演算してカウン
トすることにより、両閉鎖部材間の相対変位を出力表示
する。なお出力手段28は、アクチユエータに一定圧の加
圧流体を作用させアクチユエータをセツト状態とした時
に表示を零とするリセツト機能を有することが望まし
い。A pressurized fluid is introduced into the internal cavity 7 through the fitting 9 into the thus configured new-type actuator. As a result, the actuator, that is, the tubular body 1 is expanded and deformed, and the relative distance between the both closing members 3 is reduced,
The insertion member 14 will enter the accommodation portion. At this time, the light receiving element 22 detects a change in the amount of light according to the positions of the slits of the insertion member and the detection element. The state of the change of the detection signal is shown in FIG. The detection signal from the light receiving element 22 is transmitted to the output means 28 via the lead wire 26. The output means 28 counts the number of pitches corresponding to the pitches of the slits of the insertion member, and also calculates and counts the value between the maximum light amount L MAX and the minimum light amount L MiN by the interpolation method to count both of them. Output and display the relative displacement between members. It is desirable that the output means 28 has a reset function for making the display zero when the pressurized fluid having a constant pressure is applied to the actuator to bring the actuator into the set state.
上述の場合とは逆に、加圧流体を内部空洞７内から排出
すれば、両閉鎖部材は互いに離間する方向に移動するの
で、挿通部材は検出手段に対して第１図の（ａ）におい
て相対的に左方に移動する。一方出力手段28は検出手段
からの信号に基づいて減算を行ないその結果を出力表示
するので両閉鎖部材間の相対変位を常に正確に知ること
ができる。Contrary to the above case, when the pressurized fluid is discharged from the inside of the internal cavity 7, the both closing members move in the direction away from each other, so that the insertion member is moved relative to the detection means in FIG. 1 (a). Move relatively to the left. On the other hand, the output means 28 performs subtraction based on the signal from the detection means and outputs and displays the result, so that the relative displacement between both closing members can always be known accurately.
なお挿通部材、検出素子のスリツトのピツチは、アクチ
ユエータに要求される変位の精度に関連して選択決定す
ることとする。The slit pitch of the insertion member and the detection element is selected and determined in relation to the displacement accuracy required of the actuator.
第２図に本発明の他の実施例を示す。なお本実施例では
検出部及び収容部16の構成が第１図に示した実施例と異
なるだけであり、簡略のため、他の部分については説明
を省略する。FIG. 2 shows another embodiment of the present invention. In this embodiment, the configurations of the detecting portion and the housing portion 16 are different from those of the embodiment shown in FIG. 1, and for the sake of simplification, the description of other portions will be omitted.
本実施例においては支持部材12に取り付けた挿通部材14
を、たとえば鉄などの磁性材料で構成する。一方、支持
部材12を支持壁30により摺動自在に支持する収容部16の
内部には、挿通部材14に対向させて配置した検出手段と
してのコイル32を設ける。なお支持壁30は第１の実施例
におけるガイド24と同様に支持部材12の案内として機能
する。コイル32は第２図の（ｂ）に示すように１次コイ
ルＰと２次コイルS1，S2からなり挿通部材14と共に、い
わゆる差動変圧器を構成し、挿通部材14の変位に対応し
て第２図の（ｃ）に示すような直線▲▼，▲▼
で示されるような検出信号を出力する。第２図の（ｃ）
において、変位と誘起起電力とが比例する領域、すなわ
ち直線範囲（LR）を使用する。ところで差動変圧器で
は、挿通部材14がコイル32の中央に位置する点を境にし
て位相が180°ずれるため、本実施例のニユーマチツク
・アクチユエータの出力手段は、▲▼間の出力信号
の極性を反転させるインバータを有しており、また点
ａ′が見かけ上起電力「零」となるようバイアス電圧を
印加することにより、第１図に示した実施例と変わるこ
となく検出信号を出力表示するよう構成することができ
る。In this embodiment, the insertion member 14 attached to the support member 12
Are made of a magnetic material such as iron. On the other hand, inside the accommodating portion 16 that slidably supports the support member 12 by the support wall 30, a coil 32 as a detection means is disposed so as to face the insertion member 14. The support wall 30 functions as a guide for the support member 12 similarly to the guide 24 in the first embodiment. The coil 32 is composed of a primary coil P and secondary coils S 1 and S 2 as shown in FIG. 2 (b), and constitutes a so-called differential transformer together with the insertion member 14, which corresponds to the displacement of the insertion member 14. Then, straight lines ▲ ▼, ▲ ▼ as shown in (c) of FIG.
The detection signal as shown by is output. Figure 2 (c)
In, the region where the displacement and the induced electromotive force are proportional, that is, the linear range (LR) is used. By the way, in the differential transformer, the phase shifts by 180 ° with respect to the point where the insertion member 14 is located in the center of the coil 32, so that the output means of the novel actuator is the polarity of the output signal between ▲ ▼. Has an inverter for reversing the output voltage, and by applying a bias voltage so that the point a'appearingly becomes an electromotive force of "zero", the detection signal is output and displayed without changing from the embodiment shown in FIG. Can be configured.
従つてこのようなニユーマチツク・アクチユエータはア
クチユエータを少なくとも２本１組として用い、それぞ
れの一端を固定部に連結し、他端を被駆動部材に直接又
は間接に連結し、各アクチユエータへの加圧流体の給排
により被駆動部材に運動を賦与する装置に適している。Therefore, such a new-type actuator / actuator uses at least two actuators as a set, one end of each is connected to a fixed portion, and the other end is directly or indirectly connected to a driven member, so that a fluid under pressure to each actuator is connected. It is suitable for a device that imparts motion to a driven member by supplying and discharging.
（発明の効果） 以上詳述した様に本発明のニユーマチツク・アクチユエ
ータにおいては、管状体の内部空洞内に管状体の両端開
口を封止合着する両閉鎖部材間の相対変位を検出する検
出手段を配置したので、ゴム又はゴム状弾性材料の管状
体や編組み補強構造におけるヒステリシス特性に影響さ
れることなくアクチユエータの軸線方向長さを正確に知
ることができるので位置決め作業が容易なアクチユエー
タを得ることができる。また検出手段を内部空洞内に配
置したので、アクチュエータ体積の増加なしに、それの
伸縮変位量を測定することができる他、アクチユエータ
を駆動するに必要な圧縮空気も少なくてすみランニング
コストを低減でき、また、応答性を高めることができる
等の利点を有する。(Effects of the Invention) As described in detail above, in the novel actuator of the present invention, the detection means for detecting the relative displacement between the both closing members for sealing and joining the openings at both ends of the tubular body in the inner cavity of the tubular body. Since it is arranged, the axial length of the actuator can be accurately known without being affected by the hysteresis characteristics of the tubular body or the braided reinforcing structure of rubber or rubber-like elastic material, so that an actuator with easy positioning work can be obtained. be able to. In addition, because the detection means is placed inside the internal cavity, it is possible to measure the expansion and contraction displacement of the actuator without increasing the volume of the actuator, and the compressed air required to drive the actuator is also small, which reduces running costs. Moreover, it has an advantage that the responsiveness can be improved.
しかもここでは、収容部に設けたガイド部材と、挿通部
材もしくはそれの支持部材との作用下で、アクチュエー
タの曲がりを阻止して、両閉鎖部材の正確な直線相対変
位を担保することができるので、それらの相対変位量の
測定精度を一層高めることができる。Moreover, here, it is possible to prevent the actuator from bending under the action of the guide member provided in the accommodating portion and the insertion member or the supporting member thereof, so that the accurate linear relative displacement of both the closing members can be secured. The measurement accuracy of the relative displacement amount can be further improved.
第１図の（ａ）は、本発明ニユーマチツク・アクチユエ
ータの一実施例を示す一部断面とした正面図、 第１図の（ｂ）は、第１図の（ａ）に示したアクチユエ
ータに使用する検出手段を示す斜視図、 第１図の（ｃ）は、第１図の（ｂ）に示した検出手段の
出力を示す略線図、 第２図の（ａ）は、本発明ニユーマチツク・アクチユエ
ータの他の実施例を示す一部断面とした正面図、 第２図の（ｂ）及び（ｃ）は、第２図の（ａ）に示した
検出手段の構成及びその出力を示す図、 第３図は、従来のニユーマチツク・アクチユエータを示
す一部断面とした正面図である。 １……管状体、２……編組み補強構造 ３……閉鎖部材、４……かしめキヤツプ ５……ニツプル、６……孔 ７……内部空洞、８……接続孔 ９……フイツテイング 10……ニユーマチツク・アクチユエータ 12……支持部材、14……挿通部材 16……収容部、18……発光素子 18a……光源、18b……集光レンズ 20……検出素子、22……受光素子 24……ガイド、26……リード線 28……出力手段、30……支持壁 30a……シール手段、32……コイル 34……作動油、36……固定部 38……ワイヤー、40……支持コラム 42……プーリFIG. 1 (a) is a partially sectional front view showing an embodiment of the present invention actuator / actuator, and FIG. 1 (b) is used for the actuator shown in FIG. 1 (a). FIG. 1 (c) is a schematic diagram showing the output of the detecting means shown in FIG. 1 (b), and FIG. 2 (a) is a schematic diagram of the present invention. A partial cross-sectional front view showing another embodiment of the actuator, FIGS. 2 (b) and 2 (c) are diagrams showing the configuration of the detecting means shown in FIG. 2 (a) and its output, FIG. 3 is a partially sectional front view showing a conventional new-type actuator. 1 ... Tubular body, 2 ... Braided reinforcing structure 3 ... Closing member, 4 ... Caulking cap 5 ... Nipple, 6 ... Hole 7 ... Internal cavity, 8 ... Connection hole 9 ... Fitting 10 ... … New actuator / actuator 12 …… Support member, 14 …… Insertion member 16 …… Accommodation part, 18 …… Light emitting element 18a …… Light source, 18b …… Condensing lens 20 …… Detecting element, 22 …… Light receiving element 24… … Guide, 26 …… Lead wire 28 …… Output means, 30 …… Support wall 30a …… Sealing means, 32 …… Coil 34 …… Hydraulic fluid, 36 …… Fixed part 38 …… Wire, 40 …… Support column 42 …… Pulley
Claims (1)
子とする編組み補強構造をもって外周を補強し、両端開
口は少なくとも片側にて接続孔を有する閉鎖部材で封止
合着したゴム又はゴム状弾性材料製の管状体と、一方の
閉鎖部材に設けられて管状体の内部空洞内に延在する挿
通部材と、他方の閉鎖部材に設けられ、その挿通部材を
挿通自在に収容すると共に挿通部材の直線相対変位を検
出する検出手段を有する収容部と、この収容部に設けら
れて、前記挿通部材もしくはそれの支持部材の直線運動
を案内するガイド部材と、前記検出手段からの検出信号
に基づいて両閉鎖部材間の相対変位を出力する出力手段
とを具え、加圧流体の供給により膨径変形して軸線方向
に収縮力を生起することを特徴とするニューマチック・
アクチュエータ。1. A rubber which is reinforced by a braided reinforcing structure using organic or inorganic high-strength fibers as a tensile strength-enhancing element, and whose both end openings are sealed and joined by a closing member having a connection hole on at least one side, or A tubular body made of a rubber-like elastic material, an insertion member provided on one of the closing members and extending into the inner cavity of the tubular body, and provided on the other closing member, the insertion member is housed so as to be insertable. An accommodating part having a detecting means for detecting the linear relative displacement of the insertion member, a guide member provided in the accommodating part for guiding the linear movement of the insertion member or its supporting member, and a detection signal from the detecting means. Output means for outputting relative displacement between the two closing members based on the above, and pneumatically deformed by supplying pressurized fluid to generate a contracting force in the axial direction.
Actuator.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59279771A JPH0754124B2 (en) | 1984-12-28 | 1984-12-28 | Pneumatic actuator |
| US07/180,724 US4860639A (en) | 1984-12-11 | 1988-04-04 | Flexible tubular wall actuator with end-mounted strain gauge |
| US07/359,814 US5052273A (en) | 1984-12-11 | 1989-06-01 | Flexible tubular wall pneumatic actuator with position transducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59279771A JPH0754124B2 (en) | 1984-12-28 | 1984-12-28 | Pneumatic actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61157806A JPS61157806A (en) | 1986-07-17 |
| JPH0754124B2 true JPH0754124B2 (en) | 1995-06-07 |
Family
ID=17615682
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59279771A Expired - Lifetime JPH0754124B2 (en) | 1984-12-11 | 1984-12-28 | Pneumatic actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0754124B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015113918A (en) * | 2013-12-11 | 2015-06-22 | コーア株式会社 | Actuator |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1408241B1 (en) * | 2000-03-28 | 2006-05-31 | Seiko Epson Corporation | Pump-integrated flexible actuator |
| JP4310438B2 (en) | 2003-11-10 | 2009-08-12 | 神田通信工業株式会社 | Hydraulic actuator |
| DE102006039521B4 (en) * | 2006-08-23 | 2009-12-17 | Siemens Ag | Pressure cell for actuating mechanical systems |
| JP6142146B2 (en) * | 2012-11-28 | 2017-06-07 | 株式会社国際電気通信基礎技術研究所 | Exoskeleton type robot and rehabilitation device |
| JP6055985B2 (en) * | 2013-02-18 | 2017-01-11 | 株式会社国際電気通信基礎技術研究所 | Power assist robot |
| JP6299040B2 (en) * | 2013-02-18 | 2018-03-28 | 株式会社国際電気通信基礎技術研究所 | Rehabilitation support device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56104603U (en) * | 1980-01-16 | 1981-08-15 | ||
| JPS56106208U (en) * | 1980-01-16 | 1981-08-18 | ||
| JPS59209790A (en) * | 1983-05-13 | 1984-11-28 | 株式会社ブリヂストン | Joint arm for manipulator |
-
1984
- 1984-12-28 JP JP59279771A patent/JPH0754124B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015113918A (en) * | 2013-12-11 | 2015-06-22 | コーア株式会社 | Actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61157806A (en) | 1986-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5052273A (en) | Flexible tubular wall pneumatic actuator with position transducer | |
| US4976191A (en) | Elastically deformable fluid actuator | |
| JPH0754124B2 (en) | Pneumatic actuator | |
| US3246580A (en) | Rotary fluid displacement device | |
| US5115675A (en) | Tensioned bellows pressure transducer | |
| US6807894B2 (en) | Contraction unit with position sensor device | |
| JPH01247809A (en) | Actuator | |
| JPH0420085B2 (en) | ||
| JPS61157804A (en) | Pneumatic actuator | |
| CN1613618A (en) | Fluid driving bending joint of spiral spring frame | |
| JPS63199965A (en) | Rodless cylinder | |
| JPH0232481B2 (en) | ||
| JPS61140603A (en) | Pneumatic actuator | |
| GB2371368A (en) | Insert for a measuring tube of an inductive flowmeter | |
| JPS61136004A (en) | Pneumatic actuator | |
| US20040103780A1 (en) | Hydropneumatic hybrid cylinder with tandem pistons and dampening hydraulic chambers disposed between them | |
| JPS61233205A (en) | Pneumatic actuator | |
| JP4046855B2 (en) | Circumferential displacement measuring device | |
| JPH04370407A (en) | Actuator controller | |
| JP2533477B2 (en) | Positioning mechanism | |
| WO2024048299A1 (en) | Actuator curved inner length measurement device and actuator curved inner length measurement method | |
| CN109813488A (en) | A kind of pressure obtaning device | |
| JPS6241406A (en) | Drive assembly using elastic shrinkage body | |
| JP3027272B2 (en) | Pressure fluid supply device | |
| JPS61140604A (en) | Pneumatic actuator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| EXPY | Cancellation because of completion of term |