JPS60132103A - Actuator retractable in axial direction - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an axially adjustable actuator which is particularly suitable for mouthpiece applications.

Robot technology has the problem of imitating human hands and arms. Mechanically similar to the hand and arm, there must be substitutions for the many muscles that are used to bend and move the human fingers, hand, and arm. In robot engineering, if all fluid power is used, whether hydraulic or 1 visual pressure, a fluid cylinder can be considered as a substitute for human muscles. However, due to the limited fL, there are problems with the size and space of the fluid cylinder, as well as problems with the location, making it difficult to use the fluid cylinder because it is a commercial pressure fluid.
Alternatively, it has become impossible to apply it to certain types of robots, such as self-propelled walking robots.

Also, fluid cylinders are completely unsuitable as actuators in the food and pharmaceutical industry. Drops caused by leaky sole and crazy cylinder rondo! Inhibitor to prevent ll? must be used.

SUMMARY OF THE INVENTION According to the present invention, an actuator has first and second connecting means at opposing first and second ends thereof, and is retractable along an axis extending between the connecting means. It is. The actuator consists of at least one hollow enclosure having an opening for admitting all the pressurized fluid. When pressurized fluid enters the enclosure, the restraining means cooperates with the enclosure shear to convert axial extension of the actuator into axial contraction.

The enclosure gloss may be made of a diostomeric material.

The restraining means may consist of a network of non-extensible flexible tension links.

FIG. 1 shows an actuator 1 according to one embodiment of the invention. This actuator is hollow: L 7 l O-
The enclosure 2 has an enclosure 2, which in this case is made of an elastic material. According to other embodiments, multiple enclosures may be used, located together in parallel. The enclosure can be manufactured from rubber, constructed rubber or a suitable elastic plastic material.

The enclosure is closed at a first end 3, where it is tightly fitted around the threaded melt 4. bolt 4
has connecting means for connecting the actuator to the mounting bracket 8 as shown in FIG. The bolt 4 is connected to the t-bin 10 with a rainbow metal fitting. What about the mounting hardware? It is connected to an articulated arm 39 by a nut assembly 14.

The enclosure has a second end 16 which is drilled into an open emplacement 18 and fixed therein. As shown in FIG. 4, the nipple has a threaded outer end 22 adapted to mate with a fitting 24 of a hose 26. have.

In this way, pressurized fluid, such as hydraulic fluid or pressurized air, can enter the open end of the enclosure. The nipple is connected to the fitting 23 by a nut 25, thus the actuator has a second connection means. The metal fitting 23 is attached to the arm 39 of the nut and bolt assembly 27. The metal fittings and arms are shown only as an example of the means operated by the actuator.

The actuator has a 28-karat gold network of non-stretchable flexible tension links 30 extending around the perimeter of the enclosure. This link may be, for example, a flexible braided wire coated with plastic. A plurality of such lines are connected at nodes 32 to form a substantially tubular network. Alternatively, the links may be made of other materials such as nylon twine. The mesh has a first end made of 34k gold. Similarly, the mesh has a second end 36. At the end 36, the wires forming the net pass through holes 35 extending seven circumferentially in the ring 2O. This link is mounted on the nipple 18 and abuts against the end 1Q of the enclosure. Form a knot at the end of the wire to hold it on the ring. Similarly, the ends 34 of the mesh 28 are attached to the bolts 4 by mounting rings 6.
It is connected to the.

For the actuator, the axial dimension and axial direction extend along axis 38 in FIG. 1, which extends between the ends of the enclosure. The lateral dimension and direction are perpendicular to this axis.

FIG. 1 shows the actuator in a pre-installed or ready-to-use storage condition. The enclosure 2 is not stretched, and the mesh 28 loosely surrounds the enclosure in a bag-like manner. There is sufficient space between the mesh and the enclosure except at ends 34 and 36.

As can be seen from FIGS. 1 and 4, the net-like body has a larger mesh closer to the center and has an L shape that matches the shape of the expanded enclosure. The mesh becomes progressively smaller towards the two ends of the enclosure.

FIG. 2 shows the initial state in which the actuator is extended. In this case, the enclosure is stretched axially until the mesh fits snugly against the enclosure. This is the state in which the actuator is not hinged or axially contracted after being mounted on the arm 39 with the articulation joint 41.

The initial tension required to maintain this uncontracted configuration is provided by a weight 43 connected to a bolt 45 on the end of the arm.

To retract the actuator axially, pressurized fluid is introduced into the enclosure by hose 26 in the manner shown in FIG. The enclosure is radially expanded as shown in FIG. 4 by pressurized fluid contained therein. In this case the enclosure is also bulging at the midpoint between the ends. The mesh acts as a restraining means, which is radially expandable and axially contractible. The wires or other tension cylinders that make up this network are substantially inextensible. As a result, the second
As can be seen by comparing the figures and FIG. 4, the radial expansion of the mesh caused by the radial expansion of the enclosure must be accompanied by an axial contraction of the actuator. In the extended state shown in FIG.
will line up in a straight line. As the actuator approaches the expanded state shown in FIG. 4, a mesh with four-sided bars appears and the sides gradually approach straight lines. Other polygonal meshes may be used, such as the Y-shaped hexagonal mesh 28a of FIG. 3. In either case, when the link is in the extended state, it approaches a state parallel to the longitudinal axis, and as the enclosure expands in the radial direction, a quadrilateral mesh or polygon appears.

Since the entire surface area of the actuator is used to perform a function similar to that of a piston in a fluid cylinder, the axial tensile force it produces is equal to the force exerted by pressurized fluid acting on a piston in a fluid cylinder of the same radius as this actuator. The accounting and j-niji will also be several times thicker.

In the embodiments described above, the mesh tends to rapidly contract axially in the enclosure, resulting in buckling of the enclosure near its ends when pressurized fluid enters. For this reason, the mesh is in a loose state as shown in FIG. 1 (installed in the previous position). If the enclosure is given an initial elongation as shown in FIG. 2 during installation, the buckling described above can be completely prevented.

The theory of operation of the actuator 1 will be explained with reference to FIGS. The network is indicated by a line 4o of length L in FIG. -4It of that line fixed mount 42
It is stored in. The other end attaches to a load 44 slidably placed on a surface 46.

In FIG. 5, a small force was applied perpendicular to the 4° line FLi. This side FL generates a tension force FT. This tension is also several times greater than the curving force for the small angle a. At the same time, the load moves by a distance @D. These relationships are defined by the following equations.

IFTI l= +FT21= IFL/211ua lrpl=lpTtl+1Fr21=l21ina and D = L - L COQ a FIG. 6 shows an elastic tube or enclosure 3 of length L.

This tube is sealed at both ends but has a port 5 for the admission of pressurized fluid. This ring is surrounded by eight non-stretchable, flexible rods, but only three of the seven insteps are visible in this view. At its first end 9 the link is connected to a mount 42 n and at its second end 1 l
It is connected to a load 44 slidably placed on fl'4tl.

When the pressurized fluid is put in from 5, the link must be closed.
The tensile force F is generated only by the radial expansion of the l,7t enclosure. In FIG. 7, the machining load 44 has moved by a distance D1 due to expansion in the radial direction. The distance D1 is also larger than the distance shown in FIG. This is because the link is not sharply bent as in Fig. 5, but deformed into an arc shape in Fig. 7.

In the above equation, P - enclosure column pressure S - surface area of the enclosure a - angle between the central axis 38 and a tangent 41 at a point on the enclosure surface As shown in FIG. 13 (+- form, enter J-Soya Fg
The force generated is twice that of the lifting platform shown in Figure 5, which is stretched. First, as shown in FIG. 7, pressurized fluid within the enclosure generates a force along the meridian of the enclosure. Second, the tension force TF along the equator of the tube generates a tension force PFt along the links of the network. At the same time, a large contraction of the actuator occurs. First, the meridian of the enclosure is curved in an arc, so the 7th! The actuator shown in Figure 2 causes contraction of the actuator. The meridian length then decreases as the area enclosure radially expands due to the regular connection of the mesh links, increasing the degree of contraction D2 as shown in FIG.

The axially retractable actuator of the present invention provides significant advantages over hydraulic or pneumatic cylinders. This actuator is easy to manufacture and requires significantly less cost and cylinder size. There are no sealing or leakage problems as there is no need for sliding seals as are required in the cylinder case. Thus, it would be highly desirable for installations where fluid leakage is a major problem. This actuator is not susceptible to side forces, unlike a fluid cylinder which cannot tolerate side forces. At the same time, this actuator can be installed either side or side of a hydraulic cylinder, allowing for more complex robot arm and hand designs.

9 to 12 show another actuator 1.1 similar to actuator 1. FIG. The parts corresponding to actuator 1 are indicated by the same number with the addition of ", 1".

The actuator 1.1 is installed in the spindle-shaped enclosure Z81ti in the previous state when installed in FIG. According to this, the wall thickness remains uniform even after the enclosure is expanded.

The actuator 1.1 may also be a plastic embedded in a layer of flexible material 50 of the housing of the enclosure. In the previous state, this layer is loosened at each of the meshes 52 and is pushed out. Thus, layer 50 can be easily stretched to an uncontracted state, although the material need not be elastic. This minimizes the interference of the straddle layer 5d with lateral expansion into the axially contracted state. At the end 36.1, the lines forming the mesh form a semicircular groove 35.1 extending along the cylinder 20.1.
It is placed inside and is closed. This groove is provided circumferentially around the cylinder. The above-mentioned cylinder is attached and fixed to the turntable of Empul 18.1. line 37
．． 1 is wrapped around the cylinder 20.1 and secured to hold the lines of the mesh on the cylinder. Similarly, the end 34.1 of the mesh body 28.1 is implanted. Rutoki,
It is connected to the 7 cylinder 6.1 attached to the 1st wheel.

The actuator 1.1 also has a perforated friction-reducing layer 54t, resembling a thin elastic sheet-like tube, between the layer 5O and the enclosure 2.1. Layer 54 together with layer 50 reduces the resistance to expansion caused by friction between mesh 28.1 and enclosure 2,1. Hole 8O eliminates any vacuum that may occur between the layers. oil, grease,
A lubricant (such as petroleum jelly or petroleum jelly) may be applied between the Wj 54 and the enclosures 2,1 to further reduce friction. A lubricant may also be applied between layers 50 and 54. Layer 54 has a first end 58 and a second end 59. The first end 5B of the layer 54 is fitted around the first end 3,1 of the resilient enclosure 2.1.

Similarly, the second end 59 is secured around the second end 16,1 of the resilient enclosure.

The actuator 161 is believed to extend the life of the actuator unit 1 due to reduced friction on the enclosure and therefore reduced wear.

14-17 illustrate an actuator 1.2 gold according to yet another embodiment of the present invention. This embodiment uses an enclosure, a mesh body, and a gold inlay 60. Wall 62 is made of a resilient material such as rubber and acts as an enclosure.

A non-stretchable, flexible link 64 such as a braided wire and a mesh body 63 are embedded in the wall 62. A second net 66 of similar or thinner wire is, for example, a net 63.
It extends across the 0th stitch 68. This second mesh prevents any excessive outward bulge between the lines l'L of the mesh ti3 (enclosure).

The actuator 1.2 has a port 10 for connecting a hose for supplying pressurized fluid, similar to the embodiments already described. Rings 74 and 76 provide connection means at opposite ends of the actuator. Line or link 64 is the first
As seen in Figure 7, the sea urchin extends an additional length from the ring. Rings 74 and 76 and link 6
4 are encapsulated in suitable rigid rigid bodies 75 and 77 at each end of the actuator.

Although an elastic material is preferred for the enclosure, other sheet-like, flexible, non-permeable, glass materials such as 7T can also be used.

Referring to FIG. 9, the entire actuator is embedded in an inelastic layer 50 acting as an enclosure t'
It is also possible to construct a rod-like body 28.1. The connecting means may be of the type shown in FIG. 9 or of the type shown in FIG. 14. The material is increased in size and bulges out between the links of the net. Therefore, the required WW and deformation of the enclosure gloss are facilitated without requiring elastic properties.

[Brief explanation of the drawing]

FIG. 1 is a side view of an actuator prior to installation according to one aspect of the present invention. FIG. 2 is a side view of the actuator of FIG. 1 installed on a hinged arm and in the axially uncontracted state. FIG. 3 is a fragmentary view of another embodiment having a hexagonal mesh network. FIG. 4 is a side view of the actuator of FIGS. 1 and 2 in an axially retracted state after installation. FIG. 5 is an approximately 11tlIthi diagram showing in a simplified form the function of the reticular body of one cut unit shown in FIGS. 1 to 4. 6-8 are schematic perspective views showing the functions of the actuators of FIGS. 1-4 in a simplified form. FIG. 9 is a partial perspective view of an actuator according to another embodiment of the invention. FIG. 10 is an exploded perspective view of the one-mouth unit shown in FIG. 9. FIG. 11 is a perspective view of the friction reduction unit of FIGS. 9 and 10; FIG. FIG. 12 is a perspective view of the resilient enclosure of the actuators of WIs 9-111. FIG. 13 is a cross-sectional view taken along line 13--13 in FIG. 11. FIG. 14 is a side view of an actuator in an axially unretracted state according to still another embodiment of the present invention. FIG. 15 shows a side view of the actuator of FIG. 13 in an axially retracted state. FIG. 16 is a cross-sectional view taken along line 16--16 of FIG. 15. FIG. 17 is a cross-sectional view taken along line 17--17 in FIG. 14. 1...Actuator, 2...Enclosure,
8...Mounting bracket, 18...Emple, 20...Ring, 23...Metal fitting, 28...Network, 30...
Link, 32... Joint, 39... Arm, 41... Joint joint, 43... Weight, 50... Flexibility layer, 5
4...Friction reduction layer, 66...Second network body, 62.
...Wall, 15.77...Glassic body. Agent Masao Miyake

Claims (1)

[Scope of Claims] 1. A first connecting means (4) and a second connecting means (18) are provided at the opposing first and second ends (3, 16); an actuator (1) retractable along an axis (38) extending between the actuator (1) and means actuated by the actuator (23,
``if) is an actuator connectable to said connecting means, said actuator comprising: (a) an opening (18) for admission of pressurized fluid; at least one hollow flexible enclosure (2) having
and (b) directing the pressurized fluid into the at least one enclosure and converting the expansion of the actuator transverse to the winding axis into an axial contraction. A restraint means (28) extending around the circumference, the restraint means comprising a plurality of inextensible, flexible tension links (ao) intersecting to form a mesh tubular network (28) having four and more sides. z6, said links are connected together at the intersections (32) of the mesh so that they align in line with the axis when the enclosure is extended, while when pressurized fluid is admitted into the enclosure. A mesh is formed. 2. The actuator of claim 1, wherein the restraint means is contractible in the direction of the axis and at the same time expandable in the direction transverse to the axis. 3. An actuator according to claim 2, wherein the tension links are connected together at intervals so that the mesh (28a) consists of a hexagonal mesh. 4 The tension links are connected at intervals so that the mesh body (28) has a quadrilateral mesh area.
term actuator. 5. The actuator according to claim 1, in which the mesh is larger toward the center thereof and smaller toward the ends of the enclosure. 6. The actuator according to claim 1, in which the enclosure extends in a certain dimension along the axis. actuator. 7. The actuator according to claim 1, wherein the net is not integral with the enclosure and allows relative movement between the enclosure and the net. 8. The actuator according to claim 1 or 7, wherein the enclosure gloss is made of an elastic material. 9. The actuator according to claim 8 is spindle-shaped in its unretracted state. Claim 8, which rests tightly around the enclosure.
term actuator. 11. The actuator of claim 10, wherein the attachment has a previous condition in which the mesh exists in a loose condition around an enclosure that can be axially expanded into a non-retracted state. 12. The actuator of claim 8, wherein the mesh is embedded in a layer (50) of elastic material forming a tube extending around the circumference of the enclosure. 13 Friction-reducing layer of elastic sheet material (54
) is further provided between the mesh body and the enclosure. 14. The actuator of claim 8 further comprising a lubricant between the friction reducing layer and the enclosure. 15. The actuator according to claim 13, further comprising a lubricant between the mesh body and the friction reducing layer. 16. The actuator of claim 13, wherein the friction reducing layer has holes. 17. The actuator of claim g8, wherein the restraining means is embedded in the enclosure. 18. The actuator according to claim 17, characterized in that there is another link extending through the mesh 1 of the reticulation body to suppress bulging of the enclosure. 6. The actuator of claim 3.4 or 5, wherein the 19M4-shaped body is non-integral with the enclosure, and the enclosure is made of a sheet-like flexible, non-permeable, non-elastic material. 20. The actuator of claim 19, wherein the restraint means are embedded in the enclosure. 21 The size of the layer of elastic material is increased by 7' (ρ
The actuator according to claim 18 or 19, which extends.