WO2007097009A1 - Actuator operating method and actuator operating system - Google Patents

Abstract

The invention aims to improve the operating speed of a fluid-pressure actuator. An actuator (10) has openings at its both ends in the longitudinal direction. Hoses (H1, H2) are connected, to the openings so that a fluid from a fluid feeder (2) through the hoses (H1, H2) sent out can be fed to the actuator (10) through the openings at the both ends. Between the actuator (10) and the fluid feeder (2) is connected a channel switching valve (4). The channel switching valve (4) includes a channel for shutting the fluid feeder (2) and the actuator (10), a channel for causing the fluid feeder (2) to simultaneously communicate with both openings at the both ends of the actuator (10) , and a channel for shutting the fluid feeder (2) and releasing the air of the openings at the both ends of the actuator (10) to the air. By switching between these channels under the control of a control unit (8), it is possible to perform the simultaneous feed and exhaust of a fluid through the openings at the both ends of the actuator (10) and to improve the operating speed of the actuator (10).

Description

 Specification

 Actuator Actuation Method and Actuator Actuation System Technical Field

 TECHNICAL FIELD [0001] The present invention relates to an actuator operating method and an actuator operating system for improving the operating speed and contraction rate of an actuator.

 Background art

 Conventionally, there are various types of fluid pressure type actuators that are operated by supplying fluid such as air and liquid. Figures 15 (a) and 15 (b) show a Matsukin Ben-type actuator 100 as an example of a conventional fluid-pressure actuator! The actuator 100 is configured to cover the bag body 102 with a stretchable covering body 101. When a fluid is supplied through the hose H connected to the opening 102a provided on the one end 101a side, the bag body 102 expands and the actuator 100 is expanded. Operates. When the fluid is discharged from the expanded actuator 100 through the opening 102a, the actuator 100 contracts and returns to its original state. By using the action of the actuator such as expansion and contraction, the object can be moved and gripped. The fluid pressure type actuator can be applied to the artificial muscle of the robot and the driving of various driving devices. Many.

 [0003] Some fluid pressure type actuators are provided with a plurality of openings for supplying and discharging fluid. For example, Patent Document 1 discloses that openings are provided at both ends of a tube-like tubular elastic body forming an actuator, and fluid with one opening force flows in and fluid with another opening force is discharged. ing. Although different from the Matsukin Ben type actuator, Patent Document 2 discloses that a cylindrical elastic body is formed by a cylindrical elastic body in which the inside is divided into a plurality of pressure chambers by partition walls extending in the axial direction. It is disclosed that the bending operation of the actuator is realized by providing a plurality of openings for each pressure chamber on one end side of the tube and appropriately selecting the pressure chamber for supplying fluid.

 Patent Document 1: Japanese Patent Laid-Open No. 2001-355608

 Patent Document 2: JP-A-1-247809

Disclosure of the invention Problems to be solved by the invention

 [0004] A conventional general hydraulic actuator has a structure in which fluid is supplied and discharged through a single opening. Since it is difficult to supply and discharge a large amount of fluid through a single opening in a short time, the operating speed (responsiveness) of a conventional actuator has a certain limit. To increase this limit, consider increasing the cross-sectional area of the single opening and the cross-sectional area of the hose, or using a fluid supply device (eg, large compressor, pump, etc.) with a high supply pressure. It is done.

 However, when the sectional area of the opening and the hose are increased, the dimensions around the opening of the actuator (the thickness dimension in the Y direction shown in FIGS. 15 (a) and 15 (b)) are increased. There arises a problem that it is difficult to apply the actuator to the application. In addition, when a fluid supply device having a large supply pressure and a large size is used, the entire operation system including the actuator becomes large, and the system cannot be made compact.

 [0006] To solve the above problem, even if the actuator according to Patent Document 1 is used, this actuator only performs a control process for flowing a fluid from one opening to the other opening ^ -way. , Force that makes fluid flow more or less smooth A large amount of fluid cannot be supplied or discharged in a short time. In addition, the actuator according to Patent Document 2 is intended to realize a bending operation, and is different in type from a general hydraulic actuator that operates by reducing the overall length of the actuator by expanding in the radial direction. Since the structure is provided with a plurality of openings at the end, it is inevitable to increase the size of the actuator (thickness).

 [0007] Further, the conventional general fluid pressure type actuator has a large upper limit of the ratio (shrinkage rate) that expands in the radial direction by the fluid supply and contracts the entire length (contraction rate of the conventional actuator). There was a problem that the upper limit of the shrinkage rate was about 20 to 30%) and the operating amount of the actuator stayed within a certain range. The fact that the operating amount cannot be increased in this way is also the same for the actuators according to Patent Document 1 and Patent Document 2.

[0008] The present invention has been made in view of such a problem, and a large amount of fluid can be passed in a short time by allowing a fluid to pass through both openings simultaneously with respect to an actuator provided with openings at both ends. Actuator that improves the operating speed of the actuator by enabling fluid supply and discharge It is an object of the present invention to provide a user operating method and an actuator operating system. In addition, the present invention provides an actuator with two openings formed in the interior, each having openings at both ends communicating with each other, and simultaneously supplying fluid through both openings, thereby enabling the actuator to operate at an operating speed and shrinkage rate. It is an object of the present invention to provide an actuator operating method and an actuator operating system in which both of the above are improved. Means for solving the problem

 In order to solve the above problems, an actuator operating method according to the present invention is an actuator operating method in which a fluid supply device force fluid is supplied to an inflatable / retractable actuator having openings at both ends to operate the actuator. The fluid is simultaneously supplied through the openings at both ends of the actuator to expand the actuator.

 The actuator operating method according to the present invention is an actuator operating method in which fluid supplied to an inflatable / retractable actuator provided with openings at both ends is discharged outward to operate the actuator. The actuator is contracted by simultaneously discharging fluid through openings at both ends.

[0010] Further, the actuator operating method according to the present invention supplies the fluid supply device power fluid to the expandable / contractable actuator having openings at both ends, and discharges the supplied fluid outward to operate the actuator. The actuating method is to simultaneously supply fluid through the openings at both ends of the actuator, and simultaneously discharge the fluid through the openings at both ends from the expanded actuator supplied with the fluid, thereby contracting the actuator. It is characterized by making it.

 [0011] In addition, the actuator operating method according to the present invention is characterized in that the actuator has openings at both ends communicating with one internal chamber to which a fluid is supplied.

 Furthermore, in the actuator operating method according to the present invention, the actuator forms a first chamber and a second chamber to which a fluid is supplied, and communicates an opening at one end with the first chamber. The opening at the other end communicates with the chamber.

[0012] An actuator operating system according to the present invention includes an inflatable / retractable actuator having openings at both ends, a fluid supply device that supplies fluid to the actuator, and the fluid supply And a flow path switching device having a plurality of switchable flow paths connected between the device and the openings at both ends of the actuator. The flow path switching device is provided at an opening at one end of the actuator. A first connection port connected, a second connection port connected to the opening at the other end of the actuator, a third connection port connected to the fluid supply device, and the third connection port as the first connection port and And a first flow path communicating with the second connection port.

 In the actuator operating system according to the present invention, the flow path switching device simultaneously opens the first connection port and the second connection port to an ambient atmosphere.

[0013] An actuator operating system according to the present invention includes an expandable / contractable actuator having openings at both ends, and a fluid supply / discharge device that supplies fluid to the actuator and discharges the supplied fluid. The fluid supply / discharge device is connected to openings at both ends of the actuator.

 [0014] The actuator operating system according to the present invention includes an inflatable / retractable actuator having openings at both ends, a first fluid supply device that supplies fluid connected to an opening at one end of the actuator, and the actuator. A second fluid supply device for supplying a fluid connected to the opening at the other end of the first and a control means for controlling the fluid supply so that the fluid is simultaneously supplied to the actuator through the openings at both ends. It is characterized by that.

 [0015] Further, the actuator operating system according to the present invention is characterized in that the actuator has a chamber to which a fluid is supplied formed therein, and openings at both ends communicate with the chamber.

 Furthermore, in the actuator operating system according to the present invention, the actuator has a first chamber and a second chamber to which fluid is supplied formed therein, and an opening at one end communicates with the first chamber. An opening at the other end communicates with the second chamber.

[0016] In the present invention, the opening force provided at both ends of the actuator also supplies the fluid at the same time. Therefore, the amount of fluid supplied per unit time is the same size with the opening provided only on one end side. It almost doubles compared to the actuator. For this reason, when supplying the same amount of fluid, the supply time can be shortened to about half of the conventional fluid supply method (method of supplying force only at the opening at one end of the actuator), resulting in the expansion of the actuator. The operating speed (responsiveness) related to the expansion of the actuator is improved by shortening the time required for Can be realized.

 [0017] Further, in the present invention, the fluid discharged per unit time is simultaneously discharged from the openings provided at both ends with respect to the actuator expanded by supplying the fluid. It is about twice as much as the method of fluid discharge (how to discharge force only at the opening on one end of the actuator). As a result, the time required for contracting the expanded actuator to its original size can be almost halved. Therefore, the operation speed (responsiveness) related to the contraction of the actuator can be improved.

 Furthermore, in the present invention, when the actuator is expanded, the fluid is simultaneously supplied from the openings at both ends, and when the actuator is contracted, the fluid is simultaneously discharged from the openings at both ends. It is possible to improve the responsiveness related to the operation of both expansion and contraction. Note that the simultaneous supply of fluid through the openings at both ends means that the time period during which the fluid is supplied simultaneously through the openings at both ends only needs to exist within the fluid supply time. It does not require that the timing of supply termination be always the same. The same applies to fluid discharge.

 [0019] In the present invention, the flow switching device is connected between the fluid supply device and the openings provided at both ends of the actuator, and the fluid supply is provided in the plurality of flow channels of the flow switching device. Since there is a first flow path through which fluid can flow simultaneously from the apparatus to the openings at both ends, the actuator can be expanded in a short time, and the operating speed associated with the expansion of the actuator can be improved.

 In the present invention, since the second flow path that can simultaneously discharge the fluid in the actuator through the openings at both ends is provided in the plurality of flow paths of the flow path switching device, the expanded actuator is shortened. It is possible to contract in time, and the operating speed related to the contraction of the actuator can be improved.

[0020] In the present invention, the fluid supply / discharge device for supplying and discharging the supplied fluid is connected to the openings provided at both ends of the actuator, so that the fluid can be supplied simultaneously through the openings at both ends. Since the fluid in the actuator can be discharged simultaneously through the openings at both ends, the operating speed for both expansion and contraction of the actuator can be improved. It is.

 In the present invention, the first fluid supply device is connected to the opening provided at one end of the actuator, and the second fluid supply device is connected to the opening provided at the other end, so that the first and second fluids are connected. Since the control means controls so that the fluid is simultaneously supplied from the supply device, the fluid can be simultaneously supplied to the actuator through the openings at both ends. Therefore, a large amount of fluid can be supplied to the actuator in a short time, and the operating speed related to the expansion of the actuator can be improved. In addition, each fluid supply device need only have supply pressure that can supply fluid at one of the ends of the actuator. Therefore, a small fluid supply device can be applied, and the entire system can be enlarged. Can be prevented.

 [0022] In the present invention, the openings at both ends communicate with the chamber (s) formed in the inside of the actuator. Therefore, if fluid is supplied through the openings at both ends, the interior from both the openings The fluid can enter the chamber and the actuator can be expanded. In addition, since the actuator is provided with openings at both ends, the thickness of the actuator can be kept the same as that of an actuator having an opening at one end, and the thickness of the actuator can be increased. Nah ...

 In the present invention, the first chamber and the second chamber are formed inside the actuator, the opening at one end communicates with the first chamber, and the opening at the other end communicates with the second chamber. Therefore, it is possible to supply fluid up to twice as much as an actuator with a single chamber inside. As a result, the degree of expansion can be greatly increased compared to an actuator of the same size with only a single chamber inside, and the upper limit of the conventional shrinkage rate can be exceeded. Due to the structure provided, the thickness of the actuator will not increase.

[0024] It should be noted that any actuator that can be applied to the present invention is applicable as long as it is of a fluid pressure type, and of course a Matsukin Ben type actuator can also be applied. In addition, when using a Matsukin Ben-type actuator, either a rubber-based material containing synthetic rubber or natural rubber or a non-rubber-based material can be applied to the bag body contained in the covering, and in particular, When non-rubber materials are used for the bag, it is preferable that the material does not deteriorate due to secular change, but the cover should be tightened before the bag expands to the maximum so that the bag does not rupture due to fluid supply. It is important to prevent the bag body from further expanding due to the fastening force. Non-rubber materials include polypropylene, vinyl chloride, Teflon (registered trademark), polyester, polyamide, polyethylene, polyimide, polystyrene, polycarbonate, and other synthetic polymer compounds. Those containing at least one of the above components can be applied. The invention's effect

 In the present invention, since the opening force fluid provided at both ends of the actuator is simultaneously supplied, a large amount of fluid can be supplied in a short time to improve the operation speed related to the expansion of the actuator.

 In the present invention, the opening force at both ends of the expanded actuator also discharges the fluid at the same time, so that a large amount of fluid can be discharged in a short time and the operating speed related to contraction of the actuator can be improved.

 In the present invention, the flow path switching device connected between the fluid supply device and the openings provided at both ends of the actuator may cause the fluid to flow simultaneously from the fluid supply device to the openings at both ends. Since the first flow path is provided, the actuator can be expanded in a short time to improve the operating speed related to the expansion of the actuator.

 In the present invention, since the flow path switching device has the second flow path that can simultaneously discharge the fluid in the actuator through the openings at both ends, the fluid is discharged in a short time after the fluid is expanded. It is possible to improve the operating speed related to the contraction of the.

 [0027] In the present invention, since the fluid supply / discharge device that supplies and discharges the supplied fluid is connected to the openings provided at both ends of the actuator, the supply and discharge of the fluid are performed through the openings at both ends. At the same time, the responsiveness can be improved for the overall operation of the actuator.

 In the present invention, the first fluid supply device is connected to the opening at one end of the actuator, the second fluid supply device is connected to the opening at the other end, and the fluid is supplied to the actuator through the openings at both ends. Since the control is performed simultaneously, the operation speed related to the expansion of the actuator can be improved.

[0028] In the present invention, the openings at both ends communicate with the chamber formed inside the actuator. Therefore, the thickness of the actuator is maintained while maintaining the same thickness as the conventional one. Quick operation is possible.

 Further, in the present invention, the first chamber and the second chamber are formed inside the actuator, the opening at one end is communicated with the first chamber, and the opening at the other end is communicated with the second chamber. The fluid can be supplied to the first chamber and the second chamber, and both the contraction rate and the operation speed of the actuator can be improved.

Brief Description of Drawings

FIG. 1 is a schematic diagram showing an actuator operating system according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view showing an internal structure of the actuator used in the actuator operating system.

 FIG. 3 shows a schematic structure of a flow path switching valve, (a) is a schematic diagram showing a neutral position of the valve, (b) is a schematic diagram showing a fluid supply position of the valve, and (c) is a fluid of the valve. It is the schematic which shows a discharge position.

 FIG. 4 is a time chart according to the actuator operating method of the first embodiment.

[FIG. 5] (a) is a sectional view of the actuator showing a state in which fluid is simultaneously supplied through openings at both ends, and (b) is a sectional view of the actuator showing a state in which fluid is simultaneously discharged through openings at both ends. .

 FIG. 6 shows a gripping device to which an actuator is applied, (a) is a schematic diagram showing a state before gripping, and (b) is a schematic diagram showing a gripping state of an object.

 FIG. 7 is a modified actuator having openings at both ends, (a) is a cross-sectional view showing the internal structure, and (b) is a schematic view showing an expanded state by supplying fluid.

 FIG. 8 is a schematic view showing an actuator operating system according to a second embodiment of the present invention.

FIG. 9 is a perspective view showing a fluid supply / discharge device of a second embodiment.

 FIG. 10 (a) is a schematic cross-sectional view showing a state in which a fluid is discharged from the fluid supply / discharge device, and FIG.

 FIG. 11 is a time chart according to the actuator operating method of the second embodiment.

FIG. 12 is a schematic diagram showing an actuator operating system according to a third embodiment of the present invention. The

13] A schematic structure of the flow path switching valve according to the third embodiment is shown, (a) is a schematic diagram showing a neutral position of the valve, (b) is a schematic diagram showing a fluid supply position of the valve, (c ) Is a schematic view showing the fluid discharge position of the vanolev.

[14] FIG. 14 is a schematic view showing an actuator operating system according to a fourth embodiment of the present invention.

 FIG. 15 shows an example of a conventional fluid pressure type actuator, where (a) is a front view and (b) is a cross-sectional view showing the internal structure.

Explanation of symbols

 1 Actuator operating system

 2 Fluid supply device

 3 Check valve

 4 Flow path switching valve

 5 Stop channel

 6 Passing channel section

 7 Open channel

 8 Control unit

 10, 90 Actuator

 11, 91 Cover

 12 bags

 12c, 12d, 92b, 93b opening

 12e, 92d, 93d rooms

 16 Gripping device

 21 Motor drive unit

 30 Fluid supply / discharge device

 41 1st fluid supply device

 42 Second fluid supply device

61 First fluid supply / discharge device 62 Second fluid supply / discharge device

 92 1st bag

 93 Second bag

 H1-H9 hose

 M motor

 BEST MODE FOR CARRYING OUT THE INVENTION

 FIG. 1 shows an actuator operating system 1 according to the first embodiment of the present invention.

 The actuator operating system 1 uses a Matsukin Ben type as the inflatable / retractable actuator 10 to be operated, and supplies the fluid from the fluid supply device 2 via the hoses Hl and H2 connected to both ends. The fluid supply device 2 of the first embodiment uses a pump that sends out air as a fluid, and a check valve 3 and a flow switching valve 4 (corresponding to a flow switching device) are interposed between the actuator 10 and the fluid supply device 2. Yes. The flow path switching valve 4 includes a plurality of switchable flow paths, and a control unit 8 that performs flow path switching control is connected via a power line d. The check valve 3 prevents the fluid sent from the fluid supply device 2 and going to the flow path switching valve 4 from flowing back toward the fluid supply device 2, and the hose H3 turns the flow path off. Connected to the replacement valve 4 and connected to the fluid supply device 2 with the hose H4.

 FIG. 2 shows an internal cross section of the actuator 10. The actuator 10 has a structure in which a tubular bag body 12 is covered with a covering body 11, and openings 12 c and 12 d for allowing fluid to pass through are provided at both ends 12 a and 12 b of the bag body 12. Ends Hla and H2a of hoses H1 and H2 are inserted into these openings 12c and 12d, and heat-shrinkable tubes 14A and 14B are placed on the outer sides of both ends 12a and 12b of the bag 12, respectively. The hoses Hl and H2 are fixed to the bag body 12 by contracting the tubes 14A and 14B with a predetermined amount of heat. Note that the bag 12 used in the actuator 10 of the present embodiment is formed of a non-rubber material containing a polypropylene-based component.

[0033] Further, the covering body 11 is tubular and knitted to be stretchable. In this embodiment, polyester multifilament yarn (275 dtex), which is an ester-based yarn, is used, and the bag is punched by a string making machine. As the degree of knitting and stretching increases, the tightening force is increased to suppress excessive expansion of the bag body 12 so that the bag body 12 does not swell to the maximum extent and rupture. Of covering 11 Both end portions l la and l ib are bound and fixed by winding thread-like binding members 13A and 13B while covering both ends 12a and 12b of the bag body 12. In addition to the thread-like member, a synthetic resin-made binding band, a binding bracket, a forceps, a string-like member, and the like can be applied to the binding members 13A and 13B.

 [0034] The actuator 10 having the structure described above is inflated when a fluid is sent into the chamber 12e inside the bag body 12, and accordingly, the actuator 10 expands in the radial direction (direction orthogonal to the X direction in FIG. 2). Works. At this time, the dimension in the longitudinal direction (X direction in FIG. 2) of the actuator 10 contracts shorter than that in the state where no fluid is supplied. Further, when the fluid is discharged from the chamber 12e of the bag body 12 in the expanded actuator 10 to the outside, the bag body 12 is deflated and the actuator 10 contracts to return to the original state (the state shown in FIGS. 1 and 2). .

 On the other hand, FIGS. 3A to 3C schematically show the structure of the fluid switching valve 4. The fluid switching valve 4 includes a first port 4a (corresponding to the first connection port) connected to the hose HI connected to one end of the actuator 10, and a second port 4b connected to the hose H2 connected to the other end. (Corresponding to the second connection port) and a third port 4c (corresponding to the third connection port) connected to the hose H3 on the fluid supply device 2 side. Furthermore, the fluid switching valve 4 incorporates valves driven by solenoid coils 4e and 4d provided on both sides of the inside, and the flow paths to the respective ports 4a to 4c are switched by driving the valves. The fluid switching valve 4 of the present embodiment includes a flow path section that switches the nozzle to 3 positions to form three types of flow paths.

 [0036] The first channel portion is the stop channel portion 5, and the stop channel portion 5 forms closed channels 5a to 5c that close the ports 4a to 4c. The second is a passage channel section 6 that forms a communication channel 6a (corresponding to the first channel) that allows the third port 4c to communicate with the first port 4a and the second port 4b simultaneously. The third is an open flow path section 7. The open flow path section 7 opens the first port 4a and the second port 4b to the ambient atmosphere and discharges the fluid to the outside (atmosphere) 7a, 7b. (Corresponding to the second flow path) and the closed flow path 7c for closing the third port 4c is formed.

[0037] The positions of the flow paths 5 to 6 of the fluid switching valve 4 are switched depending on the situation where the excitation current is sent to the solenoid coils 4e and 4d on both sides. Specifically, the excitation current is also sent from the control unit 8 to the V and displacement of the solenoid coils 4e and 4d on both sides. In this case, the stop flow path section 5 is arranged so that it corresponds to each point 4a to 4c. In the neutral position (state shown in Fig. 3 (a)) . In FIG. 3, when the excitation current is sent only to the solenoid coil 4e on the left side, the internal valve is in the fluid supply position so that the passage channel section 6 corresponds to each port 4a to 4c (FIG. 3 (b) State). Further, in FIG. 3, when the excitation current is sent only to the right solenoid coil 4d, the internal valve is in the fluid discharge position so that the open flow path portion 7 corresponds to each port 4a to 4c (FIG. 3 ( The state shown in c).

 The control unit 8 that performs flow path switching control of the flow path switching valve 4 includes a control unit 8a, a memory 8b, and a current output unit 8c as shown in FIG. The memory 8b stores a control program P1 that defines how the actuator 10 is to be operated. According to the contents of the control program P1, the control unit 8a passes the power line d from the current output unit 8c at a predetermined timing. Next, an excitation current is output to the flow path switching valve 4.

 [0039] The control program P1 of this embodiment expands the actuator 10 and maintains the expanded state for a certain period of time, and then contracts the actuator 10 to maintain the contracted state for a certain period of time as one cycle. It is programmed to repeat this one cycle sequentially.

 Specifically, as shown in the timing chart relating to the actuating method of the actuator in FIG. 4, the fluid is supplied to the actuator 10 with the flow path switching valve 4 in the fluid supply position from time 0 to tl (expansion transition). State), from time tl to t2, the flow path switching valve 4 is set to the neutral position to maintain the expansion state of the actuator 10, and from time t2 to t3 the actuator 10 is expanded with the flow path switching valve 4 set to the fluid discharge position. The fluid is discharged (contraction transition state), and the contraction state of the actuator 10 is maintained with the flow path switching valve 4 in the neutral position from time t3 to t4. The fluid supply device 2 operates continuously from time 0 and delivers fluid as needed, and the fluid supply to the actuator 10 is controlled by the fluid switching valve 4.

[0041] From time 0 to tl in the timing chart of FIG. 4, the fluid switching valve 4 is in the position shown in FIG. 3 (b), and the fluid delivered from the fluid supply device 2 passes through the communication channel 6a and passes through the hose Hl. Then, the direction force to the actuator 10 through H2 flows into the internal chamber 12e through the openings 12c and 12d on both sides of the bag body 12 as shown in FIG. 5 (a). At this time, since fluid is simultaneously supplied to the actuator 10 from the openings 12c and 12d on both sides, if the hose cross-sectional area is the same as that of the conventional actuator shown in FIGS. 15 (a) and 15 (b), the unit Fluid per hour The supply can theoretically be doubled. Therefore, the actuator 10 can be inflated at a speed approximately twice that of the conventional speed (the value of time 0 to tl is reduced to half of the conventional speed), and the operating speed of the actuator 10 related to the expansion (operating response) Will improve.

 [0042] Also, at time t2 to t3 in the timing chart of FIG. 4, the fluid switching valve 4 is in the position shown in FIG. 3 (c), and the open flow paths 7a and 7b communicate with the hoses Hl and H2 and the ambient atmosphere. Along with the connection force ¾, the fluid from the fluid supply device 2 is stopped by the closed flow path 7c, so that the fluid supplied to the actuator 10 has openings on both sides of the bag body 12 as shown in FIG. It is discharged to the outside (ambient atmosphere) through 12c and 12d. At this time, fluid is simultaneously discharged from the openings 12c and 12d on both sides, so if the hose cross-sectional area is the same as that of the conventional actuator shown in Figs. 15 (a) and 15 (b), the per unit time The fluid discharge can theoretically be doubled. For this reason, the actuator 10 can be contracted at a speed almost twice as fast as before (the time t2 to t3 is reduced to half of the conventional value), and the operating speed (operation response) of the actuator 10 related to contraction is also increased. improves.

 [0043] The actuator operating system 1 that operates the actuator 10 by the above-described actuator operating method can be applied to artificial muscles of robots, various drive sources in production facilities, various gripping devices, and the like. 6 (a) and 6 (b) show a gripping device 16 which is an example to which the actuator 10 operated by the actuator operating system 1 is applied. The gripping device 16 is a production facility in the FA field and is suitable for handling (clamping and gripping) of an object (workpiece) W. The inner surface 17a of the actuator 10 is arranged and fixed by a fixture (not shown) such that the vertical direction in the figure coincides with the longitudinal direction of the actuator 10 (X direction). The gripping device 16 is provided with a facing member 18 so as to face the actuator 10 with a space R larger than the outer shape of the object W, and the facing member 18 and the base member 17 are connected by a connecting member 19. . The gripping device 16 protrudes from the outer surface 19a of the connecting member 19 and connects the gripping device 16 to the moving mechanism of the production facility or the robot arm end of an industrial robot via the attachment portion 16a. I can do it.

In order to hold an object with the gripping device 16 described above, first, the gripping device 16 is connected to a moving mechanism of a production facility or a robot arm end of an industrial robot, and the like. To be able to move. Next, the gripping device 16 is moved above the object W by driving the production equipment or the industrial robot, and then the gripping device 16 is lowered so that the object W is positioned in the space R of the gripping device 16. In this state, when the actuator 10 is inflated by the above-described actuator operating system 1, the actuator 10 rapidly expands and extends in the Y direction in the figure, so that the object W extends between the surface of the covering 12 of the actuator 10 and the opposing member 18. It is clamped by the inner surface 18a (the state shown in FIG. 6 (b)). Also, when releasing the object W, if the actuator 10 is contracted by the actuator operating system 1, the actuator 10 is quickly deflated and contracts in the Y direction in the figure to quickly release the object W from gripping. To do. When the actuator operating system 1 (actuator operating method) of the first embodiment is applied to the gripping device 16 having such a structure, the object W can be quickly gripped and released more quickly than before, and the object can be quickly released. It is suitable for processes that require movement or change in posture of W.

 Note that the first embodiment of the present invention is not limited to the above-described embodiments, and various modifications can be applied. For example, the fluid that operates the actuator 10 can be either gas or liquid, and the content of the control program P1 stored in the memory 8b of the control unit 8 is limited to the procedure shown in the time chart of FIG. However, it can be changed at any time according to the application target of GUUCUATOR10. In addition, the material of each member of the actuator 10 can be changed as appropriate. For example, the bag body 12 inside the covering body 11 is made of a non-rubber material such as polypropylene, chlorinated, Teflon (registered trademark). It is also possible to use a material containing at least one component of a synthetic polymer compound that does not allow fluid to pass, such as polyester-based, polyamide-based, polyethylene-based, polyimide-based, polystyrene-based, and polycarbonate-based fluids. For this purpose, a rubber material containing a synthetic rubber or a natural rubber component may be used.

In addition, an actuator 90 of a modified example as shown in FIGS. 7A and 7B can be used in place of the above-described actuator 10. The actuator 90 is characterized in that the first bag body 92 and the second bag body 93 are housed in the interior 91c of the covering body 91. The first bag body 92 has an opening 92b at one end 92a and a closed end 92c. The end Hla of one hose HI is inserted into the opening 92b and fixed with a heat-shrinkable tube 94A. Yes. The second bag 93 The front end 93c is closed and the opening 93b is formed at the other end 93a. The end H2a of the other hose H2 is inserted into the opening 93b and fixed with the heat shrinkable tube 94B. The cover 91 is cylindrical and knitted so as to be extendable and retractable similarly to the cover 11 of the actuator 10 shown in FIG. 2, and both end portions 91a and 91b are connected to the end 92a of the first bag 92 and the second bag. In a state where the end 93a of the body 93 is covered, thread-like binding members 95A and 95B are wound and fixed. The actuator 90 is the same as the actuator 10 in FIG. 2 except for the above-described portions. For example, the same material as the bag body 12 of the actuator 10 can be applied to the bag bodies 92 and 93.

When the actuator 90 of FIG. 7 is operated by the actuator operating method of the actuator operating system 1, in the expansion transition state shown in FIG. 4, the opening 92b from one hose HI to the chamber 92d in the first bag 92 is provided. At the same time, the fluid is supplied from the other hose H2 to the chamber 93d in the second bag 93 through the opening 93b. As a result, in the modified actuator 90, if the hose cross-sectional area is the same as that of the conventional actuator 100 shown in FIGS. 15 (a) and 15 (b), the fluid supply amount per unit time is theoretically increased. It can be doubled, and the expansion operation can be performed at a speed almost twice that of the prior art, and the operation speed related to expansion can be improved. Since the actuator 90 of the modified example has the first bag body 92 and the second bag body 93, the volume force of the chambers 92d and 93d of the respective bag bodies 92 and 93 is the inside of the bag body 102 of the conventional actuator 100. If the volume is the same, theoretically, twice the amount of fluid can be supplied.

 [0048] FIG. 7 (b) shows a state in which the fluid is supplied to the extent that the bags 92, 93 are not ruptured. The presence of the bags 92, 93 makes it possible to compare with the conventional actuator 100. The degree of expansion has increased dramatically, and along with this, the degree of contraction (shrinkage rate) in the X direction has greatly exceeded the conventional upper limit, and the amount of operation has been increased. At this time, since the actuator 90 supplies the fluid simultaneously through both openings 92b and 93b, the time until the state is expanded to the state shown in FIG. 7 (b) is the same as the conventional actuator 100 having the same size bag. Is equivalent to

[0049] Further, when the fluid is discharged from the expanded actuator 90 as shown in FIG. 7 (b), the fluid can be discharged to the outside simultaneously through both openings 92b and 93b, so that the operating speed related to the contraction of the actuator 90 is reduced. Can also be increased. Therefore, when such an actuator 90 is applied to the gripping device 16 as shown in FIGS. 6 (a) and 6 (b), the amount of operation in the Y direction in FIG. The object W to be grasped can be grasped reliably without any problems even when there are various types of objects in the Y direction.

 FIG. 8 shows an actuator operating system 20 according to the second embodiment of the present invention. The actuator operating system 20 of the second embodiment is characterized by using a fluid supply / discharge device 30 capable of both supplying and discharging fluid. The fluid supply / discharge device 30 is connected to the hoses H1 and H2 extending from both ends of the actuator 10 via the hose H5 and the three-way joint 22. In comparison, the check valve 3 and the flow path switching valve 4 are omitted and the configuration is simple. Note that the actuator 10 to be actuated in the actuator operating system 20 of the second embodiment is the same as that of the first embodiment, and a description thereof will be omitted.

 FIG. 9 shows a syringe pump that is the fluid supply / discharge device 30. The fluid supply / discharge device 30 is based on an injector 32 (syringe), and a tip nozzle 33a of the injector 32 is connected to a hose H5 via a manual switching valve 35. The cylinder portion 33 of the syringe 32 is fixed to the upper surface 31a on one end side of the elongated base plate 31 by a holder 36 in a horizontal posture, and the piston portion 34 that slides in the longitudinal direction inside the cylinder portion 33 is a rod portion 34a. Is passed through a hole 36a formed in a holder 36 standing from the base plate 31, and the piston portion 34 and the rod portion 34a are slidable.

 Further, a columnar motion conversion member 37 is attached to a disc-shaped end portion 34b provided at the end of the rod portion 34a. The motion converting member 37 is formed with a screw hole 37a along the central axis, and a screw rod 38 is screwed into the screw hole 37a. The screw rod 38 is connected to the motor shaft Ma of the motor M attached to the motor holder 39 erected from the upper surface 3 la on the other end side of the base plate 31. Further, the motor M is connected to the motor drive unit 21 by the lead wire L, and the rotation of the motor M is controlled by the motor drive unit 21. The volume of the cylinder part 33 of the syringe 32 should be sized according to the total value of the internal volume of the hoses H1, H2 and H5 and the allowable fluid supply amount of the actuator 10! /

[0053] When the motor M rotates in the fluid supply / discharge device 30 in the fluid supply direction (for example, clockwise direction), as shown in Fig. 10 (a), the piston portion 34 moves in the direction indicated by the white arrow (leftward in the figure). ) To send air (fluid) in the cylinder tube 33 from the tip nozzle 33a. Also, the mode When the cylinder M rotates in the fluid discharge direction (for example, counterclockwise direction), as shown in FIG. 10 (b), the piston portion 34 moves in the direction of the white arrow (right direction) in the figure, and the front end nozzle 33a Air (fluid) is sucked from the air. Therefore, if the fluid supply / discharge device 30 is in the state shown in FIG. 10 (a), the fluid in the cylinder cylinder 33 is supplied to the actuator 10 as the fluid supply device, while the fluid supply / discharge device 30 is shown in FIG. 10 (b). In the state shown in FIG. 4, the fluid supplied to the actuator 10 is sucked into the cylinder tube portion 33.

As shown in FIG. 8, the motor drive unit 21 has a control unit 21a, a memory 21b, and a signal output unit 21c. The memory 21b stores a motor drive program P2 that defines how the motor M of the fluid supply / discharge device 30 rotates, and the control unit 21a outputs the signal output unit 21c from the signal output unit 21c at a predetermined timing according to the contents of the motor drive program P2. A control signal for controlling the rotation direction is output to the motor M through the lead wire L. As in the first embodiment, the motor drive program P2 expands the actuator 10 and maintains the expanded state for a certain period of time, and then contracts the actuator 10 to maintain the contracted state for a certain period of time. The cycle is programmed to repeat this one cycle.

 FIG. 11 shows a timing chart according to the actuating method according to the second embodiment, and this timing chart is the contents of the motor drive program P2. Specifically, the motor M of the fluid supply / discharge device 30 is rotated in the fluid supply direction from time 0 to tl0 to supply the fluid to the actuator 10 as shown in FIG. 10 (a) (expansion transition state). The motor M is stopped at the time tl0 to tl l to maintain the expansion state of the actuator 10, and the motor M is rotated in the fluid discharge direction from the time tl l to tl2 (the state shown in FIG. 10 (b)). The fluid is discharged from the expanded actuator 10 (contraction transition state), and the motor M is stopped at the time tl2 to tl3 to maintain the contraction state of the actuator 10.

[0056] From time 0 to tl0 in the timing chart of FIG. 11, the fluid sent out from the fluid supply / discharge device 30 is directed to the actuator 10 through the hose H5, the three-way joint 22, and the hoses Hl and H2, and FIG. As shown in a), it flows into the chamber 12e through the openings 12c, 12d on both sides of the bag body 12. At this time, fluid is simultaneously supplied to the actuator from the openings 12c and 12d on both sides. Therefore, the second embodiment also has an action related to expansion compared to the conventional actuator. The operating speed (operation response) of the actuator 10 can be improved.

[0057] In addition, during the time tl 1 to tl2 in the timing chart of FIG. 11, the fluid supplied to the actuator 10 is sucked by the fluid supply / discharge device 30, so that the bag 12 The fluid is discharged to the fluid supply / discharge device 30 through the openings 12c and 12d on both sides. At this time, since the fluid is simultaneously discharged from the openings 12c and 12d on both sides, the operating speed (operation responsiveness) of the actuator 10 related to contraction can be improved in the second embodiment as compared with the conventional actuator.

 Note that the same modification example as in the first embodiment can be applied to the second embodiment.

 For example, the content of the motor drive program P2 stored in the memory 21b of the motor drive unit 21 can be changed at any time according to the use object of the actuator 10, and the material used for the actuator 10 can be changed as appropriate. As in the first embodiment, the actuator 90 shown in FIGS. 7A and 7B can be used instead of the actuator 10.

 [0059] FIG. 12 shows an actuator operating system 40 according to a third embodiment of the present invention. The actuator operating system 40 according to the third embodiment is different from the actuator operating system 10 according to the first embodiment shown in FIG. 1 in that the both end forces of the actuator 10 also extend respectively for the first and second hoses H1, H2. The flow path switching valves 50 and 55, the first and second check valves 43 and 44, and the first and second fluid supply devices 41 and 42 are provided and connected by hoses H6 to H9. With such a structure, the fluid is supplied and discharged for each of the hoses Hl and H2, so that the burden on the fluid supply of each of the fluid supply devices 41 and 42 is halved, and the fluid of the first embodiment Compared with the supply device 2, each of the fluid supply devices 41 and 42 is small and has a small output, and can be used. The structure itself of each fluid supply device 41, 42 is the same as that of the first embodiment. In addition, the structure of the first and second check valves 43 and 44 is the same as that of the first embodiment, and the description thereof is omitted.

FIGS. 13A to 13C schematically show the structure of the first flow path switching valve 50 used in the third embodiment, and the other second flow path switching valve. Since 55 has the same structure, the flow path switching valves 50 and 55 will be described as the first switching valve 50 as a representative. The first fluid switching valve 50 includes a first port 50a connected to the hose HI connected to one end of the actuator 10 and a second port 50b connected to the hose H6 on the first fluid supply device 41 side. In addition, a solenoid driven by solenoid coils 50c and 50d provided on both sides of the interior is built in, and the flow path for each port 50a and 50b is switched by driving this solenoid. The first fluid switching valve 50 of the third embodiment also includes a flow path section that forms three types of flow paths by switching the valve at three positions.

 [0061] The first channel portion is a stop channel portion 51, and the stop channel portion 51 forms closed channels 51a and 51b that close the ports 50a and 50b. The second is a passage channel portion 52, which forms a communication channel 52a that communicates the ports 50a, 50b. The third is the open channel 53, which closes the open channel 53a and the second port 50b that open the first port 50a to the surrounding atmosphere and discharge the fluid to the outside (atmosphere). A closed channel 53b is formed. Note that the switching of the position of each flow passage 51 to 53 depends on the state of the excitation current sent from the control unit 8 '(corresponding to the control means) as in the first embodiment, and the control unit ^ is basically 1 has the same structure as that of the first embodiment, and includes a control unit 8, a memory 8b 'for storing the control program P, and a current output unit 8, but the first and second flow path switching valves 50, 55 and 2 They are connected by two power lines dl and d2.

 [0062] Further, the contents of the control program are the same as those of the time chart of the first embodiment shown in FIG. 4, and the actuator 10 is controlled by controlling the flow path switching valves 50 and 55 at the same timing. The fluid is simultaneously supplied through both the openings 12c and 12d, and the fluid is discharged at the same time, so that the general operating speed of the actuator 10 is improved as compared with the prior art. In the third embodiment, the various modifications described in the first embodiment can be applied.

 [0063] Further, in the third embodiment, since the supply and discharge of the fluid are independent for each of the hoses H1 and H2, there are various nouris- tions regarding the supply and discharge of the fluid compared to the first embodiment. For example, the fluid can be supplied through both openings 12c and 12d at the same time, while the fluid can be discharged through only one of the openings 12c and 12d, or the timing can be shifted at the same time. . In addition, it is possible to supply fluid through only one of both openings 12c and 12d, and to discharge only at both openings 12c and 12d at the same time, depending on the application status of the actuator 10. Can be operated in the correct manner.

[0064] In particular, instead of the actuator 10 as an operation target, the actuator shown in FIGS. 7 (a) and 7 (b) is used. When the actuator 90 is applied, first, a predetermined amount of fluid is supplied from the first fluid supply device 41 to the first bag body 92 through the hose HI and one opening 92b to expand the actuator 90 by a predetermined amount. By supplying the fluid to the second bag 93 through the hose H2 and the other opening 93b by the second fluid supply device 42, the final expansion amount of the actuator 90 can be finely adjusted. By supplying such a fluid, for example, when the object W is gripped by the gripping device 16 shown in FIGS. 6 (a) and 6 (b), the first bag 92 is expanded until just before the object W is gripped. On the other hand, the last delicate grip allowance can be finely adjusted by the expansion of the second bag 93, and a more delicate grip configuration can be realized. Such control can also be applied to the case where the grasped object W is gently opened.

 FIG. 14 shows an actuator operation system 60 according to the fourth embodiment of the present invention. The actuator operating system 60 of the fourth embodiment enables supply and discharge of fluid for each of the hoses H1 and H2 in which both end forces of the actuator 10 extend as in the third embodiment. The first fluid supply / discharge device 61 and the second fluid supply / discharge device 62 are directly connected to H2. The first and second fluid supply / discharge devices 61 and 62 have a structure similar to that of the fluid supply / discharge device 30 shown in FIG. 9 described in the second embodiment and have a small supply amount. 21 / (corresponding to the control means) needs to control the two fluid supply / discharge devices 61, 62 at the same time, so the signal output unit 21c 'is connected to the first and second supply / discharge devices 61, 62 and the lead wires. The second embodiment is the same as the second embodiment in that the controller 21a ′ and the memory 211 / storing the motor control program are connected by L1 and L2.

[0066] The specified content of the motor drive program is the same as that of the time chart of the second embodiment shown in FIG. 11, and by appropriately rotating the motors of the first and second fluid supply / discharge devices 61, 62 simultaneously. In addition, the fluid is simultaneously supplied through both openings 12c and 12d of the actuator 10, and the fluid is discharged at the same time, so that the overall operating speed of the actuator 10 is improved as compared with the prior art. The first and second fluid supply / discharge devices 61 and 62 correspond to fluid supply devices when supplying fluid. Also in the fourth embodiment, various modifications described in the first embodiment can be applied. Furthermore, in the fourth embodiment, since the supply and discharge of the fluid are independent for each of the hoses H1 and H2, various nourisions can be applied to the supply and discharge of the fluid described in the third embodiment. Is possible. Industrial applicability

 By simultaneously supplying and discharging the fluid through the openings at both ends of the actuator, the operating speed and contraction rate of the actuator are improved. Such an actuator operating method and an actuator operating system include an artificial muscle of the robot, and It can be used for the operation of the actuator applied to the drive device, hand device, and transfer device in the production facility.

Claims

The scope of the claims  [1] An actuator operating method for supplying fluid to a expandable / retractable actuator having openings at both ends to operate the actuator by supplying fluid.  A method of operating an actuator, wherein fluid is supplied simultaneously through openings at both ends of the actuator to expand the actuator.  [2] An actuator operating method for operating the actuator by discharging the fluid supplied to the expandable / retractable actuator having openings at both ends to the outside,  A method of operating an actuator, wherein the actuator is contracted by simultaneously discharging fluid through openings at both ends of the actuator. [3] An actuator operating method in which fluid is supplied from a fluid supply device to an expandable / contractable actuator having openings at both ends, the supplied fluid is discharged to the outside, and the actuator is operated.  Supplying fluid simultaneously through the openings at both ends of the actuator;  An actuating method for operating an actuator, wherein the actuating device is contracted by simultaneously discharging the fluid through the openings at both ends from the inflating actuating device.  [4] The actuator operating method according to any one of [1] to [3], wherein the openings of the both ends of the actuator communicate with one chamber to which fluid is supplied.  [5] The actuator forms a first chamber and a second chamber to which a fluid is supplied, communicates an opening at one end with the first chamber, and communicates an opening at the other end with the second chamber. The actuator operating method according to any one of claims 1 to 3.  [6] an inflatable / retractable actuator having openings at both ends;  A fluid supply device for supplying a fluid to the actuator;  A fluid path switching device that is connected between the fluid supply device and the openings at both ends of the actuator and has a plurality of fluid channels that can be switched;  The flow path switching device is  A first connection port connected to an opening at one end of the actuator; A second connection port connected to the opening at the other end of the actuator; A third connection port connected to the fluid supply device;  An actuator operating system comprising: a first flow path for communicating the third connection port with the first connection port and the second connection port. 7. The actuator operating system according to claim 6, wherein the flow path switching device includes a second flow path that simultaneously opens the first connection port and the second connection port to an ambient atmosphere. [8] an inflatable / retractable actuator having openings at both ends;  A fluid supply / discharge device for supplying fluid to the actuator and discharging the supplied fluid,  An actuator operating system, wherein the fluid supply / discharge device is connected to openings at both ends of the actuator. [9] An inflatable / retractable actuator having openings at both ends;  A first fluid supply device for supplying a fluid connected to an opening at one end of the actuator;  A second fluid supply device for supplying a fluid connected to an opening at the other end of the actuator;  Control means for controlling fluid supply so that fluid is simultaneously supplied to the actuator through openings at both ends;  An actuator operating system comprising: [10] The actuator according to any one of [6] to [9], wherein the actuator is formed with a chamber to which fluid is supplied, and the openings at both ends communicate with the chamber. Operating system.  [11] The actuator includes a first chamber and a second chamber to which a fluid is supplied, and an opening at one end thereof communicates with the first chamber, and the other end of the second chamber communicates with the second chamber. The actuator operating system according to any one of claims 6 to 9, wherein the opening is in communication.