JP4923239B2 - Fluid actuator - Google Patents

Description

  The present invention relates to a fluid actuator that performs operations such as acupressure massage using a fluid as a drive source.

  Various electric massage devices have been developed as massage devices. However, the conventional electric massage apparatus cannot provide a delicate massage effect such as acupressure by human hands. This is because it is difficult to realize delicate force control by electric drive, and the massage effect close to human acupressure by the electric massage device cannot be reproduced.

In addition, when electricity is used as a drive source, it is not suitable for use in a wet place such as a bathroom. Therefore, acupressure massage in the bathtub is not possible.
In addition, conventional electric massage devices cannot be applied to pacemaker users due to safety issues. On the other hand, as will be described later, the fluid actuator of the present invention can be driven only by domestic water pressure, so there is no problem even if it is applied to a pacemaker user.
Conventionally, a hand type robot has been developed that includes a hand at the tip of a robot arm or the like and performs various operations such as excavation, sampling, and inspection. However, when the hand of a conventional hand-type robot grabs an object, it cannot accurately control the gripping force, and breaks a fragile article with a flexible and delicate force operation similar to a human hand. It was very difficult to grip without.

  On the other hand, a liquid pressure reducing valve that controls the liquid pressure has been developed (see, for example, Patent Document 1). However, even if an actuator that constitutes a hand such as a shiatsu massage is driven using a pressure reducing valve for liquid, a hand that has a complicated structure or can be controlled lightly and with delicate force has been developed. Therefore, a hand that can achieve an effect similar to a shiatsu massage effect by a human hand has not been realized.

JP 2002-023856 A

  The present invention takes the above-described conventional technology into consideration, and enables subtle force control using fluid as a driving source without using electricity, and allows the object to be operated with a flexible and subtle force operation similar to a gripping operation by a human hand. An object of the present invention is to provide a fluid actuator that can reproduce an effect similar to a shiatsu massage effect by a human hand.

The invention of claim 1 has a notch, a body having a working piece having an elastic restoring force with each other toward and away from the sides of該切inclusive, are inserted into該切the lump, and the flat tube working fluid flows And means for expanding the flat tube by controlling the flow rate or pressure of the working fluid so as to spread the cut and move the working piece away from each other, the cutting direction of the cut and the flat tube in the cut The fluid actuator is characterized in that the longitudinal direction of the flat cross section substantially coincides .

The invention of claim 2 is characterized in that, in the invention of claim 1, the main body has a plurality of parallel cuts, and the flat tube in each cut widens , whereby the main body is curved .

The invention of claim 3 is the invention of claim 2, wherein the flat tube is a single continuous flat tube that is folded and inserted into the plurality of cuts.

The invention of claim 4 has the space forming means provided in the flat tube according to the invention of claim 3, and the space forming means is composed of a wire inserted in the flat tube or a metal conductor. It is characterized by that.

A fifth aspect of the invention is characterized in that, in the invention of any one of the first to fourth aspects, the flat tube has no stretchability .

The invention of claim 6 is the invention of any one of claims 1 to 5 , further comprising a self-excited vibration drive circuit that automatically causes vibration to drive the fluid actuator, and the self-excited vibration The drive circuit includes a switching valve that connects the fluid actuator to a pressure supply source, and an excitation device that includes a variable orifice and a check valve, and that vibrates the vibrator. It is configured to be automatically switched alternately .

According to the present invention , a flat tube is inserted into a V-shaped notch formed in the main body, the flat tube is pressurized by fluid pressure to approach a circle, and the notch is expanded by a simple mechanism. The operating pieces on both sides open with a slight light force. As a result, the operation of the working piece can be delicately controlled with a light force using fluid as a driving source without using electricity.
If a robot hand is configured using such a fluid actuator, delicate force control close to that of a human hand can be achieved, and a fragile article can be gripped flexibly and stably without breaking.

According to the present invention , a body having a plurality of incisions constitutes a hand that resembles a human hand, and performs delicate force adjustment by controlling the fluid without using electricity, resulting in a human acupressure massage effect An approximate massage effect can be obtained, and a fluid actuator suitable for use in a wet location such as in a bathroom can be realized.
In addition to the acupressure massage operation, the present invention can perform various gripping operations that approximate a human hand.

  Furthermore, for example, it is possible to add a finger similar to the thumb, and the hand can be closer to a human hand. Such a hand has 1) lighter and more flexible structure than human hands, 2) no need for electrical energy, no concern for electric shock and magnetic action, and 3) manual pressure control valve. It has the advantage that the finger pressure can be freely controlled. This expands the possibility of reproducing medical treatment equivalent to a massage by a physical therapist even in a general home.

According to the present invention , since one continuous flat tube is used, the structure is simplified and the pressure control of the fluid is facilitated.

According to the present invention , when one continuous flat tube is folded and used, a continuous space is always formed in the flat tube, so that the fluid on the high pressure side may be blocked by the folded portion of the flat tube. However, the reliability of the drive control of the actuator is increased by reliably circulating in the flat tube.

According to the present invention , by inserting a conducting wire or other wire along the longitudinal direction of the tube into the flat tube, a space for reliably inserting the inside of the flat tube is ensured even at the bent portion.

According to the present invention , by forming a continuous groove along the longitudinal direction of the tube on the inner surface side of the flat tube, a space for reliably passing through the flat tube is ensured even at the bent portion.

FIG. 1 is a basic configuration diagram of an embodiment of the present invention. (A) is a state where the flat tube is closed, (B) is a state where the flat tube is expanded, and (C) is a top view of the state of (B).
A cut 3 is formed in the main body 1, and the flat tube 2 is inserted into the cut 3. The main body 1 is preferably made of a plastic material such as vinyl chloride having an appropriate foaming property having an elastic restoring force by itself, from the viewpoint of simplification of the structure. Actuating pieces 4 and 4 are formed on both sides of the cut 3 so as to approach and separate from each other. The flat tube 2 is made of, for example, a non-stretchable urethane tube, and the tube material itself does not stretch even if the flat tube 2 expands from the flat state.

  When the working fluid is supplied to the flat tube 2 from the state (A) to increase the pressure, the flat tube 2 expands and becomes circular as shown in (B), and pushes the working pieces 4 and 4 on both sides. When the fluid flowing through the flat tube 2 is squeezed to reduce the pressure, the state returns to (A).

FIG. 2 is a configuration diagram of an embodiment of the present invention.
In this example, for example, a plurality of parallel cuts 3 are formed in a main body 5 constituting a hand of a shiatsu, and a flat tube 2 is inserted into each cut 3. When the flat tube 2 is expanded from the state of (A), as shown in (B), the operating pieces 4 on both sides of each of the notches 3 are expanded to bend the main body 5.

FIG. 3 is a block diagram of another embodiment of the present invention.
In this example, one continuous flat tube 2 is folded and disposed in the cut 3 of the main body 5. The flat tube 2 is connected to a faucet 6 for domestic water supply, which serves as a water pressure supply source, via a pressure-reducing valve 7 capable of adjusting pressure.

  4 is a view taken along the line III-III of the embodiment of FIG. When the water tap 6 is opened from the state of (A), water (working fluid referred to in the claims) is allowed to flow into the flat tube 2 and the flat tube 2 is expanded and inflated, as shown in (B), The working piece 4 on both sides of the notch 3 is pushed and widened to bend the main body 5. The flow rate or pressure of the water flowing in the flat tube 2 changes according to the opening of the faucet 6 of the water supply or the amount of pressure reduction of the valve 7, and the main body 5 bends accordingly. When the faucet 6 is closed, the pressure is cut off, the flat tube 2 is closed, and the main body 5 returns to the state (A) with the operating piece 4 closed by its elastic return force.

FIG. 5 is a configuration explanatory view of another example of the flat tube of the present invention.
(A) shows the flat tube 2 which bends zigzag and continues. When such a flat tube 2 is used, when the fluid is flowed in a flat state, the flat tube 2 may be closed while being bent, and the high-pressure side fluid may stop there and stop flowing any more.

  Then, as shown to (B), the wire 8 is penetrated as a space formation means which forms a clearance gap continuously in the flat tube 2 in the tube. As a result, a gap corresponding to the diameter of the wire 8 is always formed in the flat tube 2, so that even the flat tube 2 provided in a zigzag shape does not block the inside of the tube at the bent portion. Fluid flows smoothly.

FIG. 6 is a partial perspective view of the flat tube of FIG.
As illustrated, a space 9 is formed in the flattened tube by inserting the wire 8 into the flattened tube 2. As the wire 8, a wire, a wire, a metal conductive wire, a plastic wire, a thin pipe, or the like can be used.

FIG. 7 is an explanatory diagram of another example of the space forming means.
In this example, a groove 10 continuous in the tube longitudinal direction is formed on the inner surface side of the flat tube 2. Thereby, the space 9 is always formed in the flat tube 2 in the flat state. The groove 10 may be one or a plurality of grooves 10 may be formed in parallel on the inner surface of the tube.

FIG. 8 is a block diagram of a more specific embodiment of the present invention.
In this example, a hand 13 serving as an actuator is constituted by two systems of flat tubes 11a and 11b. The flat tube 11b is a thumb system, and the flat tube 11a is a system of other fingers. Both flat tubes 11a and 11b are sealed at their ends, and are connected via a two-position switching valve 12 to a tap faucet 6 serving as a pressure supply source or a pressure reducing device connected to the faucet.

  Such a hand 13 is set on the shoulder of the user by an appropriate arm, suspender, holder or the like. When tap water pressure is supplied by the switching valve 12 in the set state (shown state), each flat tube 11a, 11b spreads, the hand 13 bends, grips the shoulder and gives a shiatsu effect. Subsequently, when the switching valve 12 is switched to shut off the pressure, the flat tubes 11a and 11b are closed and the hand 13 is opened. By repeating this, an acupressure massage effect is obtained.

FIG. 9 is a block diagram of another specific embodiment of the present invention.
The hand 13 in this example is configured by configuring all fingers including the thumb with a single flat tube 14. The flat tube 14 is connected to the faucet 6 or the pressure reducing device via the switching valve 15. The end of the flat tube 14 is not sealed, and water flows out to the outside while flowing. By switching the switching valve 15 alternately, the flat tube 14 opens and closes to drive the hand 13 to give a shiatsu massage effect.

FIG. 10 is a diagram illustrating the configuration of still another embodiment of the present invention.
In this example, a thumb part 16 is provided on the hand 19. The hand 19 is driven by the flat tube 17 in the same manner as the above-described hands. A flat tube 18 folded in a zigzag shape is disposed on the back surface of the thumb part 16. The flat tube 18 includes the above-described space forming means (see FIGS. 5 to 7). By supplying the working fluid to the flat tube 18, as shown in (B), the thumb part 16 is pressed to assist the acupressure effect by the hand 19 and enhance the massage effect.

FIG. 11 is a configuration diagram of a pressure control valve for working fluid.
In the valve body 25, two poppet valves 20, 21 are mounted up and down. A relief throttle 23 is formed between the upper and lower valves 20 and 21. A decompression throttle 24 is formed between the lower valve 21 and the valve body 25. Reference numeral 26 denotes a sealing material. The decompression throttle 24 opens and closes by the balance between the force received from the fluid by the cross section of the valves 20 and 21 and the force F pushing the valve. The working fluid is introduced from the inlet port 27, and the pressure-reduced fluid flows out from the outlet port 28 through the pressure reducing throttle 24 that opens according to F. When the pressure on the output side becomes high, the relief throttle 23 opens and the high-pressure fluid is released from the drain port 29.

FIG. 12 is a configuration diagram of a self-excited vibration drive circuit.
As a driving operation of the fluid actuator of the present invention, a method of opening and closing by a manual valve or an electromagnetic valve is possible, but by adopting a circuit configuration as shown in FIG. 12, automatic operation without newly adding valve driving energy is possible. The actuator can be driven by causing vibration in the actuator.

  As shown in the figure, a tap faucet 6 serving as a pressure supply source is connected to an actuator 30 via a switching valve 33. At the same time, tap water is supplied to an exciter 31 comprising a variable orifice 34 and a check valve 35 to vibrate the vibrator 32. As a result, the switching valve 33 is automatically and alternately switched.

FIG. 13 is a configuration diagram of another example of a pressure reducing valve that drives a fluid actuator according to the present invention.
The valve body 101 includes an upper cover 102 and a lower cover 103. An input side valve chamber 105 in which the input port 104 is opened and an output side valve chamber 107 in which the output port 106 is opened are formed in the valve main body 101 through a partition wall 108. An insertion hole is formed at the center of the partition wall 108. The first poppet 110 is attached through this insertion hole. The first poppet 110 includes a conical tapered portion 110a and an upper cylindrical portion 110b. The cylindrical portion 110b of the first poppet 110 slides in the insertion hole. The input side valve chamber 105 communicates with the output side valve chamber 107 through a slit 125.

  The taper portion 110 a of the first poppet 110 forms a decompression throttle portion 113 in contact with or in proximity to the periphery of the lower end portion of the insertion hole of the partition wall 108. The throttle 113 communicates with the output-side valve chamber 107 through a slit 125 provided in the cylindrical portion 110 b of the poppet 110. A tapered surface having an angle corresponding to the tapered portion 110a on the poppet side is formed on the periphery of the lower end portion of the insertion hole.

  A first bellows 114 is provided below the first poppet 110 in the input side valve chamber 105. The first bellows 114 forms a first sealed space 115 that is watertightly sealed from the input side valve chamber 105 below the first poppet 110. The first sealing space 115 communicates with a drain port 116 formed in the lower cover 103.

  A second poppet 117 is continuously provided on the upper portion of the first poppet 110. The second poppet 117 is provided with a conical tapered concave portion 117b at the lower end of the cylindrical portion 117a. The tapered recess 117b abuts on the periphery of the upper end portion of the first poppet 110 and forms a relief throttle portion 118 therebetween. The relief restrictor 118 communicates with the first sealing space 115 and the drain port 116 via a relief passage 119 that vertically penetrates the cylindrical portion 110 b of the first poppet 110. A tapered surface having an angle corresponding to the tapered portion 117 b of the second poppet 117 is formed on the periphery of the upper end portion of the first poppet 110.

  The second poppet 117 protrudes to the outside through a through hole 120 that penetrates the upper cover 102. A second bellows 121 is provided to cover the protruding portion. The 2nd bellows 121 forms the 2nd sealing space 123 which seals the projection part of the 2nd poppet 117 watertight from the outside on the inside side. A pressing plate 122 that seals the inside of the bellows in a watertight manner is provided at the upper end of the second bellows 121. The end of the second poppet 117 is fixed to the inner surface side of the pressing plate 122. A slit 126 is provided in the cylindrical portion 117a of the upper poppet 117, and the output side valve chamber 107 and the second sealing space 123 inside the bellows communicate with each other.

  The first bellows 114 has elasticity that constantly biases the first poppet 110 upward. The second bellows 121 is initially set in a state of being stretched upward from an initial state where no elasticity acts. Accordingly, the second bellows 121 is initially biased downward. When the pressing plate 122 is pressed, the second bellows 121 contracts and the elasticity returns to the initial state. When the pressing plate 122 is further pressed, an upward elastic force is generated against the pressing force.

The pressure reducing control operation of the pressure reducing valve will be described.
First, low-pressure tap water is introduced from the input port 104 into the input-side valve chamber 105. At this time, in the configuration of this embodiment, in the decompression throttle portion 113, the diameter of the insertion hole of the partition wall 108 that contacts the upper surface of the tapered portion 110a of the first poppet 110 and the first surface coupled to the lower surface of the tapered portion 110a. The bellows 114 have the same diameter. Therefore, the force by the tap water pressure does not act on the first bellows 114, and the first poppet 110 is pushed upward by the spring force of the bellows. As a result, the decompression throttle 113 is closed and the end of the cylindrical portion 110b of the first poppet 110 pushes up the second poppet 117. Therefore, the relief stop 118 at the end of the cylindrical portion 110b is closed. As described above, in the initial state where the second poppet 117 protrudes upward as much as possible, the second bellows 121 is slightly extended from the neutral state (the state where no spring force acts), and the spring force Acts in the pulling direction (the direction in which the poppet 117 is lowered).

  Here, the first poppet 110 is pushed down together with the second poppet 117 with the finger (the force of the arrow F) through the pressing plate 122. As a result, the decompression throttle 113 is opened. In this case, the opening amount of the decompression throttle portion 113 changes according to the finger force F. As a result, the input pressure of tap water is reduced according to the degree of opening of the reduced pressure restrictor 113, and the reduced pressure is introduced into the output side valve chamber 107 through the slit 125. Further, this reduced pressure is introduced into an actuator (not shown) through the output port 106 and performs various operations according to the pressure.

  INDUSTRIAL APPLICABILITY The present invention can be used as an actuator for various devices such as a shiatsu massager using a low-pressure fluid that can be easily used in ordinary households such as tap water without using electricity.

The basic block diagram of an Example of this invention. The block diagram of the preferable Example of this invention. The block diagram of another Example of this invention. III-III arrow line view of the Example of FIG. Explanatory drawing of the flat tube which concerns on this invention. The fragmentary perspective view of the flat tube using a wire. Explanatory drawing of another example of a space formation means. The block diagram of the specific Example of this invention. The block diagram of another specific Example of this invention. Explanatory drawing of another Example of this invention. The block diagram of the pressure control valve of a working fluid. The block diagram of a self-excited vibration type drive circuit. The block diagram of another example of the pressure control valve of a working fluid.

Explanation of symbols

1: main body, 2: flat tube, 3: cutting, 4: operating piece, 5: main body, 6: faucet, 7: pressure reducing valve, 8: wire rod, 9: space, 10: groove, 11a, 11b: flat Tube, 12: Switching valve, 13: Hand, 14: Flat tube, 15: Switching valve, 16: Thumb part, 17: Flat tube, 18: Flat tube, 19: Hand, 20, 21: Poppet valve, 23: Relief Throttle, 24: Depressurized throttle, 25: Valve body, 26: Seal material, 27: Inlet port, 28: Outlet port, 29: Drain port, 30: Actuator, 31: Excitation device, 32: Vibrator, 33: Switching valve 34: Variable orifice, 35: Check valve

Claims (6)

A main body having an operating piece having an incision and having an elastic return force close to and away from each other on both sides of the incision; a flat tube inserted into the incision through which the working fluid flows ; and a flow rate of the working fluid or Means for expanding the flat tube by pressure control so as to push and widen the cut to separate the working piece, and the cutting direction of the cut and the longitudinal direction of the flat cross section of the flat tube within the cut A fluid actuator characterized by substantially matching . 2. The fluid actuator according to claim 1, wherein the main body has a plurality of parallel cuts, and the flat tube in each cut widens , whereby the main body is curved . The fluid actuator according to claim 2, wherein the flat tube is a single continuous flat tube that is folded and inserted into the plurality of cuts. The fluid actuator according to claim 3, further comprising a space forming unit provided in the flat tube, the space forming unit including a wire or a metal lead inserted into the flat tube . The fluid actuator according to claim 1, wherein the flat tube does not have elasticity . A self-excited vibration drive circuit that automatically vibrates and drives the fluid actuator;
The self-excited vibration drive circuit is
A switching valve for connecting the fluid actuator to a pressure supply;
Comprising a variable orifice and a check valve, and having an excitation device for vibrating the vibrator,
The fluid actuator according to claim 1, wherein the switching valve is automatically and alternately switched by vibration of the vibrator .

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