JP5209539B2 - Mechanical impedance adjuster - Google Patents

Description

The present invention relates to a regulating equipment of the mechanical impedance at driving mechanism such as a robot.

  As is well known, in order to drive a drive member such as an arm skeleton in a mechanical device such as a robot, a drive source such as a servo motor is provided at each joint part or close to the main body away from the joint. A drive source is disposed at the position, and the drive force of the drive source is transmitted to the drive member via a wire or the like.

  By the way, in many cases, appropriate compliance is required for the movable part of such a mechanical device. For example, if appropriate compliance is not given to the arm part of the robot, when the object is grasped, even a slight misalignment between the object and fingers cannot be absorbed, the object cannot be grasped skillfully, or the movable part is an obstacle. When a collision occurs, the impact of the collision cannot be absorbed, and the drive member such as the skeleton is damaged, or the impact of the collision is transmitted to the drive source as it is, and the drive source is overloaded. This is because there is a risk of damage.

  In view of this, a device has been devised to adjust the mechanical impedance of the movable part to give an appropriate compliance to the movable part. For example, Patent Documents 1 to 3 disclose a structure that gives a predetermined compliance to the movable part by providing the movable part with a mechanical impedance control mechanism constituted by a spring member such as a coil spring or an air spring. Yes.

  However, in the impedance control mechanisms described in Patent Documents 1 to 3, only predetermined compliance can be given by the elasticity of the spring member. Therefore, the compliance cannot be exhibited with respect to an input of a predetermined value (spring constant) or less. On the other hand, there is a problem that it is not possible to sufficiently buffer an input that is excessive as compared with a predetermined value.

Japanese Utility Model Publication No. 5-29692 Japanese Utility Model Publication No. 5-39891 Japanese Utility Model Publication No. 62-29251

Here, the present invention has been made in the background as described above, and the problem to be solved is that in a mechanical device such as a robot, the mechanical impedance of a movable part can be adjusted. and to provide a regulating equipment of the mechanical impedance is not in.

  Hereinafter, embodiments of the present invention made to solve the above-described problems will be described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

That is, the first aspect of the present invention is a mechanical impedance adjusting device disposed on a power transmission path between a driving source and a driving member driven by the driving source, and is formed of a dielectric elastomer. A dielectric element having electrode layers formed on both sides of a dielectric film is disposed on the power transmission path , and a voltage applying means for applying an applied voltage to the electrode layer and adjusting the applied voltage is provided. to configure the damping means to exert an adjustable cushioning on the I Ri power transmission paths regulatory of the voltage applied to the layer, characterized.

  In the mechanical impedance adjusting device structured according to this aspect, when the voltage applied to the electrode layer of the dielectric element is increased, the electrostatic attractive force between both electrode layers is increased. As a result, the dielectric film interposed between the two electrode layers is compressed from the film thickness direction to reduce the thickness dimension of the dielectric film and increase the surface dimension. On the other hand, when the voltage applied to the electrode layer is reduced, the electrostatic attractive force between both electrodes is reduced. As a result, the electrostatic attractive force between the two electrode layers is reduced, and the thickness of the dielectric film interposed between the two electrodes is increased by its own restoring force, and the surface dimension is reduced.

  Accordingly, a plurality of dielectric elements formed from such a dielectric film and electrode layers are disposed on the power transmission path, and the applied voltage to the electrode layers of the dielectric elements is adjusted, thereby expanding each dielectric element. Therefore, an adjusting device that can adjust the mechanical impedance of the driving member can be realized.

  That is, for example, it is assumed that an electric motor as a driving source and a driving member are connected by a wire as a power transmission path, and the mechanical impedance adjusting device according to the present invention is applied to the wire. In this case, if the driving member is suddenly displaced by the action of an external force such as hitting an obstacle, an excessive tensile force may be exerted on the wire. In such a case, if the voltage applied to the electrode layer is increased and the adjusting device is extended in the wire pulling direction, the tensile force of the wire can be absorbed by the deformation of the adjusting device, and the electric motor is excessive. It is possible to avoid or reduce the load. When the driving member is a robot finger, increasing the applied voltage immediately before grasping the object causes the adjustment device to extend in the wire extending direction, thereby substantially extending the wire. The driving speed can be reduced. This also makes it possible to grasp an object softly. In addition, since an appropriate compliance is given by extending the adjusting device, it is possible to absorb a slight positional deviation between the finger and the object. In short, the use of the mechanical impedance adjusting device of the present invention makes it possible to substantially change the length of the power transmission path according to the situation. The prevention effect and the provision of appropriate compliance are realized.

  The reason why the mechanical impedance is changed by the adjusting device according to the present invention may be various reasons other than the substantial change in the length of the power transmission path as described above. One of the reasons is that the spring constant of s. That is, the cross-sectional area of each dielectric element in the direction orthogonal to the power transmission path direction is changed according to the voltage applied to the electrode layer. As a result, the spring constant of the adjusting device composed of the plurality of dielectric elements is changed, and the mechanical impedance is changed.

  In particular, according to the adjusting device of the present invention, it is possible to adjust the length dimension and the spring constant in the direction of the power transmission path to an intended size by adjusting the voltage applied to the electrode layer. ing. As a result, it is possible to adjust and set the mechanical impedance to a desired size, and the mechanical impedance can be changed according to the surrounding environment and usage conditions. That is, the mechanical impedance control device using the spring member according to the conventional structure as described above only gives a predetermined specific compliance, whereas the adjustment device according to the present invention is used for compliance. It can be actively changed. Thus, according to the present invention, for example, the driving member is in contact with an obstacle, as compared with a mechanical impedance control device according to a conventional structure using, for example, a spring member, which only drives the driving member at a constant speed. While driving an area where there is no risk of failure, the compliance is set low and stable driving is performed, while in an area where there is a risk of contact with an obstacle, compliance is set higher and contact with the obstacle is performed. Even in such a case, it is possible to avoid or reduce the risk of damaging the driving member, the driving source, and the obstacle.

In addition, since the dielectric element can be easily formed small, it is easy to configure the adjusting device to be compact and lightweight. Therefore, it can be easily arranged on the driving force transmission path of a mechanical device such as a robot. And since a number of parts can also be suppressed compactly, favorable durability can also be ensured. In addition, since the expansion and contraction of the dielectric element is performed by the deformation of the dielectric film, there is almost no driving sound and excellent quietness can be obtained.
In addition, the adjustment device according to the present invention can also be used as a shock absorber that absorbs an impact caused by a collision or the like by more positively using the spring constant adjustment function of the mechanical impedance adjustment device of the present invention. . In particular, by adjusting the applied voltage, the spring constant is set small at the initial stage of the collision and the impact is softly received, and by gradually increasing the spring constant, the collision energy is attenuated and effective stopper action is achieved. It can be demonstrated.

As the embodiment for adjusting the voltage applied to the electrode layer, wherein in a first aspect of the present invention, and to be able to adjust the mechanical impedance by adjusting the magnitude of the voltage applied to the electrode layer aspects Although is preferable to employ, in addition to written that state-like, or alternatively, as a second aspect of the present invention, the buffering action and thus mechanical impedance by adjusting the number of electrode layers for applying voltage A mode in which adjustment is possible can also be suitably employed. In short, for example, the same voltage may be applied to the electrode layers of all the dielectric elements to increase or decrease the applied voltage, or the number of dielectric elements to which the voltage is applied is kept constant at the time of application. May be increased or decreased. Of course, the magnitude of the voltage applied to the electrode layer of each dielectric element may be individually controlled by combining both the above aspects.

According to a third aspect of the present invention, in the mechanical impedance adjusting device according to the first or second aspect, the dielectric element is a cylinder formed by rolling the dielectric film including the electrode layer. The cylindrical dielectric element has a shape and is expanded and contracted in the axial direction in response to application of a voltage to the electrode layer, and the axial direction of the cylindrical dielectric element is made equal to the direction of the power transmission path. It is characterized by that.

  According to this aspect, since the dielectric element has a cylindrical shape, when the voltage applied to the electrode layer is increased, the expansion of the dielectric film is expressed in the axial direction. Thereby, the driving force of the dielectric element can be extracted in the axial direction, and the expansion / contraction direction of the adjusting device can be further stabilized. Further, by making the axial direction of the cylindrical dielectric element equal to the direction of the power transmission path, the expansion / contraction direction of the cylindrical dielectric element, and thus the adjusting device, can be made substantially coincident with the direction of the power transmission path. As a result, the substantial change in the length of the power transmission path can be expressed more stably. In addition, the cylindrical shape in this aspect includes not only a cylindrical shape that is continuous without being interrupted in the circumferential direction but also a sheet-like dielectric film that is rolled into a spiral shape. Further, the number of overlapping dielectric films is not limited, and a plurality of cylindrical dielectric films continuous in the circumferential direction may be overlapped, or a sheet-like dielectric film may be spirally wound over a plurality of circumferences. It may be rolled into a shape. Further, the axial direction of the cylindrical dielectric element does not need to be strictly matched with the direction of the power transmission path, and may be matched to the extent that the power transmission of the drive source is not hindered. .

According to a fourth aspect of the present invention, in the mechanical impedance adjusting device according to the third aspect, the cylindrical dielectric element includes the electrode layer provided on a core material that is elastically deformable in an axial direction. It is characterized in that the film is formed by being wound.

  According to this aspect, the expansion / contraction direction of the dielectric element can be stabilized in the axial direction by the core material. And it becomes possible to perform a more rapid expansion-contraction operation | movement by utilizing the elastic force of a core material. In addition, although the core material in this aspect is not limited at all, a coil spring, an elastomer, etc. can be employ | adopted suitably.

According to a fifth aspect of the present invention, in the mechanical impedance adjusting device according to the first or second aspect, the dielectric element is a sheet-like plate dielectric element, and the plate dielectric A plurality of elements are formed by being stacked in the thickness direction of the dielectric film.

According to this aspect, the adjusting device can be configured using expansion and contraction in the thickness direction of the dielectric film or in the spreading direction of the surface. Therefore, more preferably, as a sixth aspect of the present invention, in the mechanical impedance adjusting device according to the fifth aspect, the laminating direction of the plate-type dielectric elements is orthogonal to the power transmission path. In other words, in other words, a mode in which the surface spreading direction of the plate-type dielectric element is made equal to the power transmission path can be employed.

  In other words, the plate-type dielectric element is expanded in the surface spreading direction when a voltage is applied to the electrode layer. Therefore, the expansion direction of the surface is made equal to the direction of the power transmission path, so that the expansion and contraction direction of the plate-type dielectric element, and thus the adjusting device, can be made substantially coincident with the direction of the power transmission path. The change in the substantial length dimension of the path can be expressed more stably. It should be noted that the plane direction of the plate-type dielectric element does not have to be exactly matched with the direction of the power transmission path, and is matched to the extent that the power transmission of the driving source is not hindered. It ’s fine. In other words, the stacking direction of the plate dielectric elements does not have to be strictly orthogonal to the direction of the power transmission path.

On the other hand, as a seventh aspect of the present invention, in the mechanical impedance adjusting device according to the fifth aspect, an aspect in which the laminating direction of the plate dielectric elements is parallel to the power transmission path, In other words, a mode in which the spreading direction of the surface of the plate-type dielectric element is substantially orthogonal to the power transmission path may be employed.

That is, when a voltage is applied to the electrode layer, the plate-type dielectric element is expanded in the surface spreading direction and simultaneously contracted in the direction perpendicular to the surface spreading direction. Therefore, even if the surface spreading direction is made perpendicular to the direction of the power transmission path, the expansion and contraction direction of the plate-type dielectric element, and thus the adjusting device, can be made substantially coincident with the direction of the power transmission path. A substantial change in the length of the transmission path can be expressed stably. Moreover, in this aspect, the substantial change in the length of the power transmission path can be obtained more effectively by the sum of the deformation amounts of the plurality of stacked plate dielectric elements. Further, when used together with the mechanical impedance adjusting device having the structure shown in the sixth aspect, it becomes possible to simultaneously cause contraction and extension on the power transmission path with a single voltage control. Also in this embodiment, the stacking direction of the plate type dielectric elements does not have to be exactly matched with the direction of the power transmission path.

According to an eighth aspect of the present invention, in the mechanical impedance adjusting device according to the fifth aspect, an overlapping direction of the electrode layer with respect to the dielectric film is oblique to the power transmission path. And

  As described above, since the dielectric element is inclined at a predetermined angle that is not perpendicular to or parallel to the power transmission path, the deformation direction generated in the dielectric film due to the voltage application to the electrode layer is changed. The direction is different from the direction of the route and its orthogonal direction. As a result, the degree of design freedom can be expanded. In particular, when an external force exerted on the drive member is transmitted to the mechanical impedance adjusting device to cause elastic deformation of the dielectric film, not only a compressive component and a tensile component but also a shear component is provided. Design is also possible. As a result, while keeping the compressive strain and tensile strain of the dielectric film and the electrode layer small, the relative distance change between the power points in the dielectric film is ensured, and the substantial change in the length of the power transmission path due to elastic deformation The amount can be set large.

In this aspect, the dielectric element may not always be inclined with respect to the power transmission path, may be disposed in a state of being inclined in advance with respect to the power transmission path, or may be disposed on the power transmission path. It may be arranged orthogonally or in parallel to the power transmission path so that the dielectric film is elastically deformed by the action of an external force or voltage application to the electrode layer, etc. . In addition, it is possible to adopt a mode in which a plurality of dielectric elements are stacked together, and more preferably, the plurality of dielectric elements are stacked in the thickness direction (the overlapping direction of the electrode layer with respect to the dielectric film). It is desirable that According to this, a substantial change in the length of the power transmission path can be expressed more stably while ensuring all the effects of the mechanical impedance adjusting device according to the eighth aspect.

Therefore, more preferably, as a ninth aspect of the present invention, in the mechanical impedance adjusting device according to the eighth aspect, the dielectric element is a sheet-like plate dielectric element, A pair of the plate type dielectric elements are stacked in a direction parallel to the power transmission path, and the outer peripheral edges of the pair of plate type dielectric elements are fixed to each other, and the pair of plates A mode in which the pair of plate-type dielectric elements are each deformed in a tapered shape by applying a tensile force to the center portion of the mold-type dielectric element outward in the stacking direction may be employed.

According to this aspect, the pair of plate type dielectric elements are deformed into a taper shape by the action of an external force, so that each plate type dielectric element is inclined with respect to the power transmission path. Thus, the mechanical impedance adjusting device according to the ninth aspect can be realized using a plate-type dielectric element that is easy to manufacture. Note that the mechanical impedance adjusting device can be configured as a whole by overlapping a plurality of pairs of plate-type dielectric elements in a direction parallel to the power transmission path and connecting the central portions to each other.

According to a tenth aspect of the present invention, in the mechanical impedance adjusting device according to any one of the first to ninth aspects, the wire is spanned between the driving source and the driving member. It is arranged on the power transmission path.

As described above, the adjusting mechanism having the structure according to the present invention can be configured to be compact and lightweight, and thus can be suitably employed in, for example, a wire driving mechanism. More preferably, as an eleventh aspect of the present invention, in the mechanical impedance adjusting mechanism according to the tenth aspect, the elastic center of the dielectric element is positioned on an extension line of the wire. The aspect arrange | positioned and arranged may be employ | adopted. In this way, it is possible to reduce the possibility that a moment is generated in the adjusting mechanism when the adjusting mechanism is extended and contracted, and unnecessary vibration is applied to the wire. In addition, in this aspect, when a plurality of dielectric elements are arranged side by side, the elastic center synthesized by the plurality of dielectric elements is positioned on the extension line of the wire.

A twelfth aspect of the present invention is the mechanical impedance adjusting apparatus according to any one of the first to eleventh aspects, wherein a plurality of the dielectric elements are arranged side by side on the power transmission path. It is characterized by being installed. According to this aspect, for example, when the contact is made with an obstacle in a state where the compliance is set to be high, the external force due to the contact acts in a distributed manner on the plurality of dielectric elements, so that each dielectric element is damaged. Can be achieved and durability can be improved. Furthermore, since the cross-sectional area in the direction perpendicular to the direction of the power transmission path is greatly changed as the sum of the deformations of the plurality of dielectric elements, the change in the spring constant is further increased, and the mechanical impedance is adjusted. A large range can be secured.

On the other hand, embodiments of the thirteenth of the present invention, the storage in the adjustment device mechanically impedance according to any one of the first to twelfth, the energy input from the outside by adjusting the mechanical impedance And a power storage means for releasing the stored energy.

  For example, by setting the spring constant small when energy is input from the outside to ensure a large amount of deformation with respect to external energy, and setting the spring constant large when outputting energy to the outside, A large repulsive force based on elasticity can be secured and a large force can be output. As described above, by utilizing the characteristic of the spring constant change caused by voltage application that the mechanical impedance adjusting device according to the present invention has, it is possible to efficiently accumulate and release energy with respect to externally acting force. Highly efficient energy storage means can be realized.

A first reference aspect of the present invention includes a seat portion as the driving member and a frame that supports the seat portion, and the seat portion can be driven and displaced relative to the frame by an actuator. was a rise booster seat, with the adjustment device mechanically impedance according to the first to fifteenth any one embodiment as actuators to be similar, one end of the output direction of the actuator Is attached to the seat and the other end is attached to the frame.

According to this reference aspect, by adopting a similar mechanical impedance adjusting device according to the present invention as an actuator, there is provided a stand-up auxiliary chair that can effectively assist the user in the transition from the sitting state to the standing state. Can be provided. For example, first, the mechanical energy exerted on the seat portion by the user's seating is efficiently accumulated as the deformation amount of the actuator by reducing the spring constant by applying a voltage. Next, when the user starts up, by stopping the application of voltage, the spring constant of the dielectric film is increased, and the output of the actuator based on the restoring force of the dielectric film is increased, so that the seat by the accumulated energy This effectively induces displacement. By these, it is possible to realize the ease of seating due to the easy displacement of the seat portion when sitting, and it is possible to realize effective assistance of rising due to the displacement of the seat portion when standing. In this way, by adjusting the spring constant of the mechanical impedance adjusting device according to the user's state (sitting stage and standing stage), the simple and small actuator using the elastic force of the dielectric film makes it easy to sit down. It is possible to achieve both a sufficient assistance for getting up.

In this reference mode, the actuator may be directly attached to the seat or the frame. For example, the actuator may be attached to a link rod that constitutes a link mechanism that connects the seat and the frame. The seat rod may be displaced relative to the frame by expanding and contracting the link rod. In short, the actuator may be indirectly attached to the seat portion or the frame via another member.

The second reference aspect of the present invention includes a base end portion and a swinging portion connected to the base end portion via a joint portion, and swings the swinging portion with respect to the base end portion. An oscillating arm having an actuator for dynamically displacing, wherein the mechanical impedance adjusting device according to any one of the first to thirteenth aspects is used as the actuator, and one end in the output direction of the actuator A part is attached to the swinging part constituting the drive member, and the other end part is attached to the base end part.

According to the present reference aspect, by adopting an actuator similar to the mechanical impedance adjusting device according to the present invention, a large driving force can be efficiently exhibited, and the swinging portion with respect to the base end portion. Can be swung and displaced. Therefore, it is possible to realize lifting of a large mass object or stable gripping of the object by the swing arm. For example, in the state where the spring constant is reduced by applying a voltage, the external force is applied to the swinging portion, and the swinging portion is swingingly displaced with respect to the base end portion, whereby the energy by the external force is applied to the actuator. Is accumulated. Next, by stopping the application of voltage and increasing the spring constant, a large restoring force is generated in the actuator, and the swinging part swings with a large force in a direction to return to the initial state with respect to the base end part. To be harassed.

More preferably, as a third reference aspect of the present invention, in the swing arm according to the second reference aspect, a wire is attached to one end of the actuator in the output direction, while the swing part It is also possible to employ a structure in which an electric motor is disposed on the pulley, a pulley is attached to the rotating shaft of the electric motor, and the wire is wound around the pulley.

According to this reference embodiment, in addition to the engaging luer actuator second reference aspect of the present invention, by features an electric motor, for example, use a large output by the actuator when lifting a large object mass At the same time, when an object having a small mass is lifted, it is possible to handle the object to be lifted precisely by delicate wire operation using an electric motor. Further, it is possible to exert a greater driving force by assisting the drive of the swinging portion by the actuator with an electric motor.

In this reference mode, the actuator may be directly attached to the base end part or the swinging part, for example, a link rod constituting a link mechanism that connects the base end part and the swinging part, etc. It may be attached indirectly via.

Fourth reference aspect of the present invention, the a method for controlling those similar to the regulating device of a mechanical impedance of the first to any one of the aspects of the thirteenth, the external force to the dielectric elastomer Applying a voltage to the electrode layers formed on both surfaces of the dielectric elastomer in the step of exerting energy and applying energy to the electrode layer in releasing the energy stored in the dielectric elastomer It is characterized by stopping.

By employing the control method according to the present reference embodiment, due to the application of a voltage reduction of the spring constant of the dielectric elastomer, increasing the spring constant of the dielectric elastomer by applying stop voltage (return to the initial value), the energy of By switching so as to respond to changes in the storage phase and the release phase, power can be efficiently exerted on the input energy. That is, when an external force is input, energy can be efficiently stored by reducing the spring constant of the dielectric elastomer and ensuring a large amount of elastic deformation of the dielectric elastomer due to the external force. On the other hand, when the stored energy diverges, the spring constant of the dielectric elastomer is increased to increase the elasticity of the dielectric elastomer, thereby increasing the restoring force and ensuring a large driving force.

Explanatory drawing for demonstrating the drive mechanism by which the adjustment apparatus of the mechanical impedance as 1st embodiment of this invention was arrange | positioned. BRIEF DESCRIPTION OF THE DRAWINGS Explanatory drawing which shows the adjustment apparatus of mechanical impedance as 1st embodiment of this invention in model. Explanatory drawing which shows the axial direction cross section of the dielectric element provided in the adjustment apparatus of the mechanical impedance as a model. Explanatory drawing for demonstrating the action | operation of the dielectric material element. Explanatory drawing which shows the pin around which the dielectric element is wound as a model. The arrow A figure in FIG. Explanatory drawing for demonstrating the assembly method of the adjustment apparatus of the mechanical impedance shown in FIG. Explanatory drawing which shows the disk which comprises the adjustment apparatus of the mechanical impedance as a model. Explanatory drawing which shows the adjustment apparatus of the mechanical impedance as 2nd embodiment of this invention in model. The longitudinal cross-sectional view which a user shows a seating state in the stand-up assistance chair as a 1st reference example of this invention. The longitudinal cross-sectional view which shows a user's non-seating state in the same standing assistance chair. It is a longitudinal cross-sectional view which shows the actuator which comprises the same standing assistance chair, Comprising: (a) shows the non-action state of an axial direction external force, (b) shows the deformation | transformation state by the effect | action of an axial direction external force, respectively. The flowchart explaining the action | operation of the same standing assistance chair. It is a side view which shows the humanoid robot provided with the arm part as a 2nd reference example of this invention modelly, Comprising: (a) is the time of the voltage application start to an actuator, (b) is the voltage to an actuator. When the application is stopped, (c) shows the completion of lifting of the object. The flowchart explaining the action | operation of a doujin type robot. FIG. 4 is a partial cross-sectional view schematically showing a main part of an arm portion as a third reference example of the present invention, where (a) shows an initial state where no external force acts, and (b) shows an actuator extended by the action of the external force. The state before lifting the object is shown. The figure which shows in model the drive force transmission mechanism using the adjustment apparatus of the mechanical impedance as the 4th reference example of this invention. Partial axial direction explanatory drawing which shows typically the different aspect of a cylindrical dielectric element. The axial direction cross-sectional explanatory drawing which shows the further different aspect of a cylindrical dielectric element as a model. Explanatory drawing which shows another one aspect | mode of the adjustment apparatus of the mechanical impedance which concerns on this invention as a model.

  Hereinafter, in order to clarify the present invention more specifically, embodiments of the present invention will be described in detail with reference to the drawings.

  First, FIG. 1 schematically shows a drive mechanism 12 provided with an adjusting device 10 according to a mechanical impedance adjusting device as a first embodiment of the present invention. The drive mechanism 12 constitutes a movable part such as a robot, for example, and a plate-like arm member 14 as a drive member is provided to be rotatable about a rotation shaft 16. The arm member 14 is urged by a coil spring 18 in one direction of rotation (in the present embodiment, counterclockwise in FIG. 1).

  Further, one end of a wire 20 is connected to the arm member 14, and the other end of the wire 20 is attached to a pulley 24 provided on an output shaft of an electric motor 22 as a drive source. ing. Then, when the electric motor 22 is driven and the wire 20 is wound up by the pulley 24, the arm member 14 is against the tensile force from the coil spring 18 and is opposite to the tensile direction from the coil spring 18. A tensile force in the direction (clockwise in FIG. 1 in this embodiment) is exerted. As a result, the arm member 14 is rotated about the rotation shaft 16 in the direction opposite to the pulling direction from the coil spring 18 (in this embodiment, clockwise in FIG. 1). As described above, in this embodiment, the driving force of the electric motor 22 is transmitted to the arm member 14 via the wire 20, and the power transmission path is configured by the wire 20.

  An adjustment device 10 is provided on the wire 20. That is, the wire 20 in the present embodiment is constituted by two wires, a first wire 20 a having one end connected to the arm member 14 and a second wire 20 b having one end connected to the pulley 24. The other end of each of the first and second wires 20a, 20b is connected to the adjusting device 10 so that the adjusting device 10 is constituted by the first and second wires 20a, 20b. It is arranged on the top.

FIG. 2 schematically shows the adjusting device 10. Adjusting device 10 comprises a plurality of cylindrical dielectric element 2 6. As shown schematically in FIG. 3, the cylindrical dielectric element 26 has a structure in which a dielectric sheet 28 is rolled into a cylindrical shape. As schematically shown in FIG. 4, the dielectric sheet 28 has electrode layers 32a and 32b formed on both surfaces of the dielectric film 30, and one of the electrode layers 32a and 32b (in this embodiment, an electrode The insulating layer 34 is formed on the surface of the layer 32a) opposite to the dielectric film 30. 3 and 4 and FIGS. 12, 18, and 19 to be described later, in order to facilitate understanding of the laminated structure of the dielectric sheet 28, the dielectric film 30 (262) and the electrode layers 32a and 32b. (264), the thickness dimension and deformation amount of the insulating layer 34 are exaggerated.

The dielectric film 30 has a rectangular thin film shape formed of a dielectric elastomer. Examples of the dielectric elastomer include silicon elastomer, acrylic elastomer, polyurethane, nitrile rubber, hydrogenated nitrile rubber, natural rubber, ethylene-propylene rubber, ethylene-propylene-diene rubber, isoprene rubber, styrene butadiene rubber, and thermoplastic elastomer. A copolymer containing PVDF (polyvinylidene fluoride), a fluoroelastomer, a copolymer containing a silicone component and an acrylic component, a polymer blend containing a silicone elastomer and an acrylic elastomer, and the like can be appropriately employed. Since a high voltage is applied to the dielectric film 30, it is desirable to employ a film having a high dielectric breakdown strength. In the present embodiment, the dielectric film 30 is made of silicone rubber. Further, the thickness of the dielectric film 30 is not particularly limited, and can be appropriately determined according to the required amount of expansion and contraction. For example, the thickness of the dielectric film 30 is preferably small from the viewpoint of downsizing the cylindrical dielectric element 26, driving at a low potential, and increasing the deformation amount. In this case, the dielectric breakdown strength, etc. In consideration of the above, the thickness of the dielectric film 30 is preferably 1 μm or more and 1000 μm (1 mm) or less, and more preferably 5 μm or more and 200 μm or less.

  It is desirable that the electrode layers 32a and 32b can be expanded and contracted according to the expansion and contraction of the dielectric film 30 described later. As the electrode layers 32a and 32b, for example, electrodes are preferably formed from a paste or paint obtained by mixing conductive carbon such as carbon black or carbon nanotube with oil or elastomer as a binder. Examples of the elastomer used as the binder include silicone rubber, acrylic rubber, ethylene-propylene-diene terpolymer (EPDM), natural rubber (NR), butyl rubber (IIR), isoprene rubber (IR), and acrylonitrile-butadiene copolymer. Flexible materials such as polymer rubber (NBR), hydrogenated nitrile rubber (H-NBR), hydrin rubber, chloroprene rubber (CR), urethane rubber and the like can be suitably employed. Further, in order to ensure the stretchability of the dielectric film 30 more advantageously, conductive electrodes such as carbon black and carbon nanotubes may be directly attached to the surface of the dielectric film 30 to form electrodes. In the present embodiment, the electrode layers 32 a and 32 b are formed by applying carbon black powder to substantially the entire both surfaces of the dielectric film 30.

  Further, an insulating layer 34 is provided on the surface of the one electrode layer 32a opposite to the dielectric film 30. The insulating layer 34 is not limited as long as it can prevent conduction between the electrode layer 32a and the electrode layer 32b that are adjacent to each other in the radial direction in a state where the dielectric sheet 28 is wound. However, those that can expand and contract in accordance with the expansion and contraction of the electrode layers 32a and 32b are preferably employed. For example, silicone rubber, acrylic rubber, ethylene-propylene-diene terpolymer (EPDM), natural rubber (NR), butyl rubber (IIR), isoprene rubber (IR), acrylonitrile-butadiene copolymer rubber (NBR), hydrogen Flexible materials such as nitrile rubber (H-NBR), hydrin rubber, chloroprene rubber (CR), and urethane rubber are suitably employed. Furthermore, if the insulating layer 34 is formed of the same material as that of the dielectric film 30, a larger driving force can be obtained. In the present embodiment, the insulating layer 34 is made of the same silicone rubber as the dielectric film 30. However, the insulating layer 34 is formed of a material different from that of the dielectric film 30 and, for example, the insulating layer 34 is formed of a material having a dielectric constant or conductivity lower than that of the dielectric film 30, thereby obtaining greater insulation. Of course it is possible.

  In the dielectric sheet 28 having such a structure, the electrode layers 32 a and 32 b are electrically connected to the DC power source 36 and the switch 38. When a DC voltage (hereinafter simply referred to as voltage) is applied to the electrode layers 32a and 32b from the state before the voltage application shown in FIG. 4A, as shown in FIG. 4B, both electrode layers 32a are applied. , 32b, the dielectric film 30 is compressed in the film thickness direction (vertical direction in FIG. 4). Thereby, the film thickness of the dielectric film 30 becomes small. As the film thickness decreases, the surface of the dielectric film 30 becomes wider. Therefore, the dielectric film 30 is stretched together with the electrode layers 32a and 32b and the insulating layer 34, and the dielectric sheet 28 is stretched in the direction in which the surface is expanded.

  On the other hand, as shown in FIG. 4A, when the applied voltage to the electrode layers 32a and 32b is removed, the compressive force applied in the film thickness direction of the dielectric film 30 is released. Thereby, the film thickness of the dielectric film 30 is increased by the restoring force of the dielectric film 30 itself. As the film thickness increases, the surface of the dielectric film 30 decreases. Therefore, the dielectric film 30 is shrunk together with the electrode layers 32a and 32b and the insulating layer 34, and the dielectric sheet 28 is shrunk in the surface spreading direction.

A cylindrical dielectric element 26 is constituted by the dielectric sheet 28 having such a structure. In particular, in the present embodiment, the dielectric sheet 28 is formed in a cylindrical shape by being wound around the pin 40 shown in FIGS. 5 and 6 a predetermined number of times in a spiral shape.

  The pin 40 has a substantially rod shape formed of, for example, an acrylic resin. A locking portion 42 that protrudes radially outward over the entire circumference is formed at the axially central portion of the pin 40, and one side sandwiching the locking portion 42 is an insertion portion 44. The other side is a winding portion 46 having a smaller diameter than the insertion portion 44. A screw 48 having a predetermined dimension is formed on the axial end portion side of the insertion portion 44. On the other hand, the winding portion 46 has a spherical shape with a convex tip in the axial direction, and a pair of attachments that protrude slightly radially outward over the entire circumference at appropriate positions in the axial direction. Part 50 is formed.

Then, the pair of pins 40 having such a structure allows the dielectric sheet 28 to be spirally wound around the respective adherend portions 50 in a predetermined number of times with the winding portions 46 facing each other. The cylindrical dielectric element 26 is configured by being fixed by adhesion or the like. Note that FIG. 3 is only a schematic diagram, and the number of windings of the dielectric sheet 28 is not limited at all. Further, as shown in FIG. 3, the dielectric sheet 28 is configured such that the insulating layer 34 is interposed between the electrode layer 32a and the electrode layer 32b when the dielectric sheet 28 is wound around the pin 40. In this way, the dielectric sheet 28 is rounded into a cylindrical shape, and a change in the surface dimension of the dielectric sheet 28 due to voltage application to the electrode layers 32 a and 32 b causes the axial direction of the cylindrical dielectric element 26 to change. It can be expressed as expansion and contraction. Therefore, the cylindrical dielectric element 26 is expanded in the axial direction by applying a voltage to the electrode layers 32a and 32b, and is contracted in the axial direction by releasing the voltage application.

Then, as schematically shown in FIG. 7, a plurality of cylindrical dielectric elements 26 are fixed between a pair of disks 52. FIG. 7 shows only two of the plurality of cylindrical dielectric elements 26 constituting the adjusting device 10 for easy understanding. As shown in FIG. 8, the disk 52 has a disk shape as a whole, and the thickness dimension thereof is equal to the axial length dimension of the portion where the screw 48 is not formed in the insertion portion 44 of the pin 40. Has been. Further, the disc 52 is formed with a plurality of insertion holes 54 having the same diameter as the insertion portion 44 of the pin 40.

  In particular, in this embodiment, the insertion holes 54 are formed on two concentric circles having the same center as that of the disk 52 at a predetermined interval in the circumferential direction, and four on the concentric circles close to the center of the disk 52. Eight are formed on concentric circles far from the center of. As a result, an angle formed by a straight line that is formed on a concentric circle far from the center of the disk 52 and connects the centers of the through holes 54 and 54 adjacent in the circumferential direction and the center of the disk 52: α = 45 °, the disk 52 A straight line connecting the center of each of the insertion hole 54 formed on a concentric circle far from the center of the disk and the center of each of the insertion holes 54 formed concentrically near the center of the disk 52 adjacent to the insertion hole 54 in the circumferential direction is formed. Angle: β = 22.5 °. Further, a screw hole 56 penetrating in the thickness direction is formed in the center of the disk 52.

Then, as shown in FIG. 7, the cylindrical dielectric element 26 is sandwiched between the pair of disks 52 from both sides in the axial direction, and the insertion part 44 of the pin 40 is held by the locking part 42 until each of the disks 52 is locked. It is inserted through the insertion hole 54. As a result, the screw 48 of the pin 40 is protruded from the disk 52, and the screw 48 is fixed by the nut 58. Thus, by pins 40, 40 provided on both axial ends of the cylindrical dielectric element 26 is fixed to the disc 52, respectively, distribution cylindrical dielectric element 26 between the pair of disks 52, 52 Will be established. In the present embodiment, since twelve insertion holes 54 are formed in one disk 52, a maximum of twelve cylindrical dielectric elements 26 are fixed between the disks 52. Here, the axial directions of the cylindrical dielectric elements 26 fixed to the disk 52 are all aligned in a direction perpendicular to the radial direction of the disk 52. Although not shown in detail, the electrode layers 32 a and 32 b of each cylindrical dielectric element 26 are electrically connected to the power source 36.

A connecting rod 60 is fixed to a screw hole 56 penetrating through the center of each disk 52. The connecting rod 60 has a structure in which an annular connecting portion 64 is formed at one end of a shaft portion 62 extending in a rod shape, and a screw 66 is formed at the other end. Then, the screw 66 of the connecting rod 60 is screwed into the screw hole 56 of the disk 52 from the side opposite to the cylindrical dielectric element 26, so that the connecting rod 60 moves outward from the adjusting device 10 from the center of the disk 52. It is provided so as to protrude.

  As shown in FIG. 2, the adjusting device 10 having such a structure is connected to the connecting portion 64 of one connecting rod 60 and the other end of the first wire 20 a having one end connected to the arm member 14. The other end portion of the second wire 20 b having one end portion connected to the pulley 24 is connected to the connecting portion 64 of the other connecting rod 60. In the present embodiment, the first and second wires 20 a and 20 b are connected to the connecting portion 64 by inserting the end portions of the first and second wires 20 a and 20 b into the connecting portion 64 and caulking with the caulking metal fitting 68. Yes. Thereby, the adjusting device 10 is provided on the wire 20.

In the arrangement state of the adjusting device 10 on the wire 20, the axial direction of each cylindrical dielectric element 26 is made equal to the extending direction of the wire 20, and the plurality of cylindrical dielectric elements 26 are connected to the wire 20. Are arranged side by side in the extending direction. Furthermore, since the cylindrical dielectric elements 26 are arranged at equal intervals in the circumferential direction on a concentric circle with respect to the center of the disk 52, they are synthesized by the cylindrical dielectric elements 26 as shown in FIG. Further, the elastic center P of the adjusting device 10 is positioned in the extending direction of the wire 20.

For example, as shown in FIG. 1A, the adjusting device 10 having such a structure is disposed on the wire 20 in a state where no voltage is applied to the cylindrical dielectric element 26 under a steady state. Has been. For example, as shown in FIG. 1B, when the arm member 14 is excessively displaced in a direction away from the pulley 24 by the action of an external force or the like, a voltage is applied to each cylindrical dielectric element 26. By doing so, each cylindrical dielectric element 26 is extended in the axial direction. Thereby, the excessive displacement of the arm member 14 can be absorbed by the extension of the adjusting device 10. Therefore, the tensile force exerted on the pulley 24 can be eliminated or reduced by the extension of the adjusting device 10, and an excessive load on the electric motor 22 can be avoided or reduced.

Further, by adjusting the voltage applied to the cylindrical dielectric element 26, the extension amount of the adjusting device 10 can be adjusted. Thereby, the mechanical impedance of the drive mechanism 12 can be adjusted. As a result, for example, if a voltage is applied to the adjusting device 10 to extend the arm member 14 immediately before the arm member 14 collides with an obstacle or the like, the compliance of the drive mechanism 12 is improved, so that the arm member 14 becomes an obstacle or the like. The impact of the collision can be buffered, and the function as a shock absorber can be exhibited by the adjusting device 10. Further, since the compliance is given, for example, when the arm member 14 is a finger of a robot or the like, the driving speed of the arm member 14 is increased by extending the adjusting device 10 immediately before contacting the object to be grasped. The object can be grasped softly by lowering the distance between the fingers and the object, and the positional deviation between the fingers and the object can be absorbed.

  Further, particularly, the adjusting device 10 in the present embodiment has its elastic center: P positioned in the extending direction of the wire 20, so that a moment is generated in the adjusting device 10 when the adjusting device 10 expands and contracts. Further, it is possible to reduce unnecessary vibration on the wire 20 due to the rotation of the adjusting device 10, and the possibility of hindering the operation of the arm member 14 is also reduced.

In addition, since the adjusting device 10 according to the present embodiment has a simple configuration in which a plurality of cylindrical dielectric elements 26 are combined, it can be advantageously made compact and lightweight, and the robot can be moved. The present invention is also advantageously applied to parts and the like. Furthermore, since the expansion and contraction of the adjusting device 10 is performed by the expansion and contraction of the dielectric sheet 28 in the cylindrical dielectric element 26, there is almost no operating noise and excellent quietness can be obtained.

As described above, by using the adjusting device 10 in the present embodiment, the mechanical impedance of the driving mechanism 12 can be adjusted by adjusting the extension amount of the adjusting device 10. Therein, the regulation of extension of the adjusting device 10, by applying an equal voltage to all of the cylindrical dielectric element 26, by allowed to increase or decrease the magnitude of such applied voltages, all of the cylindrical dielectric element 26 may be allowed to stretch at the same time, or electrode layer 32a of the tubular dielectric element 26, the applied voltage to 32b is controlled to individually increase or decrease the number of the cylindrical dielectric element 26 allowed to stretch the duty control, etc. You may squeeze it.

  Further, by adjusting the change speed of the voltage applied to the electrode layers 32a and 32b, it is possible to adjust the extension speed of the adjusting device 10, and thus the change speed of the mechanical impedance. As a result, for example, the applied voltage value can be quickly increased at the time of or just before the collision with the obstacle to quickly develop large compliance, while the applied voltage value is gradually increased when grasping an object. At the same time, compliance can be exhibited gradually over a longer period of time.

  In this embodiment, the regulator 10 is not applied with a voltage in a steady state, thereby reducing power consumption. However, a certain amount of voltage is applied even in a steady state. The voltage applied to the adjusting device 10 may be increased or decreased as necessary. In this way, since the adjusting device 10 is in a certain stretched state in a steady state, the mechanical impedance can be increased by reducing the voltage applied to the adjusting device 10, for example.

  Next, FIG. 9 schematically shows an adjusting device 80 according to a second embodiment of the mechanical impedance adjusting device of the present invention. In the following description, members and parts having the same structure as those of the first embodiment described above are denoted by the same reference numerals as those of the first embodiment in the drawings, respectively. Detailed description is omitted.

The adjusting device 80 in the present embodiment is disposed on the wire 20 that connects the arm member 14 and the pulley 24 as in the adjusting device 10 in the first embodiment described above. The adjusting device 80 is configured by laminating a plurality of dielectric sheets 82 having a rectangular thin film shape including the dielectric film 30 and the electrode layers 32a and 32b as described above in the thickness direction. In particular, in the present embodiment, the electrode layer 32a, the dielectric film 30, the electrode layer 32b, the dielectric film 30, and the electrode layer 32a are laminated in the thickness direction, and the dielectric sheets 82 and 82 adjacent in the lamination direction are stacked. The electrode layers 32a to 32b are commonly used. Although not shown, these electrode layers 32a and 32b are electrically connected to a power source in the same manner as the cylindrical dielectric element 26 described above. Thus, in the present embodiment, a plate-type dielectric element is configured by the thin-film-shaped dielectric sheet 82, and the adjustment device 80 is configured by stacking a plurality of dielectric sheets 82.

  Here, like the above-described dielectric sheet 28, the dielectric sheet 82 increases the voltage applied to both electrode layers 32a and 32b as shown in FIG. The thickness is reduced by the electrostatic attractive force, and the thickness is expanded in the direction of the surface. On the other hand, when the voltage applied to both electrode layers 32a and 32b is removed, the thickness dimension is increased and the surface is contracted in the spreading direction by the restoring force of the dielectric film 30 itself. As a result, the adjusting device 80 according to the present embodiment reduces the thickness dimension by increasing the applied voltage and expands it in the surface spreading direction, while increasing the thickness dimension by decreasing the applied voltage. And contracted in the spreading direction of the surface.

  The adjusting device 80 having such a structure is connected to the ends of the wires 20a and 20b by using, for example, an appropriate connector, and is configured by two wires 20a and 20b. The wire 20 is disposed on the wire 20. As shown also in FIG. 9, the adjusting device 80 in the present embodiment is particularly arranged on the wire 20 so that the thickness direction, that is, the stacking direction of the dielectric sheets 82 is orthogonal to the extending direction of the wire 20. A plurality of dielectric sheets 82 are arranged in parallel on the wire 20. Further, when the adjusting device 80 is assembled to the wire 20, the center of the adjusting device 80 is positioned on the wire 20, and the elastic center synthesized by the plurality of dielectric sheets 82 is positioned on the wire 20. It is supposed to be.

  Such an adjusting device 80 applies a voltage to the electrode layers 32a and 32b, for example, when the arm member 14 is excessively displaced in the direction opposite to the pulling direction of the wire 20 (counterclockwise direction in FIG. 1). By crimping, it is possible to stretch the surface in the spreading direction, that is, in the extending direction of the wire 20. Thereby, the excessive displacement of the arm member 14 can be absorbed by the extension of the adjusting device 80, and the possibility that an excessive load is applied to the electric motor 22 via the wire 20 can be avoided or reduced. Therefore, in this embodiment, since the expansion in the spreading direction of the surface of the dielectric sheet 82 is used, the deformation amount of the adjusting device 80 can be advantageously ensured. In addition, since the elastic center of the adjusting device 80 is positioned on the wire 20, it is possible to prevent an unnecessary moment from being applied to the adjusting device 80 when the adjusting device 80 expands and contracts. The risk of obstructing is also reduced.

  In addition, the adjustment of the expansion / contraction amount of the adjusting device 80 in the present embodiment is performed by applying an equal voltage to all the dielectric sheets 82 and increasing / decreasing the applied voltage as in the adjusting device 10 in the first embodiment described above. The number of dielectric sheets 82 to which a predetermined voltage set in advance may be applied may be adjusted, and further, the voltage applied to the dielectric sheet 82 may be individually determined by combining them. You may control.

  In the present embodiment, the electrode layers 32a to 32b are used in common between the dielectric sheets 82 and 82 adjacent in the stacking direction. For example, the dielectric sheet in the first embodiment described above is used. It is also possible to adopt a structure in which 28 is laminated in the thickness direction and an insulating layer 34 is interposed between dielectric sheets adjacent in the lamination direction.

10 and 11 show a stand-up auxiliary chair 110 (hereinafter sometimes referred to as the auxiliary chair 110) as a first reference example of the present invention. The auxiliary chair 110 includes a seat portion 112 as a driving member, a frame 114, and an auxiliary mechanism 116. In the following description, unless otherwise specified, the vertical direction is the vertical direction in FIG. 10, which is the vertical vertical direction, the front-rear direction is the right-left direction in FIG. 10, and the horizontal direction and the width direction are diagrams. The direction orthogonal to the paper surface in 10 is respectively referred to.

  The seat portion 112 is a substantially rectangular plate-shaped member having a seating surface on which a user is seated, and a first locking fitting 118 is attached to a central portion in the width direction. The first locking fitting 118 is a substantially plate-shaped member formed of a metal such as iron, and is fixed to the lower surface of the seat portion 112 so that the thickness direction coincides with the width direction. A first locking claw 120 that protrudes rearward is integrally formed at the lower end of the first locking bracket 118. The first locking claw 120 has an upper end surface that is substantially parallel to the seat portion 112 and a lower end surface that is gradually inclined upward toward the rear, and is gradually narrower in the vertical direction toward the rear. It has become.

  A motion conversion member 122 is attached to the seat portion 112. The motion conversion member 122 has a structure in which a pair of members having a substantially plate shape formed of a metal such as iron are overlapped so as to sandwich the first locking fitting 118 from both sides in the width direction. It is fixed so as to protrude downward with respect to the portion 112. The motion converting member 122 includes an attachment portion 124 fixed to the seat portion 112, a connecting portion 126 extending downward from the attaching portion 124, and an arcuate pulley 128 integrally formed at the lower end of the connecting portion 126. Have. The attachment portion 124 is fixed to the front end portion of the seat portion 112 and overlapped with the first locking fitting 118 in the width direction. A connecting portion 126 is integrally formed at the rear end of the attachment portion 124 and extends downward. Further, an arcuate pulley 128 having an arc-shaped lower end surface is integrally formed at the lower end of the connecting portion 126. .

  A frame 114 is attached to the seat portion 112. The frame 114 has a leg portion 130 that supports the seat portion 112. The leg portion 130 extends in the vertical vertical direction, and a pair of front leg portions 130 a and 130 a are disposed at both left and right front portions of the seat portion 112, and a pair of rear leg portions 130 b and 130 b are disposed on the seat portion 112. The left and right ends of the rear part are arranged, and the four corners of the seat part 112 are supported by the leg part 130. The pair of rear legs 130b, 130b extends upward from the seat 112, and the backrest 132 is bridged between the portions extending upward from the seat 112. Is formed.

  The front and rear legs 130a and 130b are connected to each other by an upper reinforcing member 134 extending in the front-rear direction below the seat 112, and are mutually connected by a lower reinforcing member 136 extending in the front-rear direction at the lower end thereof. It is connected to. In addition, left and right reinforcing members 138 that connect the middle portions of the pair of rear legs 130b and 130b to each other on the lower side of the seat portion 112 are superimposed on the upper reinforcing member 134 from above. Both ends are fixed to the pair of rear legs 130b, 130b. Furthermore, a support plate 140 that connects the lower ends of the pair of rear legs 130b, 130b to each other is superimposed on the lower reinforcing member 136 from below, and the left and right ends of the support plate 140 are paired with the pair of rear legs. It is being fixed to the parts 130b and 130b. Although not clearly shown in the drawing, a spacer whose vertical dimension is substantially the same as that of the left and right reinforcing members 138 is superimposed on the upper surface of the front end portion of the upper reinforcing member 134.

  A seat 112 is attached to the frame 114 having such a structure. That is, the front end of the seat portion 112 is overlapped with the upper reinforcing member 134 via the spacer, and the rear end of the seat portion 112 is overlapped with the upper reinforcing member 134 via the left and right reinforcing member 138.

  Here, a rod-shaped first shaft member 142 extending in the left-right direction is fixed to the front end portion of the upper reinforcing member 134. Then, the first shaft member 142 fixed to the frame 114 is inserted into a through hole formed in the attachment portion 124 of the motion conversion member 122, whereby the seat portion 112 fixed to the motion conversion member 122 is It is attached to the frame 114 and is allowed to swing relative to the frame 114 around the first shaft member 142.

  Further, a rod-shaped second shaft member 144 extending in the left-right direction is fixedly provided in the middle in the front-rear direction of the upper reinforcing member 134. In the present embodiment, the first shaft member 142 and the second shaft member 144 are connected to each other by a plate-shaped connecting bracket 145 extending in the front-rear direction.

  The second locking member 146 is attached to the second shaft member 144. The second locking metal fitting 146 is formed of a metal plate, and is disposed so as to be swingable about the second shaft member 144. In addition, a second locking claw 148 protruding toward the front is integrally formed at the upper end of the second locking bracket 146. The second locking claw 148 has a lower end surface that extends in parallel with the seat portion 112 and an upper end surface that is an inclined surface that is inclined downward toward the front, and narrows in the vertical direction toward the front side. It is wide. Then, the upper surface of the first locking claw 120 and the lower surface of the second locking claw 148 are overlapped with each other, and the first and second locking claws 120 and 148 are locked. The rocking displacement of the 112 with respect to the frame 114 is restricted, and the locking mechanism of the seat portion 112 is constituted by the first and second locking fittings 118 and 146.

  The second shaft member 144 is attached with a substantially disk-shaped circular pulley 150. The circular pulley 150 is allowed to rotate around the second shaft member 144. Further, a wire 152 constituting a power transmission path is wound around the circular pulley 150, and one end thereof is attached to the arcuate pulley 128.

Therein, the other end of the wire 152 is attached to the actuators 154. As shown in FIG. 12A, the actuator 154 superimposes a pair of dielectric sheets 156 as plate-shaped dielectric elements having a substantially disk shape in the thickness direction, and these dielectric sheets 156, 156. Are connected to each other by an outer peripheral connecting member 158, and an inner peripheral connecting member 160 is attached to a central portion in the radial direction of each dielectric sheet 156. Then, as shown in FIG. 12B, an external force is applied to the inner peripheral connecting member 160 attached to each dielectric sheet 156 so as to be separated from each other in the axial direction, and each dielectric sheet. 156 is deformed into a tapered shape. As a result, the dielectric sheet 156 is previously stretched in the radial direction. The dielectric sheet 156 includes a dielectric film 30 formed of a dielectric elastomer and electrode layers 32a and 32b formed on both surfaces of the dielectric film 30 in the same manner as the dielectric sheet 28 of the first embodiment. Is formed. In addition, the dielectric sheet 156 is deformed into a tapered shape, so that the facing direction of the electrode layers 32 a and 32 b is oblique to the central axis direction of the dielectric sheet 156.

In this reference example , as shown in FIGS. 10 and 11, two actuators 154 having the above-described structure are overlapped and connected in the axial direction. That is, the actuators 154 and 154 are arranged in series in the vertical direction by overlapping and fixing the inner peripheral connecting members 160 attached to the center of the dielectric sheet 156 in the radial direction.

The actuators 154 and 154 are mounted on the frame 114 by being placed on the support plate 140 and the inner peripheral connecting member 160 located at the lower end being fixed to the support plate 140. The other end of the wire 152 is attached to the inner peripheral connecting member 160 located at the upper end of the actuators 154 and 154, and the actuators 154 and 154 are attached to the seat portion 112 via the wire 152. . In this reference example , the dielectric sheet 156 is stretched in the plane direction in the initial state by the tension of the wire 152, and the vertical direction in FIG. 10 which is the extending direction of the wire 152 is the power transmission path in this reference example . It is considered to be a direction. In the present reference example , the auxiliary mechanism 116 is configured by the arcuate pulley 128, the circular pulley 150, the wire 152, and the actuators 154 and 154.

  With the stand-up auxiliary chair 110 having such a structure, the user can easily sit down, and when the user stands up from the seated state, the seat portion 112 is swung and displaced by the actuators 154 and 154 with respect to the frame 114. And helping the user to stand up. Hereinafter, the operation of the auxiliary chair 110 will be described with reference to FIG.

  First, in the initial state where the user is not seated on the seat portion 112 of the auxiliary chair 110, as shown in FIG. 11, the locking of the first and second locking brackets 118 and 146 is released, and the actuator The seat portion 112 is held in an inclined state in which the rear portion is lifted upward by the tension of the wire 152 based on the elasticity of the dielectric film 30 constituting the 154 and 154. In this state, no voltage is applied to the dielectric sheet 156, and unnecessary power consumption is prevented.

  Next, in step (hereinafter referred to as S) 1, a voltage is applied to the dielectric sheet 156 (electrode layers 32 a and 32 b) of the actuator 154. As a result, the spring constant of the dielectric film 30 constituting the dielectric sheet 156 is reduced, and the dielectric film 30 is likely to be elastically deformed. As a result, the resistance due to the elasticity of the dielectric film 30 is suppressed, and the swinging displacement of the seat portion 112 can be easily generated with a small force.

In S <b> 2, the user sits on the seat 112 and the weight of the user acts on the seat 112. As a result, as shown in FIG. 10, the seat 112 is rocked and displaced to a seating state that spreads substantially horizontally. At the same time, the arcuate pulley 128 fixed to the seat 112 is swung forward and the wire 152 is pulled by the arcuate pulley 128. As a result, a tensile force in the axial direction is exerted on the actuators 154 and 154. In this reference example , the seat 112 is driven by the user's seating, and the drive source is realized using the mass (weight) of the user. In short, in the auxiliary chair 110 according to this reference example , a mass body that exerts an external force on the seat 112 is used as a drive source. Note that it is desirable that the voltage application in S1 and the seating start in S2 be simultaneous from the viewpoint of reducing power consumption and the like, so that the voltage is applied after the seating start (the order of S1 and S2 is switched). It may be.

  Further, when the wire 152 is pulled by the arcuate pulley 128, the second locking fitting 146 is oscillated and displaced so as to protrude upward. When the user's seating is completed, the second locking claw 148 of the second locking bracket 146 is locked to the first locking claw 120 of the first locking bracket 118 in S3. The seat portion 112 is locked with respect to the frame 114 so as not to swing and displace.

  Next, after the user's seating is completed, voltage application to the dielectric sheet 156 is stopped in S4. As a result, the elasticity of the dielectric film 30 is increased, and the action of the actuators 154 and 154 contracting in the axial direction is increased. As a result, the tension applied to the wire 152 is increased, and a force for lifting the rear portion upward acts on the seat portion 112. On the other hand, since the seat 112 is locked with respect to the frame 114 by the locking mechanism, even if the elasticity of the dielectric film 30 is increased by releasing the voltage applied to the dielectric sheet 156, the seat 112 is horizontally oriented. It is held in a spread seating state.

  Next, in S5, when the user starts rising from the seated state, the weight of the user acting on the seat 112 is reduced. Further, at the same time when the user starts rising in S5, the lock mechanism is released in S6. In other words, the second locking member 146 is tilted by swinging and displacing it with a motor (not shown), and the lock of the seat 112 due to the locking of the first and second locking members 118 and 146 is released. For example, a sensor that senses the weight acting on the seat surface is disposed on the second locking fitting 146, and the second locking fitting 146 is oscillated and displaced based on the detection result of the weight sensor.

  When the seat 112 is unlocked, the actuators 154 and 154 are contracted in the axial direction by the stored mechanical energy (elastic force of the dielectric film 30 constituting the actuator 154). In this case, since the voltage application to the actuators 154 and 154 is stopped in advance in S4, the spring constant of each dielectric film 30 is increased as compared with the expansion, and the contraction exerted in the actuators 154 and 154 is achieved. Directional force can be greatly obtained.

  Then, the arcuate pulley 128 is pulled backward via the wire 152 by the contraction of the actuators 154 and 154 and is oscillated and displaced. As a result, the seat 112 fixed to the arcuate pulley 128 is oscillated and displaced so as to lift the rear part upward.

As a result, the user is pushed up diagonally forward by the seat 112, and a part of the force required at the beginning of rising is assisted by the output from the actuators 154 and 154. As is clear from the above description, the actuator 154 in this reference example stores mechanical energy against the action of external force, and works as a power storage means that works by releasing the stored energy. It has a function.

  Then, in S7, when the user completes the standing up and leaves the seat portion 112, the auxiliary chair 110 returns to the non-sitting state (initial state) before the operation.

As described above, the application of the voltage to the dielectric sheet 156 is applied to the actuator 154 that is similar to the mechanical impedance adjusting device according to the present invention, and thereby the mechanical energy is accumulated in the actuator 154. Release can be realized efficiently. That is, when energy is input to the actuator 154 from the outside, by applying a voltage to the electrode layers 32a and 32b of the dielectric sheet 156, the dielectric film 30 is easily deformed, and energy is efficiently accumulated from a small external force. . On the other hand, when energy is output from the actuator 154 to the outside, the application of voltage to the electrode layers 32a and 32b is stopped, thereby increasing the elastic force of the dielectric film 30 and applying a large force to the seat 112 from the accumulated energy. Make it work. As a result, the stand-up auxiliary chair 110 structured according to this reference example achieves both a smooth swinging displacement of the seat 112 when seated and sufficient assistance (action of a large force on the user) when standing up. Can be realized.

Next, FIG. 14 schematically shows a humanoid robot 172 including an arm portion 170 related to a swing arm as a second reference example of the present invention. The humanoid robot 172 includes a torso 174, a head 176 attached above the torso 174, a leg 178 attached to the lower end portion of the torso 174 and supporting the torso 174, The arm part 170 attached to the upper end part is provided. Note that the detailed structure of the humanoid robot 172 is not the main point of the present reference example , so the description thereof is omitted here. In the following description, the up and down direction refers to the up and down direction in FIG. 14, and the front and back direction refers to the left and right direction in FIG.

  Further, a waist motor 180 as a drive source is disposed at a connecting portion between the lower end portion of the trunk portion 174 and the upper end portion of the leg portion 178, and the trunk portion 174 becomes a leg portion by driving the waist motor 180. It can be tilted in the front-rear direction with respect to 178.

  Further, the arm portion 170 has an upper arm portion 182 as a base end portion and a forearm portion 184 as a swinging portion, and one end portion of the upper arm portion 182 and the other end portion of the forearm portion 184 are It is a connected structure. In addition, a connecting portion between the upper arm portion 182 and the forearm portion 184 is an elbow joint as a joint portion, and can be bent to at least one side. Further, the other end of the upper arm 182 is attached to the arm 170 so as to be swingable with respect to the upper end of the trunk 174, and the attachment is a shoulder joint. In addition, although the hand part is attached to one edge part (front-end | tip part) of the forearm part 184, description and illustration are abbreviate | omitted here.

Here, a drive mechanism 186 that tilts (bends) the forearm portion 184 relative to the upper arm portion 182 is attached to the upper arm portion 182 and the forearm portion 184. The drive mechanism 186 has a first attachment member 188 fixed to one end of the upper arm 182 and a second attachment member 190 fixed to one end of the forearm 184. . They also first, between the second mounting member 188, 190, actuators 192 are disposed, first, attached to the second mounting member 188, 190 by a wire 194. In short, both ends of the output direction of the actuator 192 are attached to the upper arm portion 182 and the forearm portion 184 via the first and second attachment members 188 and 190.

The actuator 192 is a mechanical device according to the present invention, such as the adjusting devices 10 and 80 and the cylindrical dielectric element 26 shown in the first and second embodiments, or the actuator 154 shown in the first reference example. It consists of something similar to an impedance adjustment device. In the initial state of the actuator 192, the arm portion 170 is held in a bent state (in this reference example , the upper arm portion 182 and the forearm portion 184 are substantially perpendicular).

  In the humanoid robot 172 having such a structure, the forearm portion 184 is swung with respect to the upper arm portion 182 by adjusting the voltage applied to the actuator 192. 196 can be lifted. Hereinafter, the lifting operation of the object 196 by the humanoid robot 172 will be described with reference to FIG.

First, as shown in FIG. 14A, the waist motor 180 is driven to tilt the trunk 174 forward by a predetermined angle: θ _{1 with} respect to the leg 178. In step S <b> 11, the object 196 is placed on or held by the hand unit at the tip of the arm unit 170. At this time, the length of the actuator 192 is l ₁ .

  Next, in S12, a voltage is applied to the electrode layers 32a and 32b of the actuator 192. As a result, the spring constant of the dielectric film 30 constituting the actuator 192 becomes small, and it becomes easy to elastically deform.

Next, in S13, the waist motor 180 is driven to reduce the angle formed by the body 174 and the leg 178. As a result, the separation distance between the first mounting member 188 and the second mounting member 190 is increased, the actuator 192 is extended, and the length of the actuator 192 changes to l ₂ (l ₂ > l ₁ ). The actuator 192 accumulates mechanical energy that acts in the contraction direction.

Next, as shown in FIG. 14B, when the angle formed by the body 174 and the leg 178 becomes a predetermined angle: θ ₂ that is sufficiently smaller than θ ₁ , in S14, the actuator 192 The voltage application to the electrode layers 32a and 32b is stopped. As a result, the spring constant of the dielectric film 30 constituting the actuator 192 increases, and the restoring force in the contraction direction increases.

In S15, as shown in FIG. 14C, the actuator 192 is contracted against the mass of the object 196, and the length of the actuator 192 changes to l3 (l ₂ > l ₃ ). As a result, the forearm portion 184 is swung upward with respect to the upper arm portion 182 by the actuator 192, and the object 196 is lifted upward.

As described above, in the humanoid robot 172 shown in the present reference example , energy is applied to the actuator 192 by applying a voltage to the actuator 192 when the upper body (torso 174) is driven by the waist motor 180. In addition to being able to store efficiently, the energy stored in the actuator 192 can be efficiently released by stopping the application of voltage to the actuator 192 when the arm portion 170 is bent. As is clear from this, the actuator 192 in the present reference example has a function as a power storage means.

  In addition, as shown in FIG. 14B, before the object 196 is lifted, the torso 174 of the humanoid robot 172 is sufficiently raised to reduce the inclination with respect to the leg 178. Therefore, when the object 196 is lifted, the center of gravity of the humanoid robot 172 is positioned more backward than in the case of the forward leaning posture (FIG. 14A), and the object 196 is moved in front of the trunk 174. Falling by lifting can be avoided.

Further, in the arm portion 170 of the humanoid robot 172 shown in this reference example , the relative swinging of the upper arm portion 182 and the forearm portion 184 can be realized without providing a motor at the joint of the arm portion 170. . Therefore, the arm portion 170 can be reduced in size and weight, the change in the weight balance of the humanoid robot 172 due to the driving of the arm portion 170 can be suppressed, and necessary for driving the arm portion 170. Force can be kept small. In addition, by using the driving force of the high-power waist motor 180 that swings the torso 174 to drive the arm 170, a special motor or the like can be used to lift the mass 196 by the arm 170. It can be realized without providing.

Next, FIG. 16 schematically shows a main part of an arm part 200 related to a swing arm as a third reference example of the present invention. The arm part 200 has a structure in which the forearm part 184 is connected to the upper arm part 182 so as to be swingable.

  A first support member 202 that protrudes upward and a second support member 204 that protrudes downward are fixedly provided at the distal end portion of the forearm portion 184. Furthermore, an electric motor 206 is attached to the first support member 202, and a first pulley 208 is attached to the rotating shaft of the electric motor 206. On the other hand, a second pulley 210 is rotatably attached to the second support member 204.

  On the other hand, a first mounting member 212 projecting upward and a second mounting member 214 projecting downward are fixed to the end of the upper arm portion 182 on the forearm portion 184 side. Furthermore, a connecting member 216 is attached to the first mounting member 212 so as to protrude toward the first pulley 208 and swingably. Furthermore, a substantially bottomed cylindrical case 218 is attached to the end of the connecting member 216 on the first pulley 208 side. Further, the opening of the case 218 is closed by a substantially disc-shaped lid member 220. In FIG. 16, the case 218 and the lid member 220 are drawn in cross section.

Further, the case 218, actuators 222 are disposed. The actuator 222 has a substantially cylindrical shape or a substantially cylindrical shape as a whole, since it can be adopted the first luer actuator is shown in Reference Examples, the detailed description thereof is omitted here, dielectric It is possible to change the spring constant by providing the film 30 and the electrode layers 32a and 32b and controlling the voltages applied to the electrode layers 32a and 32b. Furthermore, the actuator 222 has one end face in the axial direction superimposed on the bottom wall portion of the case 218 and fixed, and the other end face is opposed to the lid member 220 at a predetermined distance.

Between the second mounting member 21 4 and the actuator 222, the wire 224 is bridged. Wire 224 is with one end attached to the second mounting member 21 4, wound on the first and second pulleys 208, 210. Further, the other end portion of the wire 224 passes through the lid member 220 and is fixed to the other end portion in the axial direction of the actuator 222. The actuator 222 is given an axial tensile force by the wire 224, and the actuator 222 is extended in the axial direction in an initial state where no external force is applied.

  Here, when lifting a lightweight object having a relatively small mass, the forearm 184 is oscillated and displaced with respect to the upper arm 182 by controlling the winding of the wire 224 by energizing the electric motor 206. . As a result, the forearm 184 can be precisely controlled, and a lightweight object can be handled delicately. Note that the actuator 222 is initially stretched to limit the elongation in the axial direction, and when lifting a lightweight object, the actuator 222 is held at the initial length as shown in FIG. .

  On the other hand, when lifting a heavy object having a relatively large mass, the energization of the electric motor 206 is stopped, and the arm unit 200 is driven by the actuator 222. That is, when the upper arm portion 182 is moved upward in a state where a heavy object is placed or gripped on a hand portion (not shown) provided at the tip of the forearm portion 184, as shown in FIG. The forearm 184 is inclined downward toward the distal end side. Thereby, the separation distance between the first mounting member 212 and the first pulley 208 is increased. As a result, an axially outward pulling force is exerted on the actuator 222, and the actuator 222 is extended by Δl with respect to the initial state.

  Accordingly, when the upper arm portion 182 is moved upward, by applying a voltage to the electrode layers 32a and 32b of the actuator 222, the spring constant of the actuator 222 is reduced, and the actuator 222 is stretched and deformed in the axial direction. It is easy to occur. Thereby, a large elongation: Δl of the actuator 222 due to the action of the external force is ensured.

Next, by stopping the application of voltage to the electrode layers 32a and 32b of the actuator 222, the spring constant of the actuator 222 is increased. Thereby, the restoring force in the contraction direction of the actuator 222 is increased, and the wire 224 is pulled by the actuator 222 with a large force. Then, the forearm 184 is oscillated and displaced, and the front end of the forearm 184 is displaced upward. As a result, the heavy object supported by the hand portion provided at the tip of the forearm portion 184 is lifted upward. In particular, in this reference example , since the actuator 222 is initially stretched, the restoring force is exerted more greatly, and lifting of a heavy object can be realized advantageously.

In this way, by adjusting the spring constant of the actuator 222, energy can be stored and released effectively, and a large driving force for lifting a mass object can be exerted on the forearm 184. The actuator 22 2 also in this reference example, similarly to the actuator 154,192 of the reference example has a function as accumulating means.

The arm part 200 according to the present reference example is suitably employed as an arm part of a humanoid robot as shown in the second reference example . As described above, when the arm part 200 is applied to the humanoid robot 172, the displacement of the upper arm part 182 when lifting the heavy object described above can be realized by raising the trunk part 174 by the waist motor 180.

Next, in FIG. 17, the power transmission mechanism 232 which actuators 230 are provided as the fourth reference example of the present invention is shown schematically. The power transmission mechanism 232 is a mechanism such as a timing belt of an automobile, for example, and has a structure in which an annular belt 238 is wound around a main driving pulley 234 and a driven pulley 236 that are circular. .

  A tensioner 240 is disposed between the main pulley 234 and the driven pulley 236. The tensioner 240 is pressed from the outer peripheral side of the belt 238 against a portion of the belt 238 spanned between the main driving pulley 234 and the driven pulley 236.

  The tensioner 240 is rotatably supported by the support member 242. The support member 242 has a longitudinal plate shape, and the tensioner 240 is rotatably supported by a first shaft member 244 penetrating at one end and penetrating at the other end. The second shaft member 246 is attached to a base (not shown) so as to be swingable.

  Further, one end of the actuator 230 is attached to an intermediate portion in the longitudinal direction of the support member 242. The other end of the actuator 230 is fixed to a base (not shown).

Here, in the power transmission mechanism 232 according to this reference example , the position of the tensioner 240 is changed by the swinging of the support member 242 by adjusting the voltage applied to the actuator 230 and changing and setting the spring constant of the actuator 230. The slack of the belt 238 can be eliminated. Therefore, by stopping the voltage application to the actuator 230, the tensioner 240 can be pressed against the belt 238, and power can be transmitted between the main pulley 234 and the driven pulley 236 by the belt 238, while the actuator 230 By applying a voltage to the tensioner 240, the tensioner 240 can be displaced upward, and the power transmission between the pulleys 234 and 236 by the belt 238 can be released.

Thus, by using the actuator 230 that drives the tensioner 240 that is similar to the mechanical impedance adjusting device according to the present invention, it is possible to realize ON / OFF switching of power transmission with a simple configuration. In addition, since the power transmission is canceled when the voltage is applied, the energization time can be shortened, and the power saving and the durability improvement due to the heat generation reduction can also be realized.

  As mentioned above, although several embodiment of this invention has been explained in full detail, these are illustrations to the last, Comprising: This invention is not limited at all by the specific description in this embodiment. .

For example, as a further different aspect of the cylindrical dielectric element 26 in the first embodiment described above, a cylindrical dielectric element 250 schematically shown in FIG. 18 may be used. The cylindrical dielectric element 250 has a structure in which a dielectric sheet 28 is spirally wound around a coil spring 252 as a core material. Although not shown, the cylindrical dielectric element 250 in the present embodiment also has both ends in the axial direction (vertical direction in FIG. 18) as in the cylindrical dielectric element 26 in the first embodiment described above. The pin 40 is provided in the part.

More specifically, the cylindrical dielectric element 250 is configured by winding the dielectric sheet 28 in a spiral shape with the coil spring 252 pre-compressed. The coil spring 252 and the dielectric sheet 28 may be fixed by adhering the inner peripheral surface of the dielectric sheet 28 wound in a spiral shape to the outer peripheral surface of the coil spring 252 or the like.

In the cylindrical dielectric element 250 having such a structure, when no voltage is applied to the dielectric sheet 28, the coil spring 252 subjected to pre-compression is restrained by the dielectric sheet 28. Kept in a compressed state. When a voltage is applied to the dielectric sheet 28, the dielectric sheet 28 is stretched in the axial direction. Thereby, the axial extension by the elastic restoring force of the coil spring 252 is allowed, and the cylindrical dielectric element 250 is extended in the axial direction. On the other hand, when the voltage applied to the dielectric sheet 28 of the cylindrical dielectric element 250 extended in the axial direction is removed, the dielectric spring 28 is contracted in the axial direction, whereby the coil spring 252 is compressed and deformed in the axial direction. To be harassed. Thereby, the cylindrical dielectric element 250 is contracted in the axial direction.

When such a cylindrical dielectric element 250 is used, the expansion and contraction direction can be expressed more stably in the axial direction by elastic deformation of the core material. In particular, at the time of expansion and deformation, a more rapid operation can be performed by utilizing the elastic restoring force of the coil spring 252.

  The core material is not limited as long as it is a member that can be elastically deformed in the axial direction. For example, the core material may be configured using a rod-shaped elastic member. Examples of such elastic members include silicone rubber, acrylic rubber, ethylene-propylene-diene terpolymer (EPDM), natural rubber (NR), butyl rubber (IIR), isoprene rubber (IR), and acrylonitrile-butadiene. Elastomers such as copolymer rubber (NBR), hydrogenated nitrile rubber (H-NBR), hydrin rubber, chloroprene rubber (CR), fluorine rubber, and urethane rubber can be suitably employed.

In the cylindrical dielectric element 250, the dielectric sheet 28 is wound in a state in which the core is previously stretched, and both axial ends of the dielectric sheet 28 are fixed to the core by bonding or caulking. You may do it. Here, the rod-shaped core material made of the elastomer is preferably used. In this embodiment, the core material is restrained by the dielectric sheet 28 in a state where the core material is previously stretched. When a voltage is applied to the dielectric sheet 28, the thickness dimension of the dielectric sheet 28 is reduced, thereby reducing the binding force on the core material. Therefore, contraction due to the elastic restoring force of the core material is allowed, and the cylindrical dielectric element is contracted in the axial direction. On the other hand, when the applied voltage to the dielectric sheet 28 is removed, the thickness dimension of the dielectric sheet 28 is increased, thereby increasing the restraining force on the core material and reducing the core material from the circumferential direction. It is done. Therefore, the core material is extended in the axial direction, and the cylindrical dielectric element is extended in the axial direction. In this way, in contrast to the cylindrical dielectric element 250, a more rapid operation can be performed by utilizing the elastic restoring force of the coil spring 252 particularly during contraction deformation.

Furthermore, in the cylindrical dielectric elements 26 and 250, the cylindrical shape is formed by rolling one dielectric sheet 28 into a spiral shape. A cylindrical dielectric film 262 and an electrode layer 264 that are continuous over the entire circumference may be alternately laminated in the radial direction, as in a cylindrical dielectric element 260 as a type dielectric element . Such a circumferentially continuous dielectric film 262 and electrode layer 264 are formed by, for example, using a core material in an electrode material solution for forming the electrode layer 264 and a dielectric material solution for forming the dielectric film 262. Alternatively, it may be formed by alternately dipping, or alternatively, the core material may be formed by alternately spraying an electrode material solution and a dielectric material solution.

  Further, in the second embodiment, the adjustment device 80 having a structure in which the stacking direction of the plurality of dielectric sheets 82 is orthogonal to the power transmission path direction is shown, but as schematically shown in FIG. In addition, an adjustment device 270 having a structure in which a plurality of dielectric sheets 82 are laminated in the power transmission path direction (the extending direction of the wire 20) can also be employed. In the adjusting device 270 having such a structure, the thickness is decreased by increasing the applied voltage to reduce the thickness dimension, while the adjusting device 270 is contracted in the surface expanding direction by decreasing the applied voltage. And the thickness dimension is increased. As a result, it is possible to realize compliance adjustment, power accumulation using a change in spring constant, and the like.

  In particular, the adjusting device 80 and the adjusting device 270 have a structure in which expansion and contraction deformation is generated in an opposite phase in the direction of the power transmission path by increasing or decreasing the applied voltage. Therefore, for example, by combining the adjusting device 80 and the adjusting device 270, by a single applied voltage control, expansion in a specific part or a specific direction and contraction in another specific part or another specific direction can be performed. It is also possible to produce them at the same time.

  In addition, the number and size of the dielectric sheets 28 and 82, the specific shape, the number of laminated layers, etc. in each of the above embodiments are set as appropriate in consideration of the situation of the location of placement and the desired mechanical impedance characteristics. Needless to say, it can be done and is not limited in any way.

  Further, in each of the above embodiments, the electrode layer is formed on substantially the entire surface of the electrostrictive film. However, the electrode layer may be provided on a part of the surface of the electrostrictive film. Further, the specific shape of the electrode layer is not limited at all. For example, the electrode layer may be formed in a mesh shape on the surface of the electrostrictive film. In this way, it is possible to reduce the possibility that deformation of the electrostrictive film is restrained by the electrode layer, and it is possible to secure a larger amount of deformation of the electrostrictive film.

  It is of course possible to provide a plurality of mechanical impedance adjusting devices according to the present invention on one transmission path. In this way, the effect of adjusting the mechanical impedance over a wider range can be obtained.

  Furthermore, in the said embodiment, although the aspect which arrange | positioned the mechanical impedance adjustment apparatus which concerns on this invention on the wire drive mechanism comprised including the wire 20 was illustrated, adjustment of the mechanical impedance which concerns on this invention The power transmission path in which the device is disposed is not necessarily limited to a wire, and can be appropriately disposed on a conventionally known power transmission mechanism. For example, in a drive mechanism in which a hydraulic cylinder or an air cylinder is used as a power transmission mechanism, the substantial length dimension of these cylinders can be changed by providing the adjustment mechanism according to the present invention at the connecting portion between the cylinder and the drive member. It is also possible to change the mechanical impedance at least.

In the first reference example , the upper end portion of the actuator 154 is indirectly attached to the seat portion 112 via the wire 152 and the arcuate pulley 128, and the lower end portion is directly attached to the frame 114. However, the manner of attaching the actuator 154 to the seat 112 and the frame 114 is not limited to that of the reference example . Specifically, for example, as shown in Japanese Patent Laid-Open No. 10-52332, when the seat and the frame are connected via a link rod, the machine according to the present invention is connected to the link rod. An actuator using a dynamic impedance adjusting device may be attached, and the link rod may be expanded and contracted by the actuator so that the seat portion is driven and displaced with respect to the frame.

The specific structure of the actuator 154 shown in the first reference example is not particularly limited. For example, the adjustment device 10 shown in the first embodiment or the second embodiment or Similar ones to the adjusting device 80, the cylindrical dielectric element 26, and the like may be employed. Note that the diaphragm type actuator 154 shown in the first reference example may be employed instead of or in addition to the cylindrical dielectric element 26 of the drive mechanism 12 shown in the first embodiment. is there.

Also, before you facilities embodiment may be provided with a wire tension to eliminate the slack of the wire in the path of the wire. As a result, even when the length of the power transmission path substantially changes due to the expansion and contraction of the mechanical impedance adjusting device, the power transmission path is stably held in the intended winding state or the overhanging state. I can do it.

Further, in the first reference example , the drive source is realized by using the action of the body weight on the seat 112 due to the user's seating. For example, an electric motor that swings the seat 112 is provided, At the time of sitting, the seat portion 112 may be shifted to the sitting state by the output of the electric motor. On the other hand, in the second and third reference examples , the forearm portion is driven by the movement of the upper arm portion 182 using the waist motor 180 or the like. For example, the forearm portion (hand portion) is lifted. The forearm may be swung by exerting the mass of the object, and energy may be stored in the actuator.

10: adjusting device, 14: arm member, 16: rotating shaft, 20: wire, 22: electric motor, 24: pulley, 26: cylindrical dielectric element , 28: dielectric sheet, 30: dielectric film, 32a, b : Electrode layer, 34: insulating layer, 80: adjusting device

Claims (12)

In a mechanical impedance adjusting device disposed on a power transmission path between a driving source and a driving member driven by the driving source,
While both sides of the dielectric film formed by a dielectric elastomer to form an electrode layer dielectric element is disposed on the power transmission path, the voltage applied to adjust the applied voltage with on the voltage applied to said electrode layer means are provided, adjustment device mechanical impedance constituting the buffer means to exert an adjustable cushioning in by Ri power transmission on the path to the regulatory of the voltage applied to the electrode layer. 2. The mechanical impedance adjusting device according to claim 1, wherein the buffering action can be adjusted by adjusting the number of electrode layers to which a voltage is applied. The dielectric element has a cylindrical shape formed by rolling the dielectric film including the electrode layer, and is expanded and contracted in the axial direction in response to application of a voltage to the electrode layer; is and, adjusting device mechanical impedance according to claim 1 or 2 axially of the tubular type dielectric element is equal to the direction of the power transmission path. The mechanical impedance adjusting device according to claim 3 , wherein the cylindrical dielectric element is formed by winding the dielectric film having the electrode layer on a core material elastically deformable in an axial direction. 3. The dielectric element according to claim 1 or 2 , wherein the dielectric element is a sheet-shaped plate dielectric element, and a plurality of the plate dielectric elements are laminated in the thickness direction of the dielectric film. Mechanical impedance adjuster. The mechanical impedance adjusting device according to claim 5 , wherein a stacking direction of the plate type dielectric elements is perpendicular to the power transmission path. The mechanical impedance adjusting device according to claim 5 , wherein a stacking direction of the plate dielectric elements is parallel to the power transmission path. The mechanical impedance adjusting device according to claim 5 , wherein an overlapping direction of the electrode layer with respect to the dielectric film is oblique to the power transmission path. The dielectric element is a sheet-like plate-type dielectric element, and a pair of the plate-type dielectric elements are stacked in a direction parallel to the power transmission path, and the pair of plate-type dielectric elements The outer peripheral edge portions of the elements are fixed to each other, and the pair of plate dielectric elements are each tapered by applying a tensile force to the center portion of the pair of plate dielectric elements outward in the stacking direction. 9. The mechanical impedance adjusting device according to claim 8 , which is deformed. The mechanical impedance adjusting device according to any one of Claims 1 to 9 , wherein the mechanical impedance adjusting device is disposed on the power transmission path configured by a wire that spans between the driving source and the driving member. The mechanical impedance adjusting device according to claim 10 , wherein an elastic center of the dielectric element is disposed on an extension line of the wire. The mechanical impedance adjusting device according to any one of claims 1 to 11 , wherein a plurality of the dielectric elements are arranged side by side on the power transmission path.

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