Soft driver fixing method and soft driver assembly

Abstract

A method for fixing a soft drive is a method for fixing a soft drive (1) to a base (2), the soft drive (1) being provided with: a tube (11) having elasticity in the axial direction and the circumferential direction; and a coil (15) which is wound in a spiral shape around the cylinder (11) to suppress the diameter enlargement of the cylinder (11) and which expands and contracts in the axial direction of the cylinder (11) as a result of the increase and decrease of the pressure inside the cylinder (11), in which a flange part (14) is provided at an end of the cylinder (11) in the axial direction, a recess (21) for receiving the end is provided in the base (2), and a groove (22) for engaging the flange part (14) is provided in the recess (21). The flange portion (14) is engaged with the groove (22), thereby fixing the soft actuator (1) to the base (2).

Description

Technical Field

[0001] The present invention relates to a method for fixing a soft drive and a soft drive assembly. Background Art

[0002] In the past, a power source that utilizes the deformation property of the material itself, namely a soft actuator, has been developed. For example, Patent Document 1 discloses a soft actuator that can replace the conventional pneumatic cylinder. The soft actuator has the following structure: a metal spring wound around the outer circumference of a silicon tube is used to limit the radial expansion of the silicon tube, and the pressure in the inner space of the silicon tube is increased or decreased to cause the silicon tube to expand and contract in the axial direction.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-207017 Summary of the invention

[0006] Problems to be solved by the invention

[0007] The soft driver disclosed in the above patent document 1 is composed of only flexible components, and therefore needs to be fixed to a rigid base in order to be used as a mechanical component. However, the above patent document 1 does not mention a method for fixing the soft driver, and the fixing method is not established.

[0008] The present disclosure is proposed in view of the above problems, and its purpose is to provide a method for fixing a soft drive and a soft drive assembly that can firmly fix a soft drive to a base.

[0009] Solutions for solving problems

[0010] In order to solve the above-mentioned problem, the soft drive fixing method disclosed in the present invention is a soft drive fixing method for fixing the soft drive to a base, the soft drive comprising: a cylinder, which has axial and circumferential elasticity; and a coil, which is spirally wound on the cylinder to suppress the expansion of the diameter of the cylinder, and the cylinder expands and contracts in the axial direction due to the increase and decrease of the pressure in the cylinder, and the coil expands and contracts in the axial direction. A flange portion is provided at the axial end of the cylinder, a recessed portion for receiving the end portion is provided on the base, and a groove for engaging the flange portion is provided on the recessed portion, so that the flange portion is engaged with the groove, thereby fixing the soft drive to the base.

[0011] In addition, in order to solve the above-mentioned problem, the soft driver assembly disclosed in the present invention comprises: a soft driver; and a base, which fixes the soft driver, and the soft driver comprises: a cylinder, which has axial and circumferential elasticity; and a coil, which is spirally wound on the cylinder to suppress the expansion of the diameter of the cylinder, and the cylinder expands and contracts in the axial direction due to the increase and decrease of the pressure in the cylinder, and the coil expands and contracts in the axial direction. A flange portion is provided at the axial end of the cylinder, a recessed portion for receiving the end portion is provided on the base, and a groove for engaging the flange portion is provided in the recess.

[0012] Effects of the Invention

[0013] According to the present disclosure, the software driver can be firmly fixed to the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a side view showing the structure of the soft drive assembly.

[0015] Figure 2 Yes Figure 1 A side sectional view of the soft drive with its cylinder, coil and base cut away.

[0016] Figure 3 It is shown Figure 1 A side view of the soft drive shown in a state in which it is expanded in the axial direction.

[0017] Figure 4 This is a diagram for explaining a method of fixing a software driver.

[0018] Figure 5 The flowchart shows the procedure of fixing the software driver to the base. DETAILED DESCRIPTION

[0019] Hereinafter, the embodiments will be described based on the drawings. However, for the sake of convenience of description, each of the drawings referred to below only shows simplified main components necessary for describing the embodiments.

[0020] 〔Structure of software driver components〕

[0021] First, the structure of the software driver component U will be described. Figure 1 1 is a side view showing the structure of the software driver assembly U.

[0022] like Figure 1 As shown, the software drive assembly U includes a software drive 1 and a base 2 .

[0023] The software actuator 1 is a device that drives a driven object. Specifically, the software actuator 1 is a device that uses the pressure of a fluid (gas or liquid) to make the driven object move linearly. Therefore, the software actuator 1 can be used for the same purpose as an air cylinder.

[0024] The base 2 is a base for fixing the soft drive 1. The base 2 is composed of a rigid body formed of a resin material, for example, and has a function as an adapter for mounting the soft drive 1 fixed to the base 2 on a housing of a target mechanical device (for example, a robot device). Alternatively, the base 2 may be composed of a rigid body formed of a metal material.

[0025] 〔Software Driver Structure〕

[0026] Next, the structure of the software driver 1 will be described. Figure 2 Yes Figure 1 The illustrated side cross-sectional view is of a state in which the cylinder 11, the coil 15, and the base 2 of the soft actuator 1 are cut away. Figure 3 It is shown Figure 1 The soft drive 1 is shown in a side view in a state where it is expanded in the axial direction.

[0027] The software actuator 1 includes a cylinder 11 , a coil 15 , a fluid device 16 , and a pipe 17 .

[0028] The cylinder 11 is a cylindrical cylinder with closed end faces on both sides in the axial direction, and has a space 12 inside the cylinder 11. An inlet 13 is formed on one end face of the cylinder 11, and the inlet 13 is used to allow a fluid (gas or liquid) to flow into the space 12. Moreover, the shape of the inner and outer peripheries of the cylinder 11 in a cross section perpendicular to the axial direction is not limited to a circle, and may also be a polygon such as a quadrilateral or hexagon or an ellipse.

[0029] The tube 11 is formed of a soft material having flexibility. Specifically, the tube 11 is formed of a rubber material having rubber elasticity, for example, silicone rubber. The tube 11 itself has axial and circumferential elasticity.

[0030] The cylinder 11 allows the fluid to flow into the space 12 through the inlet 13, whereby the pressure in the space 12 is higher than the external pressure, so that the cylinder 11 stretches in the axial direction. At this time, a force for radial extension is applied to the cylinder 11, but the coil 15 suppresses the circumferential extension of the cylinder 11 and the expansion of the diameter of the cylinder 11. The expansion of the cylinder 11 refers to the situation where the cylinder 11 stretches in the circumferential direction and the diameter of the cylinder 11 expands. The coil 15 allows the cylinder 11 to expand and contract in the axial direction.

[0031] A flange portion 14 is formed at the end of the tube 11 on the side where the inlet 13 is formed. The flange portion 14 extends radially outward from the outer peripheral surface of the coil 15 wound around the outer periphery of the tube 11. The flange portion 14 is formed in a disc shape. The flange portion 14 engages with the groove 22 formed in the base 2, thereby having the function of fixing the soft drive 1 to the base 2.

[0032] The coil 15 is wound around the cylinder 11 in a spiral shape around the central axis of the cylinder 11 along the axial direction, radially outward from the inner circumference of the cylinder 11. Specifically, the coil 15 is wound around the outer circumference of the cylinder 11 in a spiral shape around the central axis of the cylinder 11 along the axial direction, and is in contact with the outer circumference of the cylinder 11. A portion of the coil 15 is buried in the cylinder 11, specifically, the inner circumference of the coil 15 intrudes inward from the outer circumference of the cylinder 11 and is buried in the cylinder 11. Therefore, the outer circumference of the coil 15 is exposed at the outer circumference of the cylinder 11.

[0033] Furthermore, the entire coil 15 may be buried between the inner periphery and the outer periphery of the tube 11 so that the coil 15 is not exposed inside or outside the tube 11. In this case, the tube 11 can function as an insulating film that insulates the coil 15.

[0034] The coil 15 has conductivity. For example, the coil 15 is formed of copper, copper alloy, aluminum, aluminum alloy, stainless steel, or conductive resin, which is a conductive material. The coil 15 is a conductive wire covered with an insulating film such as an insulating resin film or a metal oxide film.

[0035] The coil 15 suppresses the expansion of the tube 11 in the circumferential direction and the expansion of the diameter of the tube 11 . This is because the coil 15 is wound around the tube 11 in a spiral shape around the central axis of the tube 11 .

[0036] When the cylinder 11 expands in the axial direction due to the increase in the pressure in the space 12, the pitch of the coil 15 increases, and the coil 15 expands in the axial direction (see Figure 3 When the cylinder 11 contracts in the axial direction due to the pressure drop in the space 12, the pitch of the coil 15 is narrowed, and the coil 15 contracts in the axial direction (see Figure 1 ). Furthermore, the coil 15 functions as a spring, and when the coil 15 expands and contracts in the axial direction from the natural state, an elastic force is generated to restore the coil 15 to the natural state.

[0037] The inner circumference of the coil 15 intrudes inward from the outer circumference of the tube 11, so that the coil 15 can be prevented from sliding axially relative to the tube 11. In particular, even if the tube 11 expands and contracts axially, the coil 15 does not slide axially relative to the tube 11, so the coil 15 expands and contracts axially together with the tube 11.

[0038] In addition, the coil 15 can be used as an inductor in a circuit. When the coil 15 is an inductor, the inductance of the coil 15 is correlated with the axial length of the coil 15, so that the length of the coil 15 and its change amount can be converted according to the inductance of the coil 15 and its change amount. Therefore, the coil 15 can be used as a sensor for measuring the extension of the cylinder 11 and its change amount.

[0039] The fluid device 16 is composed of a compressor, a valve, etc., and supplies fluid to the space 12 of the cartridge 11 via the pipe 17 and controls the supply pressure. The pipe 17 is connected to the inlet 13 of the cartridge 11 at one end and to the fluid device 16 at the other end.

[0040] 〔Structure of the base〕

[0041] Next, the structure of the base 2 will be described.

[0042] The base 2 is in the shape of a circular plate, and the diameter of the base 2 is larger than the diameter of the flange 14 and the wall thickness is larger than the thickness of the flange 14. A recess 21 is provided on the upper surface of the base 2, and the recess 21 receives the axial end of the cylinder 11 (refer to Figure 4 ). In addition, the base 2 is provided with a groove 22, which enables the flange 14 to be engaged with the inner side surface of the recess 21 (see Figure 4 ). In addition, for example, an insertion hole 23 through which the pipe 17 can be inserted is provided on the lower surface of the base 2 (see Figure 4 ), even when the soft drive 1 is fixed to the base 2, the fluid can be supplied to the space 12 of the cylinder 11 through the pipe 17. In addition, the base 2 is provided with a threaded hole or the like for threading the base 2 to a mechanical device of an object. Furthermore, the base 2 may be made of a metal material.

[0043] [How to fix the software driver]

[0044] Next, a method of fixing the software drive 1 to the base 2 will be described. Figure 4 This is a diagram for explaining a method of fixing the software driver 1. Figure 4 In the figure, the soft drive 1 is shown in a side view, and the base 2 is shown in a side sectional view. Figure 5 1 is a flowchart showing the procedure of fixing the soft drive 1 to the base 2. When the soft drive 1 is fixed to the base 2, the soft drive 1 is in a state before the fluid device 16 and the pipe 17 are mounted.

[0045] like Figure 4 as well as Figure 5As shown, when the soft drive 1 is fixed to the base 2, first, a surface treatment process (S1) is performed to modify (Japanese: modification) the bonding surface of the tube 11 with the base 2. Specifically, a primer (e.g., n-heptane) is applied to the end of the tube 11 that is in contact with the base 2 when the flange 14 of the tube 11 is engaged with the groove 22 of the base 2 in the assembly process (S3) described later. Moreover, the method for modifying the bonding surface of the tube 11 with the base 2 is not limited to the method of applying a primer, and for example, it can also be a method of heating the bonding surface, a method of irradiating the bonding surface with plasma or ions. In addition, the above-mentioned modification can be performed not only on the tube 11 side, but also on the base 2 side, or only on the base 2 side.

[0046] Then, an adhesive application step (S2) is performed to apply an adhesive to each of the cylinder 11 and the base 2. Specifically, an adhesive (for example, a cyanoacrylate adhesive) is applied to the bonding surfaces of the cylinder 11 and the base 2.

[0047] Then, the assembly step ( S3 ) is performed to assemble the soft driver 1 to the base 2 . Specifically, the end of the tube 11 coated with the adhesive in the adhesive coating step ( S2 ) is fitted into the recess 21 of the base 2 , so that the flange 14 and the groove 22 are engaged.

[0048] After the above processes, Figure 2 As shown, the software driver 1 is firmly fixed to the base 2. In the above-mentioned fixing method, the coil 15 may be mounted on the cylinder 11 after the cylinder 11 is assembled to the base 2 as a single body.

[0049] 〔Effect〕

[0050] As described above, the method for fixing a soft drive according to the present embodiment is a method for fixing a soft drive 1 to a base 2, wherein the soft drive 1 comprises: a cylinder 11 having axial and circumferential elasticity; and a coil 15, which is spirally wound around the cylinder 11 to suppress the expansion of the diameter of the cylinder 11, and the coil 15 is expanded and contracted in the axial direction as the cylinder 11 expands and contracts in the axial direction due to the increase and decrease of the pressure in the cylinder 11, and the flange 14 is provided at the axial end of the cylinder 11, and the base 2 is provided with a recess 21 for receiving the end, and the recess 21 is provided with a groove 22 for engaging the flange 14, and the flange 14 is engaged with the groove 22, thereby fixing the soft drive 1 to the base 2. As a result, the soft drive 1 can be made difficult to be separated from the base 2, and thus the soft drive 1 can be firmly fixed to the base 2.

[0051] In addition, the method for fixing a soft drive according to the present embodiment includes: a surface treatment step (S1) of modifying the surface on the tube 11 side of the surface where the tube 11 and the base 2 are in contact with each other when the flange 14 and the groove 22 are engaged; and an adhesive coating step (S2) of coating an adhesive on the surface where the tube 11 and the base 2 are in contact with each other. Thus, the flange 14 and the groove 22 can be properly bonded, so that the soft drive 1 can be fixed to the base 2 more firmly.

[0052] In addition, in the soft drive fixing method of the present embodiment, in the surface treatment step (S1), a primer (e.g., n-heptane) is applied to the bonding surface of the tube 11 with the base 2 to modify the bonding surface. As a result, the adhesive can be easily fused to the bonding surface of the tube 11 with the base 2, so that the tube 11 and the base 2 can be bonded appropriately.

[0053] 〔other〕

[0054] Furthermore, the description in the above-mentioned embodiment is an example of the software driver fixing method involved in the present disclosure, and is not limited to this.

[0055] For example, in the above-mentioned embodiment, it is also possible that, when the base 2 is a disk-shaped device without the above-mentioned recess 21 and groove 22, the end face (bottom face) on one side of the tube 11 provided with the flange 14 is modified, and adhesive is applied to the modified end face and the upper surface of the base 2, respectively, and the tube 11 is bonded to the base 2, thereby fixing the soft drive 1 to the base 2. In the above-mentioned case, it is also possible that the flange 14 is not provided on the tube 11. Moreover, the above-mentioned modification method can include a method of applying a primer to the surface to be coated with the adhesive, a method of heating the surface, a method of plasma irradiation or ion irradiation on the surface, etc. In addition, the above-mentioned modification can be performed not only on the tube 11 side, but also on the base 2 side.

[0056] In addition, in the above embodiment, when the soft driver 1 is fixed to the base 2, it is fixed to the base 2 via the cylinder 11 of the soft driver 1, but it may be fixed to the base 2 via the coil 15 of the soft driver 1. In the above case, when the base 2 and the coil 15 are formed of metal materials, for example, the coil 15 is joined to the base 2 by welding, soldering or metal adhesive, thereby fixing the coil 15 to the base 2. And, in a state where the portion of the coil 15 joined to the base 2 is embedded in a predetermined mold, the material of the cylinder 11 (for example, silicone rubber) is flowed into the predetermined mold, thereby manufacturing the soft driver 1 in a state where the coil 15 intrudes from the outer periphery of the cylinder 11 to the inside. Next, the material of the cylinder 11 is flowed into the recessed portion 22 and the groove 22 of the base 2, thereby forming the cylinder 11 having the flange portion 14, thereby manufacturing the soft driver assembly U in a state where the flange portion 14 of the cylinder 11 is engaged with the groove 22 of the base 2. Furthermore, the base 2 may be configured in a disk shape without the above-mentioned recessed portion 21 and groove 22. In this case, the coil 15 is joined to the base 2 by welding, soldering or metal adhesive as described above, thereby fixing the coil 15 to the base 2. Furthermore, in a state where the portion of the coil 15 joined to the base 2 is embedded in a predetermined mold, the material of the tube 11 (for example, silicone rubber) is flowed into the predetermined mold, thereby manufacturing the soft actuator 1 in a state where the coil 15 intrudes inward from the outer circumference of the tube 11. Furthermore, in the above-mentioned case, the soft actuator 1 may be manufactured by inserting the pre-fabricated tube 11 into the coil 15 fixed to the base 2. In addition, the flange portion 14 may not be provided on the tube 11.

[0057] In addition, as a method of fixing the software drive 1 to the base 2, there is the following method.

[0058] In this method, first, a structure in which the coil 15 and the base 2 are integrated is made. Moreover, in a state where the coil 15 of the structure is partially embedded in a predetermined mold, the material of the tube 11 (for example, silicone rubber) is made to flow into the predetermined mold, thereby making a soft driver 1 in which the coil 15 intrudes from the outer periphery of the tube 11 to the inside. Next, the material of the tube 11 is made to flow into the recess 21 and the groove 22 of the base 2, thereby forming the tube 11 having the flange 14, thereby making a soft driver assembly U in a state in which the flange 14 of the tube 11 is engaged with the groove 22 of the base 2. Here, as a method for making the above-mentioned structure, for example, a method of using a metal 3D printer, a method of cutting a predetermined material block (cylindrical part, cylindrical part, etc.), etc. can be cited. Moreover, it is also possible that the base 2 is composed of a disk shape formed by not providing the above-mentioned recess 21 and groove 22. In this case, a structure in which the coil 15 and the base 2 are integrated is made. Furthermore, in a state where the coil 15 of the structure is partially embedded in a predetermined mold, the material of the tube 11 (e.g., silicone rubber) is flowed into the predetermined mold, thereby manufacturing the soft actuator 1 in a state where the coil 15 intrudes inward from the outer circumference of the tube 11. Furthermore, in the above case, the soft actuator 1 may be manufactured by inserting the prefabricated tube 11 into the coil 15 integrated with the base 2. Alternatively, the flange portion 14 may not be provided on the tube 11.

[0059] In addition, the specific details of the structure of the software driver unit U and the software driver fixing method shown in the above embodiment can be appropriately changed within the scope not departing from the gist of the present disclosure.

[0060] Industrial Applicability

[0061] The present disclosure can be used for a soft drive fixing method and a soft drive assembly.

[0062] Description of Reference Numerals

[0063] U: soft driver assembly; 1: soft driver; 11: cylinder; 12: space portion; 13: inlet; 14: flange portion; 15: coil; 16: fluid device; 17: pipeline; 2: base; 21: recess; 22: groove; 23: insertion hole.

Claims

1. A method for fixing a soft drive, fixing the soft drive to a base, in which: The software driver has: A cylinder having axial and circumferential stretchability; and The coil is spirally wound around the cylinder to suppress the expansion of the cylinder diameter, and expands and contracts in the axial direction as the cylinder expands and contracts in the axial direction due to the increase and decrease of the pressure in the cylinder. A flange portion is provided at the axial end of the tube. The base is provided with a recess for receiving the end portion. The recessed portion is provided with a groove for engaging the flange portion. The flange is engaged with the groove, thereby fixing the software driver to the base.

2. The method for fixing a software driver according to claim 1, characterized in that: include: a surface treatment step of modifying at least one of the surfaces of the tube and the base that are in contact with each other when the flange is engaged with the groove; as well as The adhesive application step is to apply an adhesive to the at least one surface.

3. The method for fixing a software driver according to claim 2, characterized in that: In the surface treatment step, a primer is applied to the at least one surface to modify the surface.

4. The method for fixing a software driver according to claim 2, characterized in that: In the surface treatment step, the at least one surface is heated to modify the surface.

5. The method for fixing a software driver according to claim 2, characterized in that: In the surface treatment step, the at least one surface is irradiated with plasma or ions to modify the surface.

6. The method for fixing a software driver according to any one of claims 1 to 5, characterized in that: The base and the coil are formed of metal material, The software driver fixing method includes a joining process, in which the base and the coil are joined by welding, soldering or metal adhesive.

7. The method for fixing a soft drive according to any one of claims 1 to 5, characterized in that: The method includes a molding step in which the base and the coil are integrally molded.

8. The method for fixing a software driver according to claim 7, characterized in that: In the molding step, the base and the coil are integrally molded using a 3D printer.

9. The method for fixing a software driver according to claim 7, characterized in that: In the forming step, a predetermined material block is cut to integrally form the base and the coil.

10. A software driver assembly comprising: Software drivers; and a base, which fixes the software driver, The software driver comprises: A cylinder having axial and circumferential stretchability; and The coil is spirally wound around the cylinder to suppress the expansion of the cylinder diameter, and expands and contracts in the axial direction as the cylinder expands and contracts in the axial direction due to the increase and decrease of the pressure in the cylinder. A flange portion is provided at the axial end of the tube. The base is provided with a recess for receiving the end portion. The recessed portion is provided with a groove for engaging the flange portion.

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