MOUNTING METHOD FOR A SOFT ACTUATOR AND SOFT ACTUATOR UNIT

Description

TECHNICAL FIELD

[0001] This invention relates to a soft actuator fixing method and a soft actuator unit.BACKGROUND ART

[0002] In the past, soft actuators, which are power sources utilizing the properties of self-deforming materials, have been developed. For example, Patent Document 1 discloses a soft actuator that can be utilized as an alternative to a conventional pneumatic cylinder. This soft actuator is configured to facilitate the extension and contraction of a silicone tube in the axial direction through the application of pressure within the internal space of the silicone tube, while simultaneously limiting the radial expansion of the silicone tube through the use of a metal spring wound around the outer circumference of the silicone tube.

[0003] Further, Patent Document 2 describes an actuator formed of a cylindrical body of an elastic member protected so that the lateral side does not expand and expand and contract in the longitudinal direction by pressure fluid. The actuator comprises a frame, a pressurized fluid supply / discharge port, an outer ring, a cylindrical body with a flange, a coil spring fitted on the outer periphery of the cylindrical body so as to expand laterally, push plates, a setscrew, a driven member, and an intermediate plate. The cylindrical body with the flange and the coil spring is held and fixed to the frame by the push plate and fasted with the setscrew.CITATION LISTPatent Literature

[0004] Patent Document 1: JP 2019-207017A Patent Document 2: JP S57 169805 U SUMMARY OF INVENTIONTechnical Problem

[0005] The soft actuator disclosed in Patent Document 1 is constituted solely of a flexible component. Accordingly, it is necessary to fix the soft actuator to a rigid base in order to utilize the actuator as a mechanical component. However, Patent Document 1 does not refer to a fixing method for a soft actuator, and the fixing method is not established.

[0006] The present invention has been made in view of the above problem. It is an object of the present invention to provide a soft actuator fixing method that allows a soft actuator to be firmly fixed to a base, and a soft actuator unit.Solution to Problem

[0007] In order to solve the above problem, a method having the features according to claim 1 and a method having the features according to claim 2 are provided.

[0008] In addition, in order to solve the above problem, a soft actuator unit having the features according to claim 9 and a soft actuator unit having the features according to claim 10 are provided.Advantageous Effects of Invention

[0009] According to the present invention, the soft actuator can be firmly fixed to the base.BRIEF DESCRIPTION OF DRAWINGS

[0010] [FIG. 1] This is a side view of a soft actuator unit showing the configuration of the aforementioned unit. [FIG. 2] This is a side cross-sectional view of the soft actuator shown in FIG. 1 with a cylinder, a coil, and a base broken. [FIG. 3] This is a side view of the soft actuator shown in FIG. 1 when the actuator is expanded in the axial direction. [FIG. 4] This is a diagram for describing a fixing method for the soft actuator. [FIG. 5] This is a flowchart illustrating a procedure for fixing a soft actuator to a base. DESCRIPTION OF EMBODIMENTS

[0011] Hereinafter, one or more embodiments will be described with reference to the drawings. In the following drawings, only the main components necessary for the description of the embodiments are depicted in a simplified manner for illustrative purposes.[Configuration of Soft Actuator Unit]

[0012] First, the configuration of a soft actuator unit U will be described. FIG. 1 is a side view of the soft actuator unit U showing the configuration of the aforementioned unit.

[0013] As shown in FIG. 1, the soft actuator unit U includes a soft actuator 1 and a base 2.

[0014] The soft actuator 1 is a device that is capable of driving an object. Specifically, the soft actuator 1 is a device that, for example, moves an object in a linear fashion using the pressure of a fluid (gas or liquid). Accordingly, the soft actuator 1 can be used for the same purpose as an air cylinder.

[0015] The base 2 serves as a foundation for fixing the soft actuator 1. The base 2 is formed of, for example, a rigid body made of a resin material. The base 2 serves as an adapter for attaching the soft actuator 1, which is fixed to the base 2, to a housing or analogous structure of a target mechanical apparatus (e.g., a robot apparatus). The base 2 may be formed of a rigid body made of a metallic material.[Configuration of Soft Actuator]

[0016] Next, the configuration of the soft actuator 1 will be described. FIG. 2 is a side cross-sectional view of the soft actuator 1 shown in FIG. 1 in which a cylinder 11, a coil 15, and the base 2 are cut off. FIG. 3 is a side view of the soft actuator 1 shown in FIG. 1 when the actuator is expanded in the axial direction.

[0017] The soft actuator 1 includes the cylinder 11, the coil 15, a fluid device 16, and a tube 17.

[0018] The cylinder 11 is a cylindrical cylinder with both end faces in the axial direction closed and has a space 12 inside. However, a flow inlet 13 is formed in one end face of the cylinder 11, allowing a fluid (gas or liquid) to flow into the space 12 . The shapes of the inner and outer peripheries of the cylinder 11 in the cross section perpendicular to the axial direction are not limited to circular shapes; the shapes may also be polygonal shapes, such as quadrangular shapes and hexagonal shapes, or oval shapes.

[0019] The cylinder 11 is formed of a flexible, soft material. Specifically, the cylinder 11 is formed of a rubber-based material that has rubber elasticity, such as silicone rubber. The cylinder 11 is elastic in the axial and circumferential directions.

[0020] When the cylinder 11 allows a fluid to flow into the space 12 via the flow inlet 13, the pressure within the space 12 becomes higher than the external pressure, thereby inducing the cylinder 11 to extend in the axial direction. At this time, a radial expansion force is applied to the cylinder 11. However, the coil 15 serves to suppress the expansion of the cylinder 11 in the circumferential direction and the diameter expansion of the cylinder 11. The diameter expansion of the cylinder 11 means that the diameter of the cylinder 11 increases as the cylinder 11 expands in the circumferential direction. The coil 15 allows the extension and contraction of the cylinder 11 in the axial direction.

[0021] The cylinder 11 includes a flange 14 at an end on the side where the flow inlet 13 is formed. The flange 14 protrudes in the radial direction of the cylinder 11. The flange 14 protrudes outward in the radial direction beyond the outer peripheral surface of the coil 15 wound around the outer periphery of the cylinder 11. The flange 14 is formed in a disk shape. The flange 14 serves the purpose of fixing the soft actuator 1 to the base 2 through engagement with a groove 22 formed in the base 2.

[0022] The coil 15 is located radially outside the inner periphery of the cylinder 11 and is wound around the cylinder 11 in a spiral shape along the central axis of the cylinder 11. Specifically, the coil 15 is wound around the outer periphery of the cylinder 11 in a spiral shape along the central axis of the cylinder 11 and is in contact with the outer periphery of the cylinder 11. A portion of the coil 15, specifically the inner periphery of the coil 15, bites inward from the outer periphery of the cylinder 11, being embedded in the cylinder 11. Accordingly, the outer periphery of the coil 15 is exposed on the outer periphery of the cylinder 11.

[0023] The coil 15 may be exposed on neither the inner nor outer periphery of the cylinder 11, as the coil 15 may be entirely embedded between the inner and outer peripheries of the cylinder 11. In this case, the cylinder 11 may be regarded as an insulating film, serving to insulate the coil 15.

[0024] The coil 15 has electric conductivity. For example, the coil 15 is formed of a conductive material such as copper, a copper alloy, aluminum, an aluminum alloy, stainless steel, and a conductive resin. The coil 15 is a conductive wire covered with an insulating film such as an insulating resin film and a metal oxide film.

[0025] The coil 15 suppresses the expansion of the cylinder 11 in the circumferential direction and the diameter expansion of the cylinder 11. This is due to the fact that the coil 15 is wound around the cylinder 11 in a spiral shape along the central axis of the cylinder 11.

[0026] As the cylinder 11 extends in the axial direction due to an increase in pressure within the space 12, the pitch of the coil 15 widens, and the coil 15 extends in the axial direction (see FIG. 3). As the cylinder 11 contracts in the axial direction due to a decrease in pressure within the space 12, the pitch of the coil 15 narrows, and the coil 15 contracts in the axial direction (see FIG. 1). The coil 15 serves as a spring. When the coil 15 extends or contracts in the axial direction from its natural state, an elastic force is generated that attempts to restore the coil 15 to its natural state.

[0027] The inner periphery of the coil 15 bites inward from the outer periphery of the cylinder 11, thereby preventing the coil 15 from slipping with respect to the cylinder 11 in the axial direction. Specifically, even when the cylinder 11 extends or contracts in the axial direction, the coil 15 does not slip with respect to the cylinder 11 in the axial direction. Consequently, the coil 15 extends or contracts in the axial direction together with the cylinder 11.

[0028] The coil 15 can be utilized as an inductor within an electrical circuit. For the coil 15 being an inductor, the inductance of the coil 15 is correlated with the length of the coil 15 in the axial direction. Thus, the length of the coil 15 and the amount of change thereof can be converted from the inductance of the coil 15 and the amount of change thereof. Accordingly, the coil 15 can be utilized as a sensor for measuring the elongation of the cylinder 11 and the amount of change thereof.

[0029] The fluid device 16 includes a compressor, a valve, and the like. The fluid device 16 supplies a fluid to the space 12 in the cylinder 11 via the tube 17 and controls the pressure of the fluid supply. The tube 17 is connected to the flow inlet 13 of the cylinder 11 at one end and to the fluid device 16 at the other end.[Configuration of Base]

[0030] Next, the configuration of the base 2 will be described.

[0031] The base 2 is disk-shaped, with the diameter exceeding the diameter of the flange 14, and the thickness greater than the thickness of the flange 14. The base 2 has a recess 21 (see FIG. 4) on its upper surface for receiving the axial end of the cylinder 11. The base 2 has a groove 22 (see FIG. 4) on the inner side surface of the recess 21, in which the flange 14 can be engaged and attached. The base 2 has, for example, an insertion hole 23 (see FIG. 4) through which the tube 17 can be inserted. Consequently, even with the soft actuator 1 being fixed to the base 2, a fluid can be supplied to the space 12 in the cylinder 11 via the tube 17. The base 2 has a screw hole or the like to screw the base 2 to a target mechanical device. The base 2 may be made of a metallic material.[Fixing Method for Soft Actuator]

[0032] Next, a method for fixing the soft actuator 1 to the base 2 will be described. FIG. 4 is a diagram for describing the fixing method for the soft actuator 1. FIG. 4 shows the soft actuator 1 in a side view and the base 2 in a side cross-sectional view. FIG. 5 is a flowchart illustrating a procedure for fixing the soft actuator 1 to the base 2. When fixing the soft actuator 1 to the base 2, the fluid device 16 and the tube 17 are yet to be attached to the soft actuator 1.

[0033] As shown in FIG. 4 and FIG. 5, in fixing the soft actuator 1 to the base 2, a surface treatment step (S1) is first performed to modify the bonding surface of the cylinder 11 to the base 2. Specifically, a primer (for example, n-heptane) is applied to an end of the cylinder 11, where the end will be in contact with the base 2 when the flange 14 of the cylinder 11 and the groove 22 of the base 2 are engaged with each other in an assembly step (S3) described later. The method of modifying the bonding surface of the cylinder 11 to the base 2 is not limited to applying a primer. For example, alternative methods include heating the bonding surface or performing plasma or ion irradiation on the bonding surface. The aforementioned modification may be performed not only on the cylinder 11 but also on the base 2, or solely on the base 2.

[0034] Next, an adhesive application step (S2) is performed to apply an adhesive to both the cylinder 11 and the base 2. Specifically, an adhesive, such as a cyanoacrylate adhesive, is applied to the bonding surfaces of the cylinder 11 and the base 2.

[0035] Next, an assembly step (S3) is performed to assemble the soft actuator 1 to the base 2. Specifically, the end of the cylinder 11 to which the adhesive is applied in the adhesive application step (S2) is fitted into the recess 21 of the base 2 to engage the flange 14 with the groove 22.

[0036] Through the aforementioned steps, the soft actuator 1 is firmly fixed to the base 2 as shown in FIG. 2. In the fixing method, the coil 15 may be attached to the cylinder 11 after the cylinder 11 is assembled to the base 2 by itself.[Advantageous Effects]

[0037] As described above, the soft actuator fixing method according to the present embodiment is a soft actuator fixing method for fixing the soft actuator 1 to the base 2. The soft actuator 1 includes: the cylinder 11 that is elastic in the axial and circumferential directions; and the coil 15 that is wound around the cylinder 11 in a spiral shape, suppresses the diameter expansion of the cylinder 11, and extends and contracts in the axial direction in accordance with the extension and contraction of the cylinder 11 in the axial direction due to the increase and decrease in pressure within the cylinder 11. The cylinder 11 includes the flange 14 at an end in the axial direction. The base 2 includes the recess 21 that receives the end. The recess 21 has the groove 22 that engages with the flange 14. The soft actuator 1 is fixed to the base 2 by engaging the flange 14 and the groove 22 with each other. This makes it difficult for the soft actuator 1 to come off the base 2, thereby reinforcing the fixation of the soft actuator 1 to the base 2.

[0038] In addition, the soft actuator fixing method according to the present embodiment includes the surface treatment step (S1) of modifying the surface of the cylinder 11 among the surfaces on which the cylinder 11 and the base 2 are in contact with each other when the flange 14 and the groove 22 are engaged with each other, and the adhesive application step (S2) of applying an adhesive to the surfaces on which the cylinder 11 and the base 2 are in contact with each other. This allows the flange 14 and the groove 22 to be suitably bonded to each other, thereby making it possible to more firmly fix the soft actuator 1 to the base 2.

[0039] In the surface treatment step (S1) of the soft actuator fixing method according to the present embodiment, a primer (for example, n-heptane) is applied to the bonding surface of the cylinder 11 to the base 2 to modify the bonding surface. This makes it easier for an adhesive to fit into the bonding surface of the cylinder 11 to the base 2, thereby allowing for proper bonding of the cylinder 11 and the base 2.[Others]

[0040] According to an embodiment not according to the invention, in a case where the base 2 is disk-shaped or the like in which the recess 21 and the groove 22 are absent, the soft actuator 1 may be fixed to the base 2 by: modifying the end surface (bottom surface) of the cylinder 11 where the flange 14 is formed; applying an adhesive to each of the modified end surface and the upper surface of the base 2; and bonding the cylinder 11 and the base 2 to each other. In such a case, the flange 14 can be absent in the cylinder 11. Examples of the above non-inventive modification method include applying a primer to a surface to which an adhesive is to be applied, heating the surface, and performing plasma or ion irradiation on the surface. The above modification may be performed not only on the cylinder 11 but also on the base 2.

[0041] According to the above embodiment not according to the invention, the soft actuator 1 is fixed to the base 2 via the cylinder 11 of the soft actuator 1. However, according to an embodiment of the invention, the soft actuator 1 is fixed to the base 2 via the coil 15 of the soft actuator 1. In such a case, when the base 2 and the coil 15 are formed of a metallic material, the coil 15 is fixed to the base 2 by means of joining the coil 15 and the base 2 through welding, soldering, or the application of an adhesive for metal. Then, the material of the cylinder 11 (e.g., silicone rubber) is poured into a predetermined mold with a portion of the coil 15, which is joined to the base 2, fitted into the predetermined mold. This produces the soft actuator 1 in which the coil 15 bites inward from the outer periphery of the cylinder 11. Subsequently, the material of the cylinder 11 is poured into the recess 21 and groove 22 of the base 2 to form the cylinder 11 having the flange 14. This produces the soft actuator unit U in which the flange 14 of the cylinder 11 and the groove 22 of the base 2 are engaged with each other.

[0042] In an embodiment not according to the invention, the base 2 may be formed in a disk shape or the like without the aforementioned recess 21 and groove 22. In this case, as described above, the coil 15 is fixed to the base 2 by means of joining the coil 15 and the base 2 through, for example, welding, soldering, or the application of an adhesive for metal. Then, the material of the cylinder 11 (e.g., silicone rubber) is poured into a predetermined mold with a portion of the coil 15, which is joined to the base 2, fitted into the predetermined mold. This produces the soft actuator 1 in which the coil 15 bites inward from the outer periphery of the cylinder 11. In this case, the soft actuator 1 may be produced by inserting the cylinder 11 produced in advance into the coil 15 fixed to the base 2. In addition, the flange 14 may be absent in the cylinder 11.

[0043] Methods of fixing the soft actuator 1 to the base 2 also include the following.

[0044] In this method, first produced is a structure in which the coil 15 and the base 2 are integrally formed. Then, the material of the cylinder 11 (e.g., silicone rubber) is poured into a predetermined mold with a portion of the coil 15 in the structure fitted into the predetermined mold. This produces the soft actuator 1 in which the coil 15 bites inward from the outer periphery of the cylinder 11. Subsequently, the material of the cylinder 11 is poured into the recess 21 and groove 22 of the base 2 to form the cylinder 11 having the flange 14. This produces the soft actuator unit U in which the flange 14 of the cylinder 11 and the groove 22 of the base 2 are engaged with each other. Methods of producing the aforementioned structure include using a metal 3D printer or carving out the structure from a predetermined block of the material (e.g., cylindrical material, and columnar material). In an embodiment not according to the invention, the base 2 may be formed in a disk shape or the like without the aforementioned recess 21 and groove 22. In this case, a structure in which the coil 15 and the base 2 are integrally formed is produced. Then, the material of the cylinder 11 (e.g., silicone rubber) is poured into a predetermined mold with a portion of the coil 15 in the structure fitted into the predetermined mold. This produces the soft actuator 1 in which the coil 15 bites inward from the outer periphery of the cylinder 11. In this case, the soft actuator 1 may be produced by inserting the cylinder 11 produced in advance into the coil 15 integrally formed with the base 2. In addition, the flange 14 may be absent in the cylinder 11.Industrial Applicability

[0045] The present invention can be utilized in a soft actuator fixing method and a soft actuator unit.Reference Signs List

[0046] U soft actuator unit 1 soft actuator 11 cylinder 12 space 13 flow inlet 14 flange 15 coil 16 fluid device 17 tube 2 base 21 recess 22 groove 23 insertion hole

Claims

1. A method for fixing a soft actuator (1) to a base (2), wherein: the soft actuator (1) includes: a cylinder (11) that is elastic in an axial direction and a circumferential direction; and a coil (15) that is wound around the cylinder (11) in a spiral shape, suppresses diameter expansion of the cylinder (11), and extends and contracts in the axial direction in accordance with extension and contraction of the cylinder (11) in the axial direction due to increase and decrease in pressure within the cylinder (11); the cylinder (11) includes a flange (14) at an end in the axial direction; the base (2) has a recess (21) that receives the end; the recess (21) has a groove (22) that engages with the flange (14), and the method comprises engaging the flange (14) and the groove (21) with each other to fix the soft actuator (1) to the base (2), characterized in that the base (2) and the coil (15) are formed of a metallic material, and the method further comprises a joining step of joining the base (2) and the coil (15) by welding, soldering, or application of an adhesive for metal.

2. A method for fixing a soft actuator (1) to a base (2), wherein: the soft actuator (1) includes: a cylinder (11) that is elastic in an axial direction and a circumferential direction; and a coil (15) that is wound around the cylinder (11) in a spiral shape, suppresses diameter expansion of the cylinder (11), and extends and contracts in the axial direction in accordance with extension and contraction of the cylinder (11) in the axial direction due to increase and decrease in pressure within the cylinder (11); the cylinder (11) includes a flange (14) at an end in the axial direction; the base (2) has a recess (21) that receives the end; the recess (21) has a groove (22) that engages with the flange (14), and the method comprises engaging the flange (14) and the groove (21) with each other to fix the soft actuator (1) to the base (2), characterized by further comprising a forming step of integrally forming the base (2) and the coil (15).

3. The method according to claim 1 or 2, further comprising: a surface treatment step of modifying at least one surface of surfaces of the cylinder (11) and the base (2) on which the cylinder (11) and the base (2) are in contact with each other, when engaged; and an adhesive application step of applying an adhesive to the at least one surface.

4. The method according to claim 3, wherein the surface treatment step includes modifying the at least one surface by applying a primer to the at least one surface.

5. The method according to claim 3, wherein the surface treatment step includes modifying the at least one surface by heating the at least one surface.

6. The method according to claim 3, wherein the surface treatment step includes modifying the at least one surface by performing plasma irradiation or ion irradiation on the at least one surface.

7. The method according to any one of claims 2 to 6, wherein the forming step includes integrally forming the base and the coil by a 3D printer.

8. The method according to any one of claims 2 to 6, wherein the forming step includes integrally forming the base (2) and the coil (15) by carving out the base (2) and the coil (15) from a predetermined block of a material.

9. A soft actuator unit (U), comprising: a soft actuator (1); and a base (2), the soft actuator (1) being fixed to the base (2), wherein the soft actuator (1) includes: a cylinder (11) that is elastic in an axial direction and a circumferential direction; and a coil (15) that is wound around the cylinder (11) in a spiral shape, suppresses diameter expansion of the cylinder (11), and extends and contracts in the axial direction in accordance with extension and contraction of the cylinder (11) in the axial direction due to increase and decrease in pressure within the cylinder (11); the cylinder (11) includes a flange (14) at an end in the axial direction; the base (2) has a recess (21) that receives the end; and the recess (21) has a groove that engages with the flange (14), characterized in that the base (2) and the coil (15) are formed of a metallic material, and the base (2) and the coil (15) are joint by a weld, a solder, or an adhesive for metal.

10. A soft actuator unit (U), comprising: a soft actuator (1); and a base (2), the soft actuator (1) being fixed to the base (2), wherein the soft actuator (1) includes: a cylinder (11) that is elastic in an axial direction and a circumferential direction; and a coil (15) that is wound around the cylinder (11) in a spiral shape, suppresses diameter expansion of the cylinder (11), and extends and contracts in the axial direction in accordance with extension and contraction of the cylinder (11) in the axial direction due to increase and decrease in pressure within the cylinder (11); the cylinder (11) includes a flange (14) at an end in the axial direction; the base (2) has a recess (21) that receives the end; and the recess (21) has a groove that engages with the flange (14), characterized in that the base (2) and the coil (15) are integrally formed.