Structure, and softness-rigidity distribution forming body

Abstract

To provide a structure in which the positions of a soft part and a rigid part can be changed.SOLUTION: A structure comprises: a frame body; a film body which has flexibility, and covers a front surface and a rear surface of a space surrounded by the frame body; powder filled into the space; a vibration source arranged on the frame body; and a suction part for reducing the pressure in the space. The vibration source can form a standing wave in the space.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a structure and a flexible distribution forming body. [Background technology]

[0002] There are robot hands that have functions equivalent to joints. For example, a robot hand configured by supporting finger members with a support member equivalent to a palm is known (see Japanese Patent Application Laid-Open No. 8-323676).

[0003] In such a robot hand, the periphery of the finger formation body in the middle in the longitudinal direction is formed into a bellows shape in which the height dimension of each fold becomes higher as it approaches the back side of the finger formation body, and the position of the finger formation body can be freely switched between a grasping position in which the finger formation body is bent toward the abdomen side and a grasping release position in which it is extended and restored toward the back side by supplying and discharging pressurized air. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-323676 Summary of the Invention [Problem to be solved by the invention]

[0005] The robot hand described above has one joint, but depending on the object to be grasped, it may be better to have multiple joints, or it may be better to wrap the object in the palm. To accommodate such cases, it becomes necessary to change the positions of the parts that can be bent (flexible parts) and the parts that maintain rigidity for grasping (rigid parts). In the conventional robot hand described above, in order to change the positions of the flexible parts and rigid parts, it becomes necessary to replace the finger formation body and support members with corresponding ones. This requires a wide variety of parts, and the replacement work is time-consuming.

[0006] The present invention has been made in light of the above-mentioned circumstances, and has an object to provide a structure in which the positions of the flexible portion and the rigid portion can be changed, and a flexible-rigid distribution forming body using this structure. [Means for solving the problem]

[0007] A structure according to one aspect of the present invention comprises a frame body, a flexible membrane body covering the front and back surfaces of a space surrounded by the frame body, powder filled into the space, a vibration source disposed in the frame body, and a suction section for reducing the pressure in the space, wherein the vibration source is configured to be capable of forming standing waves within the space.

[0008] Another aspect of the present invention provides a soft-hard distribution forming body comprising a housing formed by walls and having an internal space surrounded by the walls, and a pressure control unit capable of pressurizing or depressurizing the internal space of the housing, wherein a portion of the walls of the housing are formed by the structure of the present invention. Effect of the Invention

[0009] The structure of the present invention can generate flexible and rigid parts in the membrane, and the positions of the flexible and rigid parts can be changed by changing the standing wave formed by the vibration source. Therefore, the flexible and rigid distribution structure of the present invention can change the positions of the flexible and rigid parts. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic plan view of a structure according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic cross-sectional view of the structure of FIG. [Diagram 3] FIG. 3 is a schematic cross-sectional view showing the distribution of powder when a standing wave is formed in the structure of FIG. [Figure 4] FIG. 4 is a schematic cross-sectional view showing a case where the space in the structure of FIG. 3 is depressurized to cause jamming transition. [Diagram 5] FIG. 5 is a schematic plan view showing a state in which the standing wave of FIG. 3 is formed. [Figure 6] FIG. 6 is a schematic plan view showing a state in which a standing wave different from that in FIG. 5 is formed. [Figure 7] FIG. 7 is a schematic plan view of a structure obtained by further modifying the structure of FIG. [Figure 8] FIG. 8 is a schematic cross-sectional view of a soft-stiffness distribution forming body according to one embodiment of the present invention. [Figure 9] FIG. 9 is a schematic cross-sectional view showing a state in which the flexible-stiffness distribution body of FIG. 8 is brought into close contact with an object having a recess. [Figure 10] FIG. 10 is a schematic cross-sectional view showing a state in which the flexible-stiffness distribution body of FIG. 8 is brought into close contact with an object having a protrusion. [Figure 11] FIG. 11 is a schematic cross-sectional view of a flexible distribution forming body according to an embodiment different from that shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [Description of the embodiment of the present invention] First, the embodiments of the present invention will be listed and described.

[0012] (1) A structure according to one aspect of the present invention includes a frame body, a flexible membrane body covering the front and back surfaces of a space surrounded by the frame body, powder filled in the space, a vibration source disposed in the frame body, and a suction section for reducing the pressure in the space, wherein the vibration source is configured to be capable of forming standing waves in the space.

[0013] In this structure, powder is likely to gather at the nodes of the standing wave formed by the vibration source. When the space surrounded by the frame is depressurized in a state in which the powder has gathered at the nodes, jamming dislocations occur, and the nodes of the standing wave become rigid while maintaining the flexibility of the antinodes, so that flexible and rigid parts can be generated in the membrane according to the shape of the standing wave. The positions of the flexible and rigid parts can be changed by changing the shape of the standing wave formed by the vibration source.

[0014] (2) In the structure of (1) above, the vibration source may be arranged so that different standing waves can be generated in the space by controlling the frequency, amplitude, phase, or on / off of the vibration source, or a combination thereof. By arranging the vibration source in this way, the positions of the flexible part and the rigid part can be easily changed.

[0015] (3) In the structure of (1) or (2) above, the frame may have one or more suction ports connected to the suction portion, and at least one of the suction ports may be surrounded by a node of the standing wave and the frame in at least one standing wave. By configuring in this way, a new rigid portion can be formed in the flexible portion in the region surrounded by the node of the standing wave and the frame, thereby improving controllability of the positions of the flexible portion and the rigid portion.

[0016] (4) A soft-stiff distribution forming body according to another embodiment of the present invention comprises a housing formed of walls and having an internal space surrounded by the walls, and a pressure control unit capable of pressurizing or depressurizing the internal space of the housing, wherein a portion of the wall of the housing is formed of any of the structures described above in (1) to (3).

[0017] The flexibility distribution element can control the distribution of the flexible and rigid parts of the part of the wall formed by the structure of the present invention, and therefore the flexibility distribution element can switch the part of the wall to a desired posture.

[0018] (5) In the above-mentioned (4) flexible-stiffness distribution body, a structure constituting a part of the wall and one or more other structures constituting a laminated structure may be provided in the internal space, and a gap may be provided between adjacent structures, and the gap may be configured to be pressurized or depressurized. By having such a laminated structure, the flexible-stiffness distribution body may assume more complicated postures.

[0019] [Details of the embodiment of the present invention] Hereinafter, a structure and a flexible distribution forming body according to one embodiment of the present invention will be described with reference to the drawings as appropriate.

[0020] [Structure] The structure 1 shown in FIGS. 1 and 2 includes a frame 10, a film 20, powder 30, a vibration source 40, and a suction unit 50.

[0021] <Frame> The frame 10 surrounds the periphery of the membrane 20 described below and supports the membrane 20 .

[0022] The frame 10 may be a rigid body, but is preferably flexible. The flexibility of the frame 10 allows the structure 1 to be easily bent at a flexible portion 21 of the membrane 20, which will be described later, as a bending point. The flexibility of the frame 10 is preferably lower than that of the membrane 20.

[0023] The size and shape of the frame body 10 are appropriately determined depending on the application of the structure 1. In the structure 1 of FIG. 1, the frame body 10 is square in plan view. Hereinafter, the frame body 10 will be described as being square in plan view, but the planar shape of the frame body 10 is not limited to a square shape. In addition, although the frame body 10 is configured to be planar in the structure 1 of FIG. 1, it may be three-dimensional.

[0024] The lower limit of the average thickness of the frame 10 is preferably 100 μm, more preferably 500 μm. On the other hand, the upper limit of the average thickness of the frame 10 is preferably 10 mm, more preferably 3 mm. If the average thickness of the frame 10 is less than the lower limit, the space 11 surrounded by the frame 10 may become too narrow, and the powder 30 may not be sufficiently contained. Conversely, if the average thickness of the frame 10 exceeds the upper limit, it may become difficult to bend the frame 10 at the flexible portion 21. The "average thickness" means the average value of thicknesses measured at any 10 points.

[0025] The frame 10 has a plurality of suction ports 12 (four in FIG. 1) connected to a suction section 50 which will be described later.

[0026] <Membrane body> The membrane body 20 is flexible and covers the front and back surfaces of the space 11 surrounded by the frame body 10 .

[0027] One membrane 20 may be provided on each of the front and back surfaces of the frame 10, or one membrane 20 may be folded back at one side of the frame 10 to cover both the front and back surfaces of the space 11. Alternatively, a bag-shaped membrane 20 may be disposed in the space 11 to cover both the front and back surfaces of the space 11. In either configuration, the membrane 20 seals the space 11 surrounded by the frame 10 and enables the space 11 to be depressurized (vacuum suction).

[0028] The film constituting the film body 20 may be a silicone film, an elastomer film made of natural rubber, latex rubber, or the like.

[0029] <Powder> The powder 30 is an aggregate of particles and fills the space 11 .

[0030] The material of the powder 30 is not particularly limited as long as it has the strength to not be broken due to contact between particles when the space 11 is decompressed, but may be, for example, a resin.

[0031] The lower limit of the average particle size of the particles is preferably 1 μm, more preferably 10 μm, and even more preferably 100 μm. On the other hand, the upper limit of the average particle size of the particles is preferably 1500 μm, and more preferably 1000 μm. If the average particle size of the particles is less than the lower limit, the bulk density of the powder may become too large, making it difficult to form a soft-hard distribution. Conversely, if the average particle size of the particles exceeds the upper limit, when the space 11 is decompressed, the gaps between the particles may not be sufficiently filled, and the rigidity of the rigid part 22 may be insufficient. Here, the "average particle size" refers to the sieve opening at which the mass cumulative value is 50% in the particle size distribution obtained by a dry sieving test using a sieve specified in JIS-Z-8801 (2006).

[0032] The lower limit of the filling rate of the powder 30 in the space 11 is preferably 70 volume %, more preferably 75 volume %. On the other hand, the upper limit of the filling rate is preferably 85 volume %, more preferably 80 volume %. If the filling rate is less than the lower limit, the amount of air increases, which may require a long time for decompression, and the working efficiency of the structure 1 may decrease. On the other hand, if the filling rate exceeds the upper limit, the space in which the particles constituting the powder 30 can move may become too narrow, making it difficult to form a soft-hard distribution. Here, the "filling rate of the powder in the space" refers to the ratio of the volume of the powder 30 to the volume of the space 11 at normal pressure (i.e., when no suction is being performed by the suction unit 50).

[0033] <Vibration source> The vibration source 40 is disposed in the frame 10 and is configured to be able to form a standing wave W in the space 11.

[0034] Although there may be only one vibration source 40, it is preferable that a plurality of vibration sources 40 are arranged in an orderly matrix on the frame 10 as shown in Fig. 1. By arranging a plurality of vibration sources 40 in this manner, it is possible to generate different standing waves W in the space 11.

[0035] Moreover, the vibration source 40 is arranged so that different standing waves W can be generated in the space 11 by controlling the frequency, amplitude, phase, or on / off of the vibration source 40, or by a combination of these. By arranging the vibration source 40 in this manner, the positions of the flexible portion 21 and the rigid portion 22 can be easily changed.

[0036] <Suction part> The suction unit 50 is configured by, for example, a suction device, and can reduce the pressure in the space 11 through the suction port 12 .

[0037] The suction device used in the suction unit 50 is not particularly limited as long as it can reduce the pressure in the space 11, and a known vacuum pump or the like can be used. The suction device and each suction port 12 are connected by piping or the like, and each is configured to be able to perform suction independently.

[0038] When the pressure in the space 11 is reduced, jamming dislocations occur. In other words, when the pressure in the space 11 is reduced to a negative pressure, a force is generated that presses the particles that make up the powder 30 against each other, causing solidification. This jamming dislocation is released when the pressure inside the space 11 is returned to atmospheric pressure, and the powder 30 becomes able to move freely within the space 11.

[0039] <Operation principle> The operating principle of the structure 1 will now be described.

[0040] 3, when a standing wave W is generated in the space 11 by the vibration source 40, an antinode W1 where the vibration becomes intense and a node W2 where the vibration hardly occurs are generated in the standing wave W. At this time, the powder 30 that can move freely within the space 11 tends to gather at the node W2, so that the density is high at the node W2 and low at the antinode W1.

[0041] At this time, it is preferable to superimpose a square wave having a lower frequency than the standing wave W on the vibration of the vibration source 40. By superimposing a square wave in this way, the density distribution becomes more clearly visible. The frequency of the square wave is preferably 10 Hz or less.

[0042] When suction is performed by the suction part 50 in the state shown in FIG. 3, as shown in FIG. 4, a jamming transition occurs in which the sparse antinode W1 is thin and the dense node W2 is thick, and the part corresponding to the antinode W1 forms a flexible part 21 that maintains its flexibility, and the part corresponding to the node W2 becomes rigid and forms a rigid part 22.

[0043] The flexible portion 21 is bendable because it is thin and flexible, whereas the rigid portion 22 is rigid and cannot bend. Therefore, the structure 1 shown in Fig. 4 can function as a three-joint structure that can be bent at three flexible portions 21 (positions indicated by arrows in Fig. 4).

[0044] As described above, the structure 1 can generate different standing waves W in the space 11 by controlling the frequency, amplitude, phase, or on / off of the vibration source 40 or a combination of these. For example, the structure 1 in Fig. 3 and Fig. 4 generates a standing wave W as shown in Fig. 5, but by controlling the on / off or frequency of the vibration source 40, it is also possible to generate a standing wave W as shown in Fig. 6, for example.

[0045] 6, when the standing wave W is generated, focusing on one suction port 12a located on the lower side in FIG. 6 among the four suction ports 12, this suction port 12a is surrounded by the node W2 of the standing wave W and the lower side of the frame body 10, and this region R corresponds to the flexible portion 21. In the structure 1, a new rigid portion 22 can be formed in the flexible portion 21 in the region R surrounded by the node W2 of the standing wave W and the frame body 10. The procedure will be described.

[0046] First, in the structure 1 in which the jamming transition occurs and flexible portion 21 and rigid portion 22 are formed as shown in Fig. 6, suction port 12a located at the lower side of frame 10 directly connected to region R is selectively returned to atmospheric pressure. Then, region R returns to atmospheric pressure, and the jamming transition of region R is released. However, since it takes time for the jamming transition of rigid portion 22 constituting the periphery of region R to be released, the jamming transition is maintained for a certain period of time.

[0047] If a new standing wave W is formed while this jamming transition is maintained, a waveform caused by this new standing wave W is formed only in the region R where the jamming transition has been resolved (see FIG. 7). After that, by causing the jamming transition again, a new rigid portion 22 can be formed in the flexible portion 21 in the region R.

[0048] In the structure 1, the powder 30 tends to gather at the node W2 of the standing wave W formed by the vibration source 40. When the space 11 surrounded by the frame 10 is depressurized in a state in which the powder 30 has gathered at the node W2, a jamming dislocation occurs, and the node W2 becomes rigid while maintaining the flexibility of the antinode W1 of the standing wave W, so that the film 20 can have a flexible portion 21 and a rigid portion 22 according to the shape of the standing wave W. By changing the shape of the standing wave W formed by the vibration source 40, the positions of the flexible portion 21 and the rigid portion 22 can be changed.

[0049] [Soft-rigid distribution forming body] Next, a flexible-stiffness distribution forming body using the structure 1 will be described.

[0050] [First embodiment] A flexible-rigidity distribution forming body 100 according to another embodiment of the present invention shown in FIG.

[0051] <Case> The housing 110 is constituted by walls 111, and has an internal space 112 surrounded by the walls 111. The size and shape of the housing 110 are appropriately determined depending on the application of the flexibility-stiffness distribution body 100.

[0052] A part of the wall 111 of the housing 110 is made of the structure 1 of the present invention shown in Fig. 1. In the flexibility-stiffness distribution forming body 100 shown in Fig. 8, the entire bottom wall 111 of the housing 110 is made of the structure 1, but this configuration is not limited to this. Depending on the application of the flexibility-stiffness distribution forming body 100, the side wall 111 may be made of the structure 1, or multiple surfaces may be made of the structure 1, such as making the side and bottom walls 111 of the structure 1.

[0053] Furthermore, even when forming walls 111 on the lower surface of housing 110, only a portion of walls 111 may be formed from structures 1, or one surface may be formed by combining a plurality of structures 1.

[0054] The housing 110 has an intake and exhaust port 113 connected to a pressure control unit 114 described later. In Fig. 10, the intake and exhaust port 113 is provided on the top surface of the housing 110, but it may be provided on a side surface. The intake and exhaust port 113 can be provided on a surface other than the structure 1.

[0055] <Pressure control section> The pressure control unit 114 is capable of pressurizing or depressurizing the internal space 112 of the housing 110 .

[0056] A known pump can be used as the pressure control unit 114. The pressure control unit 114 and the intake and exhaust port 113 are connected by a pipe or the like, and a configuration is made in which pressure can be increased or decreased via the intake and exhaust port 113.

[0057] For example, as shown in FIG. 9, when the underside of the structure 1 is pressed against the recess X1 of the object X and the internal space 112 of the housing 110 is pressurized by the pressure control unit 114, the structure 1 is bent at the flexible part 21, and the underside can be tightly fitted along the recess X1.

[0058] Conversely, as shown in FIG. 10, when the underside of the structure 1 is pressed against the convex portion X2 of the object X, the pressure control portion 114 reduces the pressure in the internal space 112 of the housing 110, causing the structure 1 to bend at the flexible portion 21, so that the underside can be pressed tightly against the convex portion X2.

[0059] Furthermore, as described above, the distribution of the flexible parts 21 and the rigid parts 22 of the structure 1 can be controlled, and the distribution of the flexible parts 21 and the rigid parts 22 can be adjusted to match the target uneven shape, thereby achieving a high degree of adhesion.

[0060] <Advantages> The flexibility-stiffness distribution forming body 100 can control the distribution of the flexible parts 21 and the rigid parts 22 of a part of the wall 111 constituted by the structure 1 of the present invention. Therefore, the flexibility-stiffness distribution forming body 100 can switch the part of the wall 111 to a desired posture.

[0061] Furthermore, when the soft-stiffness distribution forming body 100 is brought into close contact with the uneven object X, the soft-stiffness distribution forming body 100 functions as a suction cup for the uneven object X. Normally, a suction cup only comes into close contact with flat surfaces, but by using the soft-stiffness distribution forming body 100, it becomes possible to come into close contact with uneven surfaces and further to make it possible to accommodate any uneven shape.

[0062] [Second embodiment] 11 includes a housing 120 having an internal space 122 surrounded by a wall 121, and a pressure control unit 124 that can pressurize or depressurize the internal space 122 of the housing 120, and a part of the wall 121 of the housing 120 is composed of the structure 1a of the present invention. The structure 1a constituting a part of the wall 121 and one other structure 1b constituting a laminated structure are provided in the internal space 122 of the flexible-stiffness distribution body 101, and there is a gap 125 between the adjacent structures 1a and 1b.

[0063] The structures 1a and 1b can be configured in the same manner as the structure 1 shown in FIG. 1, and therefore a detailed description thereof will be omitted.

[0064] In the flexible-stiff distribution forming body 101, a first suction and exhaust port 123a for pressurizing or depressurizing the gap 125 and a second suction and exhaust port 123b for pressurizing or depressurizing the internal space 122 are provided in a wall 121 constituting a housing 120. The first suction and exhaust port 123a and the second suction and exhaust port 123b are each connected to a pressure control unit 124.

[0065] The pressure control unit 124 is connected to the gap 125 and the internal space 122 via the first suction and exhaust port 123a and the second suction and exhaust port 123b, respectively, and can separately control the suction and exhaust of the gap 125 and the internal space 122. That is, in the flexible-stiffness distribution forming body 101, the gap 125 is configured to be capable of being pressurized or depressurized independently of the internal space 122. A known pump can be used as the pressure control unit 114.

[0066] In the flexible-stiff distribution forming body 101, the two structures 1a, 1b are controlled independently of each other, and are controlled to have different patterns of flexible parts 21 and rigid parts 22, for example, as shown in Fig. 11. In this state, the void 125 and the internal space 122 are pressurized or depressurized independently. Fig. 11 shows a case where both the void 125 and the internal space 122 are pressurized, but both may be depressurized, or one may be pressurized and the other depressurized.

[0067] In this way, by controlling the patterns of the two structures 1a and 1b and the pressure inside the gap 125 and the internal space 122, it is possible to form complex irregularities in the structure 1a that constitutes part of the wall 121. Therefore, even if the object X has a recess X3 with a complex shape as shown in Fig. 11, for example, it is possible to make the structure adhere closely to the shape of the surface.

[0068] <Advantages> The flexible-stiffness distribution forming body 101 has a layered structure, and thus can assume more complicated postures.

[0069] [Application field] In the above embodiment, the softness-stiffness distribution forming body 100, 101 of the present invention is described as functioning as a suction cup for an uneven object X, but the application field of the softness-stiffness distribution forming body is not limited to a suction cup. Other application fields are shown below. Note that the application field of the softness-stiffness distribution forming body of the present invention is not limited to the following forms, and is merely an example.

[0070] (Joints of robotic hands) By bending the structure of the present invention into a cylindrical shape, it can be applied to a multi-fingered, multi-jointed robot hand (gripper). As described above, the structure is easy to bend starting from the flexible parts, so the flexible parts function as joints. Therefore, by changing the position and number of the flexible parts, it is possible to realize robot hands with different joint positions and numbers while using the same structure.

[0071] (Humanoid robot facial expression) In particular, a flexible-rigid distribution forming body having a laminated structure can form complex irregularities in a structure that constitutes part of the wall of a housing according to the relative positions of the flexible and rigid parts of the multiple structures and the pressure and pressure applied to the gap and internal space. This makes it possible to reproduce the movement of human skin, making it possible to create facial expressions on a humanoid robot, for example.

[0072] (Robot hand movement) In conventional robot hands, the bending direction of the parts corresponding to the finger joints is fixed, so if you want to bend them in a different direction, you need to rotate the support member that supports the finger itself, for example, to match the desired bending direction with the bending direction of the finger joints. In the case of multiple fingers, if you want to bend each finger in a desired direction, you need to add a complex structure, such as rotating each finger independently.

[0073] In contrast, when a flexible-rigid distribution forming body having a layered structure is used, for example in the example shown in Figure 11, when pressure is applied, the structure constituting part of the wall of the housing tilts toward the left side of the paper. The direction of this tilt can be set to any direction by controlling the patterns of the flexible and rigid parts of each structure.

[0074] This structure utilizes jamming transition, and it is well known that an object can be grasped by jamming transition; therefore, by grasping an object with a structure that forms part of the wall of the housing, and determining the direction in which to tilt (i.e., bend) the object using multiple structures, the grasped object can be moved in the desired direction without adding any new structure.

[0075] (Understanding the state of the grasped object) In International Publication WO 2022 / 014393, the present inventors have disclosed a technology that can easily recognize the state of a grasped object in a robot hand using jamming transition. This technology can also be applied to the structure of the present invention that grasps an object.

[0076] With this technology, for example, if an object is grasped and lying on its side, it can automatically recognize that and make the decision to rotate it 90 degrees before placing it down.

[0077] (Button Sensing) There is a known button sensing technology that displays buttons on a display and determines which button has been pressed by the position where the user presses it. Conventional button sensing technologies include, for example, a method of measuring the deformation of a display using a camera or the like, and a method of measuring the change in the electrostatic capacitance of a film that constitutes the display. The former tends to be restricted in shape to avoid blind spots of the camera, and the latter has a problem that it is difficult to apply to a rollable display that deforms.

[0078] In contrast, in the structure of the present invention, by arranging the rigid parts in a matrix, it is possible to use a plurality of flexible parts surrounded by the rigid parts as buttons. In other words, when a specific flexible part is pressed, only that flexible part is depressed, and the other flexible parts are supported by the rigid parts and do not depression, so it is easy to know which flexible part has been pressed. In addition, since the position of the rigid parts can be controlled in this structure, the position and number of the flexible parts surrounded by the rigid parts can be changed depending on the application. Furthermore, there is no blind spot when sensing the button using this structure, and it can be used even in a rollable display.

[0079] [Other embodiments] The above-mentioned embodiment does not limit the configuration of the present invention. Therefore, the above-mentioned embodiment may omit, replace or add components of each part of the above-mentioned embodiment based on the description in this specification and common technical knowledge, and it should be understood that all of these are within the scope of the present invention.

[0080] In the above embodiment, the frame of the structure has a plurality of suction ports, but the number of suction ports may be one.

[0081] In the above embodiment, a case has been described in which different standing waves can be generated in a space by controlling the frequency, amplitude, phase, or on / off of the vibration source, or a combination thereof, but it is not essential to generate different standing waves in a space. A structure that generates only one type of standing wave is also within the scope of the present invention.

[0082] Although the soft-stiffness distribution forming body of the second embodiment has one other structure, it may have multiple other structures and multiple voids. By providing multiple voids in the laminated structure in this way, it becomes possible to take more complex postures.

[0083] In addition, in the above-mentioned second embodiment of the flexible-hard distribution forming body, the laminated structure is described as being laminated in the height direction (perpendicular to the surface in contact with the object), but it may be laminated in other directions, such as the horizontal direction. The laminated structure is not limited to one, and the present invention also intends to provide a plurality of laminated structures. In that case, the laminated direction may be different for each laminated structure.

[0084] In the above-mentioned second embodiment of the flexible-rigid distribution forming body, the case where the voids are configured to be pressurized or depressurized independently of the internal space has been described, but the pressurization or depressurization of the voids and the internal space may be linked. Even when the pressurization or depressurization of the voids and the internal space is linked, the same effect can be achieved by controlling the pattern of the flexible part and the rigid part of the laminate constituting a part of the wall of the housing and the other laminate. In addition, in the case of a laminate structure having a plurality of voids, all of the voids and the internal space may be configured to be pressurized or depressurized independently, or some or all of them may be configured to be pressurized or depressurized in a linked manner. [Industrial Applicability]

[0085] As described above, the structure of the present invention can generate flexible parts and rigid parts in the membrane, and the positions of the flexible parts and rigid parts can be changed by changing the standing wave formed by the vibration source. Therefore, the flexible-rigid distribution structure of the present invention can change the positions of the flexible parts and rigid parts. [Explanation of symbols]

[0086] 1, 1a, 1b structure 10 Frame 11 Space 12, 12a Suction port 20 Membrane body 21 Flexible section 22 Rigid part 30 powder 40 Vibration source 50 Suction part 100, 101 Soft-rigid distribution forming body 110, 120 case 111, 121 Wall 112,122 Interior space 113 Intake and exhaust port 123a 1st intake and exhaust port 123b 2nd intake and exhaust port 114, 124 Pressure control section 125 void W standing wave W1 Belly Section W2 R area X Object X1, X3 recess X2 protrusion

Claims

1. A frame body, A flexible film body that covers the front and back surfaces of the space surrounded by the frame body; A powder to be filled in the space; A vibration source disposed on the frame; A suction part that reduces the pressure in the space; Equipped with A structure in which the vibration source is configured to be able to form a standing wave in the space.

2. The structure according to claim 1 , wherein the vibration source is arranged so that different standing waves can be generated in the space by controlling the frequency, amplitude, phase, or on / off of the vibration source, or a combination thereof.

3. The frame has one or more suction ports connected to the suction unit, 3. The structure according to claim 1, wherein at least one of said suction ports is surrounded by a node of at least one standing wave and said frame body.

4. a housing having an internal space surrounded by a wall; a pressure control unit that can pressurize or depressurize the internal space of the housing; Equipped with A flexible-rigid distribution forming body, a part of the wall of the housing being formed of the structure according to claim 1.

5. A structure constituting a part of the wall and one or more other structures constituting a laminated structure are provided in the internal space, A gap is provided between adjacent structures, 5. The flexible-stiffness distribution forming body according to claim 4, wherein the gap is configured so that it can be pressurized or depressurized.

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