Anisotropic deformation elastic body and propulsion mechanism using the same

Abstract

To provide an anisotropic deformation elastic body that can obtain propulsion force with a simple method in such as miniaturization of a robot, and to provide a propulsion device using the same.SOLUTION: An anisotropic deformation elastic body includes: an elastic body formed of a material having viscoelasticity; and a plurality of orientation objects that is included in the elastic body while being distributed in the whole elastic body and oriented so as to extend linearly toward one direction. The orientation object is formed of a cluster of string-like continuum or granular material. The anisotropic deformation elastic body deforms in a specific direction when being subjected to a unidirectional load and is restored to its original shape when being unloaded.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an anisotropic deformable elastomer capable of obtaining anisotropy in deformation and a propulsion mechanism using the same.

Background Art

[0002] Conventionally, various self-propelled robots have been proposed. There are those that utilize the movement of organisms in nature. For example, a robot as shown in Patent Document 1 has been proposed that utilizes peristaltic motion. The robot shown in Patent Document 1 is suitable for movement within a limited space such as inside a pipe.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when the inner diameter of the pipe becomes small, it becomes necessary to miniaturize the robot. In such miniaturization of the robot, a certain size is required for the propulsion mechanism for self-propelling the robot, which hinders the miniaturization of the robot. Therefore, the present invention has been made to solve the above problems, and for example, an object thereof is to provide an anisotropic deformable elastomer that enables miniaturization of a robot and a propulsion mechanism using the same.

Means for Solving the Problems

[0005] As a configuration of the anisotropic deformable elastomer for solving the above problems, an elastic material part formed of a viscoelastic material, and a plurality of oriented objects distributed and included in the entire elastic material part and oriented so as to linearly extend in one direction are provided, and when a unidirectional load is applied to the elastic material part, it deforms in a specific direction and restores to its original shape when the load is removed. According to this configuration, the orientation causes anisotropy in the elastic coefficient of the elastic material part, deforms in a specific direction when a unidirectional load is applied, and can be restored to its original shape when the load is removed. Further, as the orientation, those formed by clusters of fibrous or magnetically charged particulate materials can be used. Further, as a configuration of the propulsion mechanism for solving the above problems, the load applied to the anisotropic deformable elastic body according to claim 1 or claim 2 is made mechanical, and the load is periodically applied so as to intersect the extension direction of the orientation. According to this configuration, a propulsion mechanism can be configured with a simple configuration, and by using this propulsion mechanism in a robot, it is possible to contribute to the miniaturization of the robot. Further, as another configuration of the propulsion mechanism for solving the above problems, the load applied to the anisotropic deformable elastic body according to claim 2 is made magnetic, and the load is periodically applied so as to intersect the extension direction of the orientation to perform propulsion. According to this configuration, a propulsion mechanism can be configured with a simple configuration, and by using this propulsion mechanism in a robot, it is possible to contribute to the miniaturization of the robot.

Brief Description of the Drawings

[0006]

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Best Mode for Carrying Out the Invention

[0007] Hereinafter, the present invention will be described in detail through embodiments. However, the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential for the solution means of the invention, and the embodiments include selectively adopted configurations.

[0008] FIG. 1 is a perspective view showing a schematic configuration showing an embodiment of an anisotropic deformable elastomer. The anisotropic deformable elastomer 1 according to this embodiment is configured to obtain anisotropy in deformation by applying a mechanical or magnetic field load (external force).

[0009] As shown in FIG. 1, in the anisotropic deformable elastomer 1, a plurality of fibers 12 are dispersed and inserted in the elastic material portion 11. In this embodiment, as shown in FIG. 1, the shape of the anisotropic deformable elastomer 1 will be described as a rectangular parallelepiped shape, but its three-dimensional shape is not particularly limited. In the following description, as indicated by the arrows in FIG. 1, the x-direction, y-direction, and z-direction will be described along each side of the anisotropic deformable elastomer 1. The z-direction corresponds to the longest side of the anisotropic deformable elastomer 1.

[0010] The elastic material portion 11 is preferably formed of a material having, for example, viscoelasticity or rubber elasticity. The elastic material portion 11 can use, for example, synthetic rubber such as silicone rubber, natural rubber, etc., or elastomers, gels, etc. as materials.

[0011] That is, the elastic material portion 11 preferably has both viscosity and elasticity, and is configured to have a viscosity for absorbing impact and an elasticity for returning to its original state like a spring.

[0012] FIG. 2 is a perspective view of the anisotropic deformable elastomer 1 in FIG. 1 viewed in plan from the xz plane. As shown in FIGS. 1, 2, etc., each fiber 12 is included so as to be distributed throughout the elastic material portion 11 as an oriented object linearly extending in one direction.

[0013] When the fibers 12 are dispersed and encapsulated so as to cover the entire elastic material portion 11, it is preferable that the length of each fiber 12 be short so that the lengths of the fibers 12 are substantially the same. For example, if the lengths of the two ends of each encapsulated fiber 12 reach any surface of the anisotropic deformable elastic body 1 forming a rectangular parallelepiped, the length of the fiber 12 will vary depending on the position in the elastic material portion 11, and there is a risk that the influence of the fiber 12 on the elastic material portion 11 will change depending on the position. Therefore, it is advisable to select the length of the fiber 12 so that the influence of the fiber 12 on the elastic material portion 11 is uniform.

[0014] As the material of the fiber 12, a material with little expansion and contraction change in the axial direction is preferable. For example, those having extensibility such as aramid fiber, carbon fiber, glass fiber, nylon, polyamide-based fiber, polyolefin-based fiber, and metal fiber can be appropriately selected and used.

[0015] Also, the form of the fiber 12 can be any form such as filament, yarn (span yarn and filament yarn), strand, etc. Furthermore, it is also possible to use untwisted fibers converged without twisting, or fibers created by twisting a plurality of these fibers. Depending on the type of fiber, it is also possible to combine fibers of different materials or different forms of two or more types.

[0016] Also, for the fiber 12, appropriate primer treatment, surface oxidation treatment, etc. may be performed in consideration of the adhesion to the elastic material portion 11.

[0017] Each fiber 12 is, for example, inclined in the same one direction within the anisotropic deformable elastic body 1 and encapsulated in the elastic material portion 11. In the present embodiment, each fiber 12 is oriented so as to be inclined and extend only within the xz plane as shown in FIG. 2. Note that the fact that a plurality of each fiber 12 is inclined and extends in one direction does not mean strictness in a mathematical sense, and it goes without saying that some error is allowed considering that the fiber 12 is a material that is easy to bend.

[0018] Further, the fibers 12 do not necessarily have to be evenly distributed in all directions (x-direction, y-direction, z-direction) within the anisotropic deformable elastomer 1, and some deviation in the distribution is allowed.

[0019] The anisotropic deformable elastomer 1 with such a configuration can be created, for example, as follows. First, an anisotropic deformable elastomer material that is the basis of the anisotropic deformable elastomer 1 is created. The anisotropic deformable elastomer material is formed to include a plurality of fibers 12 oriented at a predetermined angle in the elastic material portion 11 similar to the anisotropic deformable elastomer 1. The anisotropic deformable elastomer material can be formed by pouring a fluid elastic material that will become the elastic material portion 11 into a mold for molding the anisotropic deformable elastomer material and distributing it throughout the mold so that the extending directions of the fibers 12 are aligned. For example, when pouring the fluid elastic material that will become the elastic material portion 11 into the mold, each time the liquid level of the elastic material poured into the mold rises to a predetermined height, the fibers 12 can be distributed throughout the mold so that the extending directions of the fibers 12 are aligned. At this time, since the liquid level is horizontal, all the inserted fibers 12 are oriented to face in one direction within the horizontal plane. Then, the anisotropic deformable elastomer material is obtained by solidifying the elastic material within the mold. Next, it may be cut out in a desired shape so that the extending direction of the fibers 12 in the obtained anisotropic deformable elastomer material becomes the desired direction. For example, in this embodiment, the anisotropic deformable elastomer 1 is obtained by cutting out the anisotropic deformable elastomer material so that the fibers 12 are inclined within the aforementioned xz plane with the shape of the anisotropic deformable elastomer 1 being a rectangular parallelepiped. Note that the method of creating the anisotropic deformable elastomer 1 is not limited to this. For example, the anisotropic deformable elastomer 1 can also be formed by forming the elastic material portion 11 into a sheet shape and laminating it so that the fibers 12 have a desired inclination within the xz plane.

[0020] As shown in Fig. 3(a), when an isotropic deformation elastic body 1 is subjected to a uniformly distributed downward load W (hereinafter simply referred to as load W) from the upper surface 1t side in a state placed on a plane, as shown in Fig. 3(b), the encapsulated fibers 12 deform so as to rise from the inclined state (along the z direction). Further, when the load W applied downward to the isotropic deformation elastic body 1 is removed, as shown in Fig. 3(a), it restores to its original shape due to its elasticity.

[0021] Such an isotropic deformation elastic body 1 has a plurality of fibers 12 encapsulated in one direction within the elastic material portion 11, resulting in differences in the elastic modulus in each direction of the isotropic deformation elastic body 1 and causing anisotropy in deformation.

[0022] Fig. 4 is a diagram showing an example of the usage form of the isotropic deformation elastic body 1. Fig. 5 is a diagram showing the operation of the usage form of the isotropic deformation elastic body 1 shown in Fig. 4. The loading and unloading of the load W on the anisotropic deformation elastic body 1 described with reference to Fig. 3 can be achieved, for example, by providing a mass body 21 so as to cover the entire upper surface 1t, further providing a vibration motor 22 on the mass body 21, and applying vertical vibrations to the mass body 21 by the vibration motor 22.

[0023] First, when the vibration motor 22 applies a downward load to the mass body 21, as shown in Fig. 5(a), the vibration anisotropic deformation elastic body 1 deforms obliquely and the mass body 21 is displaced to the left.

[0024] Also, when the vibration motor 22 applies an upward load to the mass body 21, as shown in Fig. 5(b), the load W on the vibration anisotropic deformation elastic body 1 decreases, the mass body 21 rises, and the vibration anisotropic deformation elastic body 1 restores to its original shape. That is, the vibration anisotropic deformation elastic body 1 restores to its original shape while maintaining the displacement of the mass body 21 to the left.

[0025] Fig. 6 is a diagram showing an example of the usage form of the isotropic deformation elastic body 1. As shown in Fig. 6, the anisotropic deformable elastic body 1 can be used, for example, as a propulsion means in the robot 30. For example, regarding the mass body 21 shown in Figs. 4 and 5 as the body 21 of the robot 30, arranging a plurality of anisotropic deformable elastic bodies 1 around the body 21, and configuring the body 21 to include a vibration motor 22, the anisotropic deformable elastic body 1 can be used as a propulsion means in the robot 30.

[0026] Fig. 7 is a diagram showing a propulsion operation when the anisotropic deformable elastic body 1 is used as a propulsion means in a robot. Fig. 7(a) shows a state where the robot 30 is stationary. Next, as shown in Fig. 7(b), the inertial force due to the vibration of the vibration motor 22 moves the body 21 downward, and due to the action of the fiber 12 encapsulated in the anisotropic deformable elastic body 1, the body 21 is displaced in the traveling direction (the direction indicated by the arrow in the figure). At this time, the frictional force generated between the grounding surface 1b of the anisotropic deformable elastic body 1 and the traveling surface G is larger than the force when displacing the body 21 in the traveling direction. Next, as shown in Fig. 7(c), the inertial force due to the vibration of the vibration motor 22 moves the body 21 upward, and as the body 21 is displaced in the traveling direction, an elastic force (restoring force) inherent in the anisotropic deformable elastic body 1 becomes larger than the frictional force between the traveling surface G and the grounding surface 1b of the anisotropic deformable elastic body 1, and the grounding surface 1b side moves in the traveling direction to maintain the position of the body 21. Therefore, when the vibration motor 22 repeats the load on the body 21 by vibration, the robot 30 can move forward (self - propel) in the traveling direction.

[0027] In the above - described embodiment, as shown in Fig. 2, it has been described that the fiber 12 extends obliquely upward to the right with respect to the z - direction (the force input direction) in the xz - plane. However, for example, it may extend obliquely upward to the left. At this time, for example, as shown in Figs. 6 and 7, when used in a robot, the traveling direction of the robot becomes right - ward.

[0028] Further, the fiber 12 may be oriented to extend along the z direction within the elastic material portion 11. In this case, by applying an external force obliquely with respect to the orientation direction of the fiber 12, anisotropy can be caused in the deformation of the anisotropic deformable elastomer 1.

[0029] Note that the oriented material encapsulated in the elastic material portion 11 is not limited to the fiber 12. Instead of a string-like material such as the aforementioned fiber 12, a linearly continuous material such as a ribbon having a predetermined width with respect to the extending direction can be used as the oriented material. Further, the oriented material is not limited to a material having flexibility capable of following the deformation of the elastic material portion 11 such as the fiber 12 or the ribbon, and may be a rod-like or plate-like material having a predetermined rigidity. That is, the oriented material may be any material that can impart anisotropy to the elasticity within the elastic material portion 11, and as long as the anisotropy is aligned in one direction.

[0030] Further, the fiber 12, the oriented material may be formed linearly by a cluster of particulate materials such as iron powder or nickel-coated graphite instead of the fiber 12. In this case, instead of applying a mechanical external force to the anisotropic deformable elastomer 1, a deformation as shown in FIG. 2 can be obtained by applying a magnetic field so as to be in the same direction as the external force. Therefore, instead of the periodic load change by the vibration motor 22, by applying an alternating magnetic field to the fiber 12 encapsulated, a propulsive force as shown in FIG. 7 can be obtained.

Explanation of symbols

[0031] 1 Anisotropic deformation type elastomer, 1b Lower surface (ground surface), 1t Upper surface (input surface), 11 Elastic material portion, 12 Fiber (oriented material), G Traveling surface.

Claims

1. An elastic material part formed of a material having viscoelasticity, a plurality of oriented objects distributed and encapsulated throughout the elastic material part and oriented to linearly extend in one direction, and an anisotropic deformation elastic body that deforms in a specific direction when a unidirectional load is applied to the elastic material part and restores to its original shape when the load is removed.

2. The anisotropic deformation elastic body according to Claim 1, wherein the oriented object is a fiber.

3. The anisotropic deformation elastic body according to Claim 1, wherein the oriented object is formed of clusters of particulate materials having magnetism.

4. A propulsion mechanism that makes the load on the anisotropic deformation elastic body according to Claim 1 mechanical and propels it by periodically applying the load so as to intersect the extension direction of the oriented object.

5. A propulsion mechanism that makes the load on the anisotropic deformation elastic body according to Claim 2 magnetic and propels it by periodically applying the load so as to intersect the extension direction of the oriented object.

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