Piping and Actuators

Abstract

A purpose of one or more embodiments of the present disclosure is to simplify the design of a routing path of an elastic tube.　The elastic tube comprises a tube and a coil. The tube has elasticity and flexibility in the axial direction and circumferential direction. A fluid passes through the tube. The coil is wound in a spiral shape around the tube radially outward of the inner circumference of the tube, suppresses widening of the tube, and permits axial-direction expansion and contraction of the tube. An actuator according to the present disclosure comprises said elastic tube, a cylinder, and a third coil. The cylinder is provided at an end of the elastic tube and has elasticity in the axial direction and circumferential direction. The third coil is wound in a spiral shape around the cylinder in a radial direction outwardly of an inner circumference of the cylinder, suppresses widening of the cylinder, and permits expansion and contraction of the cylinder in the axial direction. An end of the cylinder distal from the elastic tube is blocked. The cylinder expands in the axial direction due to a rise in the supply pressure of the fluid passing through the elastic tube into the cylinder, and contracts in the axial direction due to a fall in the supply pressure of the fluid.

Description

[Technical Field]

[0001] The present disclosure provides: Piping and actuators. [Background technology]

[0002] The technology disclosed in Patent Document 1 will be briefly described below, using the reference numerals used in Patent Document 1 in parentheses. A cylindrical body (20) has both ends closed by flanges (24), and a coil spring (14) wound around the cylindrical body (20). One end of a tube (32) is connected to one of the flanges (24), and the other end of the tube (32) is connected to an air compressor. When the air compressor supplies compressed air to the cylindrical body (20) through the tube (32), the cylindrical body (20) expands. A device configured in this manner is attached to a multi-joint manipulator and used as an actuator that drives the movable parts of the manipulator. The tube (32) moves in accordance with the movement of the manipulator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-207017 Summary of the Invention [Problem to be solved by the invention]

[0004] If the manipulator operates to further stretch the tubing 32 while it is still taut, the tubing 32 will break. Therefore, it is necessary to carefully consider the length and route of the tubing 32 when routing the tubing 32. Therefore, an object of one or more embodiments of the present disclosure is to provide a stretchable tube. is This simplifies the design of piping routing. [Means for solving the problem]

[0005] In order to solve the above problems, according to one aspect of the present disclosure, the piping is an expandable tube and conveys a fluid. The aforementioned Piping is pipe 、 coil , a second tube and a second coil The tube has flexibility and stretchability in the axial and circumferential directions. A fluid passes through the tube. The coil is spirally wound around the tube radially outward from the inner circumference of the tube, suppressing radial expansion of the tube and allowing expansion and contraction of the tube in the axial direction. The second pipe extends continuously from the piping. The second coil is spirally wound around the second pipe radially outward from an inner circumference of the second pipe to suppress axial elongation and radial expansion of the second pipe. The lead angle of the spiral of the second coil may be larger than the lead angle of the spiral of the first coil. The second coil may be wound more tightly than the first coil.

[0006] According to one aspect of the present disclosure, an actuator Distributed The tube, the cylinder, and the third coil are included. The piping is an elastic tube and conveys a fluid. The piping includes a pipe and a coil. The pipe has elasticity and flexibility in the axial and circumferential directions. The fluid passes through the pipe. The coil is spirally wound around the pipe radially outward from the inner circumference of the pipe, suppressing radial expansion of the pipe and allowing expansion and contraction of the pipe in the axial direction. The tube is provided at the end of the piping and has axial and circumferential flexibility. The third coil is spirally wound around the tube radially outward from the inner circumference of the tube, suppressing radial expansion of the tube and allowing axial expansion and contraction of the tube. The end of the tube distal to the piping is closed. An increase in the supply pressure of fluid into the tube through the piping causes the tube to expand in the axial direction, and a decrease in the supply pressure of the fluid causes the tube to contract in the axial direction.

[0007] According to one aspect of the present disclosure, an actuator 2 Book Piping 、 tube and the third coil Equipped with. The piping is an elastic tube and conveys a fluid. The piping includes a pipe and a coil. The pipe has elasticity and flexibility in the axial and circumferential directions. The fluid passes through the pipe. The coil is spirally wound around the pipe radially outward from the inner circumference of the pipe, suppressing radial expansion of the pipe and allowing expansion and contraction of the pipe in the axial direction. The tube is disposed between the ends of the two pipes and has flexibility in the axial and circumferential directions. The third coil is spirally wound around the tube radially outward from the inner circumference of the tube, suppressing expansion of the tube diameter and allowing expansion and contraction of the tube in the axial direction. An increase in the supply pressure of the fluid into the tube through one of the two pipes causes the tube to expand in the axial direction, and a decrease in the supply pressure of the fluid causes the tube to contract in the axial direction. [Effects of the Invention]

[0008] One or more embodiments of the present disclosure Piping This contributes to facilitating the design of the wiring route. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 shows a stretchable tube according to a first embodiment with a part of the stretchable tube cut away. [Figure 2] FIG. 2 shows the stretchable tube according to the first embodiment with a part of the stretchable tube cut away. [Figure 3] FIG. 3 shows an elastic tube according to a second embodiment. [Figure 4] FIG. 4 shows an elastic tube according to a second embodiment. [Figure 5] FIG. 5 shows an elastic tube according to a third embodiment. [Figure 6] FIG. 6 shows an elastic tube according to a third embodiment. [Figure 7] FIG. 7 shows an elastic tube according to a fourth embodiment. [Figure 8] FIG. 8 shows an elastic tube according to a fourth embodiment. [Figure 9] FIG. 9 shows an actuator according to a sixth embodiment. [Figure 10] FIG. 10 shows an actuator according to a sixth embodiment. [Figure 11] FIG. 11 shows an actuator according to a sixth embodiment. [Figure 12] FIG. 12 shows an actuator according to a seventh embodiment. [Figure 13] FIG. 13 shows an actuator according to a seventh embodiment. [Figure 14] FIG. 14 shows a manipulator according to the eighth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] One or more embodiments of the present disclosure will be described below with reference to the drawings. Features and technical advantages of the embodiments will be understood from the following detailed description and drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. The drawings are provided for illustrative purposes only, and the scope of the present invention is not limited to the examples in the drawings.

[0011] <<First embodiment>> 1 and 2 are partial cross-sectional views of the stretchable tube 1. In Fig. 1, the stretchable tube 1 is in a natural state, while in Fig. 2, the stretchable tube 1 is in a state stretched in the axial direction.

[0012] The stretchable tube 1 is flexible and stretchable in the axial direction, but is non-stretchable in the circumferential direction. When the stretchable tube 1 is subjected to an external force, the stretchable tube 1 bends, expands in the axial direction, contracts in the axial direction, or a combination of two or more of these occurs. However, the stretchable tube 1 hardly expands or contracts in the circumferential direction, and the stretchable tube 1 hardly expands or contracts in diameter. The expansion of the diameter of the stretchable tube 1 means that the stretchable tube 1 expands in the circumferential direction, increasing the diameter of the stretchable tube 1. The contraction of the diameter of the stretchable tube 1 means that the stretchable tube 1 contracts in the circumferential direction, reducing the diameter of the stretchable tube 1.

[0013] The elastic tube 1 is a pipe for transporting a fluid, and the fluid flows inside the elastic tube 1. The fluid refers to a liquid or a gas. As an example, air flows inside the elastic tube 1.

[0014] The elastic tube 1 comprises a tube 11 and a coil 15 .

[0015] The tube 11 is a tube having a thickness in the radial direction. The tube 11 has a hollow 12 inside. The hollow 12 is a flow path through which a fluid flows. The tube 11 is formed in a circular tube shape, and the outer and inner circumferences of the tube 11 are formed as cylindrical surfaces. However, the shapes of the inner and outer circumferences of the tube 11 in a cross section perpendicular to the axial direction are not limited to circular, but may be polygonal such as a square or hexagon, or oval. Regardless of the shape of the tube 11 in a cross section perpendicular to the axial direction, the inner and outer circumference shapes of the tube 11 in the cross section perpendicular to the axial direction are similar or different. Furthermore, regardless of the shape of the tube 11 in the cross section perpendicular to the axial direction, the centers of gravity of the inner and outer circumference shapes of the tube 11 in the cross section perpendicular to the axial direction are concentric or eccentric.

[0016] The tube 11 is made of a soft material that is flexible and insulating. Specifically, the tube 11 is made of a rubber material that has rubber elasticity, such as silicone rubber. The tube 11 itself is stretchable and flexible in the axial and circumferential directions. Specifically, the tube 11 can be extended in the axial direction by an axial tensile load. The tube 11 can be contracted in the axial direction by an axial compressive load. The tube 11 itself can be stretched in the circumferential direction from its natural state by an external force, and can expand in diameter. However, the coil 15 suppresses the elongation of the tube 11 in the circumferential direction and the expansion of the diameter of the tube 11. The coil 15 allows the tube 11 to expand and contract in the axial direction. The coil 15 allows the tube 11 to bend.

[0017] Coil 15 is wound around tube 11 in a spiral shape around the central axis of tube 11 along the axial direction, radially outward from the inner circumference of tube 11. More specifically, coil 15 is wound around the outer periphery of tube 11 in a spiral shape around the central axis of tube 11 along the axial direction, and is in contact with the outer periphery of tube 11. A portion of coil 15, specifically the inner periphery of coil 15, extends inward from the outer periphery of tube 11 and is embedded in tube 11. Therefore, the outer periphery of coil 15 is exposed at the outer periphery of tube 11.

[0018] The entire coil 15 may be embedded between the inner and outer peripheries of the tube 11, and the coil 15 may not be exposed on the inner and outer peripheries of the tube 11. In this case, the coil 15 is less likely to get caught on surrounding objects, such as the mechanism of a manipulator.

[0019] In the example shown in Figures 1 and 2, coil 15 has a single spiral. However, coil 15 may have two or more spirals. When coil 15 has two or more spirals, these spirals may overlap in the axial direction or in the radial direction. When coil 15 has two or more spirals, all of the two or more spirals may be spirals wound in the same direction, or right-handed spirals and left-handed spirals may be mixed.

[0020] The coil 15 is conductive. For example, the coil 15 is formed of a conductive material such as copper, a copper alloy, aluminum, an aluminum alloy, stainless steel, or a conductive resin. The coil 15 is a conductor coated with an insulating film such as an insulating resin film or a metal oxide film. The coil 15 may be formed by spirally winding a single insulated conductor wire, or by spirally winding two or more insulated conductor wires. In the example shown in FIGS. 1 and 2, the cross-sectional shape of the insulated conductor wire constituting the coil 15 is round, but it may also be rectangular. In the example shown in FIGS. 1 and 2, the insulated conductor wire constituting the coil 15 is linear, but it may also be strip-shaped. The insulated conductor wire constituting the coil 15 may be a stranded wire or a solid wire.

[0021] The coil 15 can be used as an electric wiring, such as a signal line or a power supply line, in an electric circuit. The coil 15 can be used as an inductor in an electric circuit.

[0022] The coil 15 may be a spirally wound bare conductor without insulation coating. In this case, if the bare conductor does not cross, the coil 15 can be used as an inductor in an electric circuit. If the bare conductor crosses, the coil 15 cannot be used as an inductor, but can be used as electric wiring.

[0023] The coil 15 suppresses the circumferential elongation of the tube 11 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.

[0024] When the tube 11 expands in the axial direction due to a tensile load, the pitch of the coils 15 widens, and the coils 15 expand in the axial direction. When the tube 11 contracts in the axial direction due to a compressive load, the pitch of the coils 15 narrows, and the coils 15 contract in the axial direction. When the tube 11 is bent due to a bending load, the pitch of the coils 15 on the outside of the bend widens, and the pitch of the coils 15 on the inside of the bend narrows. Note that the coils 15 function as springs, and when the coils 15 expand or contract in the axial direction from their natural state, they generate an elastic force that attempts to restore them to their natural state.

[0025] The inner peripheral portion of coil 15 is pushed inward from the outer periphery of pipe 11, thereby suppressing axial slippage of coil 15 relative to pipe 11. In particular, even if pipe 11 expands or contracts in the axial direction, coil 15 does not slide axially relative to pipe 11, so coil 15 expands or contracts in the axial direction together with pipe 11.

[0026] When the coil 15 is an inductor, the inductance of the coil 15 correlates with the length of the coil 15 in the axial direction, and the length of the coil 15 and the amount of change therein can be converted from the inductance of the coil 15 and the amount of change therein. Therefore, the coil 15 can be used as a sensor for measuring the elongation of the expandable tube 1 and the pipe 11 and the amount of change therein.

[0027] For example, the elastic tube 1 is used for piping that connects pneumatic or hydraulic equipment. Also, for example, when the elastic tube 1 is used for piping that passes through the joints of a pneumatically or hydraulically driven articulated manipulator, the elastic tube 1 expands and contracts while deforming in response to bending or twisting of the joint.

[0028] In the above description, the coil 15 is conductive. Alternatively, the coil 15 may be insulating. In this case, the coil 15 cannot be used as an electric wire or an inductor.

[0029] The stretchable tube 1 stretches under an axial tensile load even when stretched at its natural length, preventing breakage of the stretchable tube 1. The stretchable tube 1 contracts under an axial compressive load even when stretched at its natural length, preventing buckling of the stretchable tube 1. Therefore, the stretchable tube 1 bends under a bending load even when stretched at its natural length, preventing shearing of the stretchable tube 1. This allows the stretchable tube 1 to be routed freely. In other words, it is easy to design the routing path for the stretchable tube 1 even if insufficient consideration is given to the length and route of the stretchable tube 1.

[0030] For example, when the elastic tube 1 is used in an articulated manipulator, even if the elastic tube 1 is routed along the shortest path, the elastic tube 1 can stretch in accordance with the movement of the manipulator. Routeing the elastic tube 1 along the shortest path contributes to improving the responsiveness of fluidic devices that use the elastic tube 1.

[0031] Since the tube 11 is reinforced by the coil 15, the stretchable tube 1 can withstand the internal pressure even if the internal pressure is high.

[0032] When the insulated conductor, bare conductor, or insulated wire that constitutes the coil 15 is in a strip shape, the coil 15 has a stronger reinforcing effect on the tube 11. Therefore, buckling of the expandable tube 1 is prevented.

[0033] When the insulated conductor, bare conductor or insulated wire that constitutes the coil 15 is in a strip shape, the coil 15 is less likely to get caught on surrounding objects, such as the mechanism of a manipulator.

[0034] When the coil 15 is made of copper or a copper alloy, the electrical resistance of the coil 15 can be reduced, and the resistance of the coil 15 to the expansion and contraction of the expandable tube 1 in the axial direction can be reduced.

[0035] <<Second embodiment>> 3 and 4 are drawings of the stretchable tube 1A. In Fig. 3, the stretchable tube 1A is in a natural state. In Fig. 4, the stretchable tube 1A is in an axially stretched state.

[0036] Like the stretchable tube 1 of the first embodiment, the stretchable tube 1A of the second embodiment is used to transport a fluid by allowing the fluid to flow inside it. The stretchable tube 1 of the first embodiment is stretchable in the axial direction as a whole, whereas the stretchable tube 1A of the second embodiment is partially stretchable in the axial direction and partially non-stretchable in the axial direction.

[0037] The stretchable tube 1A includes a stretchable tube element 10A and non-stretchable tube elements 20A and 30A.

[0038] The non-stretchable tube element 20A, the stretchable tube element 10A, and the non-stretchable tube element 30A extend continuously in the axial direction in this order. The non-stretchable tube element 20A, the stretchable tube element 10A, and the non-stretchable tube element 30A are integrated together to form a single tube 1A.

[0039] The stretchable tube element 10A corresponds to the stretchable tube 1 of the first embodiment. The stretchable tube element 10A has flexibility and stretchability in the axial direction, and is non-stretchable in the circumferential direction.

[0040] Like the expandable tube element 10A, the non-stretchable tube elements 20A and 30A are flexible and non-stretchable in the circumferential direction. However, unlike the expandable tube element 10A, the axial stretchability of the non-stretchable tube elements 20A and 30A is sufficiently lower than that of the expandable tube element 10A, and the non-stretchable tube elements 20A and 30A are non-stretchable in the axial direction.

[0041] The stretchable tube element 10A has a tube 11A corresponding to the tube 11 of the stretchable tube 1 of the first embodiment, and a coil 15A corresponding to the coil 15 of the stretchable tube 1 of the first embodiment. The above description of the tube 11 also applies to the tube 11A, and the description of the coil 15 also applies to the coil 15A.

[0042] The non-extensible tube element 20A has a tube 21A as a second tube and a coil 25A as a second coil. The non-extensible tube element 30A has a tube 31A as a second tube and a coil 35A as a second coil.

[0043] Tube 21A extends axially continuously from one end of tube 11A and is formed integrally with tube 11A, with the hollows of tube 21A and tube 11A communicating with each other. Tube 31A extends axially continuously from the other end of tube 11A and is formed integrally with tube 11A, with the hollows of tube 31A and tube 11A communicating with each other. The hollows of tubes 11A, 21A, and 31A are integrated with each other. Tubes 11A, 21A, and 31A are made of the same material, have the same inner circumferential shape, the same outer circumferential shape, and have the same inner and outer diameters. Tubes 11A, 21A, and 31A themselves have stretchability and flexibility in the axial and circumferential directions.

[0044] Coils 25A and 35A are wound helically around the central axes of tubes 21A and 31A, respectively, along the axial direction. The inner peripheral portions of coils 25A and 35A are embedded in tubes 21A and 31A, respectively, by extending inward from the outer periphery of tube 21A and 31A. Alternatively, coils 25A and 35A may be entirely embedded between the inner and outer peripheries of tubes 21A and 31A, respectively.

[0045] Here, the angle of the spiral with respect to a plane perpendicular to the axial direction is referred to as the lead angle. If the value of the lead angle of the spiral of coils 25A and 35A is θ2 and the value of the lead angle of the spiral of coil 15A is θ1, then lead angle θ2 is larger than lead angle θ1. Therefore, when comparing coil 15A with coils 25A and 35A, coils 25A and 35A, are less likely to stretch in the axial direction, and the pitch of coils 25A and 35A is less likely to widen. In particular, when the lead angle θ1 of the spiral of coil 15A is less than 50°, coil 15A stretches due to axial tensile force. However, when the lead angle θ2 of the spiral of coils 25A and 35A is 50° or greater, coils 25A and 35A barely stretch in the axial direction even when axial tensile force acts on them.

[0046] Such a coil 25A not only suppresses the circumferential elongation of the tube 21A and the radial expansion of the tube 21A, but also suppresses the axial elongation of the tube 21A. Therefore, the non-elastic tube element 20A is non-elastic in the circumferential and axial directions. The same applies to the coil 35A, the tube 31A, and the non-elastic tube element 30A.

[0047] The number of turns of coils 25A, 35A per unit length in the axial direction is less than the number of turns of coil 15A per unit length in the axial direction. However, if the lead angle θ2 of the spiral of coils 25A, 35A is greater than the lead angle θ1 of the spiral of coil 15A, the expandable tube element 10A is expandable in the axial direction, and the non-expandable tube elements 20A, 30A are non-expandable in the axial direction, the number of turns of coils 25A, 35A per unit length in the axial direction may be equal to or greater than the number of turns of coil 15A per unit length in the axial direction.

[0048] In the examples shown in Figures 3 and 4, each of the coils 15A, 25A, and 35A has a single spiral, and each of the coils 15A, 25A, and 35A is formed by spirally winding a common insulated conductor wire or bare conductor wire. However, each of the coils 15A, 25A, and 35A may have double or more spirals as long as the lead angle θ2 of the spiral of the coil 25A and 35A is greater than the lead angle θ1 of the spiral of the coil 15A. When each of the coils 15A, 25A, and 35A has double or more spirals, these spirals may overlap in the axial direction or in the radial direction. When each of the coils 15A, 25A, and 35A has double or more spirals, all of the double or more spirals may be spirals wound in the same direction, or right-handed and left-handed spirals may be mixed. Regardless of whether the coils 15A, 25A, and 35A have a single spiral or multiple spirals, the coils 15A, 25A, and 35A may each be formed by spirally winding individual insulated or bare wire.

[0049] When the coil 15A is made of an insulating coated conductor or a non-intersecting bare conductor, and the coil 15A is an inductor, the coil 15A can be used as a sensor for measuring the elongation and change of the expandable tube element 10A and the tube 11A.

[0050] In the above description, the coils 15A, 25A, and 35A are conductive. Alternatively, the coils 15A, 25A, and 35A may be insulating.

[0051] For example, the elastic tube 1A is used for piping that connects pneumatic or hydraulic equipment. Also, for example, the non-elastic tube elements 20A, 30A of the elastic tube 1A are provided inside the arms of a pneumatically or hydraulically driven articulated manipulator, and the elastic tube element 10A is provided inside the joint between the arms.

[0052] <<Third and Fourth Embodiments>> 5 and 6 are drawings of a stretchable tube 1B according to a third embodiment. Figs. 7 and 8 are drawings of a stretchable tube 1C according to a fourth embodiment. In Figs. 5 and 7, the stretchable tubes 1B and 1C are in their natural state. In Figs. 6 and 8, the stretchable tubes 1B and 1C are in their axially stretched state.

[0053] The expandable tube 1B comprises an expandable tube element 10B and non-expandable tube elements 20B and 30B. The expandable tube element 10B has a tube 11B and a coil 15B, the non-expandable tube element 20B has a tube 21B as a second tube and a coil 25B as a second coil, and the non-expandable tube element 30B has a tube 31B as a second tube and a coil 35B as a second coil.

[0054] The expandable tube 1C includes an expandable tube element 10C and non-expandable tube elements 20C and 30C. The expandable tube element 10C includes a tube 11C and a coil 15C, the non-expandable tube element 20C includes a tube 21C as a second tube and a coil 25C as a second coil, and the non-expandable tube element 30C includes a tube 31B as a second tube and a coil 35C as a third coil.

[0055] Pipes 11B, 21B, and 31B are similar to pipes 11A, 21A, and 31A in the first embodiment, respectively. Pipes 11C, 21C, and 31C are similar to pipes 11A, 21A, and 31A in the first embodiment, respectively. Coils 15B and 15C are similar to coil 15A in the first embodiment.

[0056] In the second embodiment, the lead angle θ2 of the spiral of the coils 25A and 35A is larger than the lead angle θ1 of the spiral of the coil 15A, so that the expandable tube element 10A has axial expandability, and the non-expandable tube elements 20A and 30A have axial non-expandability.

[0057] In contrast, in the third and fourth embodiments, the coils 25B, 35B, 25C, and 35C are wound more densely than the coils 15B and 15C. In other words, the number of turns of the coils 25B, 35B, 25C, and 35C per unit length in the axial direction is greater than the number of turns of the coils 15B and 15C per unit length in the axial direction. This allows the expandable tube elements 10B and 10C to be expandable in the axial direction, and the non-expandable tube elements 20B, 30B, 20C, and 30C to be non-expandable in the axial direction.

[0058] The lead angles of the spirals of coils 25B, 35B, 25C, and 35C are equal to the lead angles of the spirals of coils 15B and 15C, but the number of layers of coils 25B, 35B, 25C, and 35C is greater than the number of layers of coils 15B and 15C. Specifically, coils 25B, 35B, 25C, and 35C have double spirals, while coils 15B and 15C have single spirals. As a result, coils 25B, 35B, 25C, and 35C are wound more tightly than coils 15B and 15C.

[0059] In the third embodiment, the double or more spirals of the coils 25B and 35B are all spirals wound in the same direction, whereas the coils 25C and 35C in the fourth embodiment are a mixture of right-handed and left-handed spirals.

[0060] Coils 15B, 25B, and 35B are formed by spirally winding a common insulated conductor wire or bare conductor wire, although coils 15B, 25B, and 35B may each be formed by spirally winding an individual insulated conductor wire or bare conductor wire.

[0061] Coils 15C, 25C, and 35C are formed by spirally winding a common insulated conductor wire or bare conductor wire, although coils 15C, 25C, and 35C may each be formed by spirally winding an individual insulated conductor wire or bare conductor wire.

[0062] When the coil 15B is an inductor made of an insulating coated conductor or a bare conductor that does not cross, the coil 15B can be used as a sensor that measures the elongation and change of the expandable tube element 10B and the tube 11B. The same is true when the coil 15C is an inductor made of an insulating coated conductor.

[0063] In the above description, the lead angles of the spirals of coils 25B, 35B, 25C, and 35C are equal to the lead angles of the spirals of coils 15B and 15C. However, if coils 25B, 35B, 25C, and 35C are wound more tightly than coils 15B and 15C, the lead angles of the spirals of coils 25B, 35B, 25C, and 35C may be different from the lead angles of the spirals of coils 15B and 15C.

[0064] <<Fifth Embodiment>> In the second embodiment, one stretchable tube element 10A is present between one end and the other end of the stretchable tube 1A, and the same applies to the third and fourth embodiments. Alternatively, the elastic tube elements and the non-elastic tube elements may be arranged alternately and repeatedly in the axial direction.

[0065] <<Sixth embodiment>> The elastic tubes 1, 1A, 1B, and 1C can be used in pneumatic or hydraulic actuators. As an example of the actuator, an actuator 100 equipped with the elastic tube 1C will be described in detail with reference to Figs.

[0066] The actuator 100 includes a stretchable tube 1C and an operating part 51.

[0067] As described above, the expandable tube element 10C of the expandable tube 1C expands and contracts in the axial direction due to an external force, as shown in FIG.

[0068] The operating unit 51 is provided at one end of the elastic tube 1C. More specifically, the operating unit 51 is provided at the tip of the non-elastic tube element 30C. The other end of the elastic tube 1C is connected to a fluid device including a compressor, a valve, etc. The fluid device supplies fluid to the operating unit 51 via the elastic tube 1C and controls the supply pressure.

[0069] 9 and 10, the operating part 51 expands and contracts in response to an increase or decrease in the pressure of the fluid supplied to the operating part 51 by the elastic tube 1C. When the fluid device increases the supply pressure to the operating part 51, the operating part 51 expands in the axial direction as shown in Fig. 10, and when the fluid device decreases the supply pressure to the operating part 51, the operating part 51 contracts in the axial direction as shown in Fig. 9. The operating part 51 is connected to a driven machine, and the driven machine operates when the operating part 51 expands and contracts.

[0070] The operating portion 51 has a tapered cylinder 52, a cylinder 53, an end plate 54, and a coil 55 as a third coil.

[0071] The tube 31C, tapered tube 52, and tube 53 of the non-extensible tube element 30C extend continuously in the axial direction in that order. The tapered tube 52 extends axially from the tip of the tube 31C, and the tapered tube 52 and tube 31C are formed integrally with each other, with the hollows of the tapered tube 52 and tube 31C communicating with each other. The tube 53 extends axially from the end of the tapered tube 52, and the tube 53 and tapered tube 52 are formed integrally with each other, with the hollows of the tube 53 and tapered tube 52 communicating with each other.

[0072] The inner and outer diameters of tube 53 are larger than the inner and outer diameters of tube 31C. The inner and outer diameters of the end of tapered tube 52 proximal to tube 31C are equal to the inner and outer diameters of tube 31C, respectively, and the inner and outer diameters of the end of tapered tube 52 proximal to tube 53 are equal to the inner and outer diameters of tube 53, respectively. The inner and outer diameters of tapered tube 52 gradually increase from tube 31C toward tube 53.

[0073] Tapered tube 52 and tube 53 are formed of the same flexible material as tube 31C. Tapered tube 52 and tube 53 themselves are flexible and stretchable in the axial and circumferential directions.

[0074] End plate 54 is provided at the end of tube 53 distal from tapered tube 52 and closes that end. The elastic modulus of end plate 54 is sufficiently higher than the elastic modulus of tapered tube 52, tube 53, and tube 31C, and end plate 54 is rigid.

[0075] Coil 55 is wound around the outer periphery of tapered tube 52 and tube 53. The inner periphery of coil 55 is embedded in tapered tube 52 and tube 53 by protruding inward from the outer periphery of tapered tube 52 and tube 53. Note that coil 55 may be entirely embedded between the inner and outer peripheries of tapered tube 52 and tube 53.

[0076] Coil 55 has a single spiral or two or more spirals. When coil 55 has two or more spirals, these spirals may overlap in the axial direction or in the radial direction. When coil 55 has two or more spirals, all of the two or more spirals may be spirals wound in the same direction, or right-handed spirals and left-handed spirals may be mixed.

[0077] When coil 55 is made of an insulating conductor or a bare conductor that does not intersect, coil 55 is an inductor. Coil 55 is made of a spirally wound insulating conductor or bare conductor that is common to at least one of coils 15C, 25C, and 35C, or is made of a spirally wound insulating conductor or bare conductor that is separate from coils 15C, 25C, and 35C. Because tapered tube 52 is provided between tube 53 and pipe 31C, at least one of coils 15C, 25C, and 35C and coil 55 are likely to be wound with a common insulating conductor or bare conductor.

[0078] When the coils 15C and 55 are inductors, and the insulated conductor or bare conductor of the coil 15C is common to the insulated conductor or bare conductor of the coil 15C, the coils 15C and 55 are electrically connected in series.

[0079] The coil 55 suppresses the circumferential extension of the tapered tubes 52 and 53 and the radial expansion of the tapered tubes 52 and 53, while allowing the tapered tubes 52 and 53 to expand and contract in the axial direction. Therefore, when the fluid device increases the supply pressure, the tapered tubes 52 and 53 expand in the axial direction without expanding in diameter, and the pitch of the coil 55 increases. When the fluid device decreases the supply pressure, the tapered tubes 52 and 53 contract in the axial direction, and the pitch of the coil 55 decreases.

[0080] It is noted that tapered tube 52 does not necessarily have to be provided between tube 53 and tube 31C. In this case, the end of tube 53 proximal to tube 31C is closed by an end plate, as is the end of tube 53 distal to tube 31C, tube 31C is connected to an opening in the end plate, and the hollow of tube 31C communicates with the hollow of tube 53 via the opening in the end plate.

[0081] Furthermore, instead of the elastic tube 1C, an end of any one of the elastic tubes 1, 1A, 1B may be connected to the operating unit 51, and fluid may be supplied from the fluid device to the operating unit 51. Furthermore, instead of the elastic tube 1C, an end of the elastic tube of the fifth embodiment may be connected to the operating unit 51, and fluid may be supplied from the fluid device to the operating unit 51.

[0082] <<Seventh embodiment>> In the sixth embodiment, the end of the actuator 100 serves as an operating portion 51. In contrast, in the seventh embodiment, as shown in FIGS. 12 and 13, a midway portion of an actuator 100A serves as an operating portion 151.

[0083] The actuator 100A of the seventh embodiment comprises a first elastic tube 1C, an operating unit 151, and a second elastic tube 1C. The first elastic tube 1C, the operating unit 151, and the second elastic tube 1C are connected in axial order. The end of the first elastic tube 1C distal to the operating unit 151 is connected to a supply-side fluid device. The end of the second elastic tube 1C distal to the operating unit 151 is connected to another fluid device or piping, or is open.

[0084] The operating portion 151 has a tapered cylinder 152, a cylinder 153, a tapered cylinder 154, and a coil 155 as a third coil.

[0085] In the sixth embodiment, the tapered tube 52 is provided between the tube 31C of the non-stretchable tube element 30C and the tube 53, and similarly, in the seventh embodiment, the tapered tube 152 is provided between the tube 31C of the non-stretchable tube element 30C of the first stretchable tube 1C and the tube 153. In the seventh embodiment, the tapered tube 52 is provided between the tube 31C of the non-stretchable tube element 30C and the tube 53, and similarly, a tapered tube 154 is provided between the tube 31C of the non-stretchable tube element 30C of the second stretchable tube 1C and the tube 153. The description of the tapered tube 52 in the sixth embodiment applies to the tapered tubes 152, 154.

[0086] The coil 155 is wound around the outer periphery of the tubes 152 to 154. The description of the coil 55 in the sixth embodiment applies to the coil 155.

[0087] When the supply pressure of the fluid device increases, the tubes 152 to 154 expand in the axial direction without expanding in diameter, and the pitch of the coils 155 increases. When the supply pressure of the fluid device decreases, the tubes 152 to 154 contract in the axial direction, and the pitch of the coils 155 decreases.

[0088] It is noted that tapered tube 152 does not have to be provided between tube 153 and tube 31C of the first stretchable tube 1C. In this case, the end of tube 153 proximal to tube 31C of the first stretchable tube 1C is closed by an end plate, tube 31C of the first stretchable tube 1C is connected to an opening in the end plate, and the hollow of tube 31C of the first stretchable tube 1C communicates with the hollow of tube 153 via the opening in the end plate. Similarly, tapered tube 154 does not have to be provided between tube 153 and tube 31C of the second stretchable tube 1C.

[0089] Moreover, instead of one or both of the elastic tubes 1C, the end of any one of the elastic tubes 1, 1A, 1B may be connected to the operating part 151. Moreover, instead of one or both of the elastic tubes 1C, the end of the elastic tube of the fifth embodiment may be connected to the operating part 151.

[0090] <<Eighth Embodiment>> The actuators 100 and 100A of the sixth and seventh embodiments can be used in a manipulator. An example of a manipulator 1000 will be described with reference to FIG.

[0091] The manipulator 1000 is a robot that grasps an object, such as food, with five degrees of freedom. In addition to the actuator 100 or 100A of the sixth or seventh embodiment, the manipulator 1000 has a base 81, arms 82 to 86, an end effector 87, and a plurality of joints.

[0092] The base 81 is placed at an installation location. The first arm 82 is connected to the base 81. The joint connecting the base 81 and the first arm 82 is made up of a drive mechanism that rotates the first arm 82 relative to the base 81 around a first rotation axis that is perpendicular to the installation surface. The second arm 83 is connected to the first arm 82. The joint connecting the first arm 82 and the second arm 83 is made up of a drive mechanism that rotates the second arm 83 relative to the first arm 82 around a second rotation axis that is perpendicular to the first rotation axis. The third arm 84 is connected to the second arm 83. The joint connecting the second arm 83 and the third arm 84 is made up of a drive mechanism that rotates the third arm 84 relative to the second arm 83 around a third rotation axis that is parallel to the second rotation axis. The fourth arm 85 is connected to the third arm 84. The joint connecting the third arm 84 and the fourth arm 85 is made up of a drive mechanism that rotates the fourth arm 85 relative to the third arm 84 around a fourth rotation axis that is parallel to the third rotation axis. The fifth arm 86 is connected to the fourth arm 85. The joint connecting the fourth arm 85 and the fifth arm 86 is made up of a drive mechanism that rotates the fifth arm 86 relative to the fourth arm 85 around a fifth rotation axis that is perpendicular to the fourth rotation axis. An actuator operating unit 51 is provided on the fifth arm 86, and an end effector 87 is attached to the operating unit 51. The operating unit 51 or the operating unit 151 drives the end effector 87. The end effector 87 grips an object when the operating unit 51 or the operating unit 151 contracts, and the end effector 87 releases the object when the operating unit 51 or the operating unit 151 extends.

[0093] A part or the whole of the elastic tube element 10A, 10C or 10B of the actuator 100 or 100A is provided within the joint portion of the manipulator 1000. Alternatively, a part or the whole of the elastic tube 1 of the actuator 100 or 100A is provided within the joint portion of the manipulator 1000. [Explanation of symbols]

[0094] 1, 1A, 1B, 1C Elastic tube 11,11A,11B,11C pipe 15, 15A, 15B, 15C coils 21A, 21B, 21C, 31A, 31B, 31C Tubes (Second Tubes) 25A, 25B, 25C, 35A, 35B, 35C Coil (Second Coil) 53,153 tubes 52,152,154 Tapered tube 55,155 coil (third coil) 100,100A actuator

Claims

1. A pipe that is an elastic tube and also transports a fluid, a tube having axial and circumferential stretchability and flexibility, through which the fluid passes; a coil wound spirally around the pipe radially outward from the inner circumference of the pipe, suppressing radial expansion of the pipe and allowing expansion and contraction of the pipe in the axial direction; a second tube extending continuously from the tube; a second coil wound spirally around the second tube radially outward from the inner circumference of the second tube, suppressing axial elongation and radial expansion of the second tube; Equipped with The lead angle of the spiral of the second coil is larger than the lead angle of the spiral of the first coil. Piping.

2. A pipe that is an elastic tube and also transports a fluid, a tube having axial and circumferential stretchability and flexibility, through which the fluid passes; a coil wound spirally around the pipe radially outward from the inner circumference of the pipe, suppressing radial expansion of the pipe and allowing expansion and contraction of the pipe in the axial direction; a second tube extending continuously from the tube; a second coil wound spirally around the second tube radially outward from the inner circumference of the second tube, suppressing axial elongation and radial expansion of the second tube; The second coil is wound more tightly than the first coil. Piping.

3. The tube and the second tube are integrally formed from the same flexible material. The piping according to claim 1 or 2.

4. The coil is an inductor The piping according to any one of claims 1 to 3.

5. A pipe having axial and circumferential stretchability and flexibility and through which a fluid passes, and a coil wound spirally around the pipe radially outward from the inner circumference of the pipe, suppressing expansion of the pipe and allowing expansion and contraction of the pipe in the axial direction, and a piping which is a stretchable tube and transports the fluid; a tube provided at an end of the piping and having axial and circumferential flexibility; The coil is spirally wound around the cylinder radially outward from the inner periphery of the cylinder, thereby suppressing expansion of the cylinder diameter. and a third coil that allows the tube to expand and contract in the axial direction, an end of the barrel distal to the tubing is closed; The cylinder expands in the axial direction due to an increase in the supply pressure of the fluid into the cylinder through the piping, The cylinder contracts axially as the fluid supply pressure drops. Actuator.

6. The piping according to any one of claims 1 to 4; a tube provided at an end of the piping and having axial and circumferential flexibility; The coil is spirally wound around the cylinder radially outward from the inner periphery of the cylinder, thereby suppressing expansion of the cylinder diameter. and a third coil that allows the tube to expand and contract in the axial direction, an end of the barrel distal to the tubing is closed; The cylinder expands in the axial direction due to an increase in the supply pressure of the fluid into the cylinder through the piping, The cylinder contracts axially as the fluid supply pressure drops. Actuator.

7. A tube having axial and circumferential stretchability and flexibility through which a fluid passes, and a coil wound spirally around the tube radially outward from the inner circumference of the tube, suppressing expansion of the tube and allowing expansion and contraction of the tube in the axial direction, and two pipes which are stretchable tubes and transport the fluid; a tube provided between the ends of the two pipes and having axial and circumferential flexibility; The coil is spirally wound around the cylinder radially outward from the inner periphery of the cylinder, thereby suppressing expansion of the cylinder diameter. and a third coil that allows the tube to expand and contract in the axial direction, The cylinder rotates due to an increase in the supply pressure of the fluid into the cylinder through one of the two pipes. The cylinder expands in the axial direction, and a drop in the supply pressure of the fluid causes the cylinder to contract in the axial direction. Actuator.

8. Two pipes according to any one of claims 1 to 4; a tube provided between the ends of the two pipes and having axial and circumferential flexibility; The coil is spirally wound around the cylinder radially outward from the inner periphery of the cylinder, thereby suppressing expansion of the cylinder diameter. and a third coil that allows the tube to expand and contract in the axial direction, The cylinder rotates due to an increase in the supply pressure of the fluid into the cylinder through one of the two pipes. The cylinder expands in the axial direction, and a drop in the supply pressure of the fluid causes the cylinder to contract in the axial direction. Actuator.

9. The piping, a second tube extending continuously from the tube; a second coil wound spirally around the second tube radially outward from the inner circumference of the second tube, suppressing axial elongation and radial expansion of the second tube; have 8. The actuator according to claim 5 or 7.

10. a tapered tube provided between the end of the pipe and the tube; The cylinder is thicker than the pipe, and the inner and outer diameters of the tapered cylinder are Gradually increasing towards the tube An actuator according to any one of claims 5 to 9.

11. The third coil is disposed radially outward from the inner periphery of the tapered cylinder. spirally wound The actuator of claim 10.

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