Patent Application
20250067286
The present invention relates to a fluid pressure actuator that expands and contracts a tube using a gas or liquid, and more particularly to a so-called McKibben type fluid pressure actuator.
Conventionally, a structure (so-called McKibben type) having a rubber tube (tubular body) that expands and contracts by air pressure and a sleeve (mesh reinforcing structure) that covers the outer peripheral surface of the tube is widely used as a fluid pressure actuator that expands and contracts the tube as described above.
Both ends of the actuator body portion constituted by the tube and the sleeve are sealed using a sealing member formed of metal.
The sleeve is a cylindrical structure in which a high tension fiber such as a polyamide fiber or a metal cord is woven, and the expansion motion of the tube is restricted to a predetermined range.
In order to prevent the sleeve from pulled out of the sealing member due to the load during the operation of the fluid pressure actuator of the McKibben type, a structure is known in which the sleeve is locked to a flange portion formed on the sealing member using a locking member (locking ring) (For example, Patent Literature 1).
Japanese Patent Laid-Open No. 2018-035930
According to the structure using the aforementioned locking member, the failure of the fluid pressure actuator can be prevented, and the durability of the fluid pressure actuator can be improved.
However, there are cases where high pressure is applied to the fluid pressure actuator (such as when the actuator is hydraulically driven), and higher durability has been required.
Therefore, the following disclosure has been made in view of such a situation, and it is an object of the present invention to provide a fluid pressure actuator which can more reliably prevent the sleeve from being pulled out of the sealing member while using a locking member for locking the sleeve.
An embodiment of the present disclosure is a fluid pressure actuator including an actuator body portion comprising a tube having a cylindrical shape and that expands and contracts under pressure of a fluid, and a sleeve that is a structure in which cords oriented in a predetermined direction are woven and covers an outer peripheral surface of the tube, and a sealing mechanism that seals the end of the actuator body portion in the axial direction of the actuator body portion, The sealing mechanism includes a sealing member into which the actuator body portion is inserted, a restricting member provided on an outer peripheral surface of the actuator body portion inserted into the sealing member and that restricts the actuator body portion, and a locking member that locks the sleeve to the sealing member,
The sealing member includes a body portion into which the tube is inserted, a head portion provided in outside more than the body portion in the axial direction, and an intermediate portion provided between the body portion and the head portion.
The intermediate portion is smaller in size in the radial direction of the actuator body portion than the head portion and has an enlarged diameter part that is larger than the body portion toward the radial direction outside of the actuator body portion, The locking member is compressed and deformed to fill a space formed between the restricting member and the intermediate portion.
Hereinafter, the embodiment will be described based on the drawings. The same functions and structures are denoted by the same or similar reference numerals, and the description thereof will be omitted accordingly.
The sealing mechanism 200 and the sealing mechanism 300 seal both ends of the actuator body portion 100 in the axial direction DAX. Specifically, the sealing mechanism 200 includes a sealing member 210 and a caulking ring 230. The sealing member 210 seals the end of the axial direction DAX of the actuator body portion 100. The caulking ring 230 also caulks the actuator body portion 100 together with the sealing member 210. On the outer peripheral surface of the caulking ring 230, an indentation 231 is formed, which is a mark where the caulking ring 230 is caulked by a jig.
The difference between the sealing mechanism 200 and the sealing mechanism 300 is whether or not a connection port 211a for fluid is provided.
The actuator body portion 100 is constituted by a tube 110 and a sleeve 120. Fluid flows into the actuator body portion 100 through the connection port 211a.
The actuator body portion 100 contracts in the axial direction DAX of the actuator body portion 100 and expands in the radial direction DR due to fluid flow into the tube 110. The actuator body portion 100 expands in the axial direction DAX of the actuator body portion 100 and contracts in the radial direction DR due to the outflow of fluid from the tube 110. Due to the shape change of the actuator body portion 100, the fluid pressure actuator 10 functions as an actuator.
The fluid used for driving the fluid pressure actuator 10 can be either a gas such as air or a liquid such as water or mineral oil, but in particular, the fluid pressure actuator 10 has high durability that can withstand hydraulic driving under high pressure applied to the actuator body portion 100.
In addition, the fluid pressure actuator 10 is a so-called McKibben type, and can be used not only for artificial muscles, but also suitably for a robot limb (such as an upper limb or a lower limb) for which higher performance (contraction force) is required.
In addition, the fluid pressure actuator 10 can also be used as a body worn power assist device, a gait assist device, and a training device such as muscle strength.
As described above, the actuator body portion 100 comprises a tube 110 and a sleeve 120.
The tube 110 is a cylindrical body that expands and contracts under fluid pressure. The tube 110 is made of an elastic material such as butyl rubber to repeatedly contract and expand under fluid pressure. The inner diameter Φ of the tube 110 is not particularly limited, but in this embodiment, it is about 10 mm.
When the fluid pressure actuator 10 is hydraulically driven, the material of the tube 110 may be NBR (nitrile rubber) having high oil resistance or at least one kind selected from the group consisting of NBR, hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.
The sleeve 120 is cylindrical and covers the outer peripheral surface of the tube 110. The sleeve 120 is a structure in which cords oriented in a predetermined direction are woven, and a rhombic shape is repeated by crossing the oriented cords. By having such a shape, the sleeve 120 deforms pantographically and follows the tube 110 while restricting its contraction and expansion.
As a cord constituting the sleeve 120, a fiber cord of an aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET) is preferably used. However, it is not limited to this kind of fiber cord, and for example, a metal cord composed of a high-strength fiber such as a PBO fiber (polyparaphenylene benzobisoxazole) or an extra fine filament may be used. The sealing mechanism 200 seals the end of the actuator body portion 100 in the axial direction DAX. The sealing mechanism 200 is constituted by a sealing member 210, a locking wire 220 and a caulking ring 230.
The actuator body portion 100 is inserted into the sealing member 210. Metal such as stainless steel may be suitably used as the sealing member 210, but it is not limited to such metal, and a hard plastic material may be used.
The locking wire 220 locks the sleeve 120 to the sealing member 210. In this embodiment, the locking wire 220 constitutes a locking member. Specifically, the sleeve 120 is folded back to the radial direction DR outside via the locking wire 220 (Not shown in
In this embodiment, the locking wire 220 is formed by winding a wire having a diameter of about 1 mm several times.
For example, the locking wire 220 may be formed of a metallic material, but preferably of a material that is relatively soft and rich in ductility and ductility, for example, a material containing aluminum (e.g., an aluminum alloy). The member forming the locking wire 220 is preferably more easily deformed than the member forming the sealing member 210, and more preferably more easily deformed than the member forming the caulking ring 230.
The same metal as the sealing member 210 or the same metal as the caulking ring 230 may be used as the locking wire 220.
The locking wire 220 is formed of a material (not necessarily limited to a metal) having a hardness that is deformed by caulking together with the caulking ring 230 as described later. Alternatively, the locking wire 220 (locking member) may be formed of a ring-shaped member.
The caulking ring 230 is provided on the outer peripheral surface of the actuator body portion 100 inserted into the sealing member 210 to restrict the actuator body portion 100. In this embodiment, the locking ring 230 constitutes a restricting member.
The caulking ring 230 caulks the actuator body portion 100 together with the sealing member 210. Metals such as aluminum alloy, brass and iron can be used as the caulking ring 230. When the caulking ring 230 is caulked by the caulking jig, the indentation 231 (see
The caulking jig is not particularly limited, but by caulking a plurality of dies (For example, a die divided into seven parts on the circumference) in contact with the outer circumferential surface of the caulking ring 230 in the radial inside, the actuator body portion 100 is restricted to form the linear indentation 231 along the axial direction DAX.
Next, a specific configuration of the sealing mechanism 200 will be described with reference to
As shown in
The head portion 211 is provided in outside more than the body portion 212 in the axial direction DAX. The connection port 211a is formed in the head portion 211.
The connection port 211a is connected to a hose (pipeline) connected to a driving pressure source of the fluid pressure actuator 10, specifically, a gas or liquid compressor.
Further, the head portion 211 has an abutting surface 211b abutting to an end surface 232 of the caulking ring 230 in the axial direction DAX. The abutting surface 211b is a flat surface that can be in face contact with the end surface 232.
The body portion 212 is a part into which the tube 110 (see
A stepped part 212a is formed on the outer peripheral surface of the body portion 212 to make it difficult for the tube 110 to be removed from the sealing member 210. The stepped part 212a is protruded toward the radial direction DR outside so as to be resistant to the pulling direction of the tube 110 from the body portion 212.
The intermediate portion 213 is provided between the body portion 212 and the head portion 211. The intermediate portion 213 has a smaller size in the radial direction DR than the head portion 211. Note that only a part of the intermediate portion 213 in the axial direction DAX may have a smaller size in the radial direction DR than the head portion 211.
For example, the intermediate portion 213 near the head portion 211 in the axial direction DAX may have a smaller size in the radial direction DR than the head portion 211, and the intermediate portion 213 near the body portion 212 may have the same or slightly larger size in the radial direction DR than the head portion 211. In this embodiment, the diameter Φ of the intermediate portion 213 near the head portion 211 is about 8 mm.
The intermediate portion 213 may be interpreted as a region in the axial direction DAX from the position of the end face 232 of the caulking ring 230 to outside end of the tube 110 inserted into the body portion 212.
The intermediate portion 213 has an enlarged diameter part 214 that is larger than the body portion 212 toward the radial outside of the actuator body portion 100. The locking wire 220 with the sleeve 120 folded back may be locked by the enlarged diameter part 214. That is, the diameter formed by the locking wire 220 is smaller than the diameter of the enlarged diameter part 214.
The enlarged diameter part 214 is more convex in the radial direction DR outside than the body portion 212. The diameter expanding part 214 may be enlarged from the head portion 211 toward the body portion 212. That is, the intermediate portion 213 may have a portion that gradually increases in diameter (diameter size) from the head portion 211 toward the body portion 212. In other words, the intermediate portion 213 may have a portion that becomes tapered in the cross section shown in
As described above, since the intermediate portion 213 has an enlarged diameter part 214 that increases in diameter from the head portion 211 toward the body portion 212, the distance between the caulking ring 230 (restricting member) and the intermediate portion 213 decreases from the head portion 211 toward the body portion 212.
In this embodiment, the maximum diameter Φ of the enlarged diameter part 214 is about 13 mm. As described above, since the diameter Φ of the intermediate portion 213 near the head portion 211 is about 8 mm, the step difference between the enlarged diameter part 214 and the intermediate portion 213 near the head portion 211 is about 2.5 mm.
A through hole 215 is formed inside the sealing member 210 along the axial direction DAX. The through hole 215 communicates with the connection port 211a, and fluid flows into the actuator body portion 100 through the through hole 215. In this embodiment, the diameter Φ of the through hole 215 is about 3 mm.
The sealing member 210 is provided with a connecting portion 216. Specifically, the connecting portion 216 is provided in the axial direction DAX outside of the head portion 211. An engagement hole 216a is formed in the connecting portion 216 for engaging a member constituting a device using the fluid pressure actuator 10.
As described above, the tube 110 is inserted into the body portion 212. As described above, the enlarged diameter part 214 abuts an end surface 111 (see also
The locking wire 220 is provided on the outer circumferential surface of the sleeve 120 and formed by winding the wire around the outer circumferential surface of the intermediate portion 213. The sleeve 120 is folded back to the center side of the axial direction DAX through the locking wire 220. That is, an end portion of the sleeve 120 in the axial direction DAX is folded back through the locking wire 220 (locking member).
Specifically, the sleeve 120 has a folded back portion 120a folded back through the locking wire 220. The folded back part 120a is folded back into the radial direction DR outside through the locking wire 220 and abuts against the inner circumferential surface of the caulking ring 230.
As described above, the caulking ring 230 abuts the abutting surface 211b of the head portion 211 against the end surface 232 of the caulking ring 230. Specifically, the abutting surface 211b is in face contact with the end surface 232.
The caulking ring 230 fixes the actuator body portion 100 to the sealing member 210 by caulking the sleeve 120 folded back through the tube 110 and the locking wire 220 together with the sealing member 210.
When the locking wire 220 is caulked together with the actuator body portion 100 by a jig that caulks the caulking ring 230, it is compressed and deformed to fill the space formed between the caulking ring 230 and the intermediate portion 213.
More specifically, from the state shown in
As a result, at least a part of the locking wire 220 is deformed by compression, and a compression deformed portion 221 is formed. More of the compression deformed portion 221 may be formed in a region near the body portion 212 where the distance between the caulking ring 230 and the intermediate portion 213 becomes narrow.
The locking wire 220 is preferably formed of a material having an anisotropy in which the strength of the axial direction DAX is lower than that of the radial direction DR in consideration of such ease of compressive deformation.
Further, the volume (A) of the space between the caulking ring 230 and the intermediate portion 213 and the volume (B) of the locking wire 220 and the sleeve 120 are preferably 0.5 A<B<1.5 A, and more preferably 0.8 A<B<1.2 A, when the space is sufficiently filled and the pull-out prevention of the sleeve 120 is taken into consideration.
According to the above-described embodiment, the following function and effects can be obtained. Specifically, the intermediate portion 213 of the sealing mechanism 200 has a smaller size in the radial direction DR of the actuator body portion 100 than the head portion 211. The enlarged diameter part 214 which expands toward the radial direction DR outside of the actuator body portion 100 rather than the body portion 212 is provided. The locking wire 220 is compressed and deformed to fill the space formed between the caulking ring 230 and the intermediate portion 213.
As described above, when the sleeve 120 folded back through the tube 110 and the locking wire 220 is engaged with the sealing member 210, the locking wire 220 is deformed, and the sleeve 120 can be more surely prevented from slipping out of the locking wire 220, and the sleeve 120 is difficult to be pulled out.
That is, the fluid pressure actuator 10 can more surely prevent the sleeve 120 from being pulled out of the sealing member 210 while using the locking member (the locking wire 220) for engaging the sleeve 120.
If the combined volume (B) of the volume of the locking wire 220 and the volume of the sleeve 120 surrounding the locking wire 220 is small relative to the volume (A) of the void surrounded by the caulking ring 230 and the intermediate portion 213 (the sealing member 210), when a force is applied to the axial direction DAX after caulking. the caulking ring 230, the sleeve 120, and the locking wire 220 are pulled by the axial direction DAX, and a gap is formed between the sealing member 210.
As a result, the length of the fluid pressure actuator 10 changes. On the other hand, if the volume (B) of the locking wire 220 and the sleeve 120 is too large, the locking wire 220 interferes with the locking ring 230 at the time of caulking, thereby inhibiting the deformation of the locking wire 220 and generating a shape distortion. Both problems can be solved by making the volume of the locking wire 220 an appropriate range.
In the present embodiment, the enlarged diameter part 214 of the sealing member 210 increases from the head portion 211 toward the body portion 212. In other words, the distance between the caulking ring 230 and the intermediate portion 213 decreases from the head portion 211 toward the body portion 212.
Therefore, the space between the caulking ring 230 and the intermediate portion 213 can be reduced as it goes toward the center of the axial direction DAN, and the locking wire 220 can be more easily deformed when caulking. As a result, the sleeve 120 can be secured from the sealing member 210.
In this embodiment, the locking wire 220 may be formed of a material having an anisotropy in which the strength of the axial direction DAX is lower than the strength of the radial direction DR, for example, a material containing at least either copper or lead.
Thus, the compressive deformation of the axial direction DAX of the locking wire 220 is facilitated, and the space between the caulking ring 230 and the intermediate portion 213 can be filled more reliably. Thus, the sleeve 120 can be prevented from pulled out of the sealing member 210 more surely.
In this embodiment, the locking wire 220 is formed by winding the wire around the outer peripheral surface of the intermediate portion 213. Therefore, the locking wire 220 can be easily formed in an annular shape, and the caulking work of the actuator body portion 100 can be facilitated.
In this embodiment, the end of the sleeve 120 in the axial direction DAX is folded back through the locking wire 220. Therefore, it is possible to more reliably prevent the sleeve 120 from being pulled out from the sealing member 210.
Although the embodiments have been described above, they are not limited to the description of the embodiments, and it is obvious to those skilled in the art that various modifications and improvements can be made.
For example, the sealing mechanism 200 may be modified as follows.
As shown in
The locking wire 220 A is the same as the locking wire 220 described above. However, the volume of the locking wire 220 A may be changed according to the shape (space between the caulking ring 230 and the intermediate portion 213) of the sealing member 210 A. Even in the case of the sealing mechanism 200 A, the locking wire 220 A can be compressed and deformed during caulking to fill the space. As a result, it is possible to more reliably prevent the sleeve 120 from being pulled out from the sealing member 210.
In the above-described embodiment, the end of the sleeve 120 in the axial direction DAX is folded back via the locking wire 220, but the end may not necessarily be folded back via the locking wire 220.
In the above-described embodiment, the locking wire 220 is formed by winding the wire multiple times, but the locking member may be formed by a ring-shaped member instead of the locking wire 220.
Although the present disclosure has been described in detail, it is clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure may be implemented in a modified and modified manner without departing from the object and scope of the present disclosure as determined by the description of the scope of claims. Accordingly, the description of the present disclosure is for illustrative purposes and does not have any restrictive meaning to the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-199208 | Dec 2021 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2022/038434 | 10/14/2022 | WO |
