JPH11215793A - Driving equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving equipment capable of operations approximating human muscles and expression of human-like muscular tension and furthermore increasing the temperature through momemtum and giving elasticity to prosthesis tools such as artificical limbs and artificial legs. SOLUTION: In a driving equipment 1, a telescopic motion pad 2 capable of contracting or stretching from a normal state is arranged between electromagnets 3 which are mutually separatingly arranged. A support point 7 is installed at one end in the arrangement direction of the electromagnets 3 and the pad 2, and an action point 8 is installed at the other end. By having a current applied to the electromagnets 3, the part between the support point and the action point is contracted or stretched.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a novel driving device. More specifically, the present invention relates to a technology capable of performing an operation close to the operation of a human body and providing a suitable device as a driving device for a robot, a prosthesis, a prosthesis, and the like.

[0002]

2. Description of the Related Art Conventionally, as a driving device for operating a robot, a prosthetic limb, a prosthetic leg, and the like, there is a driving device using a motor, a hydraulic pressure, and a pneumatic cylinder.

[0003]

By the way, if a robot aiming at an operation close to a human body is formed by using a motor, a hydraulic pressure, or a pneumatic cylinder as a drive source, the number of actuators increases, the overall balance is deteriorated, and the weight is reduced. However, there is a problem that it is heavy, the operation is slow, and lacks smoothness.

When prostheses such as prostheses and limbs are driven by using a motor, a hydraulic pressure, or an air cylinder, a specific sound is generated at the time of driving, which is uncomfortable for a prosthesis wearer.

[0005] Further, a prosthetic device such as a prosthetic limb or a prosthesis is used for
When driving using a hydraulic or pneumatic cylinder, it was difficult to raise the temperature of the prosthesis such as a prosthesis and a prosthesis depending on the amount of exercise.

Furthermore, when prostheses such as prostheses and prostheses are driven by using motors, hydraulic and pneumatic cylinders, it has been difficult to impart elasticity to prostheses such as prostheses and prostheses.

Therefore, the present invention solves the above-mentioned drawbacks,
It enables movements similar to human muscles and can express human-like muscle tension using muscle contraction signals. In addition, the temperature rises with the amount of exercise, and the prosthesis itself such as a prosthetic limb or prosthesis. It is an object of the present invention to provide a driving device capable of giving a resilience to a driving device.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a driving device according to the present invention is provided with a telescopic pad which can be contracted or expanded from a normal state between electromagnets spaced apart from each other. A fulcrum is provided at one of the ends in the arrangement direction of the expansion and contraction pads, and an action point is provided at the other, so that the gap between the fulcrum and the action point is contracted or elongated by being energized by the electromagnet. It was done.

Therefore, in the driving device of the present invention, it is possible to perform an operation close to that of a human muscle, and to express a human-like muscle tension by using a muscle contraction signal.
Further, the temperature rises in accordance with the amount of exercise, and the prosthesis itself, such as a prosthesis or a prosthesis, can be made elastic.

[0010]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a driving apparatus according to an embodiment of the present invention.

FIGS. 1 to 4 show the basic structure of the driving device of the present invention.

The basic drive unit 1 is a basic unit, and includes a telescopic pad 2, electromagnets 3, 3 sandwiching the telescopic pad 2, and a connection cable 4 for connecting the coils of the electromagnets 3, 3. And the electromagnet 3 is a magnetic material 5
And a coil 6 wound around the magnetic body 5.

The elastic pad 2 is capable of extending and / or contracting from a normal state.
A gas-filled outer shell 2a made of rubber or the like and filled with a gas 2b is used, but is not limited to this, and may be any as long as it can be expanded and / or contracted from a normal state.

The basic driving device 1A shown in FIGS. 1 and 2 is of a contraction type. When a current flows through the coils 6, 6, the magnetic members 5, 5 are magnetized so as to be attracted to each other. As a result, the electromagnets 3 and 3 are attracted to each other, and the elastic pad (or contracting pad) 2 contracts.

Therefore, if one end 7 of the basic driving device 1A is set as a fulcrum and the other end 8 is set as an operation point, the coils 6, 6
The action point 8 is attracted to the side of the fulcrum 7 by passing the current through (see FIG. 2).

The basic driving device 1B shown in FIGS. 3 and 4 is of an extension type. When a current flows through the coils 6, 6, the magnetic members 5, 5 are magnetized so as to repel each other. Thereby, the electromagnets are separated from each other, and the elastic pad (or the extension pad) 2 is extended.

Therefore, if one end 7 of the basic driving device 1B is used as a fulcrum and the other end 8 is used as an operation point, the coils 6, 6
The point of action 8 is separated from the fulcrum 7 by passing the current through (see FIG. 4).

FIG. 5 shows a basic drive unit 1C using a fluid magnetic substance or magnetic powder as the magnetic substance of the electromagnet. That is, the coil 12 is wound around the magnetic material 9 of a vacuole 11 formed by coating a magnetic material or magnetic powder 9 of a fluid with an outer shell 10 made of silicon or rubber.
An electromagnet 13 is formed by being buried in the electromagnet 13, and a telescopic pad (or a contraction pad or an extension pad) 2 is disposed between the two electromagnets 13, 13, and the coils 12, 12 of each electromagnet 13, 13 The connection between them is made by a connection cable 4 disposed in a telescopic pad (or contracting pad or elongating pad) 2.

With this configuration, the coil 1
The amount of contraction or the amount of elongation can be freely adjusted by adjusting the value of the current supplied to 2, 2.

The above-described coils 6, 12 and connection cable 4
Instead, a coil 17 is formed from a conductive material 16 (see FIG. 7) formed by filling an insulating tube 14 with a fluid or gel-like conductive material 15, and electrode portions 18 (see FIG. 8) are provided at both ends of the coil 17. ) May be provided to configure the basic driving device 1D (see FIG. 6).

As shown in FIG. 6, a temperature detector 19 for detecting the temperature around the coil 17, a current detector 20 for detecting the current flowing through the coil 17, and the temperature detector 1
And a current control unit 21 for controlling the current supplied to the coil 17 based on the detection result of Step 9. The temperature around the coil 17 after the operation is monitored by the temperature detection unit 19, and when the temperature rises to the dangerous area, The current supplied to the coil 17 may be adjusted by the current control unit 21.

As a result, it is possible to prevent the temperature around the basic driving device 1D from becoming higher than the temperature at which each element constituting the basic driving device 1D is physically destroyed or the characteristic is limited.

A pressure adjusting mechanism 22 for adjusting the internal pressure of the conductive substance 15 in the coil 17 is provided at an end of the coil 17 of the basic driving device 1D shown in FIG.
An electrode 18 is provided on the side surface of the second unit 2, and a pressure control unit 23 that controls the pressure adjusting mechanism 22 based on the detection results of the temperature detection unit 19 and the current detection unit 20 is provided.

The conductive material (polymer electrolyte) has an impedance characteristic proportional to its cross-sectional area. Therefore, when the cross-sectional area is increased, the impedance is reduced, so that a large current can be passed. If so, heat loss can be reduced.

Therefore, the temperature around the coil 17 after the operation is monitored by the temperature detecting unit 19, and when the temperature rises to the danger area, the pressure control unit 23 operates the pressure adjusting mechanism 22 so that the diameter of the coil 17 is reduced. In the normal state (see FIG. 11)
It can be made larger (see FIG. 12) to reduce its heat loss.

Further, even when a load larger than expected is instantaneously applied to the coil 17 or the like, it becomes necessary to supply a large current larger than a specified value to the coil 17, the pressure adjusting mechanism 22 is operated to increase the diameter of the coil 17. Thus, a large operating current can be obtained by flowing a large current without increasing the heat loss.

Each of the basic driving devices 1 as described above is connected in a row in the axial direction of the coils 6, 12, and 17 to form a streak-shaped driving device. A plurality of streaked drive devices arranged in an array can be bundled and used three-dimensionally (see FIG. 13).

FIG. 13 schematically shows, in a longitudinal section, a driving device 24 having the three-dimensional arrangement. The basic driving device 1 is represented by an electromagnet 3 and a telescopic pad 2.

That is, the driving device 24 has the electromagnets 3, 3,... Embedded in a base 25 made of an elastic material such as rubber and the like, and a gap is provided between the electromagnets 3, 3,. 26, the elastic pad 2 is formed. Then, as can be seen from FIG. 13, the basic driving devices 1, 1,.
.. Are arranged such that the phases of adjacent ones are shifted by 180 degrees. That is, the adjacent row of the expansion / contraction pads 2 is located next to the one row of the electromagnets 3, and the next row of the electromagnets 3 is located next to the one row of the expansion / contraction pads 2. Also, the magnetization directions of the electromagnets 3, 3,... In the adjacent rows are reversed. The same applies to a direction perpendicular to the paper surface.

Also, if the structure in a cross section is schematically shown,
For example, as shown in FIG. 14 or FIG. 15, the electromagnets 3, 3,.

Here, although the electromagnets are indicated by 3, it goes without saying that the electromagnets indicated by the reference numerals 13 and 18 can be used.

Here, the operation in the case where the driving device 24 is configured by using the basic driving devices 1B, 1B,... Of the contraction type will be described with reference to FIGS. The portion shown in FIG. 17 is a portion arranged adjacent to the portion shown in FIG. 16 in a direction perpendicular to the paper surface.

When the coils of the electromagnets 3, 3, ... are energized, each of the electromagnets 3, 3, ... is magnetized as shown in Figs. Therefore, each of the electromagnets 3, 3,.
Are attracted to each other in the axial direction of the coil, and therefore contract as a whole in the axial direction of the coil. Further, in a direction orthogonal to the axial direction of the coil (hereinafter referred to as “axial direction” with respect to the basic driving device and the driving device), each electromagnet rebounds in a different manner, and expands in a direction orthogonal to the axial direction of the coil.

Accordingly, if a fulcrum and an action point are provided at the axial end of the coil of the drive device 24, the coil expands in the direction perpendicular to the axial direction with the contraction action, as if a bicep appears. It becomes a motion and exhibits a motion similar to a human muscle.

The cross-sectional shape is as shown in FIGS. 18 to 20 (these drawings are represented by the same expression method as FIGS. 14 and 15), that is, the cross section is thicker at the center in the axial direction. 18), thin at both ends (see FIG. 20),
By making the middle part between the center part and both end parts have an intermediate thickness, it is possible to obtain a shape close to a spindle-shaped human muscle. The spindle shape facilitates connection with a pair.

Further, as shown in FIGS.
When the drive device 24 is configured by arranging the basic drive devices 1, 1,... Three-dimensionally, it is preferable to configure the drive device 24 located outside to generate a larger force than the drive located inside. As a measure for that, for example, the number of windings of the coil of the electromagnet in the outer basic drive device is increased, or when using a solid magnetic material, the magnetic material of the electromagnet in the outer basic drive device has a large magnetic force. When manufacturing with a material or using a fluid magnetic material, mix the non-exciting material with a specific gravity similar to that of the magnetic material in the magnetic material of the inner basic drive device to reduce the contraction force of the outer basic drive device. Alternatively, the extension force may be configured to be greater than the contraction force or the extension force of the inner basic driving device.

FIGS. 21 and 22 show the driving devices 1 and 24, respectively.
1 shows an example of a configuration in which is configured as an artificial muscle.

The artificial muscle 27 is located at the center in FIGS.
A three-axis contraction section 28 composed of a driving device 24 in which the basic driving devices 1 shown in FIG.
The basic drive device 1. surrounds the periphery of the shaft contraction 28.
Are arranged in the axial direction, and a plurality of uniaxial contraction portions 29 that contract only in the axial direction are arranged.
And each end of the uniaxially contracted portions 29, 29,... Are connected together by converging portions 30, 30 corresponding to ligaments,
The respective convergence sections 30, 30 are connected to the fulcrum 7 and the action point 8, respectively, and used.

When the basic driving device 1, the driving device 24 or the artificial muscle 27 is covered with a porous rubber or polymer lubricating oil impregnated portion and the holes of the lubricating oil impregnated portion are impregnated with lubricating oil, Then, when contracted or extended from the normal state, the lubricating oil impregnated portion is pressed and the lubricating oil in the hole comes out to the surface, and the space between the lubricating oil impregnated portion and the one disposed outside is lubricated.

FIGS. 23 and 24 show a drive muscle covering block 32 in which a contraction type artificial muscle 27 is covered with a lubricating oil impregnated portion 31.

FIG. 23 shows a normal state. In this state, the lubricating oil is impregnated in the holes of the lubricating oil impregnated portion 31. When the artificial muscle 27 is driven and contracted (see FIG. 24), the lubricating oil impregnated portion 31 is pressed, so that the lubricating oil 33 impregnated in the hole rises to the surface of the lubricating oil impregnated portion 31. Come. Then, when the driving is completed and the artificial muscle returns to the original state (see FIG. 23), the lubricating oil 33 returns to the inside of the hole of the lubricating oil impregnated portion 31 again.

For example, like a robot hand, each pair 35, 35,.
When the above-described drive muscle covering blocks 32, 32,... Are used to connect between the drive muscle covering blocks 32, 32,. Each pair 35, 35,..., 36,
36,... (FIG. 25)
reference).

The driving muscle covering block 32
26, for example, as shown in FIG. 26, the driving muscle covering block 32 is formed by a surface layer portion 37 made of a soft polymer.
Is covered, it is possible to prevent the lubricating oil 33 impregnated in the lubricating oil impregnated portion 31 from leaking out.

27 to 29, the coils 6, 6 of the respective basic driving devices 1, 1,... When the driving device 24 is constituted by a plurality of basic driving devices 1, 1,. An example of how to provide a power supply unit for,. 27 to 29, a power supply unit including a power supply 39 and a power supply line 40 is indicated by reference numeral 38.

When the driving device 24 is constituted by a plurality of basic driving devices 1, 1,..., A power supply unit for the coils 6, 6,. May be provided collectively as shown in FIG.
As shown in FIG. 28, when the power supply units for the coils having the same winding direction are collectively provided, the number of power supply units for the coils 6, 6,... Can be reduced.

Further, although the number of power supply units cannot be reduced, as shown in FIG.
By providing the power supply units 38, 38,... Individually for the basic drive devices 1, 1,.
. Can be individually driven by appropriately changing the timing and the driving force, whereby the driving device 24 can be precisely controlled.

Next, some means for detecting the amount of change in the length of the driving device will be described with reference to an example in which some of the means are applied to the artificial muscle 27 described above.

FIG. 30 and FIG.
1 is provided so as to penetrate the central portion of the artificial muscle 27, and a contraction coil 43 (or an extension coil) is provided in the contraction pad 42;
A high-frequency generator 44 and an inductance detector 45 are connected in series to both ends of the contraction coil 43.

In the artificial muscle 27, since the inductance of the contraction coil 43 changes between the normal state shown in FIG. 30 and the contracted state shown in FIG. 31, the artificial muscle 27 is detected by detecting the change in the inductance. Can be detected.

32 and 33, a contraction pad 47 (or an extension pad) containing conductive particles 46 is provided so as to penetrate the center of the artificial muscle 27, and terminals 48 are provided at both ends of the contraction pad 47. , 48, and these terminals 4
A resistance detecting section 49 is provided between 8 and 48.

In the artificial muscle 27, between the normal state shown in FIG. 32 and the contracted state shown in FIG. 33, the density of the conductive particles 46 changes and the electric resistance changes. By detecting the change, the change in the length of the artificial muscle 27 can be detected.

FIGS. 34 and 36 show a magnetic bar 52 in which soft substances 50 and magnetic bodies 51 are alternately arranged.
Is provided so that a part thereof penetrates the center of the artificial muscle 27 and another part is located outside the artificial muscle 27,
The toroidal coil 53 is disposed so as to surround a part of the portion located outside the artificial muscle 27 of the toroidal coil 53.
Are connected to the current detection unit 54 at both ends.

When the artificial muscle 27 contracts (or expands) as shown in FIG. 36 from the normal state shown in FIG. 34, the magnetic bar 52 moves inside the toroidal coil 53 and Since the flowing current changes, the change in the length of the artificial muscle 27 can be detected by detecting this by the current detecting unit 54.

FIGS. 37 and 38 show a hybrid of those shown in FIGS. 30 and 31 and those shown in FIGS. That is, an arrangement in which the shrinking coil 43 (or the elongating coil) is provided in the shrinking pad 42 (or the elongating pad) containing the encapsulating liquid 41 and the conductive particles 46
The artificial muscle 27 is penetrated through the central portion of the artificial muscle 27 in a state where the contraction pad 47 (or the extension pad) having the built-in is connected in series (one end of the contraction coil 43 and one terminal 48 of the contraction pad 47 are connected). And a high-frequency generator 44, an inductance detector 45, and a resistance detector 49 are connected in series between the other end of the contraction coil 43 and the other terminal 48 of the contraction pad 47.

The artificial muscle 2 shown in FIGS. 37 and 38
In 7, the change in the length of the artificial muscle 27 can be detected by the change in the inductance and the resistance value.

[0056]

As is apparent from the above description, in the driving device of the present invention, a telescopic pad which can be contracted or expanded from a normal state is arranged between electromagnets spaced apart from each other. A fulcrum is provided at one of the ends in the arrangement direction of the pads, and an action point is provided at the other end, and the gap between the fulcrum and the action point is contracted or elongated by being energized by the electromagnet. I do.

Therefore, in the driving device of the present invention, it is possible to perform an operation close to that of a human muscle, and to express a human muscle tension by using a muscle contraction signal.
Further, the temperature rises in accordance with the amount of exercise, and the prosthesis itself, such as a prosthesis or a prosthesis, can be made elastic.

According to the second aspect of the present invention, a stretchable pad that can contract or expand from a normal state is disposed between each of the plurality of arranged electromagnets, and an end portion in the arrangement direction of the electromagnet and the stretchable pad is arranged. A fulcrum is provided on one of the
On the other side, an action point is provided, and by energizing the electromagnet, the distance between the fulcrum and the action point is contracted or extended, so that a drive device of a desired length can be easily created. it can.

Further, in the invention according to the third aspect, a plurality of electromagnets are provided, in which a plurality of electromagnets are arranged, and a plurality of electromagnets are provided between the electromagnets. It is arranged three-dimensionally in a state where the arrangement direction of the expansion pad and the expansion pad are the same, and both ends thereof are put together, and a fulcrum is provided on one of the both ends,
On the other side, an action point is provided, and by energizing the electromagnet, the fulcrum and the action point are contracted or extended, so that a driving device having a desired length and thickness can be easily formed. Can be created.

Furthermore, in the invention described in claim 4, between adjacent strip-shaped driving devices, the arrangement phase of the electromagnet and the expansion / contraction pad is shifted, and the polarity of the electromagnet is reversed. As a result, the drive device contracts or expands in the length direction of the streak-shaped drive device, and when this is driven, the electromagnets of the drive device adjacent in a streak shape repel each other in a direction orthogonal to the length direction. As a result, the thickness is increased by driving, and particularly in the case of a contraction type, this assists the driving force and gives an appearance like a bicep in a human muscle.

According to the invention described in claims 5 to 8, the fluid magnetic substance or fluid is filled in a vacuole formed by filling a magnetic substance or magnetic powder in a flexible outer shell. Since the coil is provided so as to be wound around the magnetic powder to form the electromagnet, the amount of contraction or expansion can be freely adjusted by adjusting the current value supplied to the coil.

Further, in the inventions according to the ninth to twelfth aspects, since the coil is formed of a conductive material formed by filling a fluid or a gel-like conductive material in an insulating tube, the coil is formed of a conductive material. By changing the cross-sectional area, the impedance can be adjusted.

Further, in the invention according to the thirteenth to sixteenth aspects, a temperature detector for detecting a temperature around the coil, a current detector for detecting a current flowing through the coil, And a current control unit that controls the current supplied to the coil based on the detection result of the unit, so that the temperature around the coil after operation is monitored by the temperature detection unit. Supply current is regulated by the current controller to prevent the temperature around the basic drive from exceeding the temperature at which the elements that make up it are physically destroyed and that limit their characteristics. can do.

According to the present invention, a pressure adjusting mechanism for adjusting the internal pressure of the conductive material in the coil, a temperature detecting unit for detecting a temperature around the coil, and a coil And a pressure control unit for controlling the pressure adjustment mechanism based on the detection results of the temperature detection unit and the current detection unit. The temperature is monitored by the detection unit, and when the temperature rises to the dangerous area, the pressure control unit operates the pressure adjustment mechanism to increase the diameter of the coil from the normal state, reduce the impedance of the conductive material, and reduce the heat loss. Can be reduced.

Further, even when a load larger than expected is instantaneously applied to the coil, for example, and it becomes necessary to supply a larger current than the specified value to the coil, the pressure adjusting mechanism is operated to increase the diameter of the coil. A large operating current can be obtained by flowing a large current without increasing heat loss.

Further, in the invention according to the twenty-first and twenty-second aspects, the drive device is formed in such a manner that the drive device having a streak shape is formed to be thick at an intermediate portion in the longitudinal direction and thin at both end portions. Can be made into a shape similar to a spindle-shaped human muscle, and connection with a pair is facilitated.

Furthermore, in the inventions described in claims 23 and 24, the driving force of the driving device located on the outside is made larger than the driving force of the driving device located on the inside, so that the driving force of the human muscle is increased. A close operation can be performed.

Further, according to the invention described in claim 25 or claim 26, a power supply section for each of the striped drive devices is provided together or an electromagnet of the Since the power supply units having the same magnetic pole direction are provided together, the number of power supply units can be reduced, and the structure can be simplified and downsized.

Furthermore, in the inventions according to the twenty-seventh and twenty-eighth aspects, each electromagnet is provided with a power supply unit individually, so that each basic driving device can be individually set by changing the timing and driving force. The driving device can be precisely controlled.

Further, in the invention according to claim 29 and claim 30, since the outside is covered with a porous lubricating oil impregnated portion and the lubricating oil impregnated portion is impregnated with lubricating oil,
When driven, the lubricating oil oozes out of the lubricating oil impregnated part and lubricates the outside, so when arranging multiple drives in a bundle, the friction between the drives is reduced, and the smoothness of each drive is reduced. Operation is guaranteed.

Further, in the inventions described in claims 31 and 32, the outside of the lubricating oil impregnated portion is covered by the surface layer portion which is a flexible film, so that the lubricating oil is applied to the drive device. Leakage to the outside can be prevented.

Further, according to the invention described in claims 33 and 34, an extendable and retractable pad is provided so as to penetrate the center portion, and an extendable coil is disposed in the extendable pad, and Since the high-frequency generator and the inductance detector are connected to both ends of the coil, the inductance of the telescopic coil changes between normal operation and driving, and the change in the inductance is detected to detect the change in the length of the drive device. can do.

Further, according to the invention described in claim 35 and claim 36, an extendable extendable pad containing conductive particles is provided so as to penetrate the center portion, and is provided at both ends of the extendable pad. Since the resistance detection unit is connected between the terminals, the density of the conductive particles changes during normal operation and during driving, and the electric resistance changes. Therefore, by detecting the change in the electric resistance, the length of the driving device is reduced. A change can be detected.

Further, according to the inventions described in claims 37 and 38, a magnetic bar formed by alternately arranging a soft material and a magnetic material has a part penetrating through the center and another one. The toroidal coil is disposed so as to surround the part of the magnetic bar located outside, and the current detection units are connected to both ends of the toroidal coil. Since the current flowing through the coil changes in the toroidal coil, a change in the length of the driving device can be detected by detecting the current by the current detection unit.

It should be noted that the shapes and structures of the respective parts shown in the above-described embodiments are merely examples of the specific embodiments to be carried out when carrying out the present invention, and the technical scope of the present invention is not limited thereto. Should not be interpreted restrictively.

[Brief description of the drawings]

FIG. 1 shows a basic driving device together with FIGS. 2 to 4, and FIG. 1 is a side view, partially cut away, showing a normal state of a contracting type basic driving device.

FIG. 2 is a side view showing a state in which a basic drive device of a contraction type is contracted, with a part thereof being cut away.

FIG. 3 is a side view, partially cut away, showing a normal state of the extension type basic drive device.

FIG. 4 is a side view showing a state in which the extension type basic drive device at the time of extension is partially cut away.

FIG. 5 is a side view showing an example in which a fluid magnetic material or a magnetic powder is used as a magnetic material of an electromagnet, with a part thereof being cut away.

FIG. 6 shows an example in which a conductive material is used for the coil of the electromagnet and a temperature detection unit and a current control unit are provided together with FIGS. 7 and 8, and FIG. 6 is a side view with a part cut away. is there.

FIG. 7 is an enlarged cross-sectional view of the coil.

FIG. 8 is an enlarged vertical sectional view of an electrode portion.

9 shows an example in which a conductive material is used for the coil of the electromagnet and a temperature detecting unit and a pressure control unit are provided together with FIGS. 10 to 12, and FIG. 9 is a side view partially cut away. is there.

FIG. 10 is a longitudinal sectional view showing a coil end provided with a pressure adjusting mechanism.

FIG. 11 is a longitudinal sectional view showing a state of a coil in a normal state, omitting an intermediate portion.

FIG. 12 is a longitudinal sectional view showing a state of a coil when a pressure adjusting mechanism operates, omitting an intermediate portion.

FIG. 13 shows a three-dimensional arrangement of streak-shaped driving devices together with FIGS. 14 to 17, and FIG. 13 is a schematic longitudinal sectional view.

FIG. 14 is a transverse cross-sectional view schematically showing;

FIG. 15 is a cross-sectional view schematically showing another example.

FIG. 16 is a longitudinal sectional view schematically showing a state at the time of contraction.

FIG. 17 is a longitudinal sectional view showing a state at the time of contraction of a portion adjacent to FIG. 16;

18 shows an example of a spindle-shaped driving device together with FIGS. 19 and 20, and this figure is a cross-sectional view schematically showing a central portion.

FIG. 19 is a cross-sectional view schematically showing an intermediate portion between an end portion and a central portion.

FIG. 20 is a cross-sectional view schematically showing an end portion.

FIG. 21 shows another example of a spindle-shaped drive device together with FIG. 22, which is a schematic longitudinal sectional view.

FIG. 22 is a schematic sectional view taken along the line XXII-XXII in FIG. 21;

23 shows an example in which the driving device is covered with a lubricating oil impregnated portion together with FIG. 24, and FIG. 23 is a schematic longitudinal sectional view showing a normal state.

FIG. 24 is a schematic longitudinal sectional view showing a state at the time of contraction.

25 is a schematic longitudinal sectional view showing an example in which a plurality of the driving devices shown in FIG. 23 are used.

26 is a schematic longitudinal sectional view showing the drive device shown in FIG. 23 in which both ends are connected in pairs and the outside thereof is covered with a surface layer portion.

FIG. 27 is a schematic diagram illustrating a connection example of a power supply unit.

FIG. 28 is a schematic diagram showing another connection example of the power supply unit.

FIG. 29 is a schematic diagram showing still another connection example of the power supply unit.

30 shows an example in which a means for detecting a change in the length of the driving device is provided together with FIG. 31, and FIG. 30 is a schematic longitudinal sectional view showing a normal state.

FIG. 31 is a schematic longitudinal sectional view showing a state at the time of contraction.

FIG. 32 shows another example in which a means for detecting a change in the length of the driving device is provided together with FIG. 33, and FIG. 32 is a schematic longitudinal sectional view showing a normal state.

FIG. 33 is a schematic longitudinal sectional view showing a state at the time of contraction.

34 shows still another example in which means for detecting a change in the length of the driving device is provided together with FIGS. 35 and 36, and FIG. 34 is a schematic longitudinal sectional view showing a normal state.

FIG. 35 is a schematic longitudinal sectional view showing a main part in an enlarged manner.

FIG. 36 is a schematic longitudinal sectional view showing a state at the time of contraction.

37 shows still another example in which a means for detecting a change in the length of the driving device is provided together with FIG. 38, and FIG. 37 is a schematic vertical sectional view showing a normal state.

FIG. 38 is a schematic longitudinal sectional view showing a state at the time of contraction.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Basic drive (drive), 1A ... Contraction type basic drive (drive), 1B ... Extension type basic drive (drive), 2 ... Telescopic pad, 3 ... Electromagnet, 7 ... Fulcrum, 8 ... point of application, 1C ... basic drive (drive), 9 ... fluid magnetic substance or magnetic powder, 10 ... outer shell, 1
2 ... Coil, 13 ... Electromagnet, 1D ... Basic drive (drive), 14 ... Insulating tube, 15 ... Conducting substance, 16
... conductive material, 17 ... coil, 19 ... temperature detector, 20 ...
Current detection unit, 21: current control unit, 1D: basic drive unit (drive unit), 22: pressure adjustment mechanism, 23: pressure control unit, 24: drive unit, 27: artificial muscle (drive unit), 3
1: lubricating oil impregnated part, 33: lubricating oil, 37: surface layer part, 38
... power supply unit, 42 ... contraction pad (expandable pad), 43
... contraction coil (expandable coil), 44 ... high frequency generator, 4
Reference numeral 5: inductance detecting section, 46: conductive particles, 47: shrinking pad (expandable pad), 48: terminal, 49: resistance detecting section, 50: soft substance, 51: magnetic substance, 52: magnetic bar,
53: toroidal coil, 54: current detector

Claims (38)

[Claims] A telescopic pad that can contract or expand from a normal state is disposed between electromagnets that are spaced apart from each other, a fulcrum is provided at one of ends of the electromagnet and the telescopic pad in the arrangement direction, and the other is provided at the other end. A drive device comprising an action point, wherein a distance between the fulcrum and the action point is contracted or extended by energizing the electromagnet. 2. A telescopic pad capable of contracting or expanding from a normal state is disposed between each of a plurality of arranged electromagnets, a fulcrum is provided at one of ends in the arrangement direction of the electromagnet and the telescopic pad, and an operating point is provided at the other. A drive device characterized in that a gap between a fulcrum and an action point is contracted or extended by energizing the electromagnet. 3. A streak-shaped drive device in which a plurality of electromagnets are provided with telescopic pads capable of contracting or expanding from a normal state between the electromagnets in a state where the plural electromagnets and the telescopic pads are arranged in the same direction. They are arranged three-dimensionally, their ends are combined, and one of the two ends is provided with a fulcrum, and the other is provided with an action point. When the electromagnet is energized, the fulcrum and the action point become A drive device characterized in that the space between them is contracted or extended. 4. The driving device according to claim 3, wherein the arrangement phase of the electromagnet and the expansion / contraction pad is shifted between adjacent stripe-shaped driving devices, and the polarity of the electromagnet is reversed. . 5. An electromagnet formed by providing a coil so as to be wound around a magnetic material or a magnetic powder of a fluid in a vacuole formed by filling a magnetic material or a magnetic powder of a fluid in a flexible outer shell. The driving device according to claim 1, wherein: 6. An electromagnet formed by providing a coil so as to be wound around a magnetic substance or magnetic powder of a fluid in a vacuole formed by filling a magnetic substance or magnetic powder of a fluid in a flexible outer shell. The driving device according to claim 2, wherein: 7. An electromagnet formed by providing a coil so as to be wound around a magnetic substance or a magnetic powder of a fluid in a vacuole formed by filling a magnetic substance or a magnetic powder of a fluid in a flexible outer shell. The driving device according to claim 3, wherein: 8. An electromagnet formed by providing a coil so as to be wound around a magnetic substance or magnetic powder of a fluid in a vacuole formed by filling a magnetic substance or magnetic powder of a fluid in a flexible outer shell. The driving device according to claim 4, wherein: 9. The drive device according to claim 1, wherein the coil is formed of a conductive material formed by filling an insulating tube with a fluid or gel conductive material. 10. The drive device according to claim 2, wherein the coil is formed of a conductive material formed by filling an insulating tube with a fluid or gel conductive material. 11. The drive device according to claim 3, wherein the coil is formed of a conductive material formed by filling an insulating tube with a fluid or gel conductive material. 12. The drive device according to claim 4, wherein the coil is formed of a conductive material formed by filling an insulating tube with a fluid or gel conductive material. 13. A temperature detector for detecting a temperature around a coil, a current detector for detecting a current flowing through the coil, and a current control for controlling a current supplied to the coil based on a detection result of the temperature detector. The drive device according to claim 1, further comprising a unit. 14. A temperature detector for detecting a temperature around a coil, a current detector for detecting a current flowing through the coil, and a current control for controlling a current supplied to the coil based on a detection result of the temperature detector. The drive device according to claim 2, further comprising a unit. 15. A temperature detector for detecting a temperature around a coil, a current detector for detecting a current flowing through the coil, and current control for controlling a current supplied to the coil based on a detection result of the temperature detector. The driving device according to claim 3, further comprising a unit. 16. A temperature detector for detecting a temperature around a coil, a current detector for detecting a current flowing through the coil, and current control for controlling a current supplied to the coil based on a detection result of the temperature detector. The driving device according to claim 4, further comprising a unit. 17. A pressure adjusting mechanism for adjusting an internal pressure of a conductive substance in a coil, a temperature detecting unit for detecting a temperature around the coil, a current detecting unit for detecting a current flowing in the coil, The drive device according to claim 9, further comprising a pressure control unit that controls the pressure adjustment mechanism based on a detection result of the current detection unit. 18. A pressure adjusting mechanism for adjusting an internal pressure of a conductive substance in a coil, a temperature detecting unit for detecting a temperature around the coil, a current detecting unit for detecting a current flowing through the coil, The drive device according to claim 10, further comprising a pressure control unit configured to control the pressure adjustment mechanism based on a detection result of the current detection unit. 19. A pressure adjusting mechanism for adjusting an internal pressure of a conductive material in a coil, a temperature detecting unit for detecting a temperature around the coil, a current detecting unit for detecting a current flowing through the coil, the temperature detecting unit, The drive device according to claim 11, further comprising a pressure control unit that controls the pressure adjustment mechanism based on a detection result of the current detection unit. 20. A pressure adjusting mechanism for adjusting an internal pressure of a conductive substance in a coil; a temperature detecting unit for detecting a temperature around the coil; a current detecting unit for detecting a current flowing through the coil; The drive device according to claim 12, further comprising: a pressure control unit that controls the pressure adjustment mechanism based on a detection result of the current detection unit. 21. The drive device according to claim 3, wherein the drive device is formed so that a middle portion in the longitudinal direction of the streak-shaped drive device is thick and both end portions are thin. 22. The drive device according to claim 4, wherein the drive device is formed so that a middle portion in the longitudinal direction of the streak-shaped drive device is thick and both end portions are thin. 23. The driving device according to claim 3, wherein the driving force of the driving device located outside is larger than the driving force of the driving device located inside. 24. The driving device according to claim 4, wherein the driving force of the driving device located outside is larger than the driving force of the driving device located inside. 25. The drive device according to claim 3, wherein a power supply section for each of the drive devices having a stripe shape is provided collectively. 26. The drive device according to claim 4, wherein the power supply units of the drive devices having the same magnetic pole direction among the stripe-shaped drive devices are collectively provided. 27. The driving device according to claim 3, wherein a power supply unit is individually provided for each electromagnet. 28. The driving device according to claim 4, wherein a power supply unit is individually provided for each electromagnet. 29. The drive device according to claim 3, wherein the outside is covered with a porous lubricating oil impregnated portion, and the lubricating oil impregnated portion is impregnated with lubricating oil. 30. The drive device according to claim 4, wherein the outside is covered with a porous lubricating oil impregnated portion, and the lubricating oil impregnated portion is impregnated with lubricating oil. 31. The drive device according to claim 29, wherein the outside of the lubricating oil impregnated portion is covered by a surface layer portion having a flexible film. 32. The drive device according to claim 30, wherein the outside of the lubricating oil impregnated portion is covered by a surface layer portion that is a flexible film. 33. An expandable and contractible pad is provided so as to penetrate a central portion, an expandable coil is disposed in the expandable pad, and a high-frequency generator and an inductance detector are connected to both ends of the expandable coil. The drive device according to claim 3, wherein 34. An expansion / contraction pad that extends and contracts so as to penetrate a center portion, an expansion coil is provided in the expansion pad, and a high-frequency generator and an inductance detector are connected to both ends of the expansion coil. The drive device according to claim 4, wherein 35. An expandable and contractible pad containing conductive particles so as to penetrate a central portion thereof, and a resistance detecting section is connected between terminals provided at both ends of the expandable pad. 3. The driving device according to claim 1. 36. An expandable and contractible pad containing conductive particles so as to penetrate a central portion thereof, and a resistance detecting section is connected between terminals provided at both ends of the expandable pad. 3. The driving device according to claim 1. 37. A magnetic bar comprising a soft material and a magnetic material alternately arranged so that a part thereof penetrates a center part and another part is located outside, and the magnetic bar located outside is provided. The drive device according to claim 3, wherein a toroidal coil is disposed so as to surround a part of the toroidal coil, and a current detection unit is connected to both ends of the toroidal coil. 38. A magnetic bar comprising a soft material and a magnetic material alternately provided so that a part thereof penetrates a center part and another part is located outside, and a magnetic bar located outside is provided. The drive device according to claim 4, wherein a toroidal coil is disposed so as to surround a part of the toroidal coil, and a current detection unit is connected to both ends of the toroidal coil.