JP2018105464A - Fluid joint and fluid pressure actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To change the shapes of a joint assembly and an actuator according to a shape of an object to be driven on which a fluid pressure actuator is mounted.SOLUTION: A fluid joint includes: a joint body 30 including an attachment hole 33 to which a fluid tube 11 is attached; and a plurality of connection arms 31, 32 that is provided integrally with the joint body 30 so as to project outward, and at each tip part of which a connection hole 34, 35 is provided. With a connection tool inserted into the connection holes 34, 35, the fluid joint 21 can be connected at a portion of the connection arm.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a fluid coupling attached to an end of a fluid tube and a fluid pressure actuator including the fluid coupling.

  When the elastically deforming fluid tube is expanded and contracted in the radial direction by the fluid pressure, it expands and contracts in the axial direction. When a fluid pressure actuator having a fluid tube and joints provided at both ends thereof is attached to the driven object, the driven object can be driven by expansion and contraction of the fluid tube in the axial direction. As an example of the fluid tube, Patent Document 1 discloses an actuator including an artificial muscle composed of a fluid tube including an elastic tube and a braided tube.

  The actuator of Patent Document 1 has an actuator body formed by bundling a plurality of artificial muscles. For example, when one end of an actuator body is attached to one of two swinging members that are swingably connected by a pin, and the other end is attached to the other swinging member, the two swinging members are configured. The swing arm as the driven object can be driven. The actuator can be applied to a humanoid musculoskeletal robot. Furthermore, when one end of the actuator is attached to the upper arm of the person and the other end is attached to the forearm, the actuator can assist the bending and stretching force of the arm.

  Patent Document 2 describes a manipulator including an actuator having a plurality of tubular actuator portions as drive units. The actuator portion is provided inside the cylindrical body, and both end portions of the cylindrical body are fixed in a state of being bundled with the block-like distal end side wall portion and proximal end side wall portion, respectively.

  Patent Document 3 describes a multiple-type joint in which a joint inserted into an end of a pneumatic tube is connected.

Japanese Patent Laying-Open No. 2006-153663 JP 2010-221329 A JP-A-2-113195

  As described in Patent Document 1, in an actuator body that is formed by bundling a plurality of artificial muscles and a cylindrical member disposed at both ends of the actuator body, the cylindrical member and the artificial muscle are bonded. Since it is fixed by the agent, it is not possible to add artificial muscles or change the shape of the joint. As described in Patent Document 2, even in an actuator in which a plurality of tubular actuator portions are fixed to a block-like member, an actuator portion that is a fluid tube is added, or the shape of the block-like member is changed. It cannot be changed. In the multiple-type joint described in Patent Document 3, a fluid tube can be added by adding a joint. However, it is not possible to freely change the shape by connecting the joints so as to be swingable.

  When applying an actuator with an artificial muscle consisting of a fluid tube to a driven object, the number of artificial muscles is changed according to the driven object, or the shape of the joint is changed according to the shape of the driven object. There is a need to do. If the joint shape cannot be changed as in the prior art, one type of actuator cannot be mounted on various driven objects, and the shape of the joint and the number of fluid tubes differ depending on the driven object. Many types of actuators must be manufactured, increasing the manufacturing cost.

  An object of the present invention is to make it possible to change the shapes of the joint assembly and the actuator in accordance with the shape of the driven object to which the fluid pressure actuator is mounted.

  The fluid coupling according to the present invention includes a coupling body provided with a mounting hole to which a fluid tube is mounted, a plurality of coupling arms that are provided integrally with the coupling body so as to protrude outward, and each has a coupling hole at the tip. And a joint assembly that is coupled to the coupling arm by a coupling tool that is inserted into the coupling hole.

  The fluid pressure actuator according to the present invention includes a joint body provided with a mounting hole, and a plurality of connecting arms that are provided integrally with the joint body so as to protrude outwardly, and each provided with a connecting hole at a tip thereof. A fluid coupling capable of forming a coupling assembly coupled at the coupling arm portion by a coupling tool mounted in the coupling hole, and an end portion mounted in the mounting hole, and due to expansion and contraction in the radial direction by the supplied fluid A fluid tube extending and contracting in the axial direction.

  The fluid coupling has a coupling body to which a fluid tube is attached and a plurality of coupling arms provided on the coupling body, and each coupling arm is provided with a coupling hole. The fluid coupling can be connected by a portion of the connecting arm, and a fluid pressure actuator composed of an arbitrary number of fluid couplings and a fluid tube attached to the fluid coupling can be connected by the same type of fluid coupling and the same type of fluid tube. Fluid pressure actuators can be assembled in various shapes. Thereby, the shapes of the joint assembly and the actuator can be changed according to the shape of the driven object to which the fluid pressure actuator is mounted.

It is a perspective view which shows the fluid pressure actuator which is one Embodiment, (A) shows the state which the fluid tube contracted to radial direction, (B) shows the state which the fluid tube expanded to radial direction. (A) is a side view of FIG. 1 (A), (B) is a side view of FIG. 1 (B). (A) is a perspective view which expands and shows the fluid coupling shown in FIG. 1 (A), (B) is a perspective view which shows the opposite side of (A), (C) is (A) It is a front view, (D) is a front view which shows the modification of a fluid coupling. It is a perspective view which shows the fluid pressure actuator which is other embodiment. It is a perspective view which shows the fluid pressure actuator which is other embodiment, (A) shows the state which the fluid tube contracted to radial direction, (B) shows the state which the fluid tube expanded to radial direction. (A) is a perspective view which shows the coupling assembly formed by connecting the fluid coupling of FIG. 5 with a connector, (B) is an exploded perspective view of (A). (A) is a perspective view which shows the coupling assembly provided with the coupling tool which is a modification, (B) is an exploded perspective view of (A). (A) is a perspective view which shows the coupling assembly provided with the coupling tool which is another modification, (B) is an exploded perspective view of (A). It is a top view which shows the coupling assembly which consists of a fluid coupling connected with the connector. (A1) is a cross-sectional view taken along line AA in the joint assembly of FIG. 9 using a round pin as a coupling tool, and (B1) is a cross-sectional view taken along line BB of the joint assembly of FIG. 9 using a round pin as a coupling tool. (C1) is a cross-sectional view taken along line CC in the joint assembly of FIG. 9 using a round pin as a connector, and (A2) is (A1) in the joint assembly using a square pin as a connector. It is sectional drawing which shows the same part, (B2) is sectional drawing which shows the part similar to (B1) in the coupling assembly which used the square pin as the connection tool, (C2) used the square pin as the connection tool. It is sectional drawing which shows the part similar to (C1) in a coupling assembly. (A) is a perspective view which shows a part of fluid pressure actuator which is other embodiment, (B) is a front view of (A). It is a perspective view which shows the fluid pressure actuator which is other embodiment, (A) shows the state which the fluid tube contracted, (B) shows the state which the fluid tube expanded, (C) shows (A). FIG. (A) is a perspective view which shows a part of fluid pressure actuator which is other embodiment, (B) is a front view of (A). (A) is a perspective view which shows a part of fluid pressure actuator which is other embodiment, (B) is a front view of (A). (A) is a perspective view which shows a part of fluid pressure actuator which is other embodiment, (B) is a front view of (A). (A) is a perspective view which shows a part of fluid pressure actuator which is other embodiment, (B) is a front view of (A). (A) is a perspective view which shows the fluid coupling which is other embodiment, (B) is the perspective view seen from the opposite side of (A), (C) is a front view of (A). . (A) is a perspective view which shows the fluid coupling which is other embodiment, (B) is a top view which shows the coupling assembly which consists of two fluid couplings.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each drawing, the same reference numerals are given to members having commonality.

  The fluid pressure actuator 10 shown in FIGS. 1 and 2 has a fluid tube 11 having a circular cross section. The fluid tube 11 includes an elastic tube 12 and a braided tube 13, and forms an artificial muscle that expands and contracts in the radial direction by air pressure, which is a fluid pressure supplied inside, and expands and contracts in the axial direction. For the fluid tube 11 as an artificial muscle, a Macchiben type can be used. Fluid couplings 21 are attached to both ends of the fluid tube 11. In FIG. 1 and FIG. 2, the first fluid coupling 21 that is attached to one end of the fluid tube 11 is denoted by a, and the second fluid coupling 21 that is attached to the other end of the fluid tube 11 is attached to the second fluid coupling 21. Is marked with the symbol b. Both fluid couplings 21 (a) and 21 (b) have the same structure. When the fluid tube 11 is expanded and contracted in the radial direction and expanded and contracted in the axial direction, the fluid couplings 21 (a) and 21 (b) at both ends are provided. ) Moves close and away. 1 (A) and 2 (A) show the state where the fluid couplings 21 (a) and 21 (b) at both ends are farthest away, and FIGS. 1 (B) and 2 (B) show the fluid at both ends. A state in which the joints 21 (a) and 21 (b) approach each other is shown.

  The fluid coupling 21 includes a cylindrical coupling body 30, and the first coupling arm 31 and the second coupling arm 32 protrude radially outward of the coupling body 30 and are aligned in the axial direction of the coupling body 30. And are provided integrally with the joint body 30 respectively. As shown in FIG. 2, the first connecting arm 31 is provided at the axial center of the joint body 30, is formed by one arm piece, and is two surfaces 36 a perpendicular to the center axis of the joint body 30. 36b. On the other hand, the second connecting arm 32 is formed by two arm pieces 32a and 32b. The arm piece 32a is provided on the surface 36a side of the first connecting arm 31 and has two surfaces 37a and 37b parallel to the surface 36a. The surface 37b is formed on the surface 36a side, and the surface 37a forms a surface opposite to the surface 37b. The arm piece 32b is provided on the surface 36b side of the first connecting arm 31, and has two flat surfaces 38a and 38b parallel to the surface 36b. The surface 38a is provided on the surface 36b side, and the surface 38b forms a surface opposite to the surface 38a. The distance between the surface 38 a and the surface 37 b, that is, the distance between the two arm pieces 32 a and 32 b corresponds to the thickness of the first connecting arm 31. The distance between the surface 38b and the surface 38a is equal to the distance between the surface 38b and the surface 36b, and the distance between the surface 37a and the surface 37b is equal to the distance between the surface 37a and the surface 36a.

  As described above, the fluid coupling 21 including the plurality of coupling arms 31 and 32 is a coupling type coupling that can couple a plurality of fluid couplings of the same type to each other at the portion of the coupling arm. A mounting hole 33 is provided in the joint body 30. The attachment hole 33 has a part to which the fluid tube 11 is attached at one end, and has an internal thread part to which an air supply pipe (not shown) is attached at the other end. A first connection hole 34 is provided at the tip of the first connection arm 31. The second connection hole 35 is provided at the tip of the arm pieces 32a and 32b constituting the second connection arm 32, and the central axes O2 of both the second connection holes 35 coincide with each other. The distance from the central axis 1 of the first connecting hole 34 to the central axis O of the mounting hole 33 is equal to the distance from the central axis O2 of the second connecting hole 35 to the central axis O of the mounting hole 33. The central axis O1 of the first connection hole 34 and the central axis O2 of the second connection hole 35 are parallel. 3A to 3C show one of the two fluid couplings 21 shown in FIG. As shown in (A) and (C), when the center axis of the mounting hole 33 is O, the center line C1 of the first connecting arm 31 connecting the center axis O and the center axis O1, the center axis O and the center The center line C2 of the second connecting arm 32 connecting the axis O2 intersects with the center axis O as an apex at an angle θ. Therefore, the first connecting arm 31 and the second connecting arm 32 are displaced in the circumferential direction of the joint body 30 with the central axis O as the center. This crossing angle θ is 120 degrees. However, the crossing angle θ is not limited to 120 degrees, and can be set to an arbitrary angle larger than 0 degrees and smaller than 180 degrees. The second connecting hole 35 has a shape obtained by rotating and moving the first connecting hole 34 about the central axis O by the crossing angle θ.

  Each of the connecting holes 34 and 35 is a hexagonal square hole, but the shape of the connecting holes 34 and 35 may be other polygons such as a quadrangle and an octagon, and may be a circular shape or an arbitrary rotationally symmetric figure. good. FIG. 3D shows the fluid coupling 21 in which the connecting holes 34 and 35 are circular.

  A fluid pressure actuator 10 shown in FIG. 1 includes a fluid tube 11 and fluid couplings 21 (a) and 21 (b) attached to both ends thereof. When the fluid pressure actuator 10 is attached to a driven object, both fluid couplings 21 (a) and 21 (b) are attached to the driven object. When compressed air is supplied to the fluid tube 11, as shown in FIG. 1B, the fluid tube 11 expands in the radial direction and contracts in the axial direction. When the compressed air supplied to the fluid tube 11 is discharged, the fluid tube 11 returns from the state of being expanded in the radial direction and contracted in the axial direction to the state of being extended in the axial direction of FIG. Due to the expansion and contraction of the fluid tube 11, the fluid couplings 21 (a) and 21 (b) at both ends move toward and away from each other. As a result, the driven object is driven by the fluid pressure actuator 10. Supply of the compressed air to the fluid tube 11 may be performed from both fluid couplings 21 (a) and 21 (b), or may be performed from one fluid coupling. When supplying compressed air from one fluid coupling, the female thread portion of the other fluid coupling is closed by a sealing plug (not shown).

  In the fluid pressure actuator 10 shown in FIG. 4, the fluid coupling 21 which is the above-described coupling type joint is attached to one end of the fluid tube 11. The other end portion of the fluid tube 11 is mounted with a fluid joint having only the joint body 30 of the fluid joint 21 described above and having no connection arm, that is, a separate fluid joint 23. The separation type fluid coupling 23 is also provided with a portion to which the fluid tube 11 is attached and a female screw portion. When compressed air is supplied only from the fluid coupling 21, the female thread portion of the separation-type fluid coupling 23 is closed by a sealing plug.

  The fluid pressure actuator 10 shown in FIGS. 5 and 6 has two fluid tubes 11. The fluid coupling 21 shown in FIGS. 1 to 4 is attached to one end of each fluid tube 11, and the separation type fluid coupling 23 shown in FIG. 4 is attached to the other end. That is, it is a form in which two fluid pressure actuators 10 shown in FIG. 4 are combined.

  By connecting the two fluid couplings 21, a coupling assembly 40 is formed. The joint assembly 40 includes two mounting holes 33 and two fluid tubes 11, and the central axis of the mounting hole 33 of one fluid coupling 21 and the central axis of the mounting hole 33 of the other fluid coupling 21. Are parallel to each other and do not cross each other. Therefore, the two fluid tubes 11 are attached in parallel to each fluid coupling. Further, the first connecting hole 34 of one adjacent fluid coupling 21 and the second connecting hole 35 of the other adjacent fluid coupling 21 are connected by the connector 41 in a state where the central axes thereof coincide with each other. When the two fluid couplings 21 are connected, the two arm pieces 32 a and 32 b constituting the second connection arm 32 come into contact with the connection arm 31 so as to surround both surfaces of the first connection arm 31. Thereby, connection strength can be raised. Further, since the first connection arm 31 and the second connection arm 32 are formed adjacent to each other in the axial direction, the first connection arm 31 of the one adjacent fluid coupling 21 and the other fluid coupling 21 adjacent to each other. When the second connecting arm 32 is connected, the axial length of the joint assembly 40 becomes the same as the axial length of the fluid coupling 21, and the joint assembly 40 can be made compact.

  As shown in FIG. 6, the coupling tool 41 is formed by a round pin 42 that is inserted through the coupling holes 34 and 35. The round pin 42 has a circular cross-sectional shape and contacts the inner peripheral surfaces of the hexagonal connecting holes 34 and 35, respectively. An annular engaging groove 43 is formed at both ends of the round pin 42, and a stopper 44 made of an O-ring is attached to each engaging groove 43. The pin assembly is formed by the round pin 42 and the stopper 44. The stopper 44 abuts on the outer surface of the connecting arm 32 and prevents the connecting element 41 from coming off. When the connecting tool 41 is formed by a round pin 42 having a circular cross section, the two fluid couplings 21 connected to each other are connected to each other so as to be swingable around the round pin 42. Thereby, the shape of the joint assembly 40 can be changed according to the shape of the driven object to which the fluid pressure actuator 10 is attached. The stopper 44 may be a retaining ring as long as it can be mounted in the engaging groove 43 and has a larger diameter than the round pin 42. Further, either one of the stoppers 44 may be a large diameter portion formed integrally with the round pin 42.

  FIG. 7 shows a joint assembly 40 including a connector 41 according to a modification. The connector 41 is a screw member having a bolt 45 inserted into the connection holes 34 and 35 and a nut 46 screwed to the bolt 45. The head of the bolt 45 and the nut 46 are brought into contact with the outer surface of the connecting arm 32. The bolt 45 has a circular cross-sectional shape, and the two fluid couplings 21 connected to each other can be swung around the bolt 45. When the bolt 45 and the nut 46 are strongly screwed together, Both fluid couplings 21 are fastened and fixed.

  FIG. 8 shows a joint assembly 40 including a connector 41 according to another modification. The connection tool 41 is formed by a square pin 47 inserted into the connection holes 34 and 35. An annular engagement groove 43 is formed at both ends of the square pin 47, and a stopper 44 made of an O-ring is attached to each engagement groove 43, as in the connection device 41 shown in FIG. The square pin 47 has a hexagonal cross-sectional shape, and the two fluid couplings 21 are connected so as not to swing together after being connected by the square pin 47.

  FIG. 9 is a plan view showing a joint assembly 40 composed of two fluid joints 21. FIGS. 10A1 to 10C1 are joint assemblies in which two fluid joints 21 are connected using a round pin 42 as a connecting tool. 40 shows a cross section. As shown in FIGS. 10A1 to 10C1, since the round pin 42 is inserted into the hexagonal connection holes 34 and 35, the two fluid couplings 21 are swung around the round pin 42. The shape of the joint assembly 40 can be changed.

  On the other hand, FIGS. 10A2 to 10C2 show a cross section of the joint assembly 40 in which the two fluid couplings 21 are connected using the square pin 47 as the connecting tool 41. FIG. As shown in FIGS. 10A2 to 10C2, the cross-sections of the connecting holes 34 and 35 and the square pin 47 are regular hexagons. At this time, the corner pins 47 can be coupled to the inner peripheral surfaces of the coupling holes 34 and 35 at an angle so that the two fluid couplings 21 do not swing after coupling. In this joint assembly 40, the joint assembly 40 can be connected at an angle corresponding to the shape of the square pin 47 and the connection holes 34 and 35, and maintains a fixed assembly shape after the connection. The cross-sectional shapes of the connecting holes 34 and 35 and the square pin 47 may be other regular polygons such as a square or a regular octagon. If the cross-sectional shape is a regular polygon, they are connected at an angle corresponding to the number of vertices of the cross-sectional shape, and a fixed shape can be maintained after the connection. In FIG. 10, the through hole 11a of the fluid tube 11 attached to the joint body 30 is shown.

  FIG. 11 shows a part of a fluid pressure actuator 10 according to another embodiment. The joint assembly 40 attached to the fluid pressure actuator 10 includes two coupling tools 41 so that the two fluid couplings 21 face each other, that is, so that the crossing angle θ side of the coupling arms 31 and 32 faces each other. The two fluid tubes 11 are formed. In the joint assembly 40, two fluid joints 21 are connected in a loop shape. FIG. 11A shows one end of the fluid pressure actuator 10, but a joint assembly 40 including two fluid joints 21 may be attached to the other end of the fluid tube 11, as shown in FIG. 5. The separation type fluid coupling 23 may be attached.

  FIG. 12 shows a fluid pressure actuator 10 according to another embodiment. A joint assembly 40 attached to both ends of the fluid pressure actuator 10 is formed by connecting three fluid joints 21 in a loop shape, and has three fluid tubes 11. The joint assembly 40 attached to one end of the fluid tube 11 forms a first joint assembly, and the joint assembly 40 attached to the other end forms a second joint assembly. The connecting arms 31 and 32 of each fluid coupling 21 are opposed to each other at the intersection angle of the angle θ, and the three fluid couplings 21 are connected in a loop shape so that the intersection angle side is inside. In this fluid pressure actuator 10, the joint assembly 40 having the same structure is mounted on both ends of the three fluid tubes 11, but the separate fluid coupling 23 is mounted on one end of the fluid tube 11. Anyway. As described above, when the joint assembly 40 is assembled in a loop shape, the fluid pressure actuator 10 can be attached to the driven object so as to surround the driven object.

  FIG. 13 shows a part of a fluid pressure actuator 10 according to another embodiment. The joint assembly 40 of the fluid pressure actuator 10 is formed by connecting six fluid joints 21 in a row, and has six fluid tubes 11. Since the first connecting arm 31 and the second connecting arm 32 have an intersecting angle θ, the connecting arms 31 and 32 are arranged in a zigzag shape as shown in FIG. Are arranged in a straight line in the radial direction. When the fluid pressure actuator 10 of this form is connected using the round pins 42, the fluid pressure actuator 10 is attached to the driven object along the driven object. When connected using the square pins 47, the connected state can be maintained.

  FIG. 14 shows a part of a fluid pressure actuator 10 according to another embodiment. The joint assembly 40 of the fluid pressure actuator 10 is formed by connecting six fluid joints 21 in a loop shape, and has six fluid tubes 11. Each fluid coupling 21 is connected in a loop shape so that the first connecting arm 31 and the second connecting arm 32 have the crossing angle θ, that is, the opposite side is the outside. In the fluid pressure actuator 10 of this embodiment, the central axis of the mounting hole 33 forms a hexagon with this as an intersection, and the hexagon with the central axis of the connector 41 as the intersection is outside the intersection with the fluid tube 11. Placed in.

  FIG. 15 shows a part of a fluid pressure actuator 10 according to another embodiment. The joint assembly 40 of the fluid pressure actuator 10 is formed by connecting six fluid joints 21 in a row, and has six fluid tubes 11. The fluid pressure actuator 10 has a configuration in which the central axis of the mounting hole 33 meanders and a plurality of fluid couplings 21 are connected in a row. The fluid pressure actuator 10 of this form is attached to the driven object so as to follow the driven object. The connecting holes 34 and 35 at both ends may be connected by an elastic member such as a spring or rubber to be connected in a loop shape.

  FIG. 16 shows a part of a fluid pressure actuator 10 according to another embodiment. The joint assembly 40 of the fluid pressure actuator 10 is formed by connecting six fluid joints 21 in a loop shape. One first connecting arm 31 of two fluid couplings 21 adjacent to each other in the connecting direction is linearly connected to the other second connecting arm 32. Thereby, as shown in FIG. 16, the loop-shaped joint assembly 40 has a hexagonal shape as viewed from the front, and the joint main body 30 becomes a hexagonal apex portion.

  13 to 16 show the joint assembly 40 attached to one end of the fluid tube 11, the joint assembly 40 having the same shape is attached to the other end of the fluid tube 11. Alternatively, the separate fluid coupling 23 may be attached to the other end of each fluid tube 11.

  FIG. 17 shows a fluid coupling 21 according to another embodiment. In the fluid coupling 21, the first coupling arm 31 and the second coupling arm 32 are formed in the same straight line and are provided integrally with the coupling body 30. Thus, in the form of the fluid coupling 21, as described above, the first connecting arm 31 and the second connecting arm 32 have a crossing angle θ with respect to the central axis O of the mounting hole 33. And the center lines C1 and C2 of the connecting arms 31 and 32 are in the same straight line.

  FIG. 18A is a perspective view showing a fluid coupling 21 according to another embodiment. The fluid coupling 21 includes a first coupling arm 31 and a second coupling arm 32 each having one arm piece. Is formed. The first connecting arm 31 and the second connecting arm 32 are axially displaced from the joint body 30 and are integrally provided adjacent to each other. The first connecting arm 31 has a surface 36b on the second connecting arm 32 side and a surface 36a opposite to the surface 36b. The second connecting arm 32 has a surface 38a on the first connecting arm 31 side and a surface 38b on the opposite side. At this time, the distance between the surface 38b and the surface 38a is equal to the distance between the surface 38b and the surface 36b.

  FIG. 18B is a plan view showing a joint assembly 40 including two fluid joints 21. The joint assembly 40 is connected by the connector 41 with the surface 36 a of the first connecting arm 31 adjacent to the surface 37 b of the second connecting arm 32. As the connector 41, any of the round pin 42 shown in FIG. 6, the bolt 45 shown in FIG. 7, and the square pin 47 shown in FIG. 8 can be used.

  As described above, a coupling assembly 40 including an arbitrary number of fluid couplings 21 is provided by coupling the fluid couplings 21 provided with a plurality of coupling arms, each having a crossing angle or a linear shape. Can be assembled.

  With the same type of fluid coupling 21, the fluid pressure actuator can be assembled in various shapes according to the driven object without changing the shape of the fluid coupling 21. Since the shape of the joint assembly and the actuator can be changed to various shapes according to the driven object to which the fluid pressure actuator is mounted, various kinds of fluid pressure actuators can be assembled and manufactured by the same kind of fluid joints 21. The manufacturing cost of the fluid coupling 21 and the fluid pressure actuator can be reduced.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. The fluid tube 11 as an artificial muscle is not limited to the above-mentioned McKibben type as long as it expands and contracts by fluid pressure such as supplied air pressure, and a fluid tube composed only of an elastic tube can also be used. .

DESCRIPTION OF SYMBOLS 10 Fluid pressure actuator 11 Fluid tube 12 Elastic tube 13 Braided tube 21 Fluid coupling 23 Separable fluid coupling 30 Joint main body 31 1st connection arm 32 2nd connection arm 32a, 32b Arm piece 33 Mounting hole 34 1st connection hole 35 Second connecting hole 40 Joint assembly 41 Connecting tool 42 Round pin 43 Engaging groove 44 Stopper 45 Bolt 46 Nut 47 Square pin

Claims (16)

A joint body having a mounting hole to which a fluid tube is attached;
A plurality of connecting arms each projecting outward and integrally provided on the joint body, each having a connecting hole at the tip;
A fluid coupling capable of forming a coupling assembly coupled at the coupling arm portion by a coupling tool inserted into the coupling hole.   The fluid coupling according to claim 1, comprising: a first coupling arm; and a second coupling arm formed side by side with the first coupling arm in the axial direction.   The fluid coupling according to claim 2, wherein the first coupling arm and the second coupling arm are formed adjacent to each other in the axial direction.   The fluid coupling according to claim 1, further comprising: a first connecting arm including one arm piece; and two arm pieces surrounding both surfaces of the first connecting arm of the other fluid coupling. Having a second coupling arm corresponding to the thickness of the first coupling arm.   5. The fluid coupling according to claim 2, wherein connection holes provided in the first connection arm and the second connection arm are circular or square, respectively, and the first connection arm is provided. And the second connecting arm have a circular cross-sectional shape, and the two fluid couplings coupled by the coupling tool are swingable with respect to the coupling tool. .   5. The fluid coupling according to claim 2, wherein connection holes provided in the first connection arm and the second connection arm are each square, and the first connection arm and the first connection arm are provided. A fluid coupling that couples the two coupling arms to each other has a square cross-sectional shape and the two fluid couplings coupled by the coupling are coupled so as not to swing.   The fluid coupling according to any one of claims 2 to 6, wherein the first connecting arm and the second connecting arm are provided in the joint body at an intersection angle with respect to a central axis of the mounting hole. Or a fluid coupling provided in a straight line on the coupling body.   The fluid coupling according to any one of claims 1 to 7, wherein a coupling assembly including a plurality of fluid couplings is formed in a loop shape or in a row shape.   The fluid coupling according to any one of claims 1 to 8, wherein the connector is inserted into a screw member including a bolt inserted into the connection hole and a nut screwed to the bolt, or inserted into the connection hole. A fluid coupling, which is a pin assembly including a pin and a stopper attached to engagement grooves formed at both ends of the pin. A coupling body provided with a mounting hole, and a coupling tool mounted on the coupling hole, the coupling body having a plurality of coupling arms that project outwardly and are integrally provided on the coupling body, each of which has a coupling hole at the tip. A fluid coupling capable of forming a coupling assembly coupled at a portion of the coupling arm by:
An end portion is mounted on the mounting hole, and a fluid tube that expands and contracts in the axial direction due to expansion and contraction in the radial direction by the supplied fluid;
A fluid pressure actuator.   The fluid pressure actuator according to claim 10, comprising: a first connection arm; and a second connection arm formed side by side with the first connection arm in the axial direction.   12. The fluid pressure actuator according to claim 11, wherein the first connection arm and the second connection arm are formed adjacent to each other. The fluid pressure actuator according to claim 10, wherein the fluid coupling includes a first connecting arm including one arm piece and two arm pieces surrounding both surfaces of the first connecting arm of the other fluid coupling, A second connecting arm in which an interval between two arm pieces of the second connecting arm corresponds to a thickness of the first connecting arm;
The first connecting arm of one of the fluid couplings and the two arm pieces of the second coupling arm of another fluid coupling are coupled by the coupling tool to form a coupling assembly;
A fluid pressure actuator, wherein a plurality of the fluid tubes are attached to the joint assembly.   The fluid pressure actuator according to any one of claims 10 to 13, wherein the first joint assembly is formed by connecting a plurality of the fluid couplings, and the plurality of fluid couplings are connected. A plurality of fluid tubes having one end attached to the attachment hole of the first joint assembly and the other end attached to the attachment hole of the second joint assembly; And a fluid pressure actuator that moves the first joint assembly and the second joint assembly closer to and away from each other by the fluid supplied to the fluid tube.   The fluid pressure actuator according to any one of claims 10 to 13, wherein a plurality of fluid couplings are connected to form a joint assembly, and a plurality of ends are attached to the mounting holes of the joint assembly. A fluid tube and a separate fluid coupling attached to each of the other ends of the fluid tube, and the joint assembly and the separate fluid joint are moved toward and away from each other by the fluid supplied to the fluid tube; Fluid pressure actuator.   The fluid pressure actuator according to any one of claims 10 to 13, wherein a plurality of the fluid couplings are connected to form a loop-shaped joint assembly, or are formed in a row.

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