Abstract: A hydraulic actuator includes a cylindrical tube, a sleeve, a restricting member, first and second sealing members, and a positioning member. The tube expands and contracts with pressure of a fluid. The sleeve covers an outer circumferential surface of the tube, and is widened in radial directions by expansion of the tube while limiting elongation of the tube in an axial direction S. The restricting member is provided radially inward of the sleeve, from one side to the other side in the axial direction S, and resists compression along the axial direction but is deformable in an intersecting direction X intersecting the axial direction. The sealing members seal respective ends of the tube at the one side and other side in the axial direction S. The positioning member is provided at a circumferential direction portion of at least one of the sealing members. The positioning member positions the restricting member to follow the axial direction.

Abstract: A method for estimating an actuator gripping force for estimating, as a gripping force of a fluid pressure actuator, a force acting in a direction orthogonal to a tube axis of the fluid pressure actuator when the tube axis is not curved due to curvature, in which the fluid pressure actuator includes a tubular main body portion having a tube circumference of which one side is shortened in a tube axis direction and curved due to increase in internal pressure in a tube, a proximal end side of the fluid pressure actuator along the tube axis is fixed to a base body, and a distal end of the fluid pressure actuator moves relative to the base body, the method including estimating the gripping force using Equation F=?1P(L?Lmin)+?2, where L represents a length from one end portion to the other end portion of the most contracted side surface of the main body portion, P represents the internal pressure in the tube, F represents the gripping force, ?1 and ?2 represent parameters set based on basic characteristics of the f

Abstract: There is provided an actuator curved inner length measurement apparatus for a fluid pressure actuator that includes a tubular actuator main body portion having a tube circumference of which one side is shortened and curved due to increase in internal pressure in a tube and that has a proximal end side along a tube axis which is fixed to a base body and has a distal end which moves relative to the base body, the actuator curved inner length measurement apparatus including: a wire member having one end side attached to the base body and a middle portion disposed on a curved side of the actuator main body portion 22 to conform to curved deformation; a wire holding member that holds the wire member at a position along the actuator main body portion; and a measurement unit that applies tension to the wire member and measures a length change amount of the wire member.

Abstract: A robot hand includes: a cylindrical base actuator that is contracted in a cylinder-axial direction and is curved on one side of a cylinder circumference depending on an increase in internal pressure in a cylinder; a frame member that is disposed along the base actuator in the cylinder-axial direction, supports the base actuator, has an expansion/contraction portion which is expanded and contracted conforming to curved deformation of the base actuator; and plural cylindrical finger actuators that are attached to the frame member at intervals in an extension direction of the base actuator to have one end fixed to the frame member and the other end being a free end so that the finger actuators extend in a direction intersecting the cylinder-axial direction, and that are each contracted and curved in a cylinder-axial direction on one side of a cylinder circumference depending on an increase in internal pressure in a cylinder.

Abstract: The provided is a fluid pressure actuator with a cover, in which the sleeve and the cover are at least partially non-contact with each other in a state Where no fluid pressure is applied.

Abstract: A hydraulic actuator includes a tube capable of being expanded and contracted by fluid pressure, a sleeve covering the tube, a pair of sealing members that seal both ends of the tube in an axial direction thereof, and plural inner pieces aligned inside the tube so as to be adjacent to each other. The plural inner pieces include a restraint side where adjacent inner pieces are in contact with each other in the tube whose inside is not pressurized by the fluid pressure and a swing side where a gap is made at an opposed position to the restraint side to allow the adjacent inner pieces to swing with respect to each other. The plural inner pieces further include a restraint mechanism that keeps the adjacent inner pieces in contact with each other on the restraint side in the tube whose inside is pressurized by the fluid pressure.

Abstract: Provided is a fluid pressure actuator in which a bamboo shoot part is formed on a free end side of the sealing member to enable engaging and retaining a cover member that is separate from the fluid pressure actuator.

Abstract: When each of the fluid pressure actuators contracts, the fluid pressure actuator of the grasping device is provided so that a tip portion of one of the fluid pressure actuators approaches a tip portion of other fluid pressure actuators, and a soft member is provided in a space on a proximal end portion side of the fluid pressure actuator surrounded by the plurality of the fluid pressure actuators.

Abstract: The fluid pressure actuator includes an actuator body portion and a sealing mechanism. The sealing mechanism includes a sealing member into which the sealing mechanism is inserted, a caulking ring provided on an outer peripheral surface of the sealing mechanism inserted into the sealing member and restricting the sealing mechanism, and a locking wire that locks a sleeve to the sealing member. The sealing member includes a head portion provided outside more than the body portion, 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 sealing mechanism than the head portion, and has an enlarged diameter part that expands toward the radial direction outside of the actuator body portion than the body portion. The locking wire is compressed and deformed to fill the space formed between the caulking ring and the intermediate portion.

Abstract: A hydraulic actuator includes a tube capable of being expanded and contracted by fluid pressure, a sleeve that is a structural member made of woven fiber cords directed in predetermined directions to exert stretchability and covers an outer circumferential surface of the tube, a sealing member that seals each end of the tube in an axial direction thereof, and a restraint member that is provided at a part of a circumference of the tube to extend from one end to another end of the tube in the axial direction and restraints an elongation of the part of the circumference of the tube in the axial direction. The predetermined directions in which the fiber cords of the sleeve are directed are oriented such that the tube elongates when expanded. The restraint member is woven into the sleeve to be integrated therewith, or disposed between the sleeve and the tube.

Abstract: The grasping device 1 is a grasping device using a plurality of fluid pressure actuators 10 which are curved during contraction. In the bottom view of the grasping device 1, a tip portion of the fluid pressure actuator 10 overlaps with a tip portion of another fluid pressure actuator 10 when each of the fluid pressure actuators 10 contracts.

Abstract: A hydraulic actuator includes a tube capable of being expanded and contracted by fluid pressure, a sleeve covering the tube, a pair of sealing members that seal both ends of the tube in an axial direction thereof, and plural inner pieces aligned inside the tube so as to be adjacent to each other. The plural inner pieces include a restraint side where adjacent inner pieces are in contact with each other in the tube whose inside is not pressurized by the fluid pressure and a swing side where a gap is made at an opposed position to the restraint side to allow the adjacent inner pieces to swing with respect to each other. The plural inner pieces further include a restraint mechanism that keeps the adjacent inner pieces in contact with each other on the restraint side in the tube whose inside is pressurized by the fluid pressure.

Abstract: The fluid pressure actuator comprises an actuator body portion and a sealing mechanism that seals the end of the actuator body portion in the axial direction DAX of the actuator body portion. The sealing mechanism includes a sealing member into which the actuator body portion is inserted, a caulking ring provided on the outer peripheral surface of the actuator body portion inserted into the sealing member and restricting the actuator body portion, and a locking ring that locks the sleeve to the sealing member. The sealing member includes a body portion into which the tube is inserted, and the outer diameter of the body portion is larger than the inner diameter of the tube in the portion not inserted into the body portion.

Abstract: A vibration-damping device (10) of the present invention includes a first attachment member (11), a second attachment member (12), an elastic body (13), and a partition member (16). In the partition member, a restriction passage (24) through which the first liquid chamber (14) and the second liquid chamber (15) communicate with each other is formed. The restriction passage includes a first communicating portion (26) which opens to the first liquid chamber, a second communicating portion (27) which opens to the second liquid chamber, and a main body flow passage (25) through which the first communicating portion and the second communicating portion communicate with each other. At least one of the first communicating portion and the second communicating portion includes a plurality of fine holes (26a) which are disposed in a flow passage direction of the main body flow passage.

Abstract: A vibration-damping device (10) of the present invention includes a first attachment member (11), a second attachment member (12), an elastic body (13), and a partition member (16). In the partition member, a restriction passage (24) through which the first liquid chamber (14) and the second liquid chamber (15) communicate with each other is formed. The restriction passage includes a first communicating portion (26) which opens to the first liquid chamber, a second communicating portion (27) which opens to the second liquid chamber, and a main body flow passage (25) through which the first communicating portion and the second communicating portion communicate with each other. At least one of the first communicating portion and the second communicating portion includes a plurality of fine holes (26a) which are disposed in a flow passage direction of the main body flow passage.

Abstract: A heat exchanger includes tubes arranged in a stacking direction and a tank connected to the tubes. A tube of the tubes has a pair of flat portions having flat plate shapes facing each other, and a curved portion connecting ends of the pair of flat portions. The tank includes a plate having insertion holes into which the tubes are inserted, and container. The plate has a first portion along a longitudinal direction of the tubes, and a second portion extending from an end of the first portion toward the container. When the plate is viewed in the stacking direction, a boundary between the first portion and the second portion is shifted from a boundary between each of the pair of flat portions and the curved portion toward the pair of flat portions.

Abstract: A stacked heat exchanger includes: passage tubes stacked with each other to support a heat exchange object, a passage being defined in the passage tube for a heat medium to exchange heat with the heat exchange object; and a pipe connected to one of the passage tubes located at one end in a stacking direction of the plurality of passage tubes. Each of the passage tubes has a protruding pipe portion protruding in the stacking direction and communicating with the adjacent passage tube in the stacking direction. The one of the passage tubes located at the one end in the stacking direction is an in/out passage tube. The pipe has a surface at one end in a longitudinal direction of the pipe, and the surface intersects the longitudinal direction of the pipe and is joined to the in/out passage tube.

Abstract: A vibration-damping device (10) of the present invention includes a first attachment member (11), a second attachment member (12), an elastic body (13), and a partition member (16). In the partition member, a restriction passage (24) through which the first liquid chamber (14) and the second liquid chamber (15) communicate with each other is formed. The restriction passage includes a first communicating portion (26) which opens to the first liquid chamber, a second communicating portion (27) which opens to the second liquid chamber, and a main body flow passage (25) through which the first communicating portion and the second communicating portion communicate with each other. At least one of the first communicating portion and the second communicating portion includes a plurality of fine holes (26a) which are disposed in a flow passage direction of the main body flow passage.

Abstract: A restricted passageway (24) is provided with a first communication part (26) which is formed in a first barrier wall (34) facing a first liquid chamber and opens to the first liquid chamber, a second communication part (27) which is formed in a second barrier wall (35) facing a second liquid chamber and opens to the second liquid chamber, and a main body flow path (25) that is configured to cause the first communication part (26) and the second communication part (27) to communicate with each other. At least one of the first communication part (26) and the second communication part (27) includes a plurality of fine holes (26a) that pass through the first barrier wall (34) or the second barrier wall (35).

Abstract: This aluminum alloy brazing sheet is provided with: a core material comprising 2.0 mass % or less (including 0 mass %) of Mg and a remainder of Al and unavoidable impurities; and a brazing material comprising Si, Bi, Mg, and a remainder of Al and unavoidable impurities. The aluminum alloy brazing sheet satisfies the expressions 3?CSi?13, 0.13CMg?0.3?CBi?0.58CMg0.45, CMg-b?0.1, and 0.2?CMg?1.1 when the Si content of the brazing material is denoted by CSi, the Bi content of the brazing material is denoted by CBi, the Mg content of the brazing material is denoted by CMg-b, the Mg content of the core material is denoted by CMg-c, and CMg=CMg-b+CMg-c/2.