EP1495232B1 - Entrainement par contraction actionne par un fluide - Google Patents

Entrainement par contraction actionne par un fluide Download PDF

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Publication number
EP1495232B1
EP1495232B1 EP03714915A EP03714915A EP1495232B1 EP 1495232 B1 EP1495232 B1 EP 1495232B1 EP 03714915 A EP03714915 A EP 03714915A EP 03714915 A EP03714915 A EP 03714915A EP 1495232 B1 EP1495232 B1 EP 1495232B1
Authority
EP
European Patent Office
Prior art keywords
contraction
tube
drive according
contraction drive
sections
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP03714915A
Other languages
German (de)
English (en)
Other versions
EP1495232A1 (fr
Inventor
Stefan Schwarz
Bernd Lorenz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Festo SE and Co KG
Original Assignee
Festo SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Festo SE and Co KG filed Critical Festo SE and Co KG
Publication of EP1495232A1 publication Critical patent/EP1495232A1/fr
Application granted granted Critical
Publication of EP1495232B1 publication Critical patent/EP1495232B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Definitions

  • the invention relates to a fluid-operated contraction drive, with a contraction tube when fluid one of his limited admission space one Length contraction experiences and the at its two end portions each with a tap of the generated driving force enabling Kraftabgriffs worn outfitted or equipped.
  • the hose ends are very easy and reliable caulk. Especially at the transfer point can be through To realize the direction change a safe sealing point. But also by mutual pressing of the opposite Sections of the hose wall can be a safe Sealing be favored. Finally, the handled is suitable End area very good for securely anchoring a enable the tapping of the generated driving force Kraftabgriffs worn.
  • connection of the juxtaposed hose sections For example, by an adhesive bond, a welded connection or a sewing connection are achieved, but also by mutual bolting the hose sections by means of at least one connecting bolt passing through it. These types of connection can also be arbitrary with each other be combined.
  • At least one existing connecting bolt for example in the form of a screw or a rivet, can also be part be the associated Kraftabgriffs noticed or to form these.
  • at least one connecting bolt has a thread on which the structure to be clamped or moved or the Fix component in the context of a screw connection.
  • the contraction tube expediently consists of a Tubular body with rubber-elastic properties, in whose Wall in coaxial arrangement a Werneran extract embedded is.
  • the Switzerlandfaseranowski extract can also on the outer circumference sit the hose body.
  • the Switzerlandfaseranowski extract exists suitably arranged from a plurality of cross Tensile fibers with high tensile strength and at the same time bendable Properties. Due to the flexibility, the turnover is of the contraction tube at the respective end with special needs.
  • the drawing shows a generally designated by reference numeral 1 fluid-operated contraction drive. He can with Liquid or, preferably, with a gaseous medium operate.
  • contraction drive 1 An essential part of the contraction drive 1 is a tube called a contraction tube 2 hose-like membrane element, which is essentially made of a rubber elastic Material existing hose body 3 and a coaxial to the hose body 3 arranged Switzerlandfaseran extract 4 composed.
  • the tensile fiber assembly 4 could be the hose body Enclose 3 stocking. It is preferred in the Wall of the hose body embedded, so that with this represents a hose-like unit.
  • the contraction tube 2 closed fluid-tight. This limits one towards the environment hermetically sealed, elongated admission space 7th
  • a Kraftabgriffs worn eighth attached At each end region 5, 6 is a Kraftabgriffs solicit eighth attached. This is provided with Kraftabgriffsschn 12, to those to be moved or to be braced structures or components can be attached directly or indirectly.
  • the embodiments are the Kraftabgriffsstoff 12 of one or more threads formed a screw fastening allow the mentioned components.
  • the admission area 7 with below a predetermined operating pressure pressurized fluidic pressure medium.
  • This Pressure medium can communicate via a communicating with the Beauftschungsraum 7 Fluid line 13 are fed.
  • the fluid is fed through the wall of the hose body 3, which for this purpose with suitable connection means 14 is equipped.
  • a gas-operated contraction drive the drive gas in the interior of the Beauftschungsraumes. 7 by a pyrotechnic gas generator (not ) Shown.
  • the reason for this behavior is the special structure of the Contraction hose 2, in particular in connection with the
  • the draw fiber assembly 4 has in the embodiment over a plurality of individual or strands of aggregate tow fibers that have a cross-over configuration taking.
  • the Buchfaseran extract forms in particular a grid-like Structure.
  • the grid angles change so that through the contraction tube 2 at the two end regions 5, 6 a tensile force is caused.
  • This traction, their direction through Arrows 16 is illustrated, is on the force and / or transfer positively coupled power take-off devices 8, Consequently, in the tensile force direction 16 to each other approach.
  • the activated state achievable in this way is indicated by dash-dotted lines at 17 in FIG.
  • the contraction tube could also have a different structure, to ensure the described operating behavior.
  • the contraction tube 2 is characterized by a special Design of its two end portions 5, 6 from. This one will below with reference to the left in Fig. 1 end region 5 explained in more detail.
  • the other end region 6 is expediently identically formed. However, there is also the possibility only one of the end areas in the special design perform.
  • the contraction tube 2 has at its end region 5 Flat figure on. This is achieved in particular by that the house has a circular-cylindrical shape Contraction tube 2 at this end portion 5 of opposite Transverse side is compressed, so that diametrically opposite tube wall sections 11a, 11b with their inner surfaces preferably flat against each other issue.
  • the preferably at least substantially planar contact area is identified in Figs. 2 and 3 at 23.
  • a sewing connection 25 is used instead of an adhesive and / or weld.
  • suitable sewing measures using at least a sufficiently tensile suture are the two here adjacent tube sections 18, 19 by sewing firmly connected. The suturing passes through the contact area 23 transverse to the longitudinal direction 15 of the contraction drive 1.
  • the mutual Pressing the adjacent tube sections 18, 19 exclusively or additionally by at least one connecting bolt 26 reaches, which arranged the juxtaposed Hose sections 18, 19 passes transversely to its longitudinal direction and suitably shaped chucks 27 on each other opposite, facing away from the contact area 23 side surfaces 28, 29 charged.
  • Fig. 3 only the placed on the side surface 28 pointing up there Clamping head 27 visible.
  • the at least one connecting bolt 26 may be for example, a screw or a press rivet, wherein the clamping heads 27 from the heads of these fasteners are formed.
  • Fig. 2 shows a design with a plurality of connecting bolts 26 at the respective end region 5.
  • a connecting bolt 26 is provided at of the embodiment according to FIG. 3 at the respective end region 5.
  • connection measures for mutual fixing the arranged by the folding side by side Hose sections 18, 19 can each individually or in any Combination be provided.
  • the relevant at End region arranged connecting pin 26 at the same time Kraftabgriffs drove 8. Since the connecting pin 26 the Hose sections 18, 19 transversely to the tensile force direction 16 enforce results in an optimal positive connection and thus reliable power transmission between the contraction tube 2 and the Kraftabgriffs heard 8.
  • the Kraftabgriffsstoff 12 can be formed in this case as a thread be that a fferbefest Trent to be braced and / or moving structures or components allow.
  • the envelope technique also has a certain self-locking effect achieved when pressing the contraction drive 1 the different hose wall layers are in opposite directions and have to move against the connecting bolts 26 can support.
  • connecting bolts are any connecting elements to understand the juxtaposed Pass through hose sections. Your cross section needs not necessarily, as in the embodiment, circular be designed.
  • an intermediate part between the adjacent tube sections 18, 19 could also be arranged an intermediate part, with the the tube sections 18, 19 then expediently clamped are.
  • Such an intermediate part could be part of the Force tap 8 be.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Rigid Pipes And Flexible Pipes (AREA)
  • Actuator (AREA)

Claims (12)

  1. Entraínement par contraction actionné par un fluide, comportant un tube de contraction (2) qui subit une contraction en longueur lors d'une sollicitation exercée par un fluide sur une chambre de sollicitation (7), délimitée par ledit tube, et dont les deux zones d'extrémité (5, 6) peuvent être munies ou sont munies respectivement d'un dispositif de prélèvement de force (8) permettant de prélever la force d'entraínement générée, caractérisé en ce que le tube de contraction (2) a une forme plane et est replié dans au moins une zone d'extrémité (5, 6), les tronçons (18, 19) du tube de contraction (2), adjacents à la suite du repli, étant fermement assemblés l'un à l'autre.
  2. Entraínement par contraction selon la revendication 1, caractérisé en ce que les tronçons de tube (18, 19) adjacents sont en appui plan l'un contre l'autre.
  3. Entraínement par contraction selon la revendication 1 ou 2, caractérisé en ce que les tronçons de tube (18, 19) adjacents sont pressés fermement l'un contre l'autre par des moyens de serrage (25, 26) correspondants.
  4. Entraínement par contraction selon l'une des revendications 1 à 3, caractérisé en ce que les tronçons de tube (18, 19) adjacents sont assemblés fermement l'un à l'autre par collage ou soudage.
  5. Entraínement par contraction selon l'une des revendications 1 à 4, caractérisé en ce que les tronçons de tube (18, 19) adjacents sont assemblés fermement l'un à l'autre par couture (25).
  6. Entraínement par contraction selon l'une des revendications 1 à 5, caractérisé en ce que les tronçons de tube (18, 19) adjacents sont boulonnés l'un à l'autre par au moins un boulon d'assemblage (26) enfiché transversalement dans lesdits tronçons.
  7. Entraínement par contraction selon la revendication 6, caractérisé en ce que ledit au moins un boulon d'assemblage (26) est formé par une vis ou un rivet.
  8. Entraínement par contraction selon l'une des revendications 1 à 7, caractérisé en ce que le dispositif de prélèvement de force (8), associé à au moins une zone d'extrémité (5, 6) du tube de contraction (2), est ancré par emboítement dans cette zone d'extrémité (5, 6).
  9. Entraínement par contraction selon l'une des revendications 1 à 8, caractérisé en ce que le dispositif de prélèvement de force (8), associé à au moins une zone d'extrémité (5, 6) du tube de contraction (2), comporte au moins un boulon d'assemblage (26) traversant transversalement les tronçons de tube (18, 19) adjacents et les assemblant en même temps.
  10. Entraínement par contraction selon la revendication 9, caractérisé en ce que ledit au moins un boulon d'assemblage (26) est muni d'un filetage (12) permettant le prélèvement des forces.
  11. Entraínement par contraction selon l'une des revendications 1 à 10, caractérisé en ce que le tube de contraction (2) est formé par un corps tubulaire (3) en matériau élastique et par un système de fibres soumises à traction (4), disposé coaxialement au corps tubulaire (3) et, de manière avantageuse, noyé dans la paroi du corps tubulaire (3).
  12. Entraínement par contraction selon la revendication 11, caractérisé en ce que le système de fibres (4) est formé par des fibres soumises à traction disposées selon une configuration croisée.
EP03714915A 2002-04-12 2003-04-03 Entrainement par contraction actionne par un fluide Expired - Fee Related EP1495232B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE20205654U 2002-04-12
DE20205654U DE20205654U1 (de) 2002-04-12 2002-04-12 Fluidbetätigter Kontraktionsantrieb und zugehöriger Kontraktionsschlauch
PCT/EP2003/003458 WO2003087587A1 (fr) 2002-04-12 2003-04-03 Entrainement par contraction actionne par un fluide et tuyau de contraction correspondant

Publications (2)

Publication Number Publication Date
EP1495232A1 EP1495232A1 (fr) 2005-01-12
EP1495232B1 true EP1495232B1 (fr) 2005-10-12

Family

ID=7969929

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03714915A Expired - Fee Related EP1495232B1 (fr) 2002-04-12 2003-04-03 Entrainement par contraction actionne par un fluide

Country Status (5)

Country Link
US (1) US7185580B2 (fr)
EP (1) EP1495232B1 (fr)
DE (2) DE20205654U1 (fr)
ES (1) ES2247526T3 (fr)
WO (1) WO2003087587A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2148097B1 (fr) * 2007-05-11 2016-01-06 Chuo University Actionneur du type à déversement de fluide
CN105287000B (zh) * 2015-10-13 2017-10-20 西安交通大学 单气体驱动的柔性微创手术操作臂及制备方法

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2844126A (en) * 1955-01-20 1958-07-22 Clevite Corp Fluid actuated motor system and stroking device
US3084961A (en) * 1958-10-31 1963-04-09 Henry H Merriman Coupling for tube expander
DE2711699A1 (de) * 1977-03-17 1978-09-21 Repapress Ag Endverschluss
DE2802716A1 (de) * 1978-01-23 1979-07-26 Horst Jansen Druckbehaelter fuer fluids, pasten o.dgl.
US4513997A (en) * 1982-09-30 1985-04-30 Greenco Corporation Fitting for an inflatable tube
JPS60227003A (ja) * 1984-04-25 1985-11-12 Bridgestone Corp 高忠実性の内圧応動弾性収縮筒
US4664232A (en) * 1984-04-25 1987-05-12 Bridgestone Corporation Brake device for robot arm
BE905465A (nl) * 1986-09-22 1987-01-16 Beullens Theophile Hydraulische of pneumatische aandrijfinrichting.
US4819547A (en) * 1988-03-28 1989-04-11 Mirko Kukolj Axially contractable actuator
US5031510A (en) * 1990-03-22 1991-07-16 Welch Allyn, Inc. Evacuation spring for hydraulic/pneumatic muscle
GB9116114D0 (en) * 1991-07-25 1991-09-11 Raychem Ltd Corrosion protection system
GB2328981A (en) * 1997-09-05 1999-03-10 Richard Martin Greenhill Improved component of mechanical actuator
GB2335467A (en) 1998-03-20 1999-09-22 Richard Martin Greenhill Improved mechanical actuator
CA2351638C (fr) * 1999-01-21 2005-01-04 The Boler Company Mecanisme de verrouillage destine a un sous-chassis mobile d'un semi-remorque
DE29906626U1 (de) 1999-04-14 1999-07-15 Festo AG & Co, 73734 Esslingen Betätigungseinrichtung

Also Published As

Publication number Publication date
ES2247526T3 (es) 2006-03-01
US7185580B2 (en) 2007-03-06
DE50301367D1 (de) 2005-11-17
EP1495232A1 (fr) 2005-01-12
WO2003087587A1 (fr) 2003-10-23
US20050076778A1 (en) 2005-04-14
DE20205654U1 (de) 2002-07-04

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