EP0778923A1 - Element d'actionnement fluidique - Google Patents

Element d'actionnement fluidique

Info

Publication number
EP0778923A1
EP0778923A1 EP96910891A EP96910891A EP0778923A1 EP 0778923 A1 EP0778923 A1 EP 0778923A1 EP 96910891 A EP96910891 A EP 96910891A EP 96910891 A EP96910891 A EP 96910891A EP 0778923 A1 EP0778923 A1 EP 0778923A1
Authority
EP
European Patent Office
Prior art keywords
actuator according
fluidic actuator
elements
plate
joints
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.)
Withdrawn
Application number
EP96910891A
Other languages
German (de)
English (en)
Inventor
Branislav Previsic
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.)
ATI ALTERNATIVE TECHNISCHE INNOVATION AG
Original Assignee
ATI ALTERNATIVE TECHNISCHE INNOVATION AG
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 ATI ALTERNATIVE TECHNISCHE INNOVATION AG filed Critical ATI ALTERNATIVE TECHNISCHE INNOVATION AG
Publication of EP0778923A1 publication Critical patent/EP0778923A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible

Definitions

  • the present invention relates to a. Betschi ⁇ fluidic constriction means according to the preamble of claim 1, WEL ches can be controlled on a ball-like surface of revolution substantially at every point '.
  • Fluidic - hydraulic or pneumatic - actuators or actuators are known in many designs. They are mostly based on translational and / or rotary movements or combinations of such: hydraulic cylinders and hydraulic motors are the prototypes of these. More complex actuators are often composed of these prototypes mentioned. Certain tasks, however, are either unsolvable with such compositions or then very expensive.
  • FIG. 2 shows a first embodiment with a plate
  • 3 shows a detail of FIG. 1 in the actuated position
  • FIG. 6 shows a second exemplary embodiment of an individual supporting element
  • Fig. 20 shows an embodiment with a symmetrical leaf spring.
  • a first embodiment is a 'inventions to the invention the actuating member shown.
  • a round plate 2 for example, is fastened on a frame 1.
  • This plate 2 carries a shaft 3, likewise hollow in the sense of an example, which is connected to the plate 2.
  • This connection can either be made by welding or by the fact that plate 2 and shaft 3 are produced in one piece by turning, pressing, forging or casting.
  • a column or a stack of support elements 4 is formed, each such support element 4 consisting of a plate 2 and a shaft 3.
  • Three pump elements 5, for example, each anchored to the top and bottom plate 2 extend over the entire height of the column consisting of support elements 4.
  • a pumping element 5 essentially consists of an inner elastomeric tube, which is surrounded by a longitudinal reinforcement made of less elastic fibers. For the purpose of stabilizing the fibers, the entire reinforcement is embedded in a matrix made of a further elastomer. If such a pump organ 5 is filled with a fluid and pressurized, it will bulge on the one hand, but shorten on the other.
  • the plates 2 - as can be seen from FIG. 2 - have three holes 6, each offset by 120 °. The pump organ 5 is pulled through this.
  • the uppermost supporting element 4 carries an organ 9.
  • This organ 9 can be a tool, a measuring instrument or any other device which can be moved in the manner described on the surface 8 mentioned or can and should be positioned on it .
  • each shaft 3 carries an upper contact surface 10, each plate 2 a lower contact surface 11.
  • the two contact surfaces 10, 11 are spherical sections of identical radius of curvature. In this configuration of the contact surfaces 10, 11, it is provided that they slide on one another, for which purpose the contact surfaces 10, 11 can be equipped with low friction.
  • the contact surfaces 10, 11 are conical, the upper contact surface 10 having a narrower cone than the lower contact surface 11; overall, however, both cones are very wide with an opening angle of more than 120 °. With regard to the relation of the opening angles of the cones, the statements made with regard to FIG. 6 also apply to FIG.
  • the opening angle is considerably smaller, for example ⁇ 90 °. While, as described, spherical contact surfaces 10, 11 slide on one another, conical contact surfaces 10, 11 provide for inserting a cushion 12 made of an elastomer between the contact surfaces 10, 11, which pad is glued to the two contact surfaces 10, 11. The relative mobility of two support elements 4 is then determined both by the steepness of the conical contact surfaces 10, 11 and by the thickness and the Shore hardness of the elastomeric cushion 12.
  • the use of the elastomeric cushion 12 mentioned has the advantage on the one hand that there is no dry friction between two support elements 4, and on the other hand it causes a restoring force which is present in the three pumping glands 5 when the fluid pressure is completely eliminated. the actuator is straight.
  • FIG. 9 shows a further exemplary embodiment of a carrying element 4. While the shaft 3 is unchanged here from the representations of FIGS. 1 to 3 and 5 to 8, the plate 2 is essentially hexagonal.
  • the holes 6 are not drilled in the plate 6, for example, but consist on the one hand of a semicircular recess in the plate 2, and on the other hand from the inner shape of a likewise substantially semicircular bracket 13, which is fastened to the plate 2 with screws 14, for example.
  • the shaft 3 has a bore 15. On the one hand it serves to reduce the weight, on the other hand it enables measurement and control lines for the organ 9 to be carried out through the entire actuating element. For certain applications it may be sufficient if the organ 9 can only reach points in one plane. 10 shows such an embodiment. Instead of three pump elements 5, there are therefore only two, the axes of which are connected to the Axis of the shaft 3 lie in the same plane.
  • the support elements 4 can - with the changes mentioned - be made essentially the same or corresponding. Since the pivoting of the support elements 4 is only provided within one plane in this exemplary embodiment, the contact surfaces 10, 11 can also be modified accordingly. Instead of a spherical surface - in accordance with FIG. 5, a cylindrical surface then occurs. 11 to 14 show further exemplary embodiments of support elements 4, which are inventive on the one hand for uniaxial (ie lying in one plane) and on the other hand for biaxial movements of the actuating member.
  • the shaft 3 is divided into an upper part 16 and a lower part 17. Apart from two projections 18 (in FIG. 11), only one is visible, the other is covered) ⁇ part 16 just cut below.
  • the protrusions 18 are in the form of half cylinders.
  • the lower part 17 is shaped so that it forms two bearing pans 19 for the projections 18; to the side of the bearing pans 19, the lower part drops, for example, by an angle ⁇ .
  • the maximum pivoting of two adjacent support elements 4 is thus defined.
  • the two pumping organs 5 are then arranged analogously to FIG. 10.
  • the shaft 3 is divided into three parts; an upper part 16, a lower part 17 and a middle part 20.
  • Upper part 16 and lower part 17 are designed as described in FIG. 11.
  • the middle part 20 is shaped and designed on its top, like the bottom part 17, on its bottom, like the top part 16.
  • the axis of the cylindrical projections 18 of the top part 16 is perpendicular to that of the center part 20, so that the plate 2 of the in Fig. 12 upper support member 4 can perform a two-axis pivoting movement with respect to that of the lower support member 4; a universal joint is created.
  • the exemplary embodiment according to FIG. 13 has a uniaxial elastic joint.
  • the shaft 3 is made relatively thin-walled and has two deep incisions 21. The remaining wall is rotated by 90 ° and thus forms two springs 22. According to the uniaxiality, only two pumping organs 5 are again provided.
  • the elastic joint shown a different one can be used that performs the same function.
  • FIG. 14 there are two elastic joints, which are designed analogously to that of FIG. 13, separated by a central part 23.
  • This embodiment can again be equipped with four pump elements 5, in accordance with the biaxial nature.
  • differently shaped elastic joints can take the place of the ones shown. .
  • the embodiments according to Figures 11 and 13 are moved also in the three pumping organs' 5 in the same manner can; the control of the fluid flows is to be done differently.
  • the exemplary embodiments according to FIGS. 1, 3 and 5 to 8 can also be moved by four pump elements 5.
  • the plates 2 shown in FIGS. 2 and 9 are then to be equipped with four holes 6 instead of three.
  • FIG. 15 shows an exemplary embodiment in which the individualized elastic joints from FIGS. 13 and 14 are replaced by an elastic rod 24.
  • This extends through the entire length of the actuating member and is attached to the plates 2, for example by one Ring 25 supported.
  • the rod 24 can also be designed as a tube.
  • materials ara id or carbon fiber reinforced plastics are known for such elastic tubes or rods 24.
  • FIG. 16 Another exemplary embodiment is shown in FIG. 16:
  • the plates 2 are equipped with only one pump organ 5.
  • the restoring forces are from a coil spring
  • the helical spring 26 can be a continuous one, which is fixed to each plate 2; a second solution according to the invention is to fasten individual coil springs 26 between two plates 2 each.
  • the exemplary embodiment according to FIG. 17 has an additional - axial - degree of freedom compared to the previously shown.
  • the axially rigid element (shaft 3 with variations) is a preferably hard coil spring
  • the actuating element designed in this way can only be pivoted, only shortened, or controlled in combination of both types of movement.
  • the shape of the plates 2 is not essential to the invention. Instead of circular plates 2, other shapes can also be used, as described with reference to FIG. 9. Polygonal shapes, radially extending rods, which attach to the support elements 4, are also within the meaning of the invention, as are other configurations which produce a rigid connection from the support element 4 to the point of attack of the pump elements 5.
  • the term "plate 2" is to be understood in this expanded sense throughout, as for a component which extends essentially radially with respect to the local axis direction of the actuating member.
  • the term “shaft 3” is used for the component that extends in the local axial direction. A plate 2 and a shaft connected to it thus form together men a support element 4. The different design of these support elements 4 is according to the invention.
  • FIG. 18 shows an embodiment analogous to that of FIG. 11, but with reversal of the force flows: the two pump elements are not arranged on the outside of a shaft 3, but rather on the inside of an essentially tubular support body 31.
  • Supporting bodies 31 are connected to one another in an articulated manner, as already shown in FIG. 11, namely in such a way that a cylindrical projection 18 engages in a likewise cylindrical bearing socket 19 at two opposite points on the circumference of the supporting body 31.
  • the pumping elements 5 are also anchored to two plates 2, which in turn are attached essentially at half the height of the supporting body 31.
  • the support bodies 31 can be equipped with two pairs of joints offset by 90 ° each, as shown in FIGS. 12 and 14.
  • FIG. 19 is a representation of a variant of the representations of FIGS. 16 and 17.
  • the position of a support element is taken here by a leaf spring 32, which extends from plate 2 to plate 2, or, as a long leaf spring trained, each attached to the plates 2.
  • Each plate 2 has a hole 6 for receiving a pump goose 5. If the pump organs are pressurized, they shorten - as in all the exemplary embodiments - and the device bends to the right in the illustration according to FIG. 19.
  • one possibility according to the invention is also to use the leaf spring 32 bent to the left, so that an angular range can be covered on both sides of the extended position of the leaf spring 32.
  • optional tubular elements 33 are also entered, which, however, do not perform a static but only a protective function.
  • FIG. 20 shows a variant of the exemplary embodiment from FIG. 15.
  • a leaf spring 32 is also used here, as in the previous one Embodiment is attached to each plate 2.
  • Two pump organs 5 act as antagonists, one on each side of the leaf spring 32. This allows it to be bent on each side.
  • the tubular elements 33 in turn only have a protective function.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Reciprocating Pumps (AREA)
  • Actuator (AREA)

Abstract

L'invention concerne un élément d'actionnement qui comprend une pluralité d'éléments porteurs (4) composés quant à eux d'une plaque (2) et d'un arbre (3). Ces multiples éléments porteurs (4) sont montés sur un bâti (1) et sont disposés de manière à former une pile. Dans le sens de l'axe de ladite pile, il est prévu par exemple trois éléments de pompage (5) ancrés d'une part au bâti (1) et d'autre part à la plaque (2) située le plus haut, et où ils sont recouverts. La plaque (2) située le plus haut soutient en outre un élément (9) qui peut être un outil, un appareil de mesure ou analogue. A l'endroit où repose une plaque (2) sur l'arbre (3) de l'élément porteur situé en dessous, il est prévu un coussin (12) réalisé dans un élastomère permettant un déplacement angulaire relatif entre deux éléments porteurs (4) adjacents. Trois conduites de fluide (7) débouchent dans le bâti (1). Lorsque de la pression est appliquée à un élément de pompage (5) par l'intermédiaire de la conduite (7) correspondante, l'élément de pompage se bombe entre les plaques (2) et raccourcit, si bien que l'élément d'actionnement se courbe du côté de l'élément de pompage (5) soumis à la pression. L'alimentation en fluide sous pression de chacun des éléments de pompage peut être régulée de manière indépendante et l'élément (9) permet par conséquent d'avoir accès à chacun des points d'une surface de rotation de type sphérique.
EP96910891A 1995-05-09 1996-05-07 Element d'actionnement fluidique Withdrawn EP0778923A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH1338/95 1995-05-09
CH133895 1995-05-09
PCT/CH1996/000174 WO1996035877A1 (fr) 1995-05-09 1996-05-07 Element d'actionnement fluidique

Publications (1)

Publication Number Publication Date
EP0778923A1 true EP0778923A1 (fr) 1997-06-18

Family

ID=4208149

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96910891A Withdrawn EP0778923A1 (fr) 1995-05-09 1996-05-07 Element d'actionnement fluidique

Country Status (3)

Country Link
EP (1) EP0778923A1 (fr)
JP (1) JPH10502990A (fr)
WO (1) WO1996035877A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19833340A1 (de) * 1998-07-24 2000-02-10 Karlsruhe Forschzent Wurmförmiger Arbeitsmechanismus
GB9921180D0 (en) * 1999-09-09 1999-11-10 Univ Heriot Watt Robots and method of controlling robots
FR2807960B1 (fr) * 2000-04-21 2002-07-26 Univ Paris Curie Dispositif de positionnement, d'exploration et/ou d'intervention notamment dans le domaine de l'endoscopie et/ou de la chirurgie mini-invasive
DE60121316T2 (de) * 2000-04-21 2007-08-02 Université Pierre et Marie Curie (Paris VI) Vorrichtung zur positionierung, untersuchung und/oder behandlung, insbesondere im gebiet der endoskopie und/oder minimal invasiver chirurgie
US9133864B2 (en) * 2009-10-07 2015-09-15 Simon Fraser University Fluidic actuator and method of manufacture
EP2335884B1 (fr) 2009-12-15 2012-09-05 FESTO AG & Co. KG Manipulateur pouvant fonctionner de manière fluidique
CN106003006B (zh) * 2016-07-29 2018-07-31 江门市蚂蚁机器人有限公司 一种驱动装置
CN109648550A (zh) * 2019-02-27 2019-04-19 福州大学 一种可变刚度的软体机械臂模块及其控制方法
CN112008695B (zh) * 2020-09-07 2023-05-12 哈尔滨工业大学（威海） 一种由流体驱动的仿生象鼻及仿生象鼻弯曲的方法
CN116512234A (zh) * 2023-04-11 2023-08-01 广东工业大学 一种连续气囊耦合气动软体驱动器及其机械臂

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2553543A (en) * 1948-03-15 1951-05-22 Jr Albert G Bodine Pumping apparatus
US3149573A (en) * 1962-03-29 1964-09-22 Cyrus Wm Rice & Company Valved flexible body positive partial displacement fluid pump
CH565947A5 (fr) * 1972-02-29 1975-08-29 Nii Neftekhimicheskikh Proizv
GB2044843B (en) * 1979-03-07 1983-08-03 British Petroleum Co Wave energy device

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9635877A1 *

Also Published As

Publication number Publication date
JPH10502990A (ja) 1998-03-17
WO1996035877A1 (fr) 1996-11-14

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