EP0838597B1 - Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft - Google Patents
Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft Download PDFInfo
- Publication number
- EP0838597B1 EP0838597B1 EP97118235A EP97118235A EP0838597B1 EP 0838597 B1 EP0838597 B1 EP 0838597B1 EP 97118235 A EP97118235 A EP 97118235A EP 97118235 A EP97118235 A EP 97118235A EP 0838597 B1 EP0838597 B1 EP 0838597B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- expansion chamber
- actuator according
- actuator
- fluid
- tie rod
- 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 - Lifetime
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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 an actuator for Converting the energy of a fluid to mechanical Force.
- EP 0 261 721 A3 describes a hydraulic or alternative also pneumatically powered actuator of the aforementioned Kind known in which an inner, essentially tubular expansion chamber made of a resilient Material exists when the Expansion chamber with one mediated by the fluid Internal pressure an essentially radially oriented deformation experiences. This deformation of the expansion chamber will bounded by an outer power transmission sleeve, which surrounds the expansion chamber and is made of a flexible, however non-stretchable thread material that exists on the axial Ends of the expansion chamber is anchored.
- the thread material consists of single threads or of Multiple threads bundled into strands or strands. These single or multiple threads are in opposite directions Spirals at an angle of inclination of approximately 50 ° to 80 ° combined into a network against the axis of the expansion chamber, a relative one at the thread crossings Angular displacement of the threads during expansion the expansion chamber allowed.
- the threads are otherwise with their ends attached to tie rods, the ends the expansion chamber are non-positively connected.
- an actuator in which a spherical Expansion chamber made of a resilient material, which for taking a rest position of the actuator to a flat structure deformed and fixed at two axially opposite points with two tie rods connected is.
- the two tie rods there are also individual strands or strands firmly connected with an external attachment to the material of the expansion chamber run axially parallel to the main axis of the actuator and in the initial working position of the actuator in one between two adjacent ribs of the expansion chamber formed valley are arranged.
- the strands it is also stated that they also consist of several strands exist and can be sections of an endless cords that are serpentine is wound between supports on the two tie rods, each section the endless cords with two opposite supports of the two tie rods connected is.
- the invention has for its object an actuator to provide the type mentioned at the beginning, in which when generating the internal pressure radial expansion of the expansion chamber obtained on the axis of the actuator precisely and is concentrated while avoiding scattering so that the printing energy of the fluid accordingly optimally in terms of drive used axial forces is translated.
- the response time of the actuator is further shortened with the measure be that the unused dead space of the expansion chamber with correspondingly preferably about 90 to 80% a floating core material is filled in, that do not participate in the expansion of the expansion chamber and should be braced between the tie rods Coil spring is centered.
- the end of the two Tie rods can be attached, then results from the radial expansion of the expansion chamber along the Drive axle completely uniform size change of the communicating individual chambers.
- the individual chambers adapt to one with the cylinder spiral predetermined slope, which in turn increases of the internal pressure for a radial expansion of the expansion chamber is adapted to the tensile forces thus obtained.
- the spiral shape of the individual chambers changes therefore steadily increasing the axial tensile forces that therefore be equalized accordingly.
- Embodiments of an actuator with which a conversion the energy of a fluid into a mechanical force can be realized is the supply source to be provided for this not shown for the working fluid.
- a working fluid For example, compressed air is used, which at the work site of the Actuator via a connected supply line is introduced.
- the actuator of FIGS. 1 to 5 is tubular Expansion chamber 1 formed on both of them Ends through the axial middle part of two tie rods 2 and 3 is closed.
- the two tie rods 2, 3 are with the Ends of the expansion chamber 1 are positively connected.
- each the two form-locking connections 4 and 5 are thus obtained that that over the axial middle part of the assigned Tie rod 2, 3 pushed tube end with a thread is wrapped several times so strongly that the relevant Working pressure of the expansion chamber 1 of the positive connection with the Tie rods 2,3 is not destroyed and tightness of the Expansion chamber 1 is guaranteed.
- the positive connection for low working pressures also replaced by a frictional connection be, his special education also by others Measures can be realized.
- the expansion chamber 1 gives the actual actuator of the actuator and consists of an elastic-resilient Material, which after the supply of the Compressed air or alternatively another working fluid one of the two tie rods 2, 3 through which to the Inner wall of the expansion chamber 1 mediated internal pressure undergoes a substantially radially oriented deformation.
- This deformation is in Fig. 2 for an embodiment of the Actuator illustrated in which the expansion chamber 1 by pushed over ring body 6, which over the effective length of the expansion chamber 1 with the same mutual distance are lined up in each other communicating individual chambers 1 'is divided, the radial Widening to the axial space between the ring bodies 6 is limited.
- a coil spring 7 is arranged, which between the two tie rods 2, 3 is braced and a core material 8 surrounds that arranged floating in the expansion chamber 1 is.
- the core material 8 is in the starting position of the actuator by the spiral spring 7 without contact held with the inner wall of the expansion chamber 1.
- the spiral spring 7 centers the core material 8 inside the expansion chamber 1 and ensures its floating arrangement the compressed air supply. Through a line touch the coil spring 7 with the inner wall of the expansion chamber it is also guaranteed that the working fluid evenly distributed into the individual chambers 1 'and thus these individual chambers 1 'a common expansion can experience.
- the core material takes over 8 only the passive role of filling in a Dead space in the filling of the expansion chamber 1 with the working fluid for the deformation of the resilient Material is not needed.
- the initial usable space should be appropriate to about 10 to 20% of the total Filling volume of the expansion chamber may be limited to one safe and economical operation of the actuator to guarantee.
- the actuator is further completed by an outer force transmission sleeve 9, which surrounds the expansion chamber 1 and consists of a flexible, but not stretchable thread material.
- This thread material is formed with an endless thread, which is deflected around the two tie rods 2 and 3 for a multi-layer covering of the expansion chamber 1 in the back and forth.
- the deflection of the continuous thread is carried out via deflection arms 10, which are radially aligned with the axial middle part of each tie rod 2, 3.
- the form-fitting connection of the tie rods 2, 3 at their axial middle part to the ends of the expansion chamber 1 is expediently made such that the deflecting arms 10 of one tie rod 2 to the deflecting arms 10 of the other tie rod 3 are offset.
- this arrangement ensures that the power transmission sleeve 9 obtained with the continuous thread is closed to form a dense package of longitudinal threads.
- an axial tensile force of about 6 kN can be generated with a working pressure of, for example, about 8 bar, at the same time only about 10 to 20% of the initial useful volume of the expansion chamber 1 having to be specified.
- the expansion chamber 1 for the exercise of an internal pressure by the one Connection 2 'of a tie rod 2 supplied working fluid together with a core material 12 with the two tie rods 2, 3 positively connected.
- the one positive connection 4 ' is obtained so that the associated axial ends of the expansion chamber 1 and of the core material 12 are connected to one another in a fluid-tight manner and in an axial bore of the axial middle part of the tie rod 2 pressed and glued therein.
- a corresponding positive connection 5 ' thus obtained that the expansion chamber 1 and the core material 12 on their end faces with the end face of the Tie rods 3 are glued.
- this positive connection 5 'but can also be designed in the same way as the positive connection 4 ', so with one in the axial Central part of the tie rod 3 formed bore, in which the ends of the Expansion chamber 1 and the core material 12 pressed and glued into it.
- the core material 12 consists of the same or approximately same resilient material as that Expansion chamber 1. This allows in this embodiment dispenses with the arrangement of a special coil spring and the entire cavity of the expansion chamber with the Core material must be filled in, so that its main length with the surrounding expansion chamber 1 kept in contact is.
- an incorporated fluid channel in the formation of at least one longitudinal groove 13 provided that a central bore 13 'at the end of the Tie rod 2 connects to the connector 2 'of the fluid supply of the actuator. So if that Working fluid in this incorporated fluid channel 13, 13 ' of the core material 12 is supplied, then an im essentially radially oriented deformation of the expansion chamber 1 received, which to an outer power transmission sleeve 9 is transmitted.
- the power transmission sleeve 9 consists of an endless thread, which is deflected in the back and forth over the two tie rods 2, 3 and surrounds the expansion chamber 1 in multiple layers. Because the core material 12 is held in contact with the expansion chamber 1 and is positively connected together with the expansion chamber 1 at the axial ends to the two tie rods 2, 3, this results in an output length l 0 of the actuator in the arrangement shown in FIG. 6 easier winding process of the continuous thread than in the first embodiment described above.
- the force transmission sleeve 9 is surrounded by an inelastic cylindrical spiral 14, which is attached with its ends to the two tie rods 2, 3 so as to be secured against rotation the communicating individual chambers 1 ′′ of the expansion chamber 1 during the radially oriented deformation of the expansion chamber have a spiral course along the drive axis 11 of the actuator that follows the gradient of the cylinder spiral.
- the incorporated fluid channel of the core material 12 can also have several such longitudinal grooves with a uniform distribution over the circumference of the core material.
- the surface of the core material 12 can also be provided with scratches running parallel to the axis and equally spaced over the circumference of the core material. Such scoring can make the core material more supple if it is compressed from its initial length l 0 to the working length l 1 while the actuator is being shortened.
- the expansion chamber 1 can also be surrounded by a sleeve 15.
- This sleeve 15 is specially designed in the manner of a pipe clamp and consists of an elastically flexible material which wraps around the force transmission sleeve 9 and which is fastened to two clamping jaws 17 which can be tightened by means of adjusting screws 16.
- the outer transmission sleeve can reduce lateral forces be soaked with a lubricant, taking it for that then expediently with a tubular coating an elastic material is provided to prevent escape to prevent the lubricant.
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- 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)
- Actuator (AREA)
Description
- Fig. 1
- eine teilweise geschnittene Ansicht des Stellantriebes gemäß einer ersten Ausführungsform mit einer Darstellung seiner Ausgangsposition,
- Fig. 2
- eine Ansicht des Stellantriebes der Fig. 1 in seiner Arbeitsposition,
- Fig. 3
- eine Schnittansicht des Stellantriebes nach der Linie III-III in Fig. 1,
- Fig. 4
- eine Schnittansicht des Stellantriebes nach der Linie IV-IV in Fig. 2,
- Fig. 5
- eine Schnittansicht des Stellantriebes nach der Linie V-V in Fig. 2,
- Fig. 6
- eine teilweise geschnittene Ansicht des Stellantriebes gemäß einer zweiten Ausführungsform mit einer Darstellung seiner Ausgangsposition,
- Fig. 7
- eine Ansicht des Stellantriebes der Fig. 6 in seiner Arbeitsposition und
- Fig. 8
- eine Schnittansicht des Stellantriebes nach der Linie VIII-VIII in Fig. 6.
Claims (18)
- Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft, bestehend auseiner inneren, im wesentlichen rohrförmigen Expansionskammer (1) aus einem elastisch-nachgiebigen Material, das bei einer Beaufschlagung der Expansionskammer mit einem durch das Fluid vermittelten Innendruck eine im wesentlichen radial ausgerichtete Verformung erfährt; undeiner äußeren Kraftübertragungshülle (9), welche die Expansionskammer (1) umgibt und aus einem flexiblen, jedoch nicht streckbaren Fadenmaterial besteht und an den axialen Enden der Expansionskammer (1) für die Ausübung von axialen Zugkräften bei der radialen Aufweitung der Expansionskammer (1) verankert ist;das Fadenmaterial der äußeren Kraftübertragungshülle (9) mit einem Endlosfaden gebildet ist, der für eine mehrlagige geschlossene Umhüllung der Expansionskammer (1) im Hin- und Hergang über zwei Zuganker (2, 3) umgelenkt ist, die mit den beiden axialen Enden der Expansionskammer (1) verbunden sind.
- Stellantrieb nach Anspruch 1, bei welchem jeder Zuganker (2, 3) mit mehreren Umlenkarmen (10) versehen ist, die zu einem für die Übertragung der axialen Zugkräfte vorgesehenen axialen Mittelteil mit einer radialen Ausrichtung sternförmig angeordnet sind und über welche der Endlosfaden der Kraftübertragungshülle (9) bei der Umlenkung im Hin- und Hergang in der Umfangsrichtung einzeln aufeinanderfolgend sowie abwechselnd bei den Umlenkarmen (10) der beiden Zuganker (2, 3) geführt ist.
- Stellantrieb nach Anspruch 2, bei welchem die Vielzahl der Umlenkarme (10) des Zugankers (2) an dem einen Ende der Expansionskammer (1) zu der Vielzahl der Umlenkarme (10) des Zugankers (3) an deren anderem Ende auf Lücke angeordnet ist.
- Stellantrieb nach Anspruch 2, bei welchem die axialen Enden der Expansionskammer (1) über die axialen Mittelteile der beiden Zuganker (2, 3) übergeschoben und mit ihnen kraft- oder formschlüssig sowie fluiddicht verbunden sind.
- Stellantrieb nach Anspruch 2, bei welchem der Endlosfaden der Kraftübertragungshülle (9) für eine anfängliche, achsparallele Linienberührung mit der Expansionskammer (1) zwischen den Umlenkarmen (10) der beiden Zuganker (2, 3) hin- und hergeführt ist.
- Stellantrieb nach Anspruch 1, bei welchem der Endlosfaden der Kraftübertragungshülle (9) für eine Fixierung an den beiden Zugankern (2, 3) mit einem Kunstharz od.dgl. umgossen ist.
- Stellantrieb nach Anspruch 1, bei welchem die Expansionskammer (1) durch unelastische Ringkörper (6), die mit einem gleichen gegenseitigen Abstand über die äußere Kraftübertragungshülle (9) übergeschoben sind, in miteinander kommunizierende Einzelkammern (1') unterteilt ist, deren radiale Aufweitung zwischen den beiden endseitigen Zugankern (2, 3) auf den axialen Zwischenraum zwischen den Ringkörpern (6) begrenzt ist.
- Stellantrieb nach Anspruch 1, bei welchem in der Expansionskammer (1) eine zwischen den beiden Zugankern (2, 3) verspannte, den axialen Zugkräften entgegenwirkende Spiralfeder (7) angeordnet ist.
- Stellantrieb nach Anspruch 1, bei welchem in der Expansionskammer (1) ein deren Füllvolumen für das Fluid verringerndes, an der radialen Aufweitung der Expansionskammer nicht teilnehmendes und durch die Spiralfeder (7) zentriertes Kernmaterial (8) schwimmend angeordnet ist.
- Stellantrieb nach Anspruch 9, bei welchem das anfängliche Füllvolumen der Expansionskammer (1) zu wenigstens etwa 65 %, vorzugsweise zu etwa 90 - 80 %, mit dem Kernmaterial (8) ausfüllt ist.
- Stellantrieb nach Anspruch 1, bei welchem die Expansionskammer (1) durch eine die Kraftübertragungshülle (9) umgebende Zylinderspirale (14) in miteinander kommunizierende Einzelkammern (1") unterteilt ist, wobei die Zylinderspirale (14) mit ihren Enden an den beiden Zugankern (2,3) verdrehsicher befestigt ist und bei der Aufweitung der Expansionskammer für die Einzelkammern einen der Steigung der Zylinderspirale folgenden spiralförmigen Verlauf längs der Antriebsachse (11) des Stellantriebes ergibt.
- Stellantrieb nach Anspruch 11, bei welchem die Expansionskammer (1) an wenigstens einer ihrer Einzelkammern (1") von einer Manschette (15) umgeben ist, deren Öffnungsgröße für die Ausübung eines dem Innendruck des Fluids entgegenwirkenden Gegendruckes veränderbar ist, um bei der Arbeitslänge (l1) des Stellantriebes eine Feinjustierung der axialen Zugkräfte zu erhalten.
- Stellantrieb nach Anspruch 12, bei welchem die Manschette (15) aus einem die Kraftübertragungshülle (9) umschlingenden elastisch-nachgiebigen Material besteht, welches an zwei Klemmbacken (17) befestigt ist, die für eine Erhöhung des dem Innendruck entgegenwirkenden Gegendruckes durch Stellschrauben (16) gegeneinander anziehbar sind.
- Stellantrieb nach Anspruch 11, bei welchem in der Expansionskammer (1) ein Kernmaterial (12) aus einem gleichen oder annähernd gleichen elastisch-nachgiebigen Material wie die Expansionskammer angeordnet ist, das an seinen axialen Enden mit der Expansionskammer (1) fluiddicht verbunden ist und einen an die Fluidversorgung (2') des Stellantriebes angeschlossenen Fluidkanal (13,13') aufweist, der für die Ausübung des Innendruckes in der Expansionskammer (1) mündet.
- Stellantrieb nach Anspruch 11, bei welchem wenigstens der eine Zuganker (2) mit einer axialen Ausbohrung versehen ist, in welcher die miteinander fluiddicht verbundenen einen Enden der Expansionskammer (1) und des Kernmaterials (12) für einen Anschluß an die Fluidversorgung (2') des Stellantriebes fluiddicht und formschlüssig eingepreßt sind.
- Stellantrieb nach Anspruch 14, bei welchem eine Hauptlänge des Kernmaterials (12) mit der umgebenden Expansionskammer (1) in Berührung gehalten und der eingearbeitete Fluidkanal (13, 13') mit wenigstens einer in der Oberfläche des Kernmaterials mündenden Anschlußbohrung (13') an die Fluidversorgung (2') des Stellantriebes versehen ist.
- Stellantrieb nach Anspruch 16, bei welchem die Oberfläche des Kernmaterials (12) mit achsparallel verlaufenden Anritzungen versehen ist.
- Stellantrieb nach einem der Ansprüche 1 bis 17, bei welchem das Fadenmaterial der Kraftübertragungshülle (9) mit einem Gleitmittel getränkt ist, dessen Entweichen durch einen aus einem elastischen Material bestehenden schlauchförmigen Überzug der Kraftübertragungshülle verhindert wird.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1996143649 DE19643649C1 (de) | 1996-10-22 | 1996-10-22 | Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft |
DE19643649 | 1996-10-22 | ||
DE19725591A DE19725591A1 (de) | 1996-10-22 | 1997-06-17 | Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft |
DE19725591 | 1997-06-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0838597A1 EP0838597A1 (de) | 1998-04-29 |
EP0838597B1 true EP0838597B1 (de) | 2002-05-15 |
Family
ID=26030603
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97118235A Expired - Lifetime EP0838597B1 (de) | 1996-10-22 | 1997-10-21 | Stellantrieb zur Umwandlung der Energie eines Fluids in eine mechanische Kraft |
Country Status (3)
Country | Link |
---|---|
US (1) | US5937732A (de) |
EP (1) | EP0838597B1 (de) |
DE (2) | DE19725591A1 (de) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE29817162U1 (de) | 1998-09-24 | 1999-01-07 | Homann Werner M Dipl Ing Fh | Einrichtung bei einem Tragflügel eines Luftfahrzeuges zur Veränderung der Flügelform |
GB0002045D0 (en) * | 2000-01-28 | 2000-03-22 | Obrien Coker Duro | Octopus |
DE10017104A1 (de) * | 2000-04-06 | 2001-10-11 | Univ Ilmenau Tech | Fluidmechanisches Antriebselement |
JP2003301807A (ja) * | 2002-02-07 | 2003-10-24 | Nippon Robotics Kk | 流体圧式アクチュエータ |
US8087536B2 (en) * | 2002-08-08 | 2012-01-03 | Technische Universiteit Delft | Pressurizable structures comprising different surface sections |
US6868773B2 (en) * | 2002-08-13 | 2005-03-22 | Electro Cam Corporation | Fluidic actuator |
DE10339819A1 (de) * | 2003-08-27 | 2005-03-31 | Gkn Walterscheid Gmbh | Linearstellelement |
DE10345587A1 (de) * | 2003-09-29 | 2005-05-12 | Karlsruhe Forschzent | Fluidischer Antrieb |
DE202004005018U1 (de) * | 2004-03-30 | 2005-02-17 | Homann, Werner, Dipl.-Ing. | Pedalantrieb für ein Fahrzeug |
CA2477797C (en) * | 2004-09-01 | 2006-05-23 | Edouard P. Kassianoff | Tensioned inflatable cover module |
US8210050B2 (en) * | 2004-12-03 | 2012-07-03 | General Electric Company | Apparatus and system for cyclic testing |
US8210051B2 (en) * | 2004-12-03 | 2012-07-03 | General Electric Company | System and method for cyclic testing |
US7353715B2 (en) * | 2004-12-03 | 2008-04-08 | General Electric Company | System, apparatus and method for testing under applied and reduced loads |
US8640602B2 (en) * | 2007-05-11 | 2014-02-04 | Chuo University | Fluid pouring type actuator |
CN102597534B (zh) * | 2009-10-05 | 2015-12-02 | 罗伯特·博世有限公司 | 包括可膨胀蓄积器和存储器组件的能量存储系统 |
US8701398B2 (en) | 2012-03-20 | 2014-04-22 | Robert Bosch Gmbh | Strain energy accumulator |
WO2015200844A2 (en) * | 2014-06-26 | 2015-12-30 | President And Fellows Of Harvard College | Pneumatic insect robots |
US10363670B1 (en) * | 2015-11-04 | 2019-07-30 | Ryan Gundling | Devices, systems, and methods for dynamic bending of inflatable structures |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2925076A (en) * | 1957-03-26 | 1960-02-16 | Ford Motor Co | Electrical switching circuit for power transmission mechanism range selector |
NL6704918A (de) * | 1966-04-08 | 1967-10-09 | ||
US3645173A (en) * | 1969-10-20 | 1972-02-29 | Trish Energetics Inc | Fluid actuator |
JPS5881205A (ja) * | 1981-11-09 | 1983-05-16 | Shunji Hirabayashi | 流体圧アクチユエ−タ |
US4615260A (en) * | 1983-04-25 | 1986-10-07 | Bridgestone Corporation | Pneumatic actuator for manipulator |
US4733603A (en) * | 1983-11-21 | 1988-03-29 | Mirko Kukolj | Axially contractable actuator |
SE453860B (sv) * | 1984-12-17 | 1988-03-07 | Komatsu Mfg Co Ltd | Flexibel manovreringsanordning av korrugerad tryckslang |
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 |
JPH0324304A (ja) * | 1989-06-20 | 1991-02-01 | Bridgestone Corp | 弾性伸長体を用いたアクチュエータ |
JPH03113104A (ja) * | 1989-09-25 | 1991-05-14 | Bridgestone Corp | 湾曲可能なアクチュエータ |
US5031510A (en) * | 1990-03-22 | 1991-07-16 | Welch Allyn, Inc. | Evacuation spring for hydraulic/pneumatic muscle |
US5018506A (en) * | 1990-06-18 | 1991-05-28 | Welch Allyn, Inc. | Fluid controlled biased bending neck |
JPH04145206A (ja) * | 1990-10-04 | 1992-05-19 | Bridgestone Corp | 中空型弾性伸縮体 |
NO311989B1 (no) * | 1990-11-05 | 2002-02-25 | Audun Haugs | Anordning ved strekkorgan |
US5251538A (en) * | 1991-08-21 | 1993-10-12 | Battelle Memorial Institute | Prehensile apparatus |
-
1997
- 1997-06-17 DE DE19725591A patent/DE19725591A1/de not_active Withdrawn
- 1997-10-15 US US08/950,924 patent/US5937732A/en not_active Expired - Fee Related
- 1997-10-21 EP EP97118235A patent/EP0838597B1/de not_active Expired - Lifetime
- 1997-10-21 DE DE59707273T patent/DE59707273D1/de not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE59707273D1 (de) | 2002-06-20 |
EP0838597A1 (de) | 1998-04-29 |
DE19725591A1 (de) | 1998-12-24 |
US5937732A (en) | 1999-08-17 |
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