EP1086314A1 - Actuator - Google Patents

Actuator

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Publication number
EP1086314A1
EP1086314A1 EP00909318A EP00909318A EP1086314A1 EP 1086314 A1 EP1086314 A1 EP 1086314A1 EP 00909318 A EP00909318 A EP 00909318A EP 00909318 A EP00909318 A EP 00909318A EP 1086314 A1 EP1086314 A1 EP 1086314A1
Authority
EP
European Patent Office
Prior art keywords
strand
actuating device
strand groups
strands
groups
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.)
Granted
Application number
EP00909318A
Other languages
German (de)
French (fr)
Other versions
EP1086314B1 (en
Inventor
Dieter Bergemann
Bernd Lorenz
Axel Thallemer
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 EP1086314A1 publication Critical patent/EP1086314A1/en
Application granted granted Critical
Publication of EP1086314B1 publication Critical patent/EP1086314B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime 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 an actuating device which can be activated by fluid force, with a hose body extending between two spaced head pieces, the interior of which can be acted upon by a fluid pressure medium, and with a strand structure fixed to the two head pieces and coaxial to the hose body, the two in cross-over configuration arranged strand groups with flexible flexible strands running alongside one another within a respective strand group with the same longitudinal orientation.
  • an actuating device of this type can be found in EP 0 161 750 B1.
  • the tube body made of flexible material is enclosed on the outside by a strand structure consisting of fiber material, which is composed of two strand groups which assume a crossover configuration relative to one another.
  • the strand groups are interwoven with each other, so that there is a knotless networking.
  • the hose body expands radially, which, by interacting with the strand structure, brings about a reduction in the distance between the two head pieces.
  • a problem with the known actuating device is the high friction which occurs in the crossover area of the individual strands during the change in diameter of the hose body. This is primarily due to the change in angle between the strands of the two strand groups.
  • the strand structure is little prone to wear even after a long period of operation.
  • the strand groups are kept at a distance from one another by an interposed flexible material.
  • the strand groups are expediently embedded together in a flexible and preferably in a rubber-elastic material, wherein they are preferably completely enclosed by this material, which at the same time also provides protection against external influences.
  • the strand structure In principle, it would be possible to form the strand structure separately from the hose body and to place it around the hose body in the manner of a coaxial envelope.
  • the tubular body material in a suitable manner in the peripheral region of the strand groups by vulcanization.
  • the strands run side by side within the individual strand groups without contact, wherein the material ensuring the spacing of the strand groups can also serve as protection against contact between the strands within the individual strand groups.
  • the strand groups are not networked with one another and enclose themselves coaxially. On the one hand, this enables the strands to be laid very easily without cumbersome interlinking measures. On the other hand, the two strand groups run in two coaxial, hollow-cylinder-like layers that do not penetrate each other radially, so that the individual strands have a non-corrugated course with respect to their main direction of extension, which results in a reduction in material stress and an improvement in response behavior.
  • Fig. 1 shows a preferred design of the invention
  • Actuating device in a side view and partly in longitudinal section, the left half of the picture showing a deactivated and the right half of the picture showing an activated operating state of the actuating device, 2 is a perspective view of the actuating device, the contraction device comprising the hose body and the strand structure is shown partially broken away,
  • FIG. 3 shows a partial cross section through the contraction device of the actuating device according to section line III-III from FIG. 2 and
  • FIG. 4 shows a top view from the radial outside of a section of the strand structure with a view according to arrow IV from FIG. 2.
  • the illustrated actuation device 1 contains a contraction device 2, which takes up an essentially hollow cylindrical shape in the deactivated state and extends axially between two spaced head pieces 3, 4, to which it is attached.
  • the contraction device 2 contains a tube body 5 consisting of material with rubber-elastic properties, with rubber or an elastomer material being suitable as the material.
  • the contraction device 2 has a strand structure 6 which is arranged coaxially to the hose body 5 and which contains a plurality of individual strands 7 which are flexible but at the same time have a relatively high tensile strength.
  • these strands 7 are formed from individual textile fibers, but could also consist of plastic material, a multi-fiber structure of the strands 7 also being conceivable, for example consisting of a plurality of individual fibers twisted together.
  • the strand structure 6 is completely integrated in the hose body 5 in the exemplary embodiment. Your individual strands are embedded in the material of the hose body 5 and preferably completely surrounded by the hose material.
  • the contraction device 2 With its two axial end regions 8, 9, the contraction device 2 is fixed to one of the head pieces 3, 4, respectively. Due to the integrated design of the contraction device 2, both the hose body 5 and the strand structure 6 are thus simultaneously fixed in the exemplary embodiment, but separate attachment would also be possible.
  • the type of attachment is selected so that there is a fluid-tight connection between a respective head piece 3, 4 and the hose body 5. It is also important that there is a very tensile connection between the strand structure 6 and the head pieces 3, 4. In the exemplary embodiment, this is achieved overall in that the head pieces 3, 4 are made in several parts and have an inner part 12 and an outer part 13 screwed thereon in the manner of a union nut.
  • the inner part 12 has a holding section 14 which tapers conically towards the contraction device 2 and onto which the contraction device 2 is attached with radial expansion. The end sections of the contraction device 2 are then firmly clamped radially between the outer part 13 and the holding section 14.
  • Fastening means 15, for example threaded bores, provided on the two head pieces 3, 4 enable attachment to components which are to be displaced relative to one another.
  • the actuating device 1 can then be used, for example, in the manner of a fluid-operated working cylinder.
  • At least one of the head pieces in the present case the head piece 4 shown in the right half of FIG. 1, is provided with a continuous fluid channel 16, which on the one hand opens into the interior 17 of the hose body 5 and on the other hand is open to the outside of the head piece 4. It is provided with connecting means which are formed, for example, directly by the fastening means 15 and which make it possible to connect a fluid line, not shown in more detail, via which a fluid under pressure, for example compressed air, but also hydraulic media, is alternately fed into or out of the interior 17 the interior 17 can be removed.
  • a fluid under pressure for example compressed air, but also hydraulic media
  • the strands 7 of the strand structure 6 are combined into two strand groups 18, 19 which run in a cross-over configuration relative to one another. Overall, this results in a lattice-like configuration with a multiplicity of diamond-like regions, as seen in a radial plan view of the strand structure 6. If a pressure medium is applied to the interior 17 of the hose body 5, the hose body 5 experiences an increase in diameter (see right illustration in FIG. 1), which causes a distortion of the diamond grid and, as a result, a shortening or contraction of the axial length of the contraction device 2 causes. The head pieces 3, 4 are thus acted upon by a tensile force acting in the axial direction, which can lead, for example, to an approach of two components fixed to the two head pieces 3, 4.
  • the strands 7 within a respective strand group 18, 19 expediently lie side by side and have a course with the same longitudinal orientation.
  • the strands 7 of a respective strand group 18, 19 run like a helix along the circumference of the tube body 5, the crossover configuration being achieved in that the winding directions of the two strand groups 18, 19 are opposite to each other.
  • the two strand groups are 18, 19 not networked with each other and run in two separate, hollow, cylinder-like layers that are coaxially enclosed. This is clearly visible in FIG. 3, an inner layer of strands 7 (inner strand group 18) being concentrically surrounded by a radially outer strand layer (outer strand group 19).
  • the course of the strands 7 practically coincides in detail with the main direction of extension, in this case the helical extension, and in particular there is no wave-like longitudinal course as occurs in the prior art, where the strands are networked with one another and running alternately one above the other and one below the other.
  • a further advantage of the actuating device 1 according to the example lies in the fact that the strand groups 18, 19 are kept at a distance by a resilient material 22 in between - hereinafter referred to as "spacer material". Regardless of the respective activation state of the actuating device 1, direct contact between the strands 7 of the two strand groups 18, 19 is thus excluded.
  • the same spacer material 22 also ensures that the strands 7 belonging to a common strand group 18, 19 cannot touch each other, but are also always spaced apart.
  • said spacer material 22 is formed directly from the material of the hose body. This fulfills the spacer function in that the individual strands 7 with the configuration mentioned above are directly and completely embedded in the hose body.
  • the integrated design of the exemplary embodiment has the advantage of a significantly simpler production with the lowest material consumption.
  • the strands 7 are separated from each other by the spacer material 22 in such a way that, regardless of the respective operating state of the actuating device 1, direct contact between individual strands 7 is excluded, so that no friction can occur in this regard, which would cause premature wear of the individual strands 7 could.
  • the spacer material 22, designed as a solid has sufficient strength to prevent it from being cut by the strands 7 which are claimed. At the same time, however, sufficient flexibility is also guaranteed to take part in the radial and axial deformations occurring during operation and to maintain the necessary degrees of freedom of movement for the strands 7 within the material 22.
  • the integration of the strands 7 into the spacer material 22 or the material of the hose body 5 can be done, for example, by connecting several layers of this material with the interposition of the individual strand groups 18, 19 by vulcanization.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Rigid Pipes And Flexible Pipes (AREA)
  • Actuator (AREA)
  • Valve Device For Special Equipments (AREA)
  • Massaging Devices (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Fluid-Driven Valves (AREA)

Abstract

It is a question of an actuating means adapted to be activated by fluid power, which comprises a hose body (5) extending between two spaced head pieces (3 and 4) and whose interior space is able to be subjected to a fluid medium. A strand structure (6) fixed to both head pieces (3 and 4) and extending coaxially in relation to the hose body has two strand groups (18 and 19) in a crossover configuration with bendingly flexible strands (7) extending adjacent to one another with the same longitudinal alignment within a strand group. An intermediately placed yielding material (22) between the strand groups (18 and 19) serves to maintain the strand groups constantly at a distance apart.

Description

Betätigungseinrichtung Actuator
Beschreibungdescription
Die Erfindung betrifft eine durch Fluidkraft aktivierbare Betätigungseinrichtung, mit einem sich zwischen zwei be- abstandeten Kopfstücken erstreckenden Schlauchkörper, dessen Innenraum mit einem fluidischen Druckmedium beaufschlagbar ist, und mit einer an den beiden Kopfstücken fixierten, zum Schlauchkörper koaxialen Strangstruktur, die zwei in Über- kreuzfiguration angeordnete Stranggruppen mit innerhalb einer jeweiligen Stranggruppe mit gleicher Längsorientierung nebeneinander verlaufenden biegeflexiblen Strängen enthält.The invention relates to an actuating device which can be activated by fluid force, with a hose body extending between two spaced head pieces, the interior of which can be acted upon by a fluid pressure medium, and with a strand structure fixed to the two head pieces and coaxial to the hose body, the two in cross-over configuration arranged strand groups with flexible flexible strands running alongside one another within a respective strand group with the same longitudinal orientation.
Eine Betätigungseinrichtung dieser Art geht aus der EP 0 161 750 Bl hervor. In diesem bekannten Fall ist der aus biegeelastischem Material bestehende Schlauchkörper außen von einer aus Fasermaterial bestehenden Strangstruktur umschlossen, die sich aus zwei Stranggruppen zusammensetzt, die relativ zueinander eine Überkreuzkonfiguration einnehmen. Dabei sind die Stranggruppen untereinander verflochten, so daß sich eine knotenlose Vernetzung ergibt. Durch Druckbeaufschlagung seines Innenraumes dehnt sich der Schlauchkδrper radial aus, was durch Zusammenwirken mit der Strangstruktur eine Verringerung des Abstandes zwischen den beiden Kopfstücken bewirkt. Ein Problem der bekannten Betätigungseinrichtung ist die im Kreuzungsbereich der einzelnen Stränge auftretende hohe Reibung während der Durchmesseränderung des Schlauchkörpers. Dies ist vor allem bedingt durch die Winkeländerung zwischen den Strängen der beiden Stranggruppen. Im Falle der EP 0 161 750 Bl hat man daher vorgeschlagen, ein Schmiermittel an den Schnittpunkten der Stränge der einzelnen Stranggruppen aufzubringen. Abgesehen von dem dafür notwendigen Behandlungs- aufwand ist jedoch zu befürchten, daß das Schmiermittel sich mit der Zeit verflüchtigt oder, bei einer entsprechenden Beschichtung der Stränge, allmählich abgeschabt wird, so daß der Schmierungseffekt mit zunehmender Betriebsdauer abnimmt und reibungsbedingte Schäden an der Strangstruktur auftreten können.An actuating device of this type can be found in EP 0 161 750 B1. In this known case, the tube body made of flexible material is enclosed on the outside by a strand structure consisting of fiber material, which is composed of two strand groups which assume a crossover configuration relative to one another. The strand groups are interwoven with each other, so that there is a knotless networking. By pressurizing its interior, the hose body expands radially, which, by interacting with the strand structure, brings about a reduction in the distance between the two head pieces. A problem with the known actuating device is the high friction which occurs in the crossover area of the individual strands during the change in diameter of the hose body. This is primarily due to the change in angle between the strands of the two strand groups. In the case of EP 0 161 750 B1, it has therefore been proposed to apply a lubricant to the intersections of the strands of the individual strand groups. Apart from the treatment effort required for this, there is fear, however, that the lubricant will evaporate over time or, if the strands are appropriately coated, will be scraped off gradually, so that the lubrication effect decreases with increasing service life and friction-related damage to the strand structure can occur.
Es ist daher die Aufgabe der vorliegenden Erfindung, eineIt is therefore the object of the present invention, a
Betätigungseinrichtung der eingangs genannten Art zu schaffen, deren Strangstruktur auch bei längerer Betriebsdauer wenig verschleißgefährdet ist.To create actuating device of the type mentioned, the strand structure is little prone to wear even after a long period of operation.
Zur Lösung dieser Aufgabe ist vorgesehen, daß die Stranggruppen durch ein dazwischenliegendes nachgiebiges -Material ständig auf Abstand zueinander gehalten werden.To solve this problem it is provided that the strand groups are kept at a distance from one another by an interposed flexible material.
Auf diese Weise wird ein unmittelbarer Kontakt zwischen den beiden Stranggruppen vermieden. Der notwendige Abstand wird durch ein zwischen den Stranggruppen plaziertes Material gewährleistet, das praktisch die Funktion einer Trennwand übernimmt, das aber auf Grund seiner Nachgiebigkeit das erforderliche Bewegungsverhalten der Stränge nicht nachteilig beeinflußt. Durch die vermiedene unmittelbare Berührung der Stranggruppen wird die Beanspruchung des Strangmaterials beträchtlich reduziert und gleichzeitig der Wirkungsgrad der Betätigungseinrichtung verbessert.In this way, direct contact between the two strand groups is avoided. The necessary distance is ensured by a material placed between the strand groups, which practically takes on the function of a partition wall, but because of its flexibility does not adversely affect the required movement behavior of the strands. The avoided direct contact of the strand groups considerably reduces the stress on the strand material and at the same time improves the efficiency of the actuating device.
Vorteilhafte Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor.Advantageous developments of the invention emerge from the subclaims.
Die Stranggruppen sind zweckmäßigerweise gemeinsam in ein flexibles und vorzugsweise in ein gummielastisches Material eingebettet, wobei sie von diesem Material vorzugsweise vollständig umschlossen sind, was gleichzeitig auch einen Schutz vor externen Einflüssen bewirkt.The strand groups are expediently embedded together in a flexible and preferably in a rubber-elastic material, wherein they are preferably completely enclosed by this material, which at the same time also provides protection against external influences.
Es wäre prinzipiell möglich, die Strangstruktur separat vom Schlauchkörper auszubilden und nach Art einer koaxialen Hülle um den Schlauchkδrper zu plazieren. Erheblich einfacher und kostengünstiger ist jedoch eine Bauform, bei der das den Abstand zwischen den Stranggruppen gewährleistende Material unmittelbar vom Schlauchkδrper gebildet ist, die Strangstruktur also in das Material des Schlauchkörpers integriert ist, der somit neben seiner einen fluidbeaufschlagbaren Innenraum definierenden Abdichtfunktion gleichzeitig auch die Abstands- halterfunktion für die Stranggruppen übernimmt. Es wäre beispielsweise möglich, das Schlauchkörpermaterial durch Vulkanistion in geeigneter Weise im Umfangsbereich der Stranggruppen zu plazieren.In principle, it would be possible to form the strand structure separately from the hose body and to place it around the hose body in the manner of a coaxial envelope. However, a design in which that is considerably simpler and less expensive Material ensuring the distance between the strand groups is formed directly by the hose body, that is, the strand structure is integrated into the material of the hose body, which, in addition to its sealing function which defines an interior which can be acted upon by fluid, also assumes the spacer function for the strand groups. It would be possible, for example, to place the tubular body material in a suitable manner in the peripheral region of the strand groups by vulcanization.
Es ist ferner von Vorteil, wenn die Stränge innerhalb der einzelnen Stranggruppen berührungslos nebeneinander verlaufen, wobei das den Abstand der Stranggruppen gewährleistende Material gleichzeitig auch als Berührschutz zwischen den Strängen innerhalb der einzelnen Stranggruppen dienen kann.It is also advantageous if the strands run side by side within the individual strand groups without contact, wherein the material ensuring the spacing of the strand groups can also serve as protection against contact between the strands within the individual strand groups.
Bei einer besonders zweckmäßigen Ausgestaltung ist vorgesehen, daß die Stranggruppen untereinander unvernetzt sind und sich koaxial umschließen. Dies ermöglicht zum einen ein sehr ein- faches Verlegen der Stränge ohne umständliche Verflechtungsmaßnahmen. Zum andern verlaufen die beiden Stranggruppen in zwei zueinander koaxialen hohlzylinderähnlichen Schichten, die sich radial nicht durchdringen, so daß die einzelnen Stränge einen bezogen auf ihre Haupterstreckungsrichtung gestreckten, ungewellten Verlauf haben, was eine Reduzierung der Materialbeanspruchung und eine Verbesserung des Ansprechverhaltens zur Folge hat.In a particularly expedient embodiment, it is provided that the strand groups are not networked with one another and enclose themselves coaxially. On the one hand, this enables the strands to be laid very easily without cumbersome interlinking measures. On the other hand, the two strand groups run in two coaxial, hollow-cylinder-like layers that do not penetrate each other radially, so that the individual strands have a non-corrugated course with respect to their main direction of extension, which results in a reduction in material stress and an improvement in response behavior.
Nachfolgend wird die Erfindung anhand der beiliegenden Zeich- nung näher erläutert. In dieser zeigen:The invention is explained in more detail below with reference to the accompanying drawing. In this show:
Fig. 1 eine bevorzugte Bauform der erfindungsgemäßenFig. 1 shows a preferred design of the invention
Betätigungseinrichtung in einer Seitenansicht und teilweise im Längsschnitt, wobei die linke Bild- hälfte einen deaktivierten und die rechte Bildhälfte einen aktivierten Betriebszustand der Betätigungseinrichtung zeigt, Fig. 2 eine perspektivische Darstellung der Betätigungseinrichtung, deren den Schlauchkörper und die Strangstruktur umfassende Kontraktionseinrichtung partiell aufgebrochen dargestellt ist,Actuating device in a side view and partly in longitudinal section, the left half of the picture showing a deactivated and the right half of the picture showing an activated operating state of the actuating device, 2 is a perspective view of the actuating device, the contraction device comprising the hose body and the strand structure is shown partially broken away,
Fig. 3 einen Teilquerschnitt durch die Kontraktionseinrichtung der Betätigungseinrichtung gemäß Schnittlinie III-III aus Fig. 2 und3 shows a partial cross section through the contraction device of the actuating device according to section line III-III from FIG. 2 and
Fig. 4 eine Draufsicht von radial außen auf einen Ausschnitt der Strangstruktur mit Blick gemäß Pfeil IV aus Fig. 2.4 shows a top view from the radial outside of a section of the strand structure with a view according to arrow IV from FIG. 2.
Die abgebildete Betätigungseinrichtung 1 enthält eine im deaktivierten Zustand eine im wesentlichen hohlzylindrische Gestalt einnehmende Kontraktionseinrichtung 2, die sich axial zwischen zwei beabstandeten Kopfstücken 3, 4 erstreckt, an denen sie befestigt ist.The illustrated actuation device 1 contains a contraction device 2, which takes up an essentially hollow cylindrical shape in the deactivated state and extends axially between two spaced head pieces 3, 4, to which it is attached.
Die Kontraktionseinrichtung 2 enthält einen aus Material mit gummielastischen Eigenschaften bestehenden Schlauchkörper 5, wobei als Material beispielsweise Gummi oder ein Elastomermaterial in Frage kommt.The contraction device 2 contains a tube body 5 consisting of material with rubber-elastic properties, with rubber or an elastomer material being suitable as the material.
Des weiteren verfügt die Kontraktionseinrichtung 2 über eine koaxial zu dem Schlauchkörper 5 angeordnete Strangstruktur 6, die eine Vielzahl von biegeflexiblen, gleichzeitig aber eine relativ hohe Zugfestigkeit aufweisenden einzelnen Strängen 7 enthält. Diese Stränge 7 sind beim Ausführungsbeispiel von einzelnen textilen Fasern gebildet, könnten aber auch aus Kunststoffmaterial bestehen, wobei überdies ein mehrfasriger Aufbau der Stränge 7 denkbar wäre, beispielsweise bestehend aus jeweils einer Mehrzahl miteinander verdrillter Einzelfasern.Furthermore, the contraction device 2 has a strand structure 6 which is arranged coaxially to the hose body 5 and which contains a plurality of individual strands 7 which are flexible but at the same time have a relatively high tensile strength. In the exemplary embodiment, these strands 7 are formed from individual textile fibers, but could also consist of plastic material, a multi-fiber structure of the strands 7 also being conceivable, for example consisting of a plurality of individual fibers twisted together.
Die Strangstruktur 6 ist beim Ausführungsbeispiel komplett in den Schlauchkörper 5 integriert. Ihre einzelnen Stränge sind in das Material des Schlauchkörpers 5 eingebettet und vorzugsweise vollständig vom Schlauchmaterial umgeben.The strand structure 6 is completely integrated in the hose body 5 in the exemplary embodiment. Your individual strands are embedded in the material of the hose body 5 and preferably completely surrounded by the hose material.
Mit ihren beiden axialen Endbereichen 8, 9 ist die Kon- traktionseinrichtung 2 an jeweils einem der Kopfstücke 3, 4 festgelegt. Auf Grund der integrierten Bauweise der Kontraktionseinrichtung 2 erfolgt beim Ausführungsbeispiel somit jeweils ein gleichzeitiges Fixieren sowohl des Schlauchkörpers 5 als auch der Strangstruktur 6. Eine getrennte Befestigung wäre allerdings ebenfalls möglich.With its two axial end regions 8, 9, the contraction device 2 is fixed to one of the head pieces 3, 4, respectively. Due to the integrated design of the contraction device 2, both the hose body 5 and the strand structure 6 are thus simultaneously fixed in the exemplary embodiment, but separate attachment would also be possible.
Die Art der Befestigung ist so gewählt, daß zwischen einem jeweiligen Kopfstück 3, 4 und dem Schlauchkörper 5 eine fluiddichte Verbindung vorliegt. Ferner ist wichtig, daß zwischen der Strangstruktur 6 und den Kopfstücken 3, 4 eine sehr zugfeste Verbindung vorliegt. Dies wird beim Ausführungs- beispiel insgesamt dadurch erreicht, daß die Kopfstücke 3, 4 mehrteilig ausgeführt sind und über ein Innenteil 12 sowie ein darauf nach Art einer Überwurfmutter aufgeschraubtes Außenteil 13 verfügen. Das Innenteil 12 hat einen sich zur Kontraktionseinrichtung 2 hin konisch verjüngenden Halteabschnitt 14, auf den die Kontraktionseinrichtung 2 unter radialer Aufspreizung aufgesteckt ist. Die Endabschnitte der Kontraktionseinrichtung 2 sind dann radial zwischen dem Außenteil 13 und dem Halte- abschnitt 14 fest eingespannt.The type of attachment is selected so that there is a fluid-tight connection between a respective head piece 3, 4 and the hose body 5. It is also important that there is a very tensile connection between the strand structure 6 and the head pieces 3, 4. In the exemplary embodiment, this is achieved overall in that the head pieces 3, 4 are made in several parts and have an inner part 12 and an outer part 13 screwed thereon in the manner of a union nut. The inner part 12 has a holding section 14 which tapers conically towards the contraction device 2 and onto which the contraction device 2 is attached with radial expansion. The end sections of the contraction device 2 are then firmly clamped radially between the outer part 13 and the holding section 14.
An den beiden Kopfstücken 3, 4 vorgesehene Befestigungsmittel 15, beispielsweise Gewindebohrungen, ermöglichen eine Befestigung an Bauteilen, die relativ zueinander verlagert werden sollen. Die Betätigungseinrichtung 1 läßt sich dann beispielsweise nach Art eines fluidbetätigten Arbeitszylinders einsetzen.Fastening means 15, for example threaded bores, provided on the two head pieces 3, 4 enable attachment to components which are to be displaced relative to one another. The actuating device 1 can then be used, for example, in the manner of a fluid-operated working cylinder.
Mindestens eines der Kopfstücke, vorliegend das in Fig. 1 in der rechten Bildhälfte gezeigte Kopfstück 4, ist mit einem durchgehenden Fluidkanal 16 versehen, der zum einen in den Innenraum 17 des Schlauchkörpers 5 ausmündet und zum andern zur Außenseite des Kopfstückes 4 offen ist. Er ist mit Verbindungsmitteln versehen, die beispielsweise unmittelbar von den Befestigungsmitteln 15 gebildet sind und die das Anschließen einer nicht näher gezeigten Fluidleitung ermöglichen, über die abwechselnd ein unter Druck stehendes Fluid, beispielsweise Druckluft, aber auch hydraulische Medien, in den Innenraum 17 eingespeist oder aus dem Innenraum 17 abgeführt werden kann.At least one of the head pieces, in the present case the head piece 4 shown in the right half of FIG. 1, is provided with a continuous fluid channel 16, which on the one hand opens into the interior 17 of the hose body 5 and on the other hand is open to the outside of the head piece 4. It is provided with connecting means which are formed, for example, directly by the fastening means 15 and which make it possible to connect a fluid line, not shown in more detail, via which a fluid under pressure, for example compressed air, but also hydraulic media, is alternately fed into or out of the interior 17 the interior 17 can be removed.
Die Stränge 7 der Strangstruktur 6 sind zu zwei Stranggruppen 18, 19 zusammengefaßt, die relativ zueinander in einer Über- kreuzkonfiguration verlaufen. Dadurch ergibt sich insgesamt, in radialer Draufsicht auf die Strangstruktur 6 gesehen, eine gitterähnliche Konfiguration mit einer Vielzahl rautenähnlicher Bereiche. Wird der Innenraum 17 des Schlauchkörpers 5 mit einem Druckmedium beaufschlagt, erfährt der Schlauchkörper 5 eine Durchmesservergrößerung (vgl. rechte Darstellung in Fig. 1) , was eine Verzerrung des Rautengitters bewirkt und, daraus resultierend, eine Verkürzung bzw. Kontraktion der axialen Länge der Kontraktionseinrichtung 2 hervorruft. Die Kopfstücke 3, 4 werden somit durch eine in Axialrichtung wirkende Zugkraft beaufschlagt, was beispielsweise zu einer Annäherung zweier an den beiden Kopfstücken 3, 4 festgelegter Bauteile führen kann.The strands 7 of the strand structure 6 are combined into two strand groups 18, 19 which run in a cross-over configuration relative to one another. Overall, this results in a lattice-like configuration with a multiplicity of diamond-like regions, as seen in a radial plan view of the strand structure 6. If a pressure medium is applied to the interior 17 of the hose body 5, the hose body 5 experiences an increase in diameter (see right illustration in FIG. 1), which causes a distortion of the diamond grid and, as a result, a shortening or contraction of the axial length of the contraction device 2 causes. The head pieces 3, 4 are thus acted upon by a tensile force acting in the axial direction, which can lead, for example, to an approach of two components fixed to the two head pieces 3, 4.
Die Stränge 7 innerhalb einer jeweiligen Stranggruppe 18, 19 liegen zweckmäßigerweise seitlich nebeneinander und haben einen Verlauf mit untereinander gleicher Längsorientierung. Die Stränge 7 einer jeweiligen Stranggruppe 18, 19 verlaufen dabei schraubenwendelähnlich entlang des Umfanges des Schlauchkörpers 5, wobei die Überkreuzkonfiguration dadurch zustandekommt, daß die Wickelrichtungen der beiden Stranggruppen 18, 19 einander entgegengesetzt sind.The strands 7 within a respective strand group 18, 19 expediently lie side by side and have a course with the same longitudinal orientation. The strands 7 of a respective strand group 18, 19 run like a helix along the circumference of the tube body 5, the crossover configuration being achieved in that the winding directions of the two strand groups 18, 19 are opposite to each other.
Beim Ausführungsbeispiel sind die beiden Stranggruppen 18, 19 untereinander unvernetzt und verlaufen in zwei getrennten hohl zylinderähnlichen Schichten, die sich koaxial umschließen. Gut sichtbar ist dies in Fig. 3, wobei eine innere Schicht von Strängen 7 (innere Stranggruppe 18) von einer radial weiter außen liegenden Strangschicht (äußere Stranggruppe 19) konzentrisch umgeben ist.In the exemplary embodiment, the two strand groups are 18, 19 not networked with each other and run in two separate, hollow, cylinder-like layers that are coaxially enclosed. This is clearly visible in FIG. 3, an inner layer of strands 7 (inner strand group 18) being concentrically surrounded by a radially outer strand layer (outer strand group 19).
Mit einer derartigen Anordnung wird erreicht, daß der Verlauf der Stränge 7 im Detail praktisch mit der Haupterstreckungs- richtung, vorliegend der wendelartigen Erstreckung, zusammenfällt und insbesondere kein wellenähnlicher Längsverlauf vorliegt, wie er beim Stand der Technik auftritt, wo die Stränge untereinander vernetzt sind und abwechselnd übereinander und untereinander hinweglaufen.With such an arrangement it is achieved that the course of the strands 7 practically coincides in detail with the main direction of extension, in this case the helical extension, and in particular there is no wave-like longitudinal course as occurs in the prior art, where the strands are networked with one another and running alternately one above the other and one below the other.
Man kann somit erreichen, daß die einzelnen Stränge 7 bereits im deaktivierten Zustand gestreckt sind und die Streckungsvorgänge bei anfänglicher Aktivierung der Betätigungseinrichtung nurmehr gering sind. Auf diese Weise verfügt die Betätigungseinrichtung 1 über ein sehr gutes Ansprechverhalten. Schon aus relativ geringen Fluiddrücken resultiert eine merkliche axiale Zugkraft.It can thus be achieved that the individual strands 7 are already stretched in the deactivated state and the stretching processes are only slight when the actuating device is initially activated. In this way, the actuator 1 has a very good response. A noticeable axial tensile force results from relatively low fluid pressures.
Ein weiterer Vorteil der beispielsbemäßen Betätigungsein- richtung 1 liegt darin, daß die Stranggruppen 18, 19 durch ein dazwischenliegendes nachgiebiges Material 22 - nachfolgend als "Abstandsmaterial" bezeichnet - auf Abstand gehalten werden. Ungeachtet des jeweiligen Aktivierungszustandes der Betätigungseinrichtung 1 ist somit eine unmittelbare Berührung zwischen den Strängen 7 der beiden Stranggruppen 18, 19 ausgeschlossen. Das gleiche Abstandsmaterial 22 sorgt beim Ausführungsbeispiel auch dafür, daß sich die zu einer gemeinsamen Stranggruppe 18, 19 gehörenden Stränge 7 nicht berühren können, sondern ebenfalls stets zueinander beabstandet sind.A further advantage of the actuating device 1 according to the example lies in the fact that the strand groups 18, 19 are kept at a distance by a resilient material 22 in between - hereinafter referred to as "spacer material". Regardless of the respective activation state of the actuating device 1, direct contact between the strands 7 of the two strand groups 18, 19 is thus excluded. In the exemplary embodiment, the same spacer material 22 also ensures that the strands 7 belonging to a common strand group 18, 19 cannot touch each other, but are also always spaced apart.
Besagtes Abstandsmaterial 22 ist beim Ausführungsbeispiel unmittelbar vom Material des Schlauchkörpers gebildet. Dieses erfüllt die Abstandshalterfunktion dadurch, daß die einzelnen Stränge 7 mit der oben erwähnten Konfiguration unmittelbar und vollständig in den Schlauchkörper eingebettet sind. Im Vergleich zur Vorsehung eines separaten, aus entsprechend nachgiebigem Material bestehenden Abstandshalterkörpers, der den Schlauchkörper 5 insbesondere koaxial umschließen würde und in den die Stränge 7 eingebettet sind, hat die integrierte Bauweise des Ausführungsbeispiels den Vorteil einer wesentlich einfacheren Herstellung mit geringstem Materialverbrauch.In the exemplary embodiment, said spacer material 22 is formed directly from the material of the hose body. This fulfills the spacer function in that the individual strands 7 with the configuration mentioned above are directly and completely embedded in the hose body. In comparison to the provision of a separate spacer body made of a correspondingly flexible material, which would enclose the hose body 5 in particular coaxially and in which the strands 7 are embedded, the integrated design of the exemplary embodiment has the advantage of a significantly simpler production with the lowest material consumption.
Insgesamt sind die Stränge 7 durch das Abstandsmaterial 22 ständig so voneinander getrennt, daß unabhängig vom jeweiligen Betriebszustand der Betätigungseinrichtung 1 ein unmittelbarer Kontakt zwischen einzelnen der Stränge 7 ausgeschlossen ist, so daß diesbezüglich keine Reibung entstehen kann, die einen frühzeitigen Verschleiß der einzelnen Stränge 7 hervorrufen könnte. Dabei versteht sich, daß das als Festkörper ausgeführte Abstandsmaterial 22 ausreichende Festigkeit hat, um ein Zerschneiden durch die beanspruchten Stränge 7 zu verhindern. Gleichzeitig wird aber auch eine ausreichende Flexibilität gewährleistet, um die im Betrieb auftretenden radialen und axialen Verformungen mitzumachen und den Strängen 7 innerhalb des Materials 22 die notwendigen Bewegungsfreiheitsgrade zu erhalten.Overall, the strands 7 are separated from each other by the spacer material 22 in such a way that, regardless of the respective operating state of the actuating device 1, direct contact between individual strands 7 is excluded, so that no friction can occur in this regard, which would cause premature wear of the individual strands 7 could. It goes without saying that the spacer material 22, designed as a solid, has sufficient strength to prevent it from being cut by the strands 7 which are claimed. At the same time, however, sufficient flexibility is also guaranteed to take part in the radial and axial deformations occurring during operation and to maintain the necessary degrees of freedom of movement for the strands 7 within the material 22.
Gummimaterial hat sich hierfür bisher als am besten geeignet erwiesen.So far, rubber material has proven to be the most suitable.
Die Integration der Stränge 7 in das Abstandsmaterial 22 bzw. das Material des Schlauchkörpers 5 kann beispielsweise dadurch erfolgen, daß man mehrere Schichten dieses Materials unter Zwischenfügung der einzelnen Stranggruppen 18, 19 durch Vulkanisation miteinander verbindet. The integration of the strands 7 into the spacer material 22 or the material of the hose body 5 can be done, for example, by connecting several layers of this material with the interposition of the individual strand groups 18, 19 by vulcanization.

Claims

Ansprüche Expectations
1. Durch Fluidkraft aktivierbare Betätigungseinrichtung, it einem sich zwischen zwei beabstandeten Kopfstücken (3, 4) erstreckenden Schlauchkörper (5) , dessen Innenraum (17) mit einem fluidischen Druckmedium beaufschlagbar ist, und mit einer an den beiden Kopfstücken (3, 4) fixierten, zum Schlauchkörper (5) koaxialen Strangstruktur (6) , die zwei in Überkreuzfiguration angeordnete Stranggruppen (18, 19) mit innerhalb einer jeweiligen Stranggruppe mit gleicher Längsorientierung nebeneinander verlaufenden biegeflexiblen Strängen (7) enthält, dadurch gekennzeichnet, daß die Stranggruppen (18, 19) durch ein dazwischenliegendes nachgiebiges Material (22) ständig auf Abstand zueinander gehalten werden.1. Actuating device which can be activated by fluid force, with a hose body (5) extending between two spaced head pieces (3, 4), the interior (17) of which can be acted upon by a fluid pressure medium, and fixed with one on the two head pieces (3, 4) , to the tubular body (5) coaxial strand structure (6) which contains two strand groups (18, 19) arranged in a cross configuration with flexible flexible strands (7) running alongside one another within a respective strand group with the same longitudinal orientation, characterized in that the strand groups (18, 19 ) are constantly kept at a distance from one another by an intermediate resilient material (22).
2. Betätigungseinrichtung nach Anspruch 1, dadurch gekenn- zeichnet, daß die Stranggruppen (18, 19) gemeinsam in ein flexibles und vorzugsweise gummielastisches Material (22) eingebettet sind.2. Actuating device according to claim 1, characterized in that the strand groups (18, 19) are embedded together in a flexible and preferably rubber-elastic material (22).
3. Betätigungseinrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß es sich bei dem Material (22) um Gummimaterial oder um ein Elastomermaterial handelt.3. Actuating device according to claim 1 or 2, characterized in that the material (22) is rubber material or an elastomer material.
4. Betätigungseinrichtung nach Anspruch 2 oder 3, dadurch gekennzeichnet, daß eine oder beide Stranggruppen (18, 19) vollständig von dem Material (22) umschlossen sind.4. Actuating device according to claim 2 or 3, characterized in that one or both strand groups (18, 19) are completely enclosed by the material (22).
5. Betätigungseinrichtung nach einem der Ansprüche 1 bis5. Actuating device according to one of claims 1 to
4, dadurch gekennzeichnet, daß das den Abstand gewährleistende Material (22) unmittelbar vom Material des Schlauchkörperε gebildet ist.4, characterized in that the material (22) ensuring the distance is formed directly from the material of the hose body.
6. Betätigungseinrichtung nach einem der Ansprüche 1 bis6. Actuating device according to one of claims 1 to
5, dadurch gekennzeichnet, daß die Stränge (7) innerhalb einer oder beider Stranggruppen (18, 19) berührungslos nebeneinander verlaufen. 5, characterized in that the strands (7) run side by side within one or both strand groups (18, 19) without contact.
7. Betätigungseinrichtung nach Anspruch 6, dadurch gekennzeichnet, daß das zwischen den Stranggruppen (18, 19) angeordnete und deren Berührung verhindernde Material (22) auch zwischen den Strängen (7) innerhalb der einzelnen Strang- gruppen (18, 19) als Abstandshalter vorgesehen ist.7. Actuating device according to claim 6, characterized in that the material (22) arranged between the strand groups (18, 19) and preventing their contact also between the strands (7) within the individual strand groups (18, 19) is provided as a spacer is.
8. Betätigungseinrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß die Stranggruppen (18,19) untereinander unvernetzt sind und sich koaxial umschließen. 8. Actuating device according to one of claims 1 to 7, characterized in that the strand groups (18, 19) are not networked with one another and enclose coaxially.
EP00909318A 1999-04-14 2000-03-04 Actuator Expired - Lifetime EP1086314B1 (en)

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DE29906626U DE29906626U1 (en) 1999-04-14 1999-04-14 Actuator
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PCT/EP2000/001915 WO2000061952A1 (en) 1999-04-14 2000-03-04 Actuator

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JP (1) JP3711242B2 (en)
AT (1) ATE287046T1 (en)
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JP3711242B2 (en) 2005-11-02
WO2000061952A1 (en) 2000-10-19
DE50009203D1 (en) 2005-02-17
DE29906626U1 (en) 1999-07-15
JP2002541410A (en) 2002-12-03
WO2000061952A8 (en) 2001-03-29
ATE287046T1 (en) 2005-01-15
EP1086314B1 (en) 2005-01-12
US6349746B1 (en) 2002-02-26

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