EP1086314A1 - Actuator - Google Patents
ActuatorInfo
- 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
Links
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.
Landscapes
- 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)
- Fluid-Driven Valves (AREA)
- Massaging Devices (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29906626U DE29906626U1 (en) | 1999-04-14 | 1999-04-14 | Actuator |
DE29906626U | 1999-04-14 | ||
PCT/EP2000/001915 WO2000061952A1 (en) | 1999-04-14 | 2000-03-04 | Actuator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1086314A1 true EP1086314A1 (en) | 2001-03-28 |
EP1086314B1 EP1086314B1 (en) | 2005-01-12 |
Family
ID=8072196
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00909318A Expired - Lifetime EP1086314B1 (en) | 1999-04-14 | 2000-03-04 | Actuator |
Country Status (6)
Country | Link |
---|---|
US (1) | US6349746B1 (en) |
EP (1) | EP1086314B1 (en) |
JP (1) | JP3711242B2 (en) |
AT (1) | ATE287046T1 (en) |
DE (2) | DE29906626U1 (en) |
WO (1) | WO2000061952A1 (en) |
Families Citing this family (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE20008055U1 (en) * | 2000-05-05 | 2000-08-31 | Festo AG & Co, 73734 Esslingen | Rotary drive device |
DE10027731C1 (en) * | 2000-06-03 | 2001-11-29 | Festo Ag & Co | Operation unit activated by fluid action has contraction tube between head pieces and that can be radially expanded and exert axial tension force and has force overload prevention |
DE10034389C2 (en) * | 2000-07-14 | 2002-06-13 | Festo Ag & Co | Actuator that can be activated by applying fluid |
DE10102910B4 (en) | 2001-01-23 | 2005-06-02 | Wilhelm Karmann Gmbh | Motor vehicle, in particular convertible, with actively controlled torsion stabilizers |
DE20112634U1 (en) | 2001-07-31 | 2001-11-15 | FESTO AG & Co., 73734 Esslingen | Positioning device for objects, in particular for pneumatic handling devices |
DE10210332A1 (en) | 2002-03-08 | 2003-10-02 | Festo Ag & Co | Contraction unit with position sensor device |
DE20205719U1 (en) * | 2002-04-11 | 2002-07-11 | FESTO AG & Co., 73734 Esslingen | Fluid operated contraction drive |
DE20205653U1 (en) | 2002-04-12 | 2002-07-04 | FESTO AG & Co., 73734 Esslingen | Gas operated contraction drive |
DE20205651U1 (en) | 2002-04-12 | 2002-07-11 | FESTO AG & Co., 73734 Esslingen | Fluid operated contraction drive |
DE20205654U1 (en) | 2002-04-12 | 2002-07-04 | FESTO AG & Co., 73734 Esslingen | Fluid operated contraction drive and associated contraction hose |
DE20205655U1 (en) | 2002-04-12 | 2002-07-04 | FESTO AG & Co., 73734 Esslingen | Fluid operated contraction drive |
DE10225246A1 (en) | 2002-06-07 | 2004-01-08 | Festo Ag & Co. | Contraction unit with position sensor device |
DE10232503C1 (en) * | 2002-07-18 | 2003-08-14 | Festo Ag & Co | Fluid-operated actuator has contraction hose fitting with at least one long contraction hose which can be pressurized by operating fluid |
US6868773B2 (en) * | 2002-08-13 | 2005-03-22 | Electro Cam Corporation | Fluidic actuator |
WO2004055390A1 (en) | 2002-12-17 | 2004-07-01 | Ats Automation Tooling Systems Inc. | Pneumatic actuator |
SI21516A (en) * | 2003-06-11 | 2004-12-31 | SAVATECH družba za proizvodnjo gumenotehničnih proizvodov | Pneumatic locking cap for pipelines, particularly gas pipelines |
DE10337599B4 (en) * | 2003-08-16 | 2006-04-13 | Festo Ag & Co. | Contraction unit with position detection device |
US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
DE102004013340B4 (en) * | 2004-03-17 | 2006-11-30 | Peguform Gmbh | Multifunctional seal |
DE102004017897B4 (en) * | 2004-04-13 | 2008-03-20 | Festo Ag & Co. | Linear drive device with thrust support |
DE502004002011D1 (en) * | 2004-05-26 | 2006-12-28 | Festo Ag & Co | Activatable by Fluidbeaufschlagung actuator |
DE102004034457B4 (en) * | 2004-07-16 | 2007-12-27 | Festo Ag & Co. | driving device |
DE102004034669B4 (en) * | 2004-07-17 | 2009-01-29 | Festo Ag & Co. Kg | Hinge for the hood of a motor vehicle |
DE102004037317B4 (en) * | 2004-07-31 | 2008-10-09 | Benteler Automobiltechnik Gmbh | Safety device for motor vehicles |
DE102004053514B4 (en) * | 2004-10-29 | 2010-04-29 | Festo Ag & Co. Kg | Clamping device for clamping workpieces with main and clamping drive |
DE102004053515B3 (en) * | 2004-10-29 | 2006-03-02 | Festo Ag & Co. | Clamping arrangement for clamping workpieces comprises a frictional connection as the clamping device which is coupled with a clamping arm for introducing a clamping lift |
DE102005008017A1 (en) * | 2005-02-22 | 2006-08-31 | Bayerische Motoren Werke Ag | Actuator operated by fluid forces, as a fluid muscle, has a reinforced hose held at spaced head pieces by crimp rings to give a corrugated distortion through radial forces |
DE102005008016A1 (en) * | 2005-02-22 | 2006-08-31 | Bayerische Motoren Werke Ag | Actuating device used as an actuator for twisting partial pieces of a stabilizer in the chassis of a vehicle comprises head pieces which twist relative to each other about a longitudinal axis |
DE102005015135B4 (en) * | 2005-03-31 | 2007-03-22 | Feige GmbH, Abfülltechnik | Linear Stepper Drive |
DE102005017696A1 (en) * | 2005-04-07 | 2006-10-12 | Festo Ag & Co. | Contraction unit e.g. for generating axial relative movement between two head pieces of contraction tube, has two head pieces separated from one another by extending contraction tube interior of which filled with fluid media |
DE102005031265A1 (en) | 2005-07-05 | 2007-01-18 | Sms Demag Ag | Expandable coiler mandrel |
DE102005049647B3 (en) * | 2005-10-18 | 2007-06-28 | Festo Ag & Co | Clamping system for clamping workpieces comprises clamping head with mounted clamping arm, converter and drive shaft linked to clamping arm which operates arm between clamped clearance position of workpieces and fixed contact position |
DE102005055210A1 (en) * | 2005-11-19 | 2007-05-24 | Zf Friedrichshafen Ag | Automated manual transmission and automated friction clutch |
US7931240B2 (en) * | 2006-08-11 | 2011-04-26 | Techno-Sciences, Inc. | Cellular support structures used for controlled actuation of fluid contact surfaces |
US8904919B2 (en) * | 2006-08-11 | 2014-12-09 | Innovital Systems, Inc. | Extensile fluidic muscle actuator |
US7837144B2 (en) * | 2006-08-11 | 2010-11-23 | Techno-Sciences, Inc. | Fluid-driven artificial muscles as mechanisms for controlled actuation |
US8307753B2 (en) * | 2006-08-11 | 2012-11-13 | Techno-Sciences, Inc. | Fluidic artificial muscle actuator and swaging process therefor |
EP2114343A4 (en) | 2007-02-08 | 2013-01-02 | Physio Control Inc | Gas-driven chest compression apparatus |
DE102007017417B4 (en) | 2007-04-13 | 2011-06-30 | FESTO AG & Co. KG, 73734 | actuator |
DE102007017416B3 (en) * | 2007-04-13 | 2008-06-19 | Festo Ag & Co. | Sorting device e.g. for sorting coins, has one end suspended in sorter of suspension area and device has two sides in one of two mutual areas based on suspension area in direction of opening |
PL2110227T3 (en) * | 2008-04-18 | 2011-04-29 | Cavanna Spa | A device for supporting counter-rotating elements |
DE202009008729U1 (en) | 2009-06-25 | 2009-08-27 | Festo Ag & Co. Kg | Gas-operated contraction drive |
US8573534B2 (en) | 2010-04-29 | 2013-11-05 | Techno-Sciences, Inc. | Fluidic artificial muscle actuation system for trailing-edge flap |
DE102012025609B4 (en) | 2012-07-30 | 2020-04-16 | Koenig & Bauer Ag | Further processing and / or delivery section of a printing press for dividing a product stream of a printing press |
DE102012213326A1 (en) * | 2012-07-30 | 2014-01-30 | Koenig & Bauer Aktiengesellschaft | Splitter for dividing product stream of printing machine control units for controlling the change in position of guide element by drive unit which is electromagnetically or pressure-medium-operated pressure and/or traction actuator |
DE102013013555B4 (en) | 2013-08-14 | 2015-03-19 | Festo Ag & Co. Kg | Holding device for holding objects |
DE202014011013U1 (en) * | 2014-03-31 | 2017-05-05 | Raja Dravid | exerciser |
EP3085272B1 (en) | 2015-04-20 | 2017-08-02 | Festo AG & Co. KG | Office chair |
CN105287000B (en) * | 2015-10-13 | 2017-10-20 | 西安交通大学 | The flexible Minimally Invasive Surgery motion arm and preparation method of single gas-powered |
DE102016220516A1 (en) | 2016-10-19 | 2018-04-19 | Festo Ag & Co. Kg | driving device |
JP7109893B2 (en) | 2017-09-11 | 2022-08-01 | 株式会社コガネイ | actuator |
DE102017220479B3 (en) | 2017-11-16 | 2019-03-14 | Festo Ag & Co. Kg | gripping device |
DE102018205891B3 (en) | 2018-04-18 | 2019-02-21 | Festo Ag & Co. Kg | Activatable by Fluidbeaufschlagung actuator with locking mechanism |
GB2586118A (en) | 2019-06-14 | 2021-02-10 | Actuation Lab Ltd | Contractile device for use as an actuator, pump or compressor |
DE102019208773A1 (en) * | 2019-06-17 | 2020-12-17 | Festo Se & Co. Kg | Actuator device |
EP3822046B1 (en) | 2019-11-12 | 2024-05-08 | Festo SE & Co. KG | Robot structure |
DE102022119889A1 (en) | 2022-08-08 | 2024-02-08 | Festo Se & Co. Kg | Valve |
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US2870619A (en) * | 1957-01-23 | 1959-01-27 | Fidelity Machine Company Inc | Flexible hose |
US3567562A (en) * | 1967-09-27 | 1971-03-02 | M K M Knitting Mills Inc | Knitted casing for inflatable bladder |
US3830519A (en) * | 1973-01-10 | 1974-08-20 | Allied Chem | Fiber reinforced inflatable restraining band for vehicles |
GB2003247B (en) * | 1977-08-25 | 1982-03-03 | Dunlop Ltd | Hose |
FR2506893B1 (en) * | 1981-05-27 | 1986-01-03 | Caoutchouc Manuf Plastique | TEMPORARY SHUTTERING DEVICE FOR PIPES OR DRILLING HOLES |
JPS5881205A (en) * | 1981-11-09 | 1983-05-16 | Shunji Hirabayashi | Hydraulic actuator |
FR2517017B1 (en) * | 1981-11-20 | 1986-09-19 | Caoutchouc Manuf Plastique | |
JPS60139904A (en) * | 1983-12-28 | 1985-07-24 | Bridgestone Corp | Pnuematic actuator |
JPS60227003A (en) | 1984-04-25 | 1985-11-12 | Bridgestone Corp | High fidelity elastic shrinkable cylinder responsive to internal pressure |
US4614206A (en) * | 1985-11-14 | 1986-09-30 | Cherne Industries, Inc. | Expansible pneumatic plug device |
JPH03504215A (en) * | 1988-05-19 | 1991-09-19 | エドワーズ、エリック、フランク、ライス | Improvements regarding motion actuators |
US5176660A (en) * | 1989-10-23 | 1993-01-05 | Cordis Corporation | Catheter having reinforcing strands |
AUPM307693A0 (en) * | 1993-12-21 | 1994-01-20 | Uponor N.V. | Expandable plug |
-
1999
- 1999-04-14 DE DE29906626U patent/DE29906626U1/en not_active Expired - Lifetime
-
2000
- 2000-03-04 JP JP2000610978A patent/JP3711242B2/en not_active Expired - Fee Related
- 2000-03-04 DE DE50009203T patent/DE50009203D1/en not_active Expired - Lifetime
- 2000-03-04 WO PCT/EP2000/001915 patent/WO2000061952A1/en active IP Right Grant
- 2000-03-04 AT AT00909318T patent/ATE287046T1/en not_active IP Right Cessation
- 2000-03-04 US US09/700,965 patent/US6349746B1/en not_active Expired - Lifetime
- 2000-03-04 EP EP00909318A patent/EP1086314B1/en not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO0061952A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2000061952A1 (en) | 2000-10-19 |
DE50009203D1 (en) | 2005-02-17 |
DE29906626U1 (en) | 1999-07-15 |
WO2000061952A8 (en) | 2001-03-29 |
JP2002541410A (en) | 2002-12-03 |
JP3711242B2 (en) | 2005-11-02 |
ATE287046T1 (en) | 2005-01-15 |
EP1086314B1 (en) | 2005-01-12 |
US6349746B1 (en) | 2002-02-26 |
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