EP1086314B1 - Actuator - Google Patents

Actuator Download PDF

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Publication number
EP1086314B1
EP1086314B1 EP00909318A EP00909318A EP1086314B1 EP 1086314 B1 EP1086314 B1 EP 1086314B1 EP 00909318 A EP00909318 A EP 00909318A EP 00909318 A EP00909318 A EP 00909318A EP 1086314 B1 EP1086314 B1 EP 1086314B1
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EP
European Patent Office
Prior art keywords
strands
groups
strand
control device
hose body
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
Application number
EP00909318A
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German (de)
French (fr)
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EP1086314A1 (en
Inventor
Dieter Bergemann
Bernd Lorenz
Axel Thallemer
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Festo SE and Co KG
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Festo SE and Co KG
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Publication of EP1086314A1 publication Critical patent/EP1086314A1/en
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15BSYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08Characterised by the construction of the motor unit
    • F15B15/10Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103Characterised 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 activatable by fluid force actuator, with one spaced between two Head pieces extending hose body whose interior can be acted upon by a fluidic pressure medium, and with a fixed to the two head pieces, for Tubing coaxial strand structure, the two in cross configuration arranged strand groups with within one respective strand group with the same longitudinal orientation next to each other extending flexurally flexible strands contains.
  • An actuator of this kind is known from EP 0 161 750 B1.
  • the bending elastic Material existing hose body outside of a surrounded by fiber material strand structure, which is composed of two strand groups, the relative take a cross configuration to each other.
  • the tube body expands radially, which by interaction with the strand structure a reduction causes the distance between the two headers.
  • a problem of the known actuator is in the Intersection of the individual strands occurring high friction during the change in diameter of the hose body. This is mainly due to the change in angle between the strands of the two strand groups.
  • EP 0 161 750 B1 has therefore proposed to apply a lubricant to the Apply intersections of the strands of each strand groups. Apart from the necessary treatment However, it is to be feared that the lubricant itself volatilized over time or, with a corresponding coating the strands, gradually scraped off, so that the lubrication effect decreases with increasing operating time and damage caused by the strand structure can.
  • WO-A-89/11381 discloses an actuator, which comprises a bubble-shaped, inflatable chamber element, made of an elastic material with embedded therein Composing fibers. In the back wall of the chamber element the fibers are interwoven. The fibers of the Exterior wall are unvarnished single fibers.
  • the strand groups are uncrosslinked with each other and coaxially enclose, being replaced by an intermediate yielding Material should always be kept at a distance from each other.
  • the strand groups are expediently together in one flexible and preferably in a rubber-elastic material embedded, preferably completely from this material are enclosed, which is also a protection causes external influences.
  • the strand structure separately from Form tube body and in the manner of a coaxial sheath to place the hose body.
  • the distance material directly between the strand groups formed by the hose body, the strand structure So is integrated into the material of the hose body, the thus defining next to his fluidbeaufschlagbaren an interior Sealing function at the same time the spacer function for the strand groups.
  • the hose body material by vulcanization suitably in the peripheral region of the strand groups to place.
  • the strands are within the single strand groups run side by side which ensures the distance of the strand groups Material at the same time as a shock protection between the Strands within the individual strand groups can serve.
  • the two strand groups can be coaxial with each other in two Hollow cylinder-like layers extending radially do not penetrate, so that the individual strands one related elongated, stretched in their main extension direction Course, resulting in a reduction in material stress and an improvement of the response Has.
  • the illustrated actuating device 1 contains an im deactivated state a substantially hollow cylindrical Shape-taking contraction device 2, which is axially between two spaced headers 3, 4 extends which she is attached.
  • the contraction device 2 includes a made of material with rubber elastic properties existing hose body 5, as material, for example, rubber or an elastomeric material it is a possibility.
  • the contraction device 2 has a strand structure 6 arranged coaxially with the hose body 5, a variety of flexible, but one at the same time relatively high tensile strength individual strands 7 contains.
  • These strands 7 are in the embodiment of individual textile fibers formed, but could also be made Plastic material, moreover, a multi-fiber Structure of the strands 7 would be conceivable, for example, existing each of a plurality of individual twisted individual fibers.
  • the strand structure 6 is completely in the embodiment in the hose body 5 integrated. Their individual strands are embedded in the material of the hose body 5 and preferably completely surrounded by the tubing.
  • the type of attachment is chosen so that between a respective head piece 3, 4 and the hose body 5 a fluid-tight connection is present. It is also important that between the strand structure 6 and the head pieces 3, 4 a very tensile connection is present.
  • the inner part 12 has a contraction device 2 towards conically tapered holding portion 14, on the contraction device 2 under radial spreading is plugged. The end portions of the contraction device 2 are then radially between the outer part 13 and the holding portion 14 firmly clamped.
  • the actuator 1 can then be for example, in the manner of a fluid-operated working cylinder deploy.
  • At least one of the head pieces is with a provided through the fluid passage 16, the one in the Interior 17 of the hose body 5 opens and the other to the outside of the head piece 4 is open. He is with Connection means provided, for example, immediately are formed by the fastening means 15 and the the Connecting a fluid line, not shown in detail, allow via the alternately a pressurized fluid, For example, compressed air, but also hydraulic media, in the interior 17 is fed or discharged from the interior 17 can be.
  • a pressurized fluid For example, compressed air, but also hydraulic media
  • the strands 7 of the strand structure 6 are in two strand groups 18, 19, which are relative to each other in a crossover configuration run. This results in a total, seen in a radial plan view of the strand structure 6, a grid-like configuration with a variety of rhomboid-like Areas. If the interior 17 of the hose body. 5 subjected to a pressure medium, learns the hose body 5 shows an increase in diameter (compare right-hand illustration in FIG Fig. 1), which causes distortion of the diamond grid and, as a result, a shortening or contraction of axial length of the contraction device 2 causes.
  • the Head pieces 3, 4 are thus by a in the axial direction acting tensile force applied, which, for example, to a Approach of two fixed to the two head pieces 3, 4 Can lead components.
  • the strands 7 within a respective strand group 18, 19 are expediently side by side and have a course with mutually equal longitudinal orientation.
  • the strands 7 of a respective strand group 18, 19 extend while helical similar to the circumference of the Tube body 5, wherein the cross-over configuration thereby It comes about that the winding directions of the two strand groups 18, 19 are opposed to each other.
  • the two strand groups 18, 19 unconnected with each other and run in two separate hollow cylinder-like layers coaxially enclose. This is clearly visible in Fig. 3, wherein an inner layer of Strands 7 (inner strand group 18) from a radially further outer strand layer (outer strand group 19) concentric is surrounded.
  • Another advantage of the exemplary actuator 1 is that the strand groups 18, 19 by a intervening compliant material 22 - hereinafter referred to as "Spacer material" - to be kept at a distance. Regardless of the respective activation state of the actuator 1 is thus an immediate touch between the strands 7 of the two strand groups 18, 19 locked out.
  • the same spacer material 22 provides the Embodiment also for that to a common Do not touch strands 18, 19 belonging to strands 7 can, but are also always spaced from each other.
  • Said spacer material 22 is in the embodiment formed directly from the material of the hose body. This fulfills the spacer function in that the individual Strands 7 with the above-mentioned configuration immediately and are completely embedded in the tube body. Compared to the providence of a separate, from accordingly compliant Material existing spacer body, the Hose body 5 in particular would coaxially surround and in the strands 7 are embedded, has the integrated design of the embodiment, the advantage of a significant easier production with the lowest material consumption.
  • the strands are 7 by the spacer material 22nd constantly separated so that regardless of the respective Operating state of the actuator 1 a direct Contact between each of the strands 7 is excluded so that in this regard no friction can occur, the one cause premature wear of the individual strands 7 could. It is understood that executed as a solid body Spacer material 22 has sufficient strength to a Cut through the claimed strands 7 to prevent. At the same time, however, there is sufficient flexibility guaranteed to the occurring during operation radial and Join axial deformations and the strands 7 within of the material 22, the necessary degrees of freedom of movement receive.
  • Rubber material has been the best suited for this purpose so far proved.
  • the integration of the strands 7 in the spacer material 22 or the material of the hose body 5 can be characterized, for example take place that several layers of this material under emb sympat the individual strand groups 18, 19 by vulcanization connects with each other.

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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)
  • Fluid-Driven Valves (AREA)
  • Massaging Devices (AREA)
  • Iron Core Of Rotating Electric Machines (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

Die Erfindung betrifft eine durch Fluidkraft aktivierbare Betätigungseinrichtung, mit einem sich zwischen zwei beabstandeten Kopfstücken erstreckenden Schlauchkörper, dessen Innenraum mit einem fluidischen Druckmedium beaufschlagbar ist, und mit einer an den beiden Kopfstücken fixierten, zum Schlauchkörper koaxial Strangstruktur, die zwei in Überkreuzkonfiguration angeordnete Stranggruppen mit innerhalb einer jeweiligen Stranggruppe mit gleicher Längsorientierung nebeneinander verlaufenden biegeflexiblen Strängen enthält.The invention relates to an activatable by fluid force actuator, with one spaced between two Head pieces extending hose body whose interior can be acted upon by a fluidic pressure medium, and with a fixed to the two head pieces, for Tubing coaxial strand structure, the two in cross configuration arranged strand groups with within one respective strand group with the same longitudinal orientation next to each other extending flexurally flexible strands contains.

Eine Betätigungseinrichtung dieser Art geht aus der EP 0 161 750 B1 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 Innenraums dehnt sich der Schlauchkörper 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 B1 hat man daher vorgeschlagen, ein Schmiermittel an den Schnittpunkten der Stränge der einzelnen Stranggruppen aufzubringen. Abgesehen von dem dafür notwendigen Behandlungsaufwand 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 actuator of this kind is known from EP 0 161 750 B1. In this known case, the bending elastic Material existing hose body outside of a surrounded by fiber material strand structure, which is composed of two strand groups, the relative take a cross configuration to each other. There are the strand groups intertwined, so that a Knotless networking results. By pressurization of its interior, the tube body expands radially, which by interaction with the strand structure a reduction causes the distance between the two headers. A problem of the known actuator is in the Intersection of the individual strands occurring high friction during the change in diameter of the hose body. This is mainly due to the change in angle between the strands of the two strand groups. In the case of EP 0 161 750 B1 has therefore proposed to apply a lubricant to the Apply intersections of the strands of each strand groups. Apart from the necessary treatment However, it is to be feared that the lubricant itself volatilized over time or, with a corresponding coating the strands, gradually scraped off, so that the lubrication effect decreases with increasing operating time and damage caused by the strand structure can.

Aus der WO-A-89/11381 geht eine Betätigungseinrichtung hervor, die ein blasenförmiges, aufblasbares Kammerelement umfasst, das sich aus einem elastischen Material mit darin eingebetteten Fasern zusammensetzt. In der Rückwand des Kammerelements sind die Fasern miteinander verwoben. Die Fasern der Außenwand sind unverwobene Einzelfasern.WO-A-89/11381 discloses an actuator, which comprises a bubble-shaped, inflatable chamber element, made of an elastic material with embedded therein Composing fibers. In the back wall of the chamber element the fibers are interwoven. The fibers of the Exterior wall are unvarnished single fibers.

Es ist die Aufgabe der vorliegenden Erfindung, eine Betätigungseinrichtung der eingangs genannten Art zu schaffen, deren Strangstruktur auch bei längerer Betriebsdauer wenig verschleißgefährdet ist.It is the object of the present invention, an actuator to create the type mentioned, whose Strand structure little susceptible to wear, even over longer periods of operation is.

Zur Lösung dieser Aufgabe ist vorgesehen, dass die Stranggruppen untereinander unvernetzt sind und sich koaxial umschließen, wobei sie durch ein dazwischenliegendes nachgiebiges Material ständig auf Abstand zueinander gehalten werden.To solve this problem, it is provided that the strand groups are uncrosslinked with each other and coaxially enclose, being replaced by an intermediate yielding Material should always be kept at a distance from each other.

Auf diese Weise wird ein unmittelbarer Kontakt zwischen den beiden Stranggruppen vermieden. Der notwendige Abstand wird durch ein zwischen den Stranggruppen platziertes 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 Wirkungsgrand der Betätigungseinrichtung verbessert. Es ist ein sehr einfaches Verlegen der Stränge ohne umständliche Verflechtungsmaßnahmen möglich.In this way, a direct contact between the avoided both strand groups. The necessary distance becomes ensured by a placed between the strand groups material, which practically takes on the function of a partition, but this is due to its yielding the required Movement behavior of the strands is not adversely affected. By the avoided direct touch of the Strand groups, the stress of the strand material is considerable reduces and at the same time the effect of the Actuator improved. It is a very simple one Laying the strands without cumbersome interlacing possible.

Vorteilhafte Weiterbildungen der Erfindung gehen aus den Unteransprüchen hervor. Advantageous developments of the invention will become apparent from the dependent claims out.

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 together in one flexible and preferably in a rubber-elastic material embedded, preferably completely from this material are enclosed, which is also a protection causes external influences.

Es wäre prinzipiell möglich, die Strangstruktur separat vom Schlauchkörper auszubilden und nach Art einer koaxialen Hülle um den Schlauchkörper zu platzieren. Erheblich einfacher und kostengünstiger ist jedoch eine Bauform, bei der das den Abstand zwischen den Stranggruppen gewährleistende Material unmittelbar vom Schlauchkörper gebildet ist, die Strangstruktur also in das Material des Schlauchkörpers integriert ist, der somit neben seiner einen fluidbeaufschlagbaren Innenraum definierenden Abdichtfunktion gleichzeitig auch die Abstandshalterfunktion für die Stranggruppen übernimmt. Es wäre beispielsweise möglich, das Schlauchkörpermaterial durch Vulkanisation in geeigneter Weise im Umfangsbereich der Stranggruppen zu platzieren.It would be possible in principle, the strand structure separately from Form tube body and in the manner of a coaxial sheath to place the hose body. Significantly easier and cost-effective, however, is a design in which the the distance material directly between the strand groups formed by the hose body, the strand structure So is integrated into the material of the hose body, the thus defining next to his fluidbeaufschlagbaren an interior Sealing function at the same time the spacer function for the strand groups. It would be, for example possible, the hose body material by vulcanization suitably in the peripheral region of the strand groups to place.

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 are within the single strand groups run side by side which ensures the distance of the strand groups Material at the same time as a shock protection between the Strands within the individual strand groups can serve.

Die beiden Stranggruppen können in zwei zueinander koaxialen hohlzylinderähnlichen Schichten verlaufen, 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.The two strand groups can be coaxial with each other in two Hollow cylinder-like layers extending radially do not penetrate, so that the individual strands one related elongated, stretched in their main extension direction Course, resulting in a reduction in material stress and an improvement of the response Has.

Nachfolgend wird die Erfindung anhand der beiliegenden Zeichnung näher erläutert. In dieser zeigen:

Fig. 1
eine bevorzugte Bauform der erfindungsgemäßen Betätigungseinrichtung in einer Seitenansicht und teilweise im Längsschnitt, wobei die linke Bildhälfte 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,
Fig. 3
einen Teilquerschnitt durch die Kontraktionseinrichtung der Betätigungseinrichtung gemäß Schnittlinie III-III aus Fig. 2 und
Fig. 4
eine Draufsicht von radial außen auf einen Ausschnitt der Strangstruktur mit Blick gemäß Pfeil IV aus Fig. 2.
The invention will be explained in more detail with reference to the accompanying drawings. In this show:
Fig. 1
a preferred design of the actuator according to the invention in a side view and partially in longitudinal section, the left half of a deactivated and the right half shows an activated operating state of the actuator,
Fig. 2
3 is a perspective view of the actuating device, whose contraction device comprising the hose body and the strand structure is shown partially broken away,
Fig. 3
a partial cross section through the contraction device of the actuator according to section line III-III of Fig. 2 and
Fig. 4
a plan view of radially outside of a section of the strand structure with a view according to arrow IV of FIG. 2nd

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 actuating device 1 contains an im deactivated state a substantially hollow cylindrical Shape-taking contraction device 2, which is axially between two spaced headers 3, 4 extends which she 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 includes a made of material with rubber elastic properties existing hose body 5, as material, for example, rubber or an elastomeric material it is a possibility.

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 arranged coaxially with the hose body 5, a variety of flexible, but one at the same time relatively high tensile strength individual strands 7 contains. These strands 7 are in the embodiment of individual textile fibers formed, but could also be made Plastic material, moreover, a multi-fiber Structure of the strands 7 would be conceivable, for example, existing each of a plurality of individual twisted individual fibers.

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 in the embodiment in the hose body 5 integrated. Their individual strands are embedded in the material of the hose body 5 and preferably completely surrounded by the tubing.

Mit ihren beiden axialen Endbereichen 8, 9 ist die Kontraktionseinrichtung 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 is the contraction device 2 at each one of the head pieces 3, 4th established. Due to the integrated design of the contraction device 2 takes place in the embodiment thus in each case a simultaneous fixing both of the hose body 5 and the strand structure 6. A separate attachment would be also 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 Ausführungsbeispiel 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 Halteabschnitt 14 fest eingespannt.The type of attachment is chosen so that between a respective head piece 3, 4 and the hose body 5 a fluid-tight connection is present. It is also important that between the strand structure 6 and the head pieces 3, 4 a very tensile connection is present. This is the embodiment overall achieved in that the head pieces 3, 4 are executed in several parts and an inner part 12 and a on it screwed on the nature of a union nut outer part 13 feature. The inner part 12 has a contraction device 2 towards conically tapered holding portion 14, on the contraction device 2 under radial spreading is plugged. The end portions of the contraction device 2 are then radially between the outer part 13 and the holding portion 14 firmly clamped.

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.On the two head pieces 3, 4 provided fastening means 15, for example, threaded holes allow a Attachment to components that moves relative to each other should be. The actuator 1 can then be for example, in the manner of a fluid-operated working cylinder deploy.

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, present in Fig. 1 in the right half of the picture shown head piece 4, is with a provided through the fluid passage 16, the one in the Interior 17 of the hose body 5 opens and the other to the outside of the head piece 4 is open. He is with Connection means provided, for example, immediately are formed by the fastening means 15 and the the Connecting a fluid line, not shown in detail, allow via the alternately a pressurized fluid, For example, compressed air, but also hydraulic media, in the interior 17 is fed or discharged from the interior 17 can be.

Die Stränge 7 der Strangstruktur 6 sind zu zwei Stranggruppen 18, 19 zusammengefaßt, die relativ zueinander in einer Überkreuzkonfiguration 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 in two strand groups 18, 19, which are relative to each other in a crossover configuration run. This results in a total, seen in a radial plan view of the strand structure 6, a grid-like configuration with a variety of rhomboid-like Areas. If the interior 17 of the hose body. 5 subjected to a pressure medium, learns the hose body 5 shows an increase in diameter (compare right-hand illustration in FIG Fig. 1), which causes distortion of the diamond grid and, as a result, a shortening or contraction of axial length of the contraction device 2 causes. The Head pieces 3, 4 are thus by a in the axial direction acting tensile force applied, which, for example, to a Approach of two fixed to the two head pieces 3, 4 Can lead components.

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 are expediently side by side and have a course with mutually equal longitudinal orientation. The strands 7 of a respective strand group 18, 19 extend while helical similar to the circumference of the Tube body 5, wherein the cross-over configuration thereby It comes about that the winding directions of the two strand groups 18, 19 are opposed to each other.

Beim Ausführungsbeispiel sind die beiden Stranggruppen 18, 19 untereinander unvernetzt und verlaufen in zwei getrennten hohlzylinderähnlichen 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 18, 19 unconnected with each other and run in two separate hollow cylinder-like layers coaxially enclose. This is clearly visible in Fig. 3, wherein an inner layer of Strands 7 (inner strand group 18) from a radially further outer strand layer (outer strand group 19) concentric is surrounded.

Mit einer derartigen Anordnung wird erreicht, daß der Verlauf der Stränge 7 im Detail praktisch mit der Haupterstreckungsrichtung, 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 the strands 7 in detail practically with the main extension direction, in this case the helical extension coincides and in particular no wave-like longitudinal course is present, as occurs in the prior art, where the Strands are interconnected and alternately on top of each other and run away with each 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 already stretched in the deactivated state and the stretching operations upon initial activation of the actuator only are small. In this way, the Actuator 1 has a very good response. Already resulting from relatively low fluid pressures a noticeable axial pulling force.

Ein weiterer Vorteil der beispielsbemäßen Betätigungseinrichtung 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.Another advantage of the exemplary actuator 1 is that the strand groups 18, 19 by a intervening compliant material 22 - hereinafter referred to as "Spacer material" - to be kept at a distance. Regardless of the respective activation state of the actuator 1 is thus an immediate touch between the strands 7 of the two strand groups 18, 19 locked out. The same spacer material 22 provides the Embodiment also for that to a common Do not touch strands 18, 19 belonging to strands 7 can, but are also always spaced from each other.

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.Said spacer material 22 is in the embodiment formed directly from the material of the hose body. This fulfills the spacer function in that the individual Strands 7 with the above-mentioned configuration immediately and are completely embedded in the tube body. Compared to the providence of a separate, from accordingly compliant Material existing spacer body, the Hose body 5 in particular would coaxially surround and in the strands 7 are embedded, has the integrated design of the embodiment, the advantage of a significant easier 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 are 7 by the spacer material 22nd constantly separated so that regardless of the respective Operating state of the actuator 1 a direct Contact between each of the strands 7 is excluded so that in this regard no friction can occur, the one cause premature wear of the individual strands 7 could. It is understood that executed as a solid body Spacer material 22 has sufficient strength to a Cut through the claimed strands 7 to prevent. At the same time, however, there is sufficient flexibility guaranteed to the occurring during operation radial and Join axial deformations and the strands 7 within of the material 22, the necessary degrees of freedom of movement receive.

Gummimaterial hat sich hierfür bisher als am besten geeignet erwiesen.Rubber material has been the best suited for this purpose so far proved.

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 in the spacer material 22 or the material of the hose body 5 can be characterized, for example take place that several layers of this material under Zwischenfügung the individual strand groups 18, 19 by vulcanization connects with each other.

Claims (7)

  1. Control device activated by fluid force with, extending between two head-pieces (3, 4) at a distance from each other, a main tube part (5), the inner space (17) of which may be acted upon by means of fluid pressure, and with, attached to the two head-pieces (3,4) and coaxial with the main tube part (5) a structure of strands (6) which contains two groups of strands (18,19) arranged in criss-cross configuration, with, within one particular group of strands, flexible strands (7) running next to each other with the same longitudinal orientation, characterized in that the groups of strands (18, 19) are not interlinked and are coaxially enclosed, whereby they are permanently held apart by a material (22) which "gives" and which is placed between them.
  2. Control device according to claim 1, characterized in that the groups of strands (18, 19) are together bedded in a flexible and preferably rubber elastic material (22).
  3. Control device according to claim 1 or 2, characterized in that the material (22) in question is a rubber material or an elastomer material.
  4. Control device according to claim 2 or 3, characterized in that one or both groups of strands (18, 19) are completely enclosed by the material (22).
  5. Control device according to one of claims 1 to 4, characterized in that the material (22) which ensures the gap is directly formed by the material of the main tube part.
  6. Control device according to one of claims 1 to 5, characterized in that the strands (7) within one or both groups of strands (18, 19) run next to each other without coming into contact.
  7. Control device according to claim 6, characterized in that the material (22) arranged between the groups of strands (18, 19) and keeping them apart, is also intended for keeping the strands (7) apart from each other, within the individual groups of strands (18, 19).
EP00909318A 1999-04-14 2000-03-04 Actuator Expired - Lifetime EP1086314B1 (en)

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

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EP1086314A1 EP1086314A1 (en) 2001-03-28
EP1086314B1 true EP1086314B1 (en) 2005-01-12

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US (1) US6349746B1 (en)
EP (1) EP1086314B1 (en)
JP (1) JP3711242B2 (en)
AT (1) ATE287046T1 (en)
DE (2) DE29906626U1 (en)
WO (1) WO2000061952A1 (en)

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WO2000061952A1 (en) 2000-10-19
DE50009203D1 (en) 2005-02-17
DE29906626U1 (en) 1999-07-15
EP1086314A1 (en) 2001-03-28
WO2000061952A8 (en) 2001-03-29
JP2002541410A (en) 2002-12-03
JP3711242B2 (en) 2005-11-02
ATE287046T1 (en) 2005-01-15
US6349746B1 (en) 2002-02-26

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