EP1086314B1 - Dispositif d'actionnement - Google Patents

Dispositif d'actionnement 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
Authority
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
Other languages
German (de)
English (en)
Other versions
EP1086314A1 (fr
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/fr
Application granted granted Critical
Publication of EP1086314B1 publication Critical patent/EP1086314B1/fr
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 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.

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

Claims (7)

  1. Dispositif d'actionnement pouvant être activé par la force d'un fluide, comportant un corps de tuyau (5) s'étendant entre deux pièces de tête (3, 4) espacées, dont le volume intérieur (17) peut recevoir un fluide sous pression, et comportant une structure à cordons (6) fixée sur les deux pièces de tête (3, 4) et coaxiale au corps de tuyau (5), laquelle contient deux groupes de cordons (18, 19) disposés suivant une configuration croisée avec, à l'intérieur de chaque groupe de cordons, des cordons (7) flexibles s'étendant côte à côte avec la même orientation longitudinale, caractérisé en ce que les groupes de cordons (18, 19) ne sont pas réticulés entre eux et s'entourent coaxialement, et sont constamment maintenus à distance les uns des autres par un matériau (22) souple intercalé.
  2. Dispositif d'actionnement selon la revendication 1, caractérisé en ce que les groupes de cordons (18, 19) sont noyés ensemble dans un matériau (22) flexible et présentant de préférence l'élasticité du caoutchouc.
  3. Dispositif d'actionnement selon la revendication 1 ou 2, caractérisé en ce que le matériau (22) est un matériau de caoutchouc ou un matériau élastomère.
  4. Dispositif d'actionnement selon la revendication 2 ou 3, caractérisé en ce qu'un ou les deux groupes de cordons (18, 19) sont entièrement enfermés dans le matériau (22).
  5. Dispositif d'actionnement selon l'une des revendications 1 à 4, caractérisé en ce que le matériau (22), garantissant la distance, est directement formé par le matériau du corps de tuyau.
  6. Dispositif d'actionnement selon l'une des revendications 1 à 5, caractérisé en ce que les cordons (7) s'étendent côte à côte sans contact à l'intérieur de l'un ou des deux groupes de cordons (18, 19).
  7. Dispositif d'actionnement selon la revendication 6, caractérisé en ce que le matériau (22) disposé entre les groupes de cordons (18, 19) et empêchant leur contact, est prévu aussi entre les cordons (7), à l'intérieur des différents groupes de cordons (18, 19), en tant qu'écarteur.
EP00909318A 1999-04-14 2000-03-04 Dispositif d'actionnement Expired - Lifetime EP1086314B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE29906626U 1999-04-14
DE29906626U DE29906626U1 (de) 1999-04-14 1999-04-14 Betätigungseinrichtung
PCT/EP2000/001915 WO2000061952A1 (fr) 1999-04-14 2000-03-04 Dispositif d'actionnement

Publications (2)

Publication Number Publication Date
EP1086314A1 EP1086314A1 (fr) 2001-03-28
EP1086314B1 true EP1086314B1 (fr) 2005-01-12

Family

ID=8072196

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00909318A Expired - Lifetime EP1086314B1 (fr) 1999-04-14 2000-03-04 Dispositif d'actionnement

Country Status (6)

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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3085272A1 (fr) 2015-04-20 2016-10-26 Festo AG & Co. KG Siège de bureau

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DE20008055U1 (de) * 2000-05-05 2000-08-31 Festo Ag & Co Drehantriebsvorrichtung
DE10027731C1 (de) * 2000-06-03 2001-11-29 Festo Ag & Co Durch Fluidbeaufschlagung aktivierbare Betätigungseinrichtung
DE10034389C2 (de) * 2000-07-14 2002-06-13 Festo Ag & Co Durch Fluidbeaufschlagung aktivierbare Betätigungseinrichtung
DE10102910B4 (de) 2001-01-23 2005-06-02 Wilhelm Karmann Gmbh Kraftfahrzeug, insbesondere Cabrio, mit aktiv angesteuerten Torsionsstabilisatoren
DE20112634U1 (de) * 2001-07-31 2001-11-15 Festo Ag & Co Positioniereinrichtung für Gegenstände, insbesondere für pneumatische Handhabungsvorrichtungen
DE10210332A1 (de) 2002-03-08 2003-10-02 Festo Ag & Co Kontraktionseinheit mit Positionssensoreinrichtung
DE20205719U1 (de) * 2002-04-11 2002-07-11 Festo Ag & Co Fluidbetätigter Kontraktionsantrieb
DE20205654U1 (de) 2002-04-12 2002-07-04 Festo Ag & Co Fluidbetätigter Kontraktionsantrieb und zugehöriger Kontraktionsschlauch
DE20205653U1 (de) 2002-04-12 2002-07-04 Festo Ag & Co Gasbetätigter Kontraktionsantrieb
DE10225246A1 (de) 2002-06-07 2004-01-08 Festo Ag & Co. Kontraktionseinheit mit Positionssensoreinrichtung
DE10232503C1 (de) * 2002-07-18 2003-08-14 Festo Ag & Co Fluidbetätigter Aktuator
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DE10337599B4 (de) * 2003-08-16 2006-04-13 Festo Ag & Co. Kontraktionseinheit mit Positionserfassungseinrichtung
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EP1602831B1 (fr) * 2004-05-26 2006-11-15 Festo AG & Co Dispositif d'actionnement activé par un fluide sous pression
DE102004034457B4 (de) * 2004-07-16 2007-12-27 Festo Ag & Co. Antriebsvorrichtung
DE102004034669B4 (de) * 2004-07-17 2009-01-29 Festo Ag & Co. Kg Scharnier für die Motorhaube eines Kraftfahrzeuges
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DE102004053514B4 (de) * 2004-10-29 2010-04-29 Festo Ag & Co. Kg Spannvorrichtung zum Spannen von Werkstücken mit Haupt- und Spannantrieb
DE102005008017A1 (de) * 2005-02-22 2006-08-31 Bayerische Motoren Werke Ag Durch Fluidkraft aktivierbare Betätigungseinrichtung
DE102005008016A1 (de) * 2005-02-22 2006-08-31 Bayerische Motoren Werke Ag Betätigungseinrichtung mit einem sich zwischen zwei Kopfstücken erstreckenden anisotropen Hohlkörper, insbesondere Schlauchkörper
DE102005015135B4 (de) * 2005-03-31 2007-03-22 Feige GmbH, Abfülltechnik Linearschrittantrieb
DE102005017696A1 (de) * 2005-04-07 2006-10-12 Festo Ag & Co. Kontraktionseinheit
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DE102005049647B3 (de) * 2005-10-18 2007-06-28 Festo Ag & Co Spanneinrichtung zum Spannen von Werkstücken
DE102005055210A1 (de) * 2005-11-19 2007-05-24 Zf Friedrichshafen Ag Automatisiertes Schaltgetriebe und automatisierte Reibungskupplung
US7931240B2 (en) * 2006-08-11 2011-04-26 Techno-Sciences, Inc. Cellular support structures used for controlled actuation of fluid contact surfaces
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US8904919B2 (en) * 2006-08-11 2014-12-09 Innovital Systems, Inc. Extensile fluidic muscle actuator
US8307753B2 (en) * 2006-08-11 2012-11-13 Techno-Sciences, Inc. Fluidic artificial muscle actuator and swaging process therefor
EP2114343A4 (fr) * 2007-02-08 2013-01-02 Physio Control Inc Appareil de compression du thorax entraîné par un gaz
DE102007017416B3 (de) * 2007-04-13 2008-06-19 Festo Ag & Co. Sortiervorrichtung
DE102007017417B4 (de) 2007-04-13 2011-06-30 FESTO AG & Co. KG, 73734 Aktuator
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DE202009008729U1 (de) 2009-06-25 2009-08-27 Festo Ag & Co. Kg Gasbetätigter Kontraktionsantrieb
US8573534B2 (en) 2010-04-29 2013-11-05 Techno-Sciences, Inc. Fluidic artificial muscle actuation system for trailing-edge flap
DE102012213326A1 (de) * 2012-07-30 2014-01-30 Koenig & Bauer Aktiengesellschaft Splitteinrichtung und Verfahren zur Aufteilung eines Produktstromes einer Druckmaschine
DE102012025609B4 (de) 2012-07-30 2020-04-16 Koenig & Bauer Ag Weiterverarbeitungs- und/oder Auslageabschnitt einer Druckmaschine zur Aufteilung eines Produktstromes einer Druckmaschine
DE102013013555B4 (de) 2013-08-14 2015-03-19 Festo Ag & Co. Kg Haltevorrichtung zum Festhalten von Gegenständen
DE202014011013U1 (de) * 2014-03-31 2017-05-05 Raja Dravid Trainingsgerät
CN105287000B (zh) * 2015-10-13 2017-10-20 西安交通大学 单气体驱动的柔性微创手术操作臂及制备方法
DE102016220516A1 (de) 2016-10-19 2018-04-19 Festo Ag & Co. Kg Antriebsvorrichtung
JP7109893B2 (ja) 2017-09-11 2022-08-01 株式会社コガネイ アクチュエータ
DE102017220479B3 (de) 2017-11-16 2019-03-14 Festo Ag & Co. Kg Greifvorrichtung
DE102018205891B3 (de) 2018-04-18 2019-02-21 Festo Ag & Co. Kg Durch Fluidbeaufschlagung aktivierbare Betätigungseinrichtung mit Rastmechanismus
GB2586118A (en) 2019-06-14 2021-02-10 Actuation Lab Ltd Contractile device for use as an actuator, pump or compressor
DE102019208773A1 (de) * 2019-06-17 2020-12-17 Festo Se & Co. Kg Aktuatorvorrichtung
EP3822046B1 (fr) 2019-11-12 2024-05-08 Festo SE & Co. KG Structure de robot
DE102022119889A1 (de) 2022-08-08 2024-02-08 Festo Se & Co. Kg Ventil

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3085272A1 (fr) 2015-04-20 2016-10-26 Festo AG & Co. KG Siège de bureau

Also Published As

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

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