EP1865208A2 - Pneumatic or hydraulic actuator - Google Patents

Abstract

The pneumatic or hydraulic deflection element has a flexible support (1), which at an edge layer has one or more pressure-subjectable cushions (3). The cushions contact the planar support. The cushions are directly or indirectly fastened with the support to their edge areas (4a,4b) opposite the support longitudinal axis (5). The cushions are actually fastened directly or indirectly with the support in several spatial directions opposite the edge areas.

Description

In the description, the invention is explained in detail using a few application examples, wherein the basic operating principle of the invention is also intended for other product systems or technical applications.

Known pneumatic or hydraulic deflection systems have the disadvantage that they are technically complex and complex and thus usually designed only for one function. Therefore, these systems are very expensive in production.

The already known pneumatic "Festo muscle" is designed in its function only for a tensile task and therefore can not take on any further tasks within a construction.

The invention is based on the problem of providing a pneumatic or hydraulic deflection element which is designed for at least two functional tasks. According to the invention, this object is achieved e.g. achieved in that a pneumatic or hydraulic cushion with its underside on a flexible support, e.g. is firmly connected by vulcanizing or push-button systems and that on the top of the pad, a fabric-reinforced expansion limit is attached, which also acts as a tension element. The fabric may be incorporated into both the base material of the pad and, as a loose element, may span the pad, in which case it must be attached to the edge zones of the pad itself. When pressure is applied to the pad, it simultaneously develops pressure and pressure

Tensile forces that allow buckling of the vertically or horizontally oriented carrier. The compressive force acts perpendicular to the carrier and the traction horizontal in the direction of the carrier.

A further advantageous embodiment of the deflection element is provided by the use of an additional tension element which extends over the pneumatic or hydraulic cushion and is connected at its ends fixed to the carrier. The tension member may consist of a flexible or flexible, possibly fabric-reinforced rubber material. The pneumatic cushion itself must not be connected in this case with its underside fixed to the carrier, but can be stored as a loose part between the carrier and the underside of the tension element. Also attached directly to the cushion fabric reinforcement is usually due to the additional tension element obsolete or is only needed for special formations of the cushion as an expansion limit for the pillow itself. With one or more deflecting elements or with a plurality of cushions under a pulling element, e.g. low deflectable, but adjustable in hardness and carrying capacity products, such as bedsprings, structural systems for lightweight membrane roofs, ergonomically shaped seat backs with controlled expansion of lumbar support or pneumatic furniture can be realized with variable seating and reclining positions.

In this embodiment of the deflection element with a tension element additional tensile force elements such as pneumatic, hydraulic or electric motors can be attached to one or both ends of the tension element. In this case, the tension element is no longer firmly connected at its ends to the carrier, but runs, for example, under roller guides which are attached to the carrier, lying directly on the edge of the cushion, in addition to the traction elements. In this case, the cushion primarily takes on the task of initiating the buckling of the carrier, so that the additional traction elements, which are attached to the tension element, can optimally develop their tensile forces via an offset to the central axis of the carrier deflection. The exact deflection distance or deflection force can be measured by the attached at the Zugbandende measurement with corresponding sensors. The Measurement technology is also used in conjunction with the additional traction elements. If, for example, a plurality of deflection elements arranged one behind the other, the individual tension elements extend only below the roller guide and are then detached by a puller wire, which is guided through an end block and is guided further as a Bowden cable to the tension elements.

A further advantageous embodiment of the invention is the positioning of two opposing deflection elements which are mounted on at least two opposite sides of the carrier. In this application, the carrier is deflected lying in two directions on a common pivot axis. In this embodiment, each angular position of the carrier or the Auslenkdistanz can be statically determined or converted into a controlled pivotal movement of the carrier by the common regulation of the pressurization of the individual pillows. The deflection elements can be freely selected in size and number to meet the different product-specific requirements.

With this application principle, e.g. Float drives for boats, aerodynamic profile changes of aircraft wings or their brakes, wind turbine wings, spoilers or robotic arms and their gripping tools are realized.

A plurality of deflection elements may be arranged about a central axis of a carrier to allow different deflection directions of the carrier. The carrier may e.g. be formed as a pneumatic carrier, which is material reinforced in its intended deflection and has constrictions, which allow a wrinkle-free buckling of the wearer in all directions. In these constrictions, the intended number of cushions is integrated, the attachment can alternatively be done by vulcanization or via the tension element. In this application as well, any assumed angular position of the pneumatic carrier or the deflection distance can be determined statically or transferred into a controlled pivotal movement of the carrier in several axes by the common regulation of the pressurization of the individual cushions.

In this application, it is advantageous if the tension element consists of a fabric having a different functional layout. The fabric is only designed to train in areas subject to tensile stress. The remainder of the fabric is highly stretchable to provide low resistance to deformation. The fabric may be embedded in a flexible and stretchable rubber or plastic material.

For small components, it is advantageous if the deflection elements or the cushions are designed as hydraulic structures. It can be implemented with this design, for example in the field of control and regulation electrical, pneumatic or hydraulic switching elements with multiple control areas and staggered control sequences. By way of example, a pneumatic or hydraulic cushion in a circular design can be arranged on a circular carrier which has free cuts at regular intervals, which are oriented towards the center of the circle and extend to the edge of the cushion. About a lying over the pillow multi-piece tension element, consisting of several individual drawstrings of different lengths, which are selectively fixed at the circle center of the pad selectively with the pillow, the individual carrier segments are controlled to buckle at a pressurization of the pad. The adjustment of the Ausknickpunktes of the carrier and the individual support elements can be done via adjustable drawstrings, whether on the belt itself or at the point of attachment to the carrier. A different resistance of the individual carrier segments In the control can be generated inter alia by the different material thickness or the different width of the cut segments, so as to achieve differentiated timing for individual receiver units, such as electrical, pneumatic, hydraulic or other control and regulation systems. The required number of individual buckling of the carrier segments can be extremely increased if the multi-part tension member is formed from threads and the flexible carrier is formed comb-like. If the system described above consists of two oppositely located deflecting elements which are fastened on at least two opposite sides of the carrier, the number of possible control pulses can be increased even further. The arrangement of two opposing deflecting a faster switching sequence and higher performance can be achieved in both Ausknickrichtungen. In this arrangement principle of the deflection on the support, the buckling of the carrier or the individual carrier segments can be advantageously carried out by hinge solutions or ball joint heads. Depending on the task, several deflection elements can be arranged one behind the other and have a different size and shape. Tubular cushions are advantageously used for adaptive roofing systems in the field of architecture.

They are due to their length, shape, arrangement and pressure to static load-bearing structures. In this application, the wide tension element is designed both in its transverse direction and in its longitudinal direction to a tensile load. Depending on the design, different functional requirements can be realized, such as e.g. the opening and closing of individual segments for ventilation or light control as well as the unfolding, erecting or rolling up of temporarily usable pneumatic buildings or their sub-segments, in conjunction with the necessary static requirements. An advantageous application of the deflection elements for a stiffening of pneumatic wall or roof elements is achieved by the arrangement of the deflection elements on the respectively opposite side of the carrier and by an offset arrangement of the deflection elements. In this application, the wearer may e.g. consist of a flexible film material.

An even higher stiffening is achieved when the cushions are stacked on the carrier in Ausknickrichtung stacked and when using the individual cushions or drawstrings a firm connection of the individual deflection elements is made with each other. With this arrangement of the deflecting elements, it is possible to advantageously construct heavy-duty structural elements, such as e.g. Bridges, cross members or stiffeners e.g. from lifeboats or pneumatic hulls. If instead of individual pillows tubular threads and traction threads instead of the traction elements used, can be created by using special weaving techniques with appropriate bindings or production techniques in the field of knitwear, such as knitted fabrics, knitted or crocheted fabrics, large-sized elements that deform in the surface and are definable.

The woven elements usually have to be laminated with a flexible upper and lower belt, so that a controlled deflection of the surface and the setting can be done with different spring hardness and stabilization of the respective deflection state. The upper and lower belt can take over the function of the tension element, if both threads take over the function of the pad. In the case of a knitted fabric which is three-dimensionally shaped in space, for example the spacer knitted fabric, the top and bottom chords can generally be dispensed with. The buckling direction of individual areas of the area or the total deformation of the area is predetermined by the choice of a corresponding web or web layout. In a spacer knitted fabric, moreover, the elasticity of the Spacer threads that lead to the outer surfaces are changed. The tubular threads are filled with a thin fluid and are pressurized via a hydraulic pressure system with the necessary pressure. For larger diameter hoses, pressurization may be by gas or compressed air. For particular applications, both threads may be tubular, in which case the pressure in a thread forming the tension member should be higher than in the thread replacing the individual pads.

• Fig. 1 eine erste Prinzipdarstellung eines pneumatischen oder hydraulischen Auslenkelementes in Seitenansicht, das an zwei Kissenrandbereichen Quer zum Träger mit dem darunter liegenden Träger verbunden ist und das Kissen nicht druckbeaufschlagt ist.
• Fig. 2 eine Draufsicht der Fig.1.
• Fig. 3 das druckbeaufschlagte Auslenkelement der Fig. 1 und 2 und die entsprechende Ausknickung des Trägers in Seitenansicht.
• Fig. 4 eine zweite Prinzipdarstellung eines nicht druckbeaufschlagten pneumatischen oder hydraulischen Auslenkelementes in Seitenansicht, das gebildet wird durch ein Kissen und ein darüber verlaufendes Zugelement, das neben den zwei Kissenrandbereichen mit dem darunter liegenden Träger fest verbunden ist.
• Fig. 5 eine Draufsicht der Fig.4.
• Fig. 6 eine Prinzipdarstellung eines nicht druckbeaufschlagten pneumatischen oder hydraulischen Auslenkelementes in Seitenansicht, das durch ein Kissen und ein darüber verlaufendes Zugelement gebildet wird, das an einem Ende des Kissenrandbereiches fest mit dem darunter liegenden Träger verbunden ist und das am anderen Ende des Kissenrandbereichs unter einer Rollenführung verläuft, die fest am Träger verankert ist, wobei des Ende des Zugelementes auf dieser Seite mit Zugkraftelementen verbunden ist.
• Fig. 7 eine Draufsicht der Fig. 6.
• Fig. 8 eine Seitenansicht von Fig. 6 und 7 mit einer zusätzlichen Messeinheit an den Zugkraftelementen.
• Fig. 9 eine Draufsicht der Fig.8.
• Fig. 10 eine Prinzipdarstellung eines nicht druckbeaufschlagten pneumatischen oder hydraulischen Auslenkelementes in Seitenansicht, das durch ein Kissen und ein darüber verlaufendes Zugelement gebildet wird, das an beiden Ende des Kissenrandbereichs unter einer Rollenführung verläuft, die fest am Träger verankert ist, wobei beide Enden des Zugelementes mit Zugkraftelementen und Messeinrichtungen verbunden sind.
• Fig. 11 eine Draufsicht der Fig. 10.
• Fig. 12 eine Prinzipdarstellung eines nicht druckbeaufschlagten pneumatischen oder hydraulischen Auslenkelementes in Draufsicht, das durch ein Kissen und ein darüber verlaufendes Zugelement mit vier einzelnen Armen gebildet wird, die an vier Punkten neben den Kissenrandbereich liegen, während die einzelnen Arme fest mit dem Träger bzw. den einzelnen Trägerelemente verankert sind und das Zugelement im Kreismittelpunkt des Kissens punktuell fest mit dem Kissen verbunden ist.
• Fig. 13 einen Schnitt der Fig. 12.
• Fig. 14 eine Prinzipdarstellung von drei gleich großen, hintereinander angeordneten, nicht druckbeaufschlagten, pneumatischen oder hydraulischen Auslenkelementen in Seitenansicht.
• Fig. 15 eine Prinzipdarstellung von drei unterschiedlich großen, hintereinander angeordneten, nicht druckbeaufschlagten, pneumatischen oder hydraulischen Auslenkelementen in Seitenansicht.
• Fig. 16 eine Prinzipdarstellung von drei hintereinander angeordneten, nicht druckbeaufschlagten, pneumatischen oder hydraulischen Kissen auf der jeweils gegenüberliegenden Seite des Trägers in Seitenansicht.
• Fig. 17 eine Prinzipdarstellung von drei hintereinander angeordneten, nicht druckbeaufschlagten, pneumatischen oder hydraulischen Kissen auf einer Seite des Trägers und einem größeren Kissen auf der gegenüberliegenden Seite des Trägers, ebenfalls ohne Druckbeaufschlagung.
• Fig.18 eine Prinzipdarstellung in Seitenansicht von zwei hintereinander angeordneten, pneumatischen oder hydraulischen Kissen auf den jeweils gegenüberliegenden Seiten des Trägers mit unterschiedlicher Druckbeaufschlagung der einzelnen Kissen und der Ausknickung unter dem jeweiligen Auslenkelement, das mit Druck beaufschlagt ist.
• Fig. 19 eine Prinzipdarstellung in Seitenansicht von einem pneumatischen oder hydraulischen Auslenkelement mit je einem Kissen auf den jeweils gegenüberliegenden Seiten des Trägers und einem Zugelement, das über beide Kissen verläuft, indem es schlaufenförmig durch den Träger geführt ist, während beide Kissen mit gleichen Druck beaufschlagt sind und der Träger dadurch einen leichten Doppelschwung einnimmt.
• Fig. 20 einen Träger in Seitenansicht mit einzelnen Kettenelementen, die durch flexible Dämpfungselemente, welche das Ausknicken des Trägers dämpfen, beabstandet sind, sowie ein darunter angeordnetes Kissen und ein Zugelement, das durch Umlenkrollen zu den Zugkraftelementen geführt ist.
• Fig. 21 eine Prinzipdarstellung einer brückenartigen Konstruktion, die mit einem Auslenkelement gebildet wird, wobei das Kissen mit Druck beaufschlagt ist.
• Fig. 22 eine Prinzipdarstellung einer brückenartigen Konstruktion, die aus mehreren in Druckverbindung stehenden Kissen gebildet wird und aus einem Zugelement, das über die einzelnen Kissen verläuft und hinter dem jeweils letzten Kissen am Träger befestigt ist, während die Kissen druckbeaufschlagt sind.
• Fig. 23 eine Unteransicht der Fig.22
• Fig. 24 einen Träger in Seitenansicht mit einzelnen Kissen und einem Zugelement, das über die einzelnen Kissen verläuft und über Umlenkrollen, die zwischen den einzelnen Kissen am Träger fest angeordnet sind, umgelenkt wird und am jeweiligen Ende des Trägers fest mit diesem verbunden ist.
• Fig. 25 einen Träger in Seitenansicht mit einzelnen Kettenelementen auf der jeweils gegenüberliegenden Seite des Trägers, die durch flexible Dämpfungselemente beabstandet sind, die das Ausknicken des Trägers in beiden Ausknickachsen dämpfen, wobei jeweils ein Zugelement über den darunter angeordneten Kissen verläuft und durch Umlenkrollen zu den Zugkraftelementen geführt ist.
• Fig. 26 eine Anordnung von hintereinander angeordneten, schlauchförmigen Kissen in Draufsicht, und ein breites Zugband, das jeweils zwischen den einzelnen Kissen fest mit dem Träger verbunden ist.
• Fig. 27 eine Seitenansicht von Fig. 26 mit druckbeaufschlagten Kissen und der entsprechenden Auslenkung des Trägers.
• Fig. 28 einen ausgeknickten Träger in Seitenansicht mit aufeinander gestapelten, druckbeaufschlagten Kissen, wobei die erste Reihe mit dem Träger verbunden ist und die folgenden jeweils über Zugbänder untereinander verbunden sind und die Kissen einzeln oder in Gruppen über ein geregeltes druckgebendes System mit Druck beaufschlagt werden können.
• Fig. 29 einen ausgeknickten Träger in Seitenansicht mit auf beiden Seiten aufeinander gestapelten druckbeaufschlagten Kissen, wobei die erste Reihe mit dem Träger verbunden ist und die folgenden jeweils über Zugbänder untereinander verbunden sind und die Kissen einzeln oder in Gruppen über ein geregeltes druckgebendes System mit Druck beaufschlagt werden können.
• Fig. 30 einen rotationssymmetrisch ausgeformten, pneumatischen Träger im vertikalen Schnitt mit entsprechenden Einschnürungen für die Aufnahme von vier Auslenkelementen und zeigt beispielhaft eine Möglichkeit der Ausformung, damit ein faltenfreies Ausknicken des pneumatischen Trägers realisiert werden kann.
• Fig. 31 einen horizontalen Schnitt der Fig. 29, die vier in der Einschnürung eingelagerten Kissen und die Zugverbindungen der einzelnen Einschnürungsbereiche im pneumatischen Körper.
• Fig. 32 einen Schnitt davon, wie beispielhaft zwei Folienkissen, die ein Innenspannelement aufweisen, durch zwei Auslenkelemente miteinander verbunden werden können, wobei in diesem Fall die Zugelemente mit der Außenfolie des Folienkissens fest verbunden sind und die beiden sich gegenüberliegenden Kissen, die unter dem jeweiligen Zugband liegen, an ihrem Berührungspunkt auch fest miteinander und mit dem Rand des Folienkissens verbunden sind.
• Fig. 33 einen Schnitt davon, wie beispielhaft zwei Folienkissen, die ein Innenspannelement aufweisen, durch zwei Auslenkelemente miteinander verbunden werden können, wobei in diesem Fall die beiden Kissen, die das Auslenkelement bilden, auf einem äußeren Teilabschnitt des Innenspannelementes fest angebracht sind, während die beiden Folienkissen bzw. die Innenspannelemente mit einem Filmscharnier miteinander verbunden sind.
• Fig. 34 einen Träger im Schnitt und in Seitenansicht mit einem Scharnier, an dem zwei Auslenkelemente auf den jeweils abgewandten Seiten des Trägers angebracht sind, wobei die Kissen zwischen dem Zugelement und dem Träger in Schaum oder flexiblen Kunststoffen eingeschäumt bzw. eingegossen sind und mit Druck beaufschlagt sind.
• Fig. 35 einen Träger im Schnitt und in Seitenansicht mit einem Scharnier, auf dem auf einer Seite ein Auslenkelement angebracht ist und auf der gegenüberliegenden Seite nur ein Zugelement, das über einen Abstandshalter, der im Gelenkbereich befestigt ist, verläuft und unter einer Rollenführung zu einem Zugkraftelement und einer Messeinheit.
• Fig. 36 beispielhaft eine Anordnung von mehreren Auslenkelementen in Draufsicht, die hintereinander und in Reihe auf dem Träger befestigt sind, um bestimmte Teilbereiche des Trägers auszuknicken.
• Fig. 37 beispielhaft eine Anordnung von mehreren Auslenkelementen in Draufsicht, die unterschiedlich versetzt auf dem Träger befestigt sind, um vorbestimmte Teilbereiche des Trägers auszuknicken.
• Fig. 38 beispielhaft eine Anordnung von vier kreuzförmig angeordneten Auslenkelementen, die auf dem Träger befestigt sind, um bestimmte Teilbereiche des Trägers auszuknicken, wobei der Träger Freischnitte aufweist, damit nur die Trägerabschnitte ausgeknickt werden, die durch eine geregelte Druckbeaufschlagung auf das jeweilige Auslenkelement gewünscht werden.
• Fig. 39 beispielhaft eine Sitzrückenlehne, bei der der Lordosebereich über ein Auslenkelement angesteuert werden kann, das aus einem beidseitig befestigten Zugelement, unter dem das pneumatische oder hydraulische Kissen eingebracht ist.
• Fig. 40 ein loses Kissen auf einem Träger, über dem ein Zugelement verläuft, das auf einer Seite am Träger befestigt ist und auf der anderen Seite unter einer Umlenkrolle hindurchgeführt wird, wobei kurz nach dem Bereich der Umlenkrolle das Zugelement mit einem Stahlseil verbunden ist, das durch einen Anschlagsblock hindurchläuft und in einen Bowdenzug mündet, der sich wiederum gegen den Anschlagsblock abstützt.
• Fig. 41 beispielhaft einen pneumatischen oder hydraulischen Greifer in Seitenansicht, in dem das Auslenkelement horizontal angeordnet ist ohne Druckbeaufschlagung.
• Fig. 42 die Fig. 38 in geschlossenem Zustand in Seitenansicht, wenn das Auslenkelement mit Druck beaufschlagt ist.
• Fig. 43 beispielhaft einen pneumatischen oder hydraulischen Greifer in Seitenansicht, in dem zwei Auslenkelemente diagonal angeordnet sind ohne Druckbeaufschlagung.
• Fig. 44 die Fig. 40 in geschlossenem Zustand in Seitenansicht, wenn die Auslenkelemente mit Druck beaufschlagt sind.
• Fig. 45 beispielhaft einen pneumatischen oder hydraulischen Greifer in Seitenansicht, in dem zwei Auslenkelemente senkrecht angeordnet sind ohne Druckbeaufschlagung.
• Fig. 46 beispielhaft einen pneumatischen oder hydraulischen Greifer in Seitenansicht, der auf jedem der beiden Schenkel innen und außen Auslenkelemente besitzt, die senkrecht angeordnet sind ohne Druckbeaufschlagung.
• Fig. 47 beispielhaft zwei parallel angeordnete Träger mit jeweils einem Kissen, die sich gegenüberliegen und sich mit der dem Träger abgewandten Seite beinahe berühren.
• Fig. 48 beispielhaft zwei parallel angeordnete Träger mit jeweils einem Kissen, die sich gegenüberliegen und sich mit der dem Träger abgewandten Seite beinahe berühren, wobei jeder Träger ebenfalls mit jeweils einem Kissen auf der außenliegenden Seite bestückt ist.
• Fig. 49 beispielhaft hintereinander in Reihe auf einem Träger angeordnete Greifer der Fig. 45.
• Fig. 50 beispielhaft rotationssymmetrisch angeordnete Auslenkelemente.

The invention will be explained in more detail with reference to embodiments shown in the drawings. Show it:

• Fig. 1 is a first schematic representation of a pneumatic or hydraulic deflecting element in side view, which is connected to two cushion edge areas transverse to the carrier with the underlying carrier and the pad is not pressurized.
• Fig. 2 is a plan view of Fig.1.
• Fig. 3, the pressurized deflecting element of Figs. 1 and 2 and the corresponding buckling of the carrier in side view.
• Fig. 4 is a second schematic representation of a non-pressurized pneumatic or hydraulic deflection element in side view, which is formed by a cushion and an overlying tension element, which is fixedly connected to the underlying support next to the two cushion edge regions.
• Fig. 5 is a plan view of Fig.4.
• Fig. 6 is a schematic representation of a non-pressurized pneumatic or hydraulic deflection element in side view, which is formed by a cushion and an overlying tension element, which is connected at one end of the cushion edge region fixed to the underlying support and at the other end of the cushion edge region under a Roller guide runs, which is firmly anchored to the carrier, wherein the end of the tension element is connected on this side with traction elements.
• 7 is a plan view of FIG .. 6
• Fig. 8 is a side view of Fig. 6 and 7 with an additional measuring unit on the traction elements.
• Fig. 9 is a plan view of Fig.8.
• Fig. 10 is a schematic representation of a non-pressurized pneumatic or hydraulic deflection element in side view, which is formed by a cushion and an overlying tension element which extends at both ends of the cushion edge portion under a roller guide, which is firmly anchored to the carrier, both ends of the tension element connected with traction elements and measuring devices.
• 11 is a plan view of FIG. 10th
• Fig. 12 is a schematic representation of a non-pressurized pneumatic or hydraulic deflection element in plan view, which is formed by a cushion and an overlying tension element with four individual arms, which lie at four points next to the cushion edge area, while the individual arms fixed to the carrier or the individual support elements are anchored and the tension element is at the center of the circle of the pad at certain points firmly connected to the pillow.
• 13 is a section of FIG. 12th
• Fig. 14 is a schematic representation of three equally sized, arranged one behind the other, not pressurized, pneumatic or hydraulic deflection elements in side view.
• Fig. 15 is a schematic representation of three different sized, arranged one behind the other, not pressurized, pneumatic or hydraulic deflection elements in side view.
• Fig. 16 is a schematic representation of three successively arranged, non-pressurized, pneumatic or hydraulic cushion on the opposite side of the carrier in side view.
• Fig. 17 is a schematic diagram of three successively arranged, non-pressurized, pneumatic or hydraulic cushion on one side of the carrier and a larger cushion on the opposite side of the carrier, also without pressurization.
• 18 is a schematic side view of two successively arranged, pneumatic or hydraulic cushion on the respective opposite sides of the carrier with different pressurization of the individual pads and the buckling under the respective deflecting element, which is pressurized.
• Fig. 19 is a schematic side view of a pneumatic or hydraulic deflection element, each with a cushion on the respective opposite sides of the carrier and a tension element which extends over both cushions by being looped through the carrier, while both cushions subjected to the same pressure and the wearer thereby takes a slight double swing.
• Fig. 20 shows a carrier in side view with individual chain elements, which are spaced by flexible damping elements which damp the buckling of the carrier, and a cushion arranged underneath and a tension element, which is guided by deflection rollers to the traction elements.
• Fig. 21 is a schematic diagram of a bridge-like construction which is formed with a deflecting element, wherein the pad is pressurized.
• Fig. 22 is a schematic diagram of a bridge-like construction formed of a plurality of pressure-bonded pads and a tension member extending over the individual pads and secured behind the last pad on the carrier while the pads are pressurized.
• Fig. 23 is a bottom view of Fig.22
• Fig. 24 shows a support in side view with individual cushions and a tension element which runs over the individual cushions and is deflected over deflecting rollers which are fixedly arranged between the individual cushions on the support and is firmly connected to the respective end of the support.
• Fig. 25 shows a carrier in side view with individual chain elements on the respective opposite side of the carrier, which are spaced by flexible damping elements that dampen the buckling of the carrier in both Ausknickachsen, each a tension member extends over the underlying cushion and by deflection rollers to the Traction elements is performed.
• Fig. 26 is an arrangement of successively arranged, tubular cushion in plan view, and a wide drawstring, which is respectively connected between the individual pads fixed to the carrier.
• Fig. 27 is a side view of Fig. 26 with pressurized cushion and the corresponding deflection of the carrier.
• 28 is a side view of a folded support with stacked, pressurized pad, wherein the first row is connected to the carrier and the following are each interconnected by drawstrings and the pad individually or in groups can be pressurized via a regulated pressure-giving system with pressure ,
• 29 is a side view of a bent carrier with stacked on both sides pressurized cushion, wherein the first row with the carrier is connected and the following are each connected to each other via drawstrings and the cushions individually or in groups can be pressurized via a regulated pressure-giving system with pressure.
• Fig. 30 shows a rotationally symmetrical shaped pneumatic support in vertical section with corresponding constrictions for receiving four deflecting elements and shows an example of a possibility of molding, so that a wrinkle-free buckling of the pneumatic support can be realized.
• Fig. 31 is a horizontal section of Fig. 29, the four embedded in the constriction cushion and the train connections of the individual constriction areas in the pneumatic body.
• 32 shows a section thereof, as exemplarily two foil cushions which have an inner clamping element, which can be connected to one another by two deflection elements, in which case the tension elements are fixedly connected to the outer foil of the foil cushion and the two opposing cushions which underlie the respective cushions Tieback are at their point of contact also firmly together and connected to the edge of the foil cushion.
• Fig. 33 is a section thereof, as exemplified two foil cushions having an inner clamping element, can be interconnected by two deflecting elements, in which case the two cushions which form the deflecting element are fixedly mounted on an outer portion of the inner clamping element, while the two foil cushion or the inner clamping elements are connected to each other with a film hinge.
• Fig. 34 shows a carrier in section and in side view with a hinge to which two deflecting elements are mounted on the opposite sides of the carrier, the cushions are foamed or poured between the tension element and the carrier in foam or flexible plastics and with pressure are charged.
• Fig. 35 shows a carrier in section and in side view with a hinge on which a deflecting element is mounted on one side and on the opposite side only a tension element, which is attached via a spacer which is fixed in the hinge region, and under a roller guide to a Traction element and a measuring unit.
• 36 shows, by way of example, an arrangement of a plurality of deflection elements in plan view, which are fastened one behind the other and in series on the carrier in order to buckle specific portions of the carrier.
• Fig. 37 shows an example of an arrangement of a plurality of deflection elements in plan view, which are mounted differently offset on the carrier to buckle predetermined portions of the support.
• Fig. 38 shows an example of an arrangement of four cross-shaped deflecting elements, which are mounted on the support to buckle certain portions of the support, wherein the carrier has free cuts, so that only the support portions are bent, which are desired by a controlled pressurization of the respective deflection element ,
• 39 shows, by way of example, a seat back, in which the lordosis region can be activated by means of a deflection element, which consists of a tension element fastened on both sides, under which the pneumatic or hydraulic cushion is inserted.
• 40 shows a loose cushion on a support, over which runs a tension element which is fastened on one side to the support and is guided on the other side under a deflection roller, wherein shortly after the region of the deflection roller the tension element is connected to a steel cable, which passes through a stop block and opens into a Bowden cable, which in turn is supported against the stop block.
• 41 shows, by way of example, a pneumatic or hydraulic gripper in side view, in which the deflecting element is arranged horizontally without pressurization.
• Fig. 42, Fig. 38 in the closed state in side view, when the deflecting element is pressurized.
• FIG. 43 shows, by way of example, a pneumatic or hydraulic gripper in side view, in which two deflecting elements are arranged diagonally without pressurization.
• Fig. 44, Fig. 40 in the closed state in side view, when the deflection elements are pressurized.
• Fig. 45 by way of example a pneumatic or hydraulic gripper in side view, in which two deflecting elements are arranged vertically without pressurization.
• Fig. 46 by way of example a pneumatic or hydraulic gripper in side view, which has on each of the two legs inside and outside deflection, which are arranged vertically without pressurization.
• Fig. 47 by way of example two parallel arranged carrier, each with a cushion, which are opposite each other and almost touching the side facing away from the carrier.
• 48 shows, by way of example, two supports arranged in parallel, each with a cushion, which lie opposite one another and almost touch one another with the side facing away from the support, wherein each support is likewise equipped in each case with a cushion on the outer side.
• 49, by way of example, successively arranged in series on a carrier gripper of FIG. 45th
• Fig. 50 by way of example rotationally symmetrical deflection elements.

In FIGS. 1 to 3, the cushions 3 with their edge regions 4a and 4b are fastened to the carrier 1 on its edge layer 2. The attachment of the pad 3 with its edge regions 4a and 4b can be done by clamping, hooking or insertion in guide grooves on the carrier 1. The cushion 3 can be vulcanized or adhesively bonded by way of example with its cushion bottom 3a on the carrier 1 on its edge layer 2. In addition, the cushion can be fixed by means of push-button or push-button systems for easier stressing of the buckling function via connections to be loosened again.

The cushion 3 can have on its upper side 3b or in the cushion material itself a fabric which is designed to train or a flat flexible material. 4 and 5, the deflection element consists of a pad 3 and a separate tension element 6, which is fixedly connected to the carrier 1 at the cushion edge regions 4a and 4b. In FIGS. 6 to 9, the tension element 6 is fastened to the carrier 1 on one side only at the edge area 4a of the cushion. On the opposite side, the tension element 6 is passed under a roller guide 7a to the traction elements 8 and the measuring elements 9. 10 and 11, the traction element 6 runs in both edge regions 4a and 4b under a roller guide 7a to the arranged on both sides traction elements 8 and the measuring elements 9. In FIGS. 12 and 13, a multi-axis deflection element is shown, via a Draw element 6, which has individual extensions 6a, which are connected to the individual ausbickbaren carrier segments 1a, is buckled. In Figs. 14 to 17, some arrangement examples of individual pads 3 having a different size and arrangement are shown. In Fig. 18 a bent in both axes carrier is shown, which has on its two opposite sides of pad 3, which are subjected to different pressure and thereby generates a wave-like shape of the carrier. In Fig. 19, the tension member 6 passes through the carrier via roller guide 7a and thereby generates a buckling in both axes. In Fig. 20, the deflecting element is mounted above the chain elements 17 which are spaced apart by damping elements 21. In Figs. 21 to 25 will be some application examples shown in principle. Fig. 25 shows an axisymmetric structure of Fig. 20, thereby a controlled buckling in both directions is possible. FIGS. 26 and 27 illustrate a principle that can be used for pneumatic adaptive structures, for example in architecture.

Due to the tubular cushion 3d and the wide tension element 6, which is designed for tensile forces in both axial directions, e.g. Large pneumatic roofing systems are realized that can open or roll up. With this principle, pneumatic reclining or seating furniture can be built, which can be controlled for different usage conditions. For buckling in both directions, the deflection can be mounted on both sides of the support 1 or depending on the task also have individual deflection elements.

28 and 29 show a special embodiment of an extremely load-bearing carrier 1. Here, the static load characteristics of the carrier 1 can be selected depending on the number of deflection elements on the carrier 1 and on the number of stacked rows of deflection elements. These deflecting elements are connected to each other either with their pillow outside or different with their tension elements 6 and the corresponding pressurization of the pad 3 or 3d. In Figs. 30 and 31, the carrier 1b is a pneumatic rotationally symmetric body. In order to bend it in different axial directions, it is provided with constrictions 13 which, in the ideal case, fuse together at their points of contact. By virtue of this new function, which can be described as a three-dimensional direction independent hinge, also called film hinge, complex Ausknickbewegungsmuster can be realized, such. a deflected deflection movement, the subsequent pivotal or rotational movement in a curve, e.g. a robot arm can lead. The three-dimensional film hinge can also be formed by a ball joint in this case. If directions of movement of the carrier 1b are specified, these required directions of movement can also be realized only by the arrangement of the deflection elements on the carrier 1b itself or by the direction of tensioning of the tension elements 6. If the carrier 1b is to be bent only in a pivot axis in two opposite directions, the carrier 1b has only two constrictions, which are formed at their points of contact to form a flexible hinge. Even with the use of pneumatic or hydraulic carriers 1b additional tensile elements 8 or measuring devices 9 can be provided. In special applications, e.g. fully pneumatically formed gripping systems are shown, which are constructed in their functionality similar to a human hand. In addition, buoyant pneumatic robots with lifting systems or adaptive rescue systems for water applications can be implemented. The design options described for the pneumatic support 1b are also to be transferred to solid support 1.

FIGS. 32 and 33 show an application example for the use of deflection elements in the field of pneumatic architecture. The principle presented here should also be used for other tasks, such as the lifting, opening or closing of holding devices and locks, opening and closing of bridge-like constructions or only for the function of a pneumatic hinge.

In Fig. 34, a particular application is shown, in which a pad 3 is foamed or cast between the carrier 1 and the tension element 6. This solution is advantageous for some applications that require a certain flexibility in their function. Especially in hydraulic, pressurized systems, which usually have a low flexibility, this is possible application provided. FIG. 35 shows an application which only requires a deflection element in one buckling direction and only requires a system designed for train in the other. Also in this case, the tension element 6a may be coupled with corresponding measuring systems 9 in addition to the tensile force elements 8.

In FIGS. 36 and 37, some arrangements of deflection elements on the carrier 1 are shown by way of example. About the arrangements of individual deflection elements on the carrier 1, the Ausknickrichtung of the carrier 1 in its sub-areas or sub-segments can be determined. With the arrangement of the deflection elements on both sides of the carrier 1 and a predetermined in its effect arrangement of the deflection elements complex three-dimensional deformations of the carrier 1 can be generated in a plurality of axial directions.

FIG. 38 shows an arrangement example in which a plurality of deflection elements are arranged in a star shape on a carrier 1. These cutouts 1 c in the carrier 1 allow the buckling of individual carrier segments 1 a.

FIG. 12 shows a comparable solution which, instead of individual deflection elements on the support 1, provides only one deflection element but with a dividing tension element 6 and 6a. The difference between the two embodiments is that in FIG. 38, the carrier segment segments 1a are bent out by individually controllable deflection elements and that they are bent out exclusively in FIGS. 12 and 13 via a deflection element which has extensions 6a of different lengths on the tension element 6.

With the solution shown in FIG. 38, the buckling of individual carrier segment segments 1a can always be reprogrammed according to the new task via the printing and control system. On the contrary, although the solution as shown in Fig. 12 may be controlled by means of the optional adjustment means provided on the tension member 6, e.g. determine the switching sequence, but these can not be variably changed in this illustrated shape in the process sequence. In such an arrangement, the tension elements 6a can then also achieve a variable control when the tension elements 6a are guided via deflecting devices 7 to corresponding traction elements 8 or measuring devices 9. By a two-sided arrangement of the deflection elements on the carrier 1, both shown in FIGS. 12 and 38, a controlled powerful buckling of the carrier 1 can be realized in both Ausknickrichtungen.

If two carriers 1, on which one or more deflecting elements are mounted on one side, with their side facing away from the deflecting elements by means of a spacer which is smaller in diameter than the free cuts 1c, spaced apart from each other, can additionally in the intermediate space specified by the spacer, between the two Beams 1, switching, control and control systems for electrical, pneumatic or hydraulic versions are integrated.

In Fig. 39, an application example of the deflection element is shown in a seat back. The deflection element here forms the adjustable lumbar support, e.g. for driver or passenger seats in the car.

The lumbar support can be more easily and accurately adapted to different people using the deflection element.

Fig. 40 shows a technical solution in which, for example, a plurality of deflection elements are arranged one behind the other and a plurality of tension elements 6 are guided to the additional traction elements and measuring devices. In this case, the tension element 6 is guided by means of a Bowden cable to the stop block 20, which is arranged directly on the cushion edge region 4a, 4b, 4c, 4d.

Some constructive arrangements of the deflection elements on the carrier 1 are shown by way of example in FIGS. 41 to 46, which show some possible applications of special formations of grippers or gripper systems in a controlled automated process sequence in production. The arrangement of the pad 3 and the tension element 6 in the carrier 1 is chosen in this case, which closes when a pressurization of the pad 3, the tension member 6, the spring formed as a carrier 1, which is formed in this case to gripper arms.

In FIG. 45, two deflection elements are respectively attached to the gripper arms. Thus, a gripping system can be realized which has two Ausknickrichtungen each on the individual gripper arm. In this arrangement, instead of a flexible support 1, a rigid support can be selected and hinges or ball joints in this application, a controlled buckling of the support 1, the closing and opening of the gripper arms allow. Also in this application, the tension element 6 can be performed via corresponding deflection devices 7 to additional traction elements 8 or corresponding measuring devices 9, which measure the Ausknickdistanz and the contact pressure between the gripper receptacles. A combination of different deflection elements and a combination of individual deflection elements with tension elements 6a is provided for special applications. Also, the tension element 6a can be connected via deflecting devices 7 with traction elements 8 or measuring devices 9. In FIGS. 47 and 48, two possible arrangement examples of deflection elements are shown, which are arranged one above the other and whose Ausknickrichtung lies on an axis. FIGS. 49 and 50 show two examples of possible arrangements of the deflection elements which, for example, can execute a plurality of working steps simultaneously. In some application examples listed, especially in the illustrated grippers, in special cases, pneumatic tension elements or muscles can be used, which can be applied to regulable pressure or combined with deflecting elements. An advantageous embodiment of the invention and its application in the product range grippers and gripper systems is the ability to design a modular system that consists of different formations and technical solutions of individual grippers and individual elements, for example, for receiving the gripper. The combination of pneumatic supports 1b, with flexible supports 1 can be taken into account in this modular system. From the individual components, grippers can be put together for simple production requirements, but also complex gripper systems, which correspond in their functionality and biomechanical design to a human hand.

LIST OF REFERENCE NUMBERS

1

carrier

1a

carrier segment

1b

Pneumatic carrier

1c

cutouts

2

boundary layer

3

pillow

3a

Pillow bottom

3b

Pillow top

3c

Cushion top with integrated tension element

3d

Tubular pillow

4a, 4b, 4c, 4d

Pillow border areas

5

carrier longitudinal axis

6

tension element

6a

tension element

7

Baffles

7a

roller guide

8th

traction elements

9

Measuring elements and sensors

10

Auslenkdistanz

11

spacer brackets

12

hinges

13

constrictions

14

Pneumatic individual elements

15

Plastic foams

16

Ausknickrichtung

17

chain elements

18

train connection

19

Bowden

20

stop block

21

damping elements

22

Inside clamping frame

Claims (28)

Pneumatic or hydraulic deflection element,
characterized,
in that a flexible carrier (1) consists in that the carrier (1) has at least one edge layer (2) one or more pressurizable cushions (3) such that the cushions (3) contact the carrier (1) flatly so that the cushions (2) 3) at least at their in the direction of the longitudinal axis (5) opposite edge regions (4a, 4b) with the carrier (1) are attached directly or indirectly, so that upon pressurization of the cushion (3) a controlled buckling of the carrier is initiated. Pneumatic or hydraulic deflection element according to claim 1,
characterized,
in that the cushions (3) are fastened directly or indirectly to the carrier (1) on edge regions (4a, 4b, 4c, 4d) which are opposite in spatial directions, so that a controlled buckling of the carrier is initiated in different axes. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the cushions on their underside (3a) facing the edge layer (2) are firmly connected to the edge layer (2) by vulcanization, gluing or welding or by punctually arranged plug connections. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the indirect fastening of the cushion edge regions (4a, 4b) is firmly but detachably connected to the underlying support by clamping and guiding systems or by hooks. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the cushion (3) is formed of a stretchable material such as rubber or plastic and it is advantageously formed tubular, pillow or spherical and that a textile or wire mesh or a flat flexible material with a corresponding tensile load on the outer skin of the pad (3 ) or in the pillow material itself is attached. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the indirect fastening of the cushion edge regions (4a, 4b) is formed by a tension element (6) spanning the cushion (3). Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the tension element (6) consists of a fabric which has a differentiated functional layout, in which only the regions which have to absorb tensile forces are designed to train and the remaining regions in the tissue allow a high expansion. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the tension element (6) is formed three-dimensional shell or dome-shaped, consists of different materials with different flexibility and elasticity. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the traction element (6) via a plurality of individual pads (3) and the attachment of the traction element (6) behind the respectively last pad (3) on the support (1) takes place, or that the pulling element (6) which each individual pad (3) looped around and
that on the support (1) between the individual pillows (3) deflection devices (7) for deflecting the tension element (6) and that the attachment of the tension element (6) behind the last cushion (3) takes place on the carrier. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that a continuous tension element (6) is provided for a plurality of individual cushions (3) and that the tension element (6) is guided in a loop shape through the support (1) and catches individual cushions (3) arranged on the two opposite sides of the support (1 ) are mounted. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that at least one end of the tension element (6) has one or more additional tension elements (8), such as pneumatic, hydraulic or electric motors, which reinforce the buckling introduced by the cushions (3). Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that at least one end of the tension element (6) has one or more measuring elements (9) attached, which determine the exact deflection distance (10) or deflecting force via a sensor. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that it includes one or more fasteners adapted to receive traction and shifting devices, such as driving hoisting gear systems, triggering mechanisms, controls. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the individual cushions (3) on the support (1) are arranged individually, offset, behind one another, next to one another, in rows running parallel to one another or in different angular positions relative to one another, and that they can have different shapes and sizes. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the pad (3) are located on at least two opposite sides of the support (1) or spatially segment to the carrier (la) are arranged around. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized
that the cushions (3) with their tension element (6) are located on one side of the carrier (1) and on the opposite side facing away from the carrier (1) only one tension element (6) without cushions, which advantageously in the same mounting height as that opposite tension element (6) is fixed and which is guided over a spacer bracket (11) which is advantageously fixed in the center region of the opposite pad (3) on the carrier (1). Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
however, that the carrier (1) transversely resiliently deflectable, is pressure-proof in the longitudinal direction. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the carrier (1) is formed from a rigid structure resistant to pressure and tension and has hinges (12) or ball joint heads. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
in that the carrier (1) is formed from pneumatic bodies (1b), which in particular are of rotationally symmetrical shape and have corresponding constrictions (13) for receiving the individual cushions (3). Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the carrier (1) is formed from different pneumatic single elements and
that the pad (3) are arranged with or without internal clamping frame (22) between the pneumatic individual elements. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
arranged that the pad (3) on the carrier in at least one Ausknickrichtung (16) stacked one above the other, and that on each pad (3) or tension element (6) has a fixed connection between the individual deflecting elements to one another is produced. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the cushion (3) is a flexible hollow thread and the tension element (6) is a flexible thread, which are processed together to form a woven structure or a knitted fabric such as knitted fabrics, crocheted or crocheted structures. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that it consists of a fabric which is formed from two flexible threads, at least one of which is a hollow thread and must be laminated with at least one upper or lower chord and that the threads are processed into a woven structure or a knitted fabric and that the pressurization is regulated differently. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that both the individual pneumatic or hydraulic cushions (3) and groups of individual cushions (3) can be controllably supplied with gas, air or hydraulic fluid. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the deflection elements are embedded in plastic foams or flexible plastics. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the cushion (3) at a distance from the carrier (1) and the tension element (6) are embedded in plastic foams or flexible plastics. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the cushion (3) is formed in its interior with open-pored foam or a combination of open-pored foam and hollow chambers embedded in it, which can be subjected to pressure in special cases. Pneumatic or hydraulic deflection element according to one or more of the preceding claims,
characterized,
that the deflection elements are arranged in their Ausknickrichtung side by side or successively in series and can be combined with each other and have different pillow sizes and shapes and that they can be applied individually or in groups adjustable pressure systems with pressure.

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