EP1865208A2 - Actionneur pneumatique ou hydraulique - Google Patents

Actionneur pneumatique ou hydraulique Download PDF

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Publication number
EP1865208A2
EP1865208A2 EP07006005A EP07006005A EP1865208A2 EP 1865208 A2 EP1865208 A2 EP 1865208A2 EP 07006005 A EP07006005 A EP 07006005A EP 07006005 A EP07006005 A EP 07006005A EP 1865208 A2 EP1865208 A2 EP 1865208A2
Authority
EP
European Patent Office
Prior art keywords
pneumatic
carrier
element according
hydraulic
deflection element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07006005A
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German (de)
English (en)
Other versions
EP1865208A3 (fr
EP1865208B1 (fr
Inventor
Dieter Mankau
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Individual
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Individual
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Publication of EP1865208A3 publication Critical patent/EP1865208A3/fr
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Publication of EP1865208B1 publication Critical patent/EP1865208B1/fr
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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
    • 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 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.
  • 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
  • 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.
  • 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.
  • additional tensile force elements such as pneumatic, hydraulic or electric motors can be attached to one or both ends of the tension element.
  • 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.
  • 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 Switzerlandbandende 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.
  • the carrier is deflected lying in two directions on a common pivot axis.
  • 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.
  • 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.
  • the intended number of cushions is integrated, the attachment can alternatively be done by vulcanization or via the tension element.
  • 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.
  • 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.
  • 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.
  • 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.
  • the individual carrier segments are controlled to buckle at a pressurization of the pad.
  • the adjustment of the Ausknickiss 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 Ausknickraumen.
  • the buckling of the carrier or the individual carrier segments can be advantageously carried out by hinge solutions or ball joint heads.
  • 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.
  • the wide tension element is designed both in its transverse direction and in its longitudinal direction to a tensile load.
  • 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.
  • the wearer may e.g. consist of a flexible film material.
  • 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.
  • 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.
  • 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.
  • pressurization may be by gas or compressed air.
  • 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.
  • 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.
  • 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.
  • 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.
  • the tension element 6 is fastened to the carrier 1 on one side only at the edge area 4a of the cushion.
  • the tension element 6 is passed under a roller guide 7a to the traction elements 8 and the measuring elements 9.
  • 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.
  • 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.
  • Figs. 14 to 17 some arrangement examples of individual pads 3 having a different size and arrangement are shown.
  • 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.
  • the tension member 6 passes through the carrier via roller guide 7a and thereby generates a buckling in both axes.
  • the deflecting element is mounted above the chain elements 17 which are spaced apart by damping elements 21.
  • Figs. 20 the deflecting element is mounted above the chain elements 17 which are spaced apart by damping elements 21.
  • 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.
  • 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.
  • 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.
  • this new function which can be described as a three-dimensional direction independent hinge, also called film hinge, complex Ausknickschulsmuster 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.
  • 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.
  • 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.
  • 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 Ausknick therapies 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.
  • the buckling of individual carrier segment segments 1a can always be reprogrammed according to the new task via the printing and control system.
  • 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.
  • 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.
  • a controlled powerful buckling of the carrier 1 can be realized in both Ausknickraumen.
  • 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.
  • 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.
  • 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.
  • FIGS. 41 to 46 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.
  • FIG. 45 two deflection elements are respectively attached to the gripper arms.
  • a gripping system can be realized which has two Ausknickidesen each on the individual gripper arm.
  • a rigid support 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.
  • 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.
  • the tension element 6a can be connected via deflecting devices 7 with traction elements 8 or measuring devices 9.
  • deflecting devices 7 with traction elements 8 or measuring devices 9.
  • FIGS. 47 and 48 two possible arrangement examples of deflection elements are shown, which are arranged one above the other and whose Ausknick therapies 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Actuator (AREA)
  • Fluid-Damping Devices (AREA)
  • Mattresses And Other Support Structures For Chairs And Beds (AREA)
EP20070006005 2006-03-27 2007-03-23 Actionneur pneumatique ou hydraulique Active EP1865208B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200610014365 DE102006014365A1 (de) 2006-03-27 2006-03-27 Pneumatisches oder hydraulisches Auslenkelement

Publications (3)

Publication Number Publication Date
EP1865208A2 true EP1865208A2 (fr) 2007-12-12
EP1865208A3 EP1865208A3 (fr) 2010-07-07
EP1865208B1 EP1865208B1 (fr) 2015-05-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20070006005 Active EP1865208B1 (fr) 2006-03-27 2007-03-23 Actionneur pneumatique ou hydraulique

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EP (1) EP1865208B1 (fr)
DE (1) DE102006014365A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016156618A1 (fr) 2015-04-02 2016-10-06 Dieter Mankau Actionneur
WO2017198436A1 (fr) * 2016-05-18 2017-11-23 Bayerische Motoren Werke Aktiengesellschaft Élément rapporté et système et procédé de fabrication d'un élément rapporté

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010011169B4 (de) 2009-06-12 2014-12-18 Textilforschungsinstitut Thüringen-Vogtland e.V. Pneumatisch oder hydraulisch formveränderbares textiles Gebilde und Verwendung hierfür
JP6588082B2 (ja) 2014-04-11 2019-10-09 プレジデント アンド フェローズ オブ ハーバード カレッジ ソフトマシンの大量生産法
DE102018103178A1 (de) * 2018-02-13 2019-08-14 Baden-Württemberg Stiftung Ggmbh Bauteil mit integrierter Aktuatorik
CN109648545A (zh) * 2019-01-31 2019-04-19 江苏大学 一种基于水凝胶驱动器的软体机器人
DE202020102139U1 (de) * 2020-04-17 2020-05-08 Hts Tentiq Gmbh Plane und Planenkonstruktion mit integriertem Messmodul

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003074885A1 (fr) 2002-03-04 2003-09-12 Prospective Concepts Ag Actionneur pneumatique

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2003074885A1 (fr) 2002-03-04 2003-09-12 Prospective Concepts Ag Actionneur pneumatique

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
S. KONISHI ET AL.: "Thin flexible end-effector using pneumatic ballon actuator'' in der Fachzeitschrift", SENSORS AND ACTUATORS A, vol. 89, 2001, pages 28 - 35

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016156618A1 (fr) 2015-04-02 2016-10-06 Dieter Mankau Actionneur
DE102015004181A1 (de) 2015-04-02 2016-10-06 Dieter Mankau Aktuator
DE202016106705U1 (de) 2015-04-02 2017-01-16 Dieter Mankau Aktuator
US10557485B2 (en) 2015-04-02 2020-02-11 Festo Ag & Co. Kg Actuator
WO2017198436A1 (fr) * 2016-05-18 2017-11-23 Bayerische Motoren Werke Aktiengesellschaft Élément rapporté et système et procédé de fabrication d'un élément rapporté
US10875472B2 (en) 2016-05-18 2020-12-29 Bayerische Motoren Werke Aktiengesellschaft Add-on element, system and method for producing an add-on element

Also Published As

Publication number Publication date
EP1865208A3 (fr) 2010-07-07
EP1865208B1 (fr) 2015-05-06
DE102006014365A1 (de) 2007-10-04

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