EP1865208B1 - Actionneur pneumatique ou hydraulique - Google Patents

Actionneur pneumatique ou hydraulique Download PDF

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Publication number
EP1865208B1
EP1865208B1 EP20070006005 EP07006005A EP1865208B1 EP 1865208 B1 EP1865208 B1 EP 1865208B1 EP 20070006005 EP20070006005 EP 20070006005 EP 07006005 A EP07006005 A EP 07006005A EP 1865208 B1 EP1865208 B1 EP 1865208B1
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EP
European Patent Office
Prior art keywords
support
cushion
carrier
cushions
tensile
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EP20070006005
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German (de)
English (en)
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EP1865208A2 (fr
EP1865208A3 (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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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 invention relates to a pneumatic or hydraulic deflecting element with a flexible carrier and one or more pads contacting the carrier with pressure applied to the controlled buckling of the carrier and with their edge regions indirectly by a tensioning element over the cushion tension element on the carrier can be fastened.
  • a similar deflection element is in an article by S. Konishi et al. entitled “Thin flexible end-effector using a pneumatic balloon actuator” in the journal “Sensors and Actuators A89 (2001) 28-35 described. Shown and illustrated are single and series-arranged, simply constructed deflection elements, in each case between a flat support and a stretchable coating layer, a tightly closed cavity is present, which is pressurized to bend the carrier.
  • 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 that in the WO 03/074885 A1 described, pneumatic actuator with the features mentioned.
  • the deflecting elements shown there each have a series of cushions, each of which has a gas-tight bladder and a shell which consists of a low stretchable fabric and is closed in an annular manner.
  • the sheaths are connected to both the carrier and the sheaths of adjacent bubbles.
  • a portion of the tension generated by the inflation of the bubbles remains in the annular envelope and does not act as a pulling force on the carrier.
  • the attachment of the sheaths of all the bubbles of a series of deflection elements individually on the support is cumbersome and expensive to manufacture, especially when different sized bubbles are to be combined.
  • the force exerted by a central bladder on the carrier tensile force can only act on the carrier immediately adjacent to this bladder, not at a greater distance.
  • the invention is therefore based on the object in a deflection of the type mentioned simplify the production and to expand the application possibilities, and this object is achieved in that the tension element three-dimensional shell or dome shaped from different materials with different flexibility and elasticity is or consists of a fabric that has a differentiated functional layout, in that only the areas that need to absorb tensile forces, are designed tensile strength, while the remaining areas are designed stretchable.
  • the new deflection element accordingly has a tension element which extends over the pneumatic or hydraulic cushion or in the cushion material and is firmly connected at its ends 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 tension element for example, low deflectable, but adjustable in hardness and carrying capacity products, such as bed spring strips, structural systems for lightweight membrane roofs, ergonomically shaped seat backs with controlled expansion of Lordose 1 or pneumatic furniture with variable seating and reclining positions are realized.
  • 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 pivoting 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 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 according to the invention 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 can be used to produce differentiated control times for individual receiver units. such as electrical, pneumatic, hydraulic or other control and regulating systems to achieve.
  • 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. They are due to their length, shape, arrangement and pressure to static load-bearing structures. In this case, the wide tension member is designed both in its transverse direction and in its longitudinal direction to a tensile load.
  • 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 carrier can for example consist of a flexible film material.
  • the deflecting advantageous high-strength structures such as bridges, cross members or stiffeners can be realized, for example, from Lifeboat 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.
  • Die.gewebten elements must usually be laminated with a flexible upper and lower flange, so that a controlled deflection of the surface and the setting can be done with different spring stiffness 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 led 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 are fixed with their edge regions 4a and 4b on the support 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 also be fixed with ease of use of the Ausknick function on re-releasing connections by plug-in or push-button systems.
  • 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 cushion 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 attached to the support 1 only on one side on 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 tension element 6 is passed under a roller guide 7a to the traction elements 8 and the measuring elements 9.
  • the 10 and 11 runs the tension element 6 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, which is bent over a tensioning element 6, the individual extensions 6a, which are connected to the individual ausbickbaren carrier segments 1a.
  • FIGS. 14 to 17 Some arrangement examples of individual pads 3 having a different size and arrangement are shown.
  • 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 wavy shape of the carrier.
  • the tension element 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.
  • Fig. 20 the deflecting element is mounted above the chain elements 17 which are spaced apart by damping elements 21.
  • FIGS. 26 and 27 a principle is presented that can be used for pneumatic adaptive structures, eg in architecture. Due to the tubular cushion 3d and the wide tension element 6, which is designed for tensile forces in both axial directions, large pneumatic roofing systems can be realized, for example, which 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.
  • the FIGS. 28 and 29 shows a special embodiment of an extremely resilient carrier 1.
  • the static load characteristics of the carrier 1 can be selected depending on the number of deflection elements on the support 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 1 b is a pneumatic rotationally symmetrical 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 as a deflected Ausknickzi, which then in a curve extending pivotal or rotary motion, for example, a robot arm can result.
  • 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.
  • pneumatic or hydraulic carriers 1b Even with the use of pneumatic or hydraulic carriers 1b additional tensile elements 8 or measuring devices 9 can be provided. In special applications, for example, completely pneumatically formed gripping systems can be represented, 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 An application example for the use of deflection elements in the field of pneumatic architecture is shown. The principle presented here is also used for other tasks such as lifting, opening or closing of fixtures and locks, opening and closing of bridge-like structures or only for the function of a pneumatic hinge.
  • 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.
  • the Fig. 35 shows an application that requires a deflection element only in one Ausknick therapies and in the other only needs a train designed system. 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 For example, some arrangements of deflection elements on the carrier 1 are shown. 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 An arrangement example is shown in which a plurality of deflection elements are arranged in a star shape on a support 1. These cutouts 1 c in the carrier 1 allow the buckling of individual carrier segments la.
  • Fig. 12 a comparable solution is shown, which provides instead of individual deflecting elements on the support 1, only one deflection element but with a dividing tension element 6 and 6a.
  • the difference between the two versions is that in Fig. 38 the support member segments 1a are buckled by individually controllable deflection and that they are in FIGS. 12 and 13 be bent exclusively by a deflection that has different lengths extensions 6a on the tension element 6.
  • the buckling of individual carrier segments 1a can always be reprogrammed according to the new task on the pressure and control system.
  • the solution may be as in Fig. 12
  • the adjustment options optionally provided on the tension element 6 are also controlled, such as, for example, determining the sequence of operations, these can no longer be varied variably in this illustrated embodiment 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.
  • the deflector here forms the adjustable lumbar support eg 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 By way of example, some constructive arrangements of the deflection elements on the carrier 1 are shown, which show some possible applications of special formations of grippers or of gripper systems in a controlled automated process sequence in production.
  • the arrangement of the pad 3 and the tension member 6 in the carrier 1 is selected in this case, which closes at a pressurization of the pad 3, the tension member 6, designed as a spring carrier 1, which is eye-shaped in this case to 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 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 Two examples of possible arrangements of the deflection elements are shown, which can perform several steps simultaneously, for example.
  • 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.
  • the pad 3 are additionally attached directly, for example by vulcanization, gluing, welding or connectors. They can be arranged on the carrier 1 individually, offset, behind one another, side by side, in rows running parallel or in different angular positions to each other and have different shapes and sizes.
  • the cushions 3 can be stacked on the support 1 in at least one Ausknick therapies 16 stacked, wherein on the individual cushion 3 or tension elements 6, a firm connection of the individual deflection elements is made with each other.
  • both the individual pneumatic or hydraulic pads 3 and groups of individual pads should be controllably supplied with gas, air or hydraulic fluid.
  • the cushion with distance to the support 1 and the tension element 6 or the deflection element embedded in plastic foams or flexible plastics are either the cushion with distance to the support 1 and the tension element 6 or the deflection element embedded in plastic foams or flexible plastics.
  • the cushion 3 in its interior with open-pored foam or a combination of open-pored foam and hollow chambers embedded in it, which can also be pressurized in special cases.
  • a modification of the carrier 1 is that it is formed of a rigid pressure and tensile stable construction and has hinges 12 or ball joint heads.

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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)
  • Mattresses And Other Support Structures For Chairs And Beds (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Actuator (AREA)
  • Fluid-Damping Devices (AREA)

Claims (9)

  1. Elément de déviation pneumatique ou hydraulique comprenant un support flexible (1) et au moins un coussin (3) en contact avec la surface du support qui peut être alimenté en pression pour commander la flexion du support (1) et qui peut être fixé indirectement sur le support (1) dans ses zones de bord (4a, 4b) situées à l'opposé dans la direction de l'axe longitudinal du support (1), par un élément de traction (6) mettant le coussin (3) sous tension,
    caractérisé en ce que
    l'élément de traction (6) est un élément tridimensionnel en forme de coque ou de calotte réalisé en différents matériaux ayant des flexibilités et extensibilités différentes, ou est constitué d'un tissu qui comporte une maquette fonctionnelle différenciée de sorte que seules les zones qui doivent recueillir des efforts de traction soient résistantes à la traction alors que les autres zones sont extensibles.
  2. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    le coussin (3) est inséré en tant que partie lâche entre le support (1) et l'élément de traction (6) et est ainsi fixé indirectement sur le support.
  3. Elément de déviation conforme à la revendication 1 ou 2,
    caractérisé en ce que
    l'élément de traction (6) s'étend sur plusieurs coussins (3) différents et est fixé sur le support (1) à l'arrière du dernier coussin (3) respectif, ou l'élément de traction (6) est dévié sur des dispositifs de déviation (7) montés sur le support (1) entre les différents coussins (3) en entourant en les mettant sous tension ces différents coussins en formant des boucles, et est respectivement fixé sur le support (1) à l'arrière du dernier coussin (3).
  4. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    les coussins (3) sont réalisés en un matériau étirable tel que du caoutchouc ou un matériau synthétique et sont réalisés en forme de tuyau, de coussin ou de sphère et un tissu textile ou un tissu de fibres ou un matériau flexible plat ayant une charge en traction appropriée est appliqué sur la peau externe du coussin (3) ou dans le matériau constitutif du coussin lui-même.
  5. Elément de déviation conforme à l'une des revendications 1 à 4,
    caractérisé en ce qu'
    au moins une extrémité de l'élément de traction (6) continue à être guidée à l'arrière d'un coussin (3), en passant au-dessous d'un guidage à rouleaux (7) fixé au support (1) au-delà du coussin (3) jusqu'à un élément de traction (8) pneumatique, hydraulique ou électromoteur fixé sur le support (1) qui intensifie la flexion produite par le coussin (3).
  6. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    le coussin (3) et le support (1) ont une forme circulaire dans laquelle sont libérées des découpes radiales (1c) dans le support et, l'élément de traction (6) est fixé au centre du coussin (3) et au support (1) radialement à l'extérieur du coussin (3) par plusieurs bras (6a) s'étendant radialement.
  7. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    plusieurs coussins (3) et des éléments de traction associés (6) sont empilés les uns sur les autres sur un support (1) dans la direction de flexion, la première rangée étant reliée au support (1) et les rangées suivantes étant respectivement reliées les unes au-dessous des autres par les éléments de traction (6).
  8. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    le support (1) est un corps (1b) présentant une symétrie de rotation par rapport à un axe médian comprenant plusieurs coussins (3) mis sous tension par des éléments de traction (6) répartis sur sa périphérie et qui sont logés dans une gorge (13).
  9. Elément de déviation conforme à la revendication 1,
    caractérisé en ce que
    le coussin (3) est expansé entre le support (1) et l'élément de traction (6).
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 EP1865208A2 (fr) 2007-12-12
EP1865208A3 EP1865208A3 (fr) 2010-07-07
EP1865208B1 true EP1865208B1 (fr) 2015-05-06

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DE (1) DE102006014365A1 (fr)

Families Citing this family (7)

* 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
US10006444B2 (en) 2014-04-11 2018-06-26 President And Fellows Of Harvard College High throughput fabrication of soft machines
DE102015004181A1 (de) 2015-04-02 2016-10-06 Dieter Mankau Aktuator
DE102016208515A1 (de) * 2016-05-18 2017-11-23 Bayerische Motoren Werke Aktiengesellschaft Anbauelement, System und Verfahren zur Herstellung eines Anbauelements
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

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Publication number Priority date Publication date Assignee Title
CN100374740C (zh) 2002-03-04 2008-03-12 未来概念公司 气动促动器

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EP1865208A2 (fr) 2007-12-12
DE102006014365A1 (de) 2007-10-04
EP1865208A3 (fr) 2010-07-07

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