EP2007620B1 - Appareil delivrant une force - Google Patents

Appareil delivrant une force Download PDF

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Publication number
EP2007620B1
EP2007620B1 EP07723444A EP07723444A EP2007620B1 EP 2007620 B1 EP2007620 B1 EP 2007620B1 EP 07723444 A EP07723444 A EP 07723444A EP 07723444 A EP07723444 A EP 07723444A EP 2007620 B1 EP2007620 B1 EP 2007620B1
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EP
European Patent Office
Prior art keywords
actuator
actuators
force
output structure
main axis
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.)
Not-in-force
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EP07723444A
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German (de)
English (en)
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EP2007620A1 (fr
Inventor
Markus Fischer
Elias Maria Knubben
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Festo SE and Co KG
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Festo SE and Co KG
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Publication of EP2007620A1 publication Critical patent/EP2007620A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention relates to a device for power delivery, in particular for holding parts or for locomotion, with at least one drive unit comprising at least one force output structure having at least one spring-elastic manner according to the type of a leaf spring, after removal of a bending bending bending force in the basic position returning longitudinal element and the at least one actuatable with electrical energy and / or fluid force, for applying tensile and / or compressive forces suitable actuator which acts on the power output structure such that when activated, the power output structure is deflected by elastically bending the at least one longitudinal element sideways.
  • a device equipped with means for its locomotion goes out of the US 6,138,604 out. It is designed there as an underwater swimming device and the anatomy of a fish modeled. Its hull functions as a drive unit and includes a plurality of actuators capable of pivoting a lever assembly that is quasi the backbone of the apparatus. In this pivoting movement, a ribbed structure is moved, which is enveloped by a flexible skin, which can deliver a propulsive driving force on the surrounding water.
  • Known device for power output is designed as a toggle clamping device and allows for holding parts, for example, to be joined together workpieces. It has a arranged on a pivotable clamping arm rigid loading surface with which a festzuhaltendes part can be tightened in a specific position.
  • the DE 198 52 944 C1 describes an adaptive flow body, for example an aircraft wing, in which two sub-profiles, separated by a slot, are arranged side by side. Each partial profile contains an inner skin connected by structural elements with an outer skin, on which an actuator acts in order to produce a curvature.
  • two outer skin sections of a flow body are connected by webs.
  • An actuator arranged in a recess is able to displace the outer skin sections relative to one another in order to cause a curvature.
  • One from the DE 43 34 496 A1 known flow body includes two lateral profile surfaces that can be moved by gears or the like relative to each other to cause a buckle.
  • the profile surfaces are not connected by struts.
  • the drive unit of the cited from the beginning US 6,138,604 known device has a relatively complex structure and requires a very large number of actuators. Due to the lability of the rib structure, the power delivery to the environment is also not optimal. In the also serving for power device of the mentioned DE 299 03 281 U1 In particular, there is the problem that the loading surface may damage a part to be retained if the dosage of power is improperly metered.
  • WO 97/45317 A is a device for power output of the type mentioned above, which can move in a medium, for example, under water.
  • it has a flexible backbone, are fixed to the transversely projecting bulkheads, between which extend actuators. By actuating the actuators, the bulkhead walls can be pivoted, the backbone yielding resiliently.
  • the aforementioned components are covered by a skin, for example made of latex.
  • FR-A1-2 840 584 is a suitable for locomotion in liquid medium locomotion device is known, which has two pivotally mounted to each other body parts which are driven by a drive motor for pivotal movement relative to each other.
  • the drive unit works very effectively with a simple structure.
  • two of the longitudinal elements are formed as mutually approaching starting from a foot region in the direction of a main axis to a head portion side by side, resiliently bendable side cheeks, which articulated on them, spaced in the direction of the main axis and transversely To this main axis extending rigid coupling struts are interconnected.
  • a single actuator is sufficient in such a constructed drive unit to cause a sideways deflection of the entire power output structure. If an active deflection is to be made possible in two opposing directions, two actuators which can be activated alternatively or even a single actuator, which is optionally pushing or pulling on the power output structure, suffice can act. Regardless of the selected force application point caused by the at least one actuator causes an active lengthening or shortening of the diagonal between the individual, preferably trapezoidal fields of the power output structure, wherein caused by the mediation of the coupling struts interaction irrespective of the placement of the force introduction point, the two side cheeks a bulge in essentially in the same direction.
  • an external power output may be caused for a variety of purposes.
  • the device may be designed as a locomotion device and in this case in particular as a floating device, wherein the deflection movement of the power output structure by cooperation with the surrounding water causes propulsion.
  • Another possible application is that of an embodiment as a holding device for actively holding parts, for example in the fields of manufacturing and assembly. A use as switchman in the field of materials handling is conceivable. These applications are not meant to be exhaustive.
  • the at least one actuator is expediently arranged such that the force introduction direction in which it introduces its tensile and / or pressure forces into the force output structure extends obliquely to the main axis of the force output structure.
  • a device with particularly compact dimensions results when the at least one actuator is arranged between the two side cheeks. It can be placed in particular so that its attachment points are on opposite sides of the main axis.
  • the at least one actuator can only act on the power output structure.
  • his usually two existing attachment points simultaneously form the force introduction points at which the actuating forces are introduced into the power output structure.
  • the actuator can attack at one end on one side cheek and on the other side cheek at the other, or also on other components located on either side of and beyond the main axis of the power output structure.
  • the actuator may in particular also act on at least one coupling strut.
  • An actuator having two attachment points can also be arranged so that it is connected to the power delivery structure at only one attachment point, while its other attachment point is located on a support which carries the entire drive unit and does not take part in the movements of the drive unit.
  • An advantageous force introduction point for the at least one actuator is the area of one of the articulation points present between the side wall and the coupling struts.
  • the actuator may, for example, simultaneously attack in the region of two such joints, which are assigned to different side cheeks.
  • Different movement behavior of the power delivery structure can be achieved by the side cheeks are mounted in the foot either articulated or rigidly on a rigid support in turn. If the power output structure is articulated to the carrier, the activation of the at least one actuator results in a simple bend. By contrast, in the case of a rigid connection, the force output structure is deflected approximately S-like.
  • both actuated by electrical energy and fluid power actuators are actuated by electrical energy and fluid power actuators.
  • fluid actuated actuators in particular pneumatic actuators are used.
  • these are each linear actuators.
  • a so-called contraction actuator which has a contraction tube extending between two respective force-transmitting head pieces has, which expands radially when pressurizing its interior, with simultaneous axial contraction.
  • a contraction actuator describes the WO 00/61952 A1 .
  • Such contraction actuators are characterized by the fact that they can exert high tensile forces despite small dimensions.
  • they are bendable, so that they can not be replaced in the unpressurized state of the change in shape of the power output structure and can be deflected by this without representing an obstacle. This proves to be particularly advantageous if the actuator is arranged in the intermediate space between the side cheeks and very strong deflections occur during operation, which have the consequence that the side cheeks can act with a transverse force on the actuators.
  • the side cheeks have expediently a strip-like shape. They can be designed in the manner of leaf springs. Expediently, its strip width decreases starting from the foot region towards the head region of the power delivery structure.
  • the side cheeks may for example consist of spring steel. Equally advantageous and, moreover, even weight-saving is a realization of a suitable plastic material, which may also be fiber-reinforced plastic material to obtain a particularly high load-bearing capacity.
  • the power output structure is shielded by a flexible sleeve enclosing it.
  • This casing is expediently mounted on a support structure which also serves for the shaping, which is attached to the power output structure or at least partially of the power output structure can be self-educated.
  • the support structure is composed of a plurality of ring elements successive in the direction of the main axis, between each of which at least one coupling strut can extend.
  • the power delivery structure is expediently provided with at least one loading surface, which can exert a holding force on a part to be retained with a corresponding deflection of the power output structure.
  • the loading surface is located on one of the side cheeks. Since the side cheeks occupy an arcuate shape upon actuation of the at least one actuator, they can optimally cling to even sensitive parts and thus allow gentle holding of parts.
  • a further advantageous design provides for an embodiment of the device as a floating device, in which the deflection movement of the force output structure caused by the at least one actuator is responsible for the propulsion in the water.
  • the swimming device is expediently designed for radio-controlled operation.
  • it is an underwater swimming device.
  • This may in particular have a design that is modeled on the anatomy of a fish, wherein the drive unit may be responsible for the generation of the fin beat of the caudal fin.
  • the drive unit preferably forms the rear end portion of the equipment body with its head portion facing back and supporting the caudal fin.
  • the caudal fin With a reciprocating deflection movement of the drive unit, therefore, the caudal fin becomes a wagging one Movement driven, which, among other things, a propulsion for the device results.
  • the caudal fin may in turn be constructed on the basis of at least one force delivery structure, as it also has the drive unit. However, no additional actuators are needed here. Rather, the power delivery structure acts in this case as a passive structure, comparable to that of EP 1 316 651 A2 known, serving to absorb forces component. Due to the reaction forces exerted by the water, the fin movement of the caudal fin caused by the drive unit leads to a bulging of the caudal fin with the consequence of an optimal force transmission.
  • the drive unit in its foot region is expediently arranged in total pivoting on a head of the device with comprehensive front part of the device.
  • the drive unit in its foot region is expediently arranged in total pivoting on a head of the device with comprehensive front part of the device.
  • the at least one steering actuator is expediently a contraction actuator of the design already described above.
  • the device expediently contains at least one buoyancy chamber, which are associated with suitable means to fill them either in different proportions with air and / or water.
  • the control means necessary for the operation of the device are expediently located in the device head.
  • the receiving unit of a radio remote control device can in particular be located, which allows remote operation of the device and all its functions.
  • the device compressed air
  • it is expediently equipped with at least one compressed air storage, which allows a self-sufficient operation of the device over a longer period of time.
  • power output device 1 is designed in the embodiment as a locomotion device, which itself, due to an integrated drive unit 2, can move.
  • the FIGS. 10 to 12 illustrate the drive unit 2 in a separate schematic representation in different operating phases.
  • the power output apparatus 1 of the embodiment is a swimming apparatus, more specifically, an underwater swimming apparatus. It allows movement in the submerged state. In principle, it could, with sufficient size, with a cab be equipped to accommodate operators. In this specific case, it is an unmanned underwater swimming device, which can be operated remotely via radio. A radio receiver is in FIG. 7 at 3 can be seen.
  • a peculiarity of the pictured underwater swimming device is that its Monsimofte design of the anatomy of a fish is modeled, with the integrated drive unit 2 and the typical, reciprocating tail fin beat can be imitated.
  • the latter is in FIG. 3 indicated at 4 by a double arrow.
  • the caudal fin bears the reference numeral 5.
  • the force delivery device has longitudinal extent with a longitudinal axis 6.
  • the tail fin beat 4 takes place in a horizontal direction transverse to the longitudinal axis 6.
  • the floating device could also be designed to generate a vertical tail fin beat.
  • the power output device 1 has a forward device head 7 in the direction of movement, the tail fin 5 arranged on the rear side and a device body 8 extending therebetween.
  • the drive unit 2 forms the rear end section of the device body 8 and is thus a link between the device head 7 and the tail fin 5.
  • the drive unit 2 has a longitudinal extent with a longitudinal axis designated below as the main axis 12. Starting from its end region facing the device head 7 - referred to as foot region 13 - it has a shape that tapers towards the opposite side of the head fin facing the tail fin 5.
  • a core component of the drive unit 2 is a composite structure, referred to as a force output structure 15, of a plurality of elements coupled together in a special way. Beneath these elements are two side cheeks 16, 17 arranged at a distance alongside one another and having a longitudinal extension, which extend from the foot region 13 to the head region 14, approaching each other in the direction of the head region 14, in particular uniformly.
  • the side walls 16, 17 arranged symmetrically on both sides of and beyond the main axis 12, which coincides with the longitudinal axis 6.
  • the two side cheeks 16, 17 extend in a common plane of extent 18, which in the horizontal normal position of the power output device 1 is exemplarily a horizontal plane.
  • the tail fin beat 4 takes place in this extension plane 18.
  • the two side cheeks 16, 17 are fastened to a rigid support 22.
  • a rigid connection or - according to FIG. 11 -
  • the two side cheeks 16, 17 are brought together in a mounting interface 24. There, via a suitable counterpart 25, the tail fin 5 is mounted.
  • the two side walls 16, 17 are elastically bendable in the plane of extension 18, comparable to a leaf spring.
  • FIGS. 11 and 12 give an impression of the resilience of the two side walls 16, 17. They can easily be bent so that they are bulged in the extension plane. After removing the corresponding deformation force they return to the FIGS. 6 and 10 apparent basic position back, in which they exemplarily - viewed in the normal direction of the extension plane 18 - to run towards the head portion 14 toward each other V-shaped.
  • the two side cheeks 16, 17 are interconnected in the direction of the main axis 12 mutually spaced rigid coupling struts 26.
  • the connection points are designed as hinge points 27, in particular with hinge axes 28 perpendicular to the extension plane 18.
  • the coupling struts 26 extend transversely to the main axis 12 and in particular parallel to the plane of extent 18.
  • the side cheeks 16, 17 and coupling struts 26 may be integrally connected to each other.
  • the hinge points 27 are designed in this case as solid-state joints or so-called film hinges. However, especially if, as in the embodiment, relatively high forces are to be generated, a separate embodiment of these components can be recommended, which are then hinged together by suitable hinge means.
  • the coupling struts 26 are in particular arranged so that they are in the FIGS. 6 and 10 resulting basic position perpendicular to the main axis 12 run. They form thereby, together with those between each adjacent one Hinges 27 extending lengths of the side walls 16, 17, a plurality of successive trapezoidal panels 32nd
  • the coupling struts 26 may be advantageous to arrange the coupling struts 26 in pairs on one or more points lying at the same height with respect to the main axis 12.
  • this can be imagined as a frame-like structure, wherein the two side cheeks 16, 17 engage on two opposite frame legs and the two other frame legs each form a coupling brace 26.
  • the coupling struts 26 of a respective pair of struts are expediently opposite each other in the normal direction of the extension plane 18 at a distance.
  • the power output structure 15 designed in this way is combined with at least one actuator 33 which can be actuated by electrical energy and / or with fluid force and, depending on the embodiment, is capable of introducing tensile and / or pressure forces into the power output structure 15.
  • actuator 33 which can be actuated by electrical energy and / or with fluid force and, depending on the embodiment, is capable of introducing tensile and / or pressure forces into the power output structure 15.
  • the drive unit 2 comprises a total of two actuators 33a, 33b, which are Switzerlandaktuatoren and at the axially opposite end portions of a tensile force can be tapped.
  • these two actuators 33a, 33b are expediently arranged in the interior of the power output structure 15 and in particular extend between the two side walls.
  • the two actuators 33a, 33b are arranged at right angles to the extension plane 18 offset from one another and cross over yourself. Their two end Kraftabgriffs Suitee lie on both sides of the main axis and 12. Overall, this results in a pertinent configuration that the actuators 33a, 33b engage obliquely to the main axis 12 extending force introduction direction of the power output structure 15.
  • the two actuators 33a, 33b engage exclusively on the power output structure 15.
  • the corresponding points of attack are hereinafter referred to as force introduction points 34a, 35a; 34b, 35b.
  • the two force introduction points 34a, 35a; 34 b, 35 b of a respective actuator 33 a, 33 b are spaced apart in the direction of the main axis 12.
  • Each actuator 33a, 33b engages at one end at one and the other on the other side cheek 16, 17, or alternatively at one of the hinge points 27 or that portion of a coupling strut 26 which lies on the corresponding side of the main axis 12.
  • intersection 31 of the two actuators 33a, 33b is expediently located in a plane perpendicular to the plane of extent 18 and containing the main axis 12.
  • the actuators 33a, 33b could also attack only one end of the power output structure 15, wherein they would then be attached to the other end of the carrier 22 in particular.
  • the two actuators 33a, 33b can be activated alternately by control means 36 preferably accommodated in the device head 7 and deactivatable. During activation of the respective one actuator 33a, 33b, the other actuator 33b, 33a is expediently deactivated.
  • FIGS. 11 and 12 each show an operating state in which the one, first actuator 33a is activated and the other, second actuator 33b is deactivated.
  • the activated actuator 33a has the two applied by him force application points 34a, 35a pulled each other. This leads to a curvature of those side cheek 17 at which the force introduction point 35a, which is closer to the head area 14, is located. Due to the articulated, transverse coupling struts 26, the curvature of this one side wall 17 also has an immediate effect on the other side wall 16, which consequently also bulges out with the same direction of curvature.
  • the overall effect here is that the diagonals between the individual trapezoidal fields 32 are shortened, which leads to a displacement of the individual structural sections and ultimately according to FIG FIGS. 11 or 12 As a result, the entire force output structure 15 is deflected sideways in one or the other direction in the plane of extension 18 while elastically bending the side cheeks 16, 17.
  • the caudal fin 5 which is a planar structure with a plane of extension which extends perpendicular to the plane of extent 18, performs a drive movement comparable to the natural fin beat of a fish.
  • the kinematics occurring in this case can be effectively supported by a particularly advantageous construction of the tail fin 5, as it is realized in the embodiment.
  • the tail fin 5 expediently contains two force delivery structures 44 which are spaced apart in the direction of the vertical axis 43 perpendicular to the plane of extent 18 of the power output device 1 and whose conceptual structure corresponds to that of the force output structure 15 of the drive unit 2.
  • Their foot regions 45 are located at the root region 42 and they diverge from there to their head regions 46, the intermediate region being spanned by a single or multi-layered fin skin 47.
  • FIG. 13 is one of the two power output structures 44 shown by way of example in its basic position, the in FIG. 10 illustrated basic position of the power output structure 15 of the drive unit 2 corresponds.
  • the foot region 45 of the power delivery structure 44 is either hinged to the mounting interface 24 acting as a support ( FIG. 14 ) or rigid ( FIG. 15 ), from which the adjusting itself in the oscillating movement 37, from FIGS. 14 and 15 apparent shape changes result. Due to the opposing force 48, the force output structure 44 books in each case on the side toward which the mounting interface 24 or the root region 42 is pivoted.
  • the force delivery structures 44 are coated with a skin envelope 52, so that even there, and not only in the area of the fin skin 47, a force-like interaction with the surrounding water is possible.
  • the entire tail fin 5 can also be designed in the form of a covered force output structure 44.
  • the force output structure 44 then also extends over the region, which is bridged by the fin skin 47 in the exemplary embodiment.
  • a waterproof shell 53 which favors the power delivery to the surrounding water, also encloses the drive unit.
  • the sheath 53 is flexible and preferably designed to be comparatively thin, similar to a skin or foil, so that it does not have the deflection movements and curvature of the force output structure 15 can join.
  • the sheath 53 is formed like a tube, with a cross section along its length according to the design of the drive unit 2 changing cross section, their assembly is possible in that it is mounted on not yet installed caudal fin 5 on the mounting interface 24 on the drive unit 2 ,
  • the force output structure 44 may be provided with a support structure 54 and / or at least partially directly formed by the force output structure 15 itself.
  • the support structure 54 includes a plurality of spaced in the direction of the main axis 12, preferably arcuate Abstützbügeln 55, which are fixed on both sides of the plane of extension 18 at the level of the coupling struts 26 on the power output structure 15. In this way, results in accordance FIG. 4 a multiple arrangement of in the direction of the main axis 12 at a distance successive ring structures, to which the flexible sheath 53 according to FIG. 7 is raised.
  • the aforementioned pivotal mounting of the drive unit 2 with respect to the device front part 38 is realized via a pivot bearing of the carrier 22.
  • the carrier 22 is rotatably mounted on the device front part 38 about a right angle to the main axis 12 and suitably rectified with the device vertical axis 43 axis of rotation 56.
  • the axis of rotation 56 defining Drehachsstoff 57 are, for example FIGS. 4 and 7 seen.
  • the pivoting between the drive unit 2 and device front part 38 allows virtually bending the entire power output device 1 for the purpose of his steering.
  • the two here auscultable steering rash movements 58 of the drive unit 2 are in FIG. 8 indicated by arrows.
  • the torque for the generation of the steering deflection movements 58 provide two for better distinction as steering actuators 62 designated actuators, which are preferably formed as the actuators 33 of the drive unit 2 as linear actuators.
  • the steering actuators 62 are pure Switzerlandaktuatoren.
  • One of the steering actuators 62 engages on one side of the axis of rotation 56 on the carrier 22, while the other steering actuator 62 engages with its one end beyond the axis of rotation 56 on the carrier 22.
  • the two steering actuators 62 protrude in the direction of the device head 7 to the front, where they are fixed at other points of attack 64, with their other end portions. If a tensile force is generated by the activation of a steering actuator 62, the carrier 22 correspondingly rotates about the axis of rotation 56 and the output unit 2 carries out the associated steering deflection movement.
  • actuators 33 of the drive unit 2 and the steering actuators 62 - hereinafter simply simplified as actuators 33, 62 together - are preferably designed as fluid actuators. They can be operated with any fluid, be it gaseous or hydraulic Nature. In the embodiment, compressed air is used as drive fluid.
  • the actuators 33, 62 could be designed in the shape of conventional pneumatic cylinders. However, the design realized in the exemplary embodiment is considered to be particularly advantageous as contraction actuators 65. An expedient design for this comes from the WO 00/61952 A1 and the content of which is hereby expressly incorporated.
  • Each contraction actuator 65 has an in FIG. 9 in an enlarged section shown contraction tube 66, which consists of a rubber elastic hose body 67 and a coaxial to the hose body 67 strand structure 68.
  • the strand structure 68 comprises a plurality of bend flexible but at the same time highly tensile cords which are arranged in a cross-over configuration either around the tube body 67 or, preferably, embedded therein.
  • the contraction tube 66 extends between two headers 72 serving the force tap. Via these headers 72, it is anchored to the force introduction points 34, 35 or the points of application 63, 64.
  • the interior 73 of the contraction tube 66 communicates with a fluid line not shown in connection, over which a pressurization or pressure relief is possible.
  • the contraction actuator 65 assumes the extended position shown in the drawing. If its interior 73 is subjected to atmospheric pressure, it expands radially, which due to the strand structure 68 has a simultaneous axial contraction result, with the effect that the two head pieces 72 and thus the at this fastened components of the power output device 1 are drawn to each other.
  • this contraction actuator 65 is its extremely high traction, especially at the beginning of the contraction movement. Besides, he is flexible, so he is in the disabled state - like this FIGS. 11 and 12 is apparent - can be easily deflected when it is acted upon by the force output structure 15 with a transverse force. As a result, the deactivated contraction actuator 65 does not hinder the deflection movement of the power output structure 15.
  • control means 36 enable the controlled operation of the actuators 33, 62 to ensure the desired operation.
  • the control means 36 preferably includes a control electronics 74 cooperating with the radio receiver 3 and control valves 75 which are electrically controllable by this control electronics 74.
  • the necessary compressed air is supplied in the interior of the power output device 1 accommodated compressed air reservoir 76, which belongs in particular to the device front part 38. It is expediently a pressure-resistant container. In the embodiment, a perennial crystalllmenge of 1.5 liters of air is provided, which is compressed to 300 bar.
  • the compressed air reservoir 76 may be fastened to the device head 7 via fastening means 77, for example a clamping collar enclosing it. It is also preferably the link to the drive unit 2. As an example, the compressed air reservoir 76 is enclosed by a clamping ring 78 which is coaxial with the longitudinal axis 6 and on which the carrier 22 is mounted with the intermediary of the rotary axis means 57.
  • a taring chamber 82 is expediently also accommodated. Its function is similar to that of the swim bladder of a fish. It can be filled in a selected ratio with air and water in order to balance the power output device 1 in stable horizontal swimming position and in the desired depth.
  • a feed and suction grub 84 runs inside the tare chamber 82 in such a way that its mouth lies in the region of the taring chamber 82 which is near the ceiling.
  • compressed air can be fed into the taring chamber 82 via the feed and suction probes 84, so that the water therein is displaced beyond the water passage openings 83 to the environment.
  • an ejector device 85 operating according to the principle of a jet pump is connected to the feed and suction probes 84. If it is activated, the air in the tare chamber 82 is sucked off, with the result that water can flow from the outside over the water passage openings 83 into the tare chamber 82.
  • the desired ratio between the amount of water and air in the tare chamber 82 can be adjusted as needed.
  • the required compressed air for the operation of the taring chamber 82 in turn comes from the compressed air reservoir 76th
  • At least one preferably also accommodated in the device head 7 battery 86 or a comparable electrical energy source provides the electrical energy for the onboard electrical components, in particular for the control electronics 74 and the electrically actuated control valves 75th
  • An on-board pressure regulator 87 or pressure reducer reduces the existing air pressure in the accumulator 76 to a tolerable for the pneumatic components working pressure, for example, in the order of 8 bar.
  • a pressure sensor 88 detects the ambient pressure in the water. On the basis of the values determined by it, the control electronics 74 can set the desired diving depth by appropriate filling of the taring chamber 82.
  • the device head 7 is expediently constructed in several parts. He can according to FIGS. 4 and 5 a main body 93 containing the control means 36, to which the drive unit 2 is also attached. An upper part 94 which can be placed on this main body 93 expediently forms the tare chamber 82. A hood 95 is placed on the upper part 94 and can serve at the same time to clamp the cover 53 between itself and the upper part 94 at the front end region. The rear end region of the sheath 53 is expediently fastened to the mounting interface 24 or to the associated counterpart 25 of the tail fin 5.
  • the statements relating to the drive unit 2 also apply to other embodiments of the power output device 1.
  • a design as a holding device may be mentioned at this point, in which case the power output structure 15 of the drive unit 2, as shown in FIGS 10 to 12 indicated, at least form a loading surface 89 or may have, which is assigned to one of the two side walls 17 expediently.
  • the force 90 emitted by the force output structure 15 when activating an actuator 33 does not serve to generate a driving force, unlike the embodiment as a locomotion device, but rather to generate a holding force with which the urging surface 89 can be prestressed against an object to be retained.

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  • Combustion & Propulsion (AREA)
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  • Ocean & Marine Engineering (AREA)
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Abstract

L'invention concerne un appareil délivrant une force, notamment pour le maintien de pièces ou pour le déplacement, comprenant au moins une unité (2) d'entraînement qui contient au moins un actionneur (33) pouvant être actionné avec de l'énergie électrique et/ou avec la force d'un fluide et conçu pour appliquer des forces de traction et/ou de pression. L'unité (2) d'entraînement comprend une structure (15) délivrant une force qui présente deux joues (16, 17) latérales flexibles par effet élastique s'étendant l'une à côté de l'autre et se rapprochant en partant d'une zone (13) de base dans le sens d'un axe (12) principal vers une zone (14) de tête, qui sont reliées ensemble par le biais de montants (26) d'accouplement articulés à celles-ci, espacés dans le sens de l'axe (12) principal et s'étendant transversalement à cet axe (12) principal. L'actionneur (33) vient en prise avec la structure (15) délivrant une force de telle sorte que lorsqu'il est activé, la structure (15) délivrant une force est déviée latéralement en pliant les joues (16, 17) latérales par effet élastique.

Claims (16)

  1. Appareil délivrant une force, en particulier destiné à retenir des pièces ou pour le déplacement, avec au moins une unité d'entraînement (2) qui comporte au moins une structure délivrant une force (15) qui présente au moins un élément longitudinal flexible élastiquement comme un ressort à lames, retournant dans la position de base après l'arrêt d'une force de déformation le courbant et qui contient au moins un actionneur (33) pouvant être actionné avec de l'énergie électrique et/ou une force fluidique, approprié à l'exercice de forces de traction et/ou de pression, lequel actionneur agit sur la structure délivrant une force (15) de telle manière que lors de son activation, la structure délivrant une force (15) soit déviée de côté sous flexion élastique d'au moins un élément longitudinal, caractérisé en ce que deux des éléments longitudinaux sont réalisés comme des joues latérales (16, 17) flexibles élastiquement, s'étendant l'une à côté de l'autre et s'approchant à partir d'une zone de pied (13) en direction d'un axe principal (12) vers une zone de tête (14), lesquelles sont reliées entre elles par des barres de couplage (26) rigides en flexion, articulées à celles-ci, espacées en direction de l'axe principal (12) et s'étendant transversalement à cet axe principal (12).
  2. Appareil selon la revendication 1, caractérisé en ce qu'au moins un actionneur agit avec un dispositif d'introduction de force s'étendant en biais par rapport à l'axe principal (12) sur la structure délivrant une force.
  3. Appareil selon la revendication 1 ou 2, caractérisé en ce qu'au moins un actionneur (33) est disposé à l'intérieur de la structure délivrant une force (15).
  4. Appareil selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'au moins un actionneur (33) est disposé entre les deux joues latérales (16, 17), en particulier de telle manière que ses points de fixation se situent sur des côtés opposés de l'axe principal (12).
  5. Appareil selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'au moins un actionneur (33) agit exclusivement sur la structure délivrant une force (15).
  6. Appareil selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'au moins un actionneur (33) agit sur deux points d'introduction de force (34a, 35a ; 34b, 35b) espacés en direction de l'axe principal (12) sur la structure délivrant une force (15).
  7. Appareil selon l'une quelconque des revendications 1 à 6, caractérisé en ce qu'au moins un actionneur (33) agit d'une part sur une joue latérale (16) ou sur une section se trouvant sur le côté tourné vers cette joue latérale (16) de l'axe principal (12) d'une tige de couplage (26) et d'autre part sur l'autre joue latérale (17) ou sur une section se trouvant sur le côté tourné vers cette autre joue latérale (17) de l'axe principal (12) d'une tige de couplage (26).
  8. Appareil selon l'une quelconque des revendications 1 à 7, caractérisé en ce qu'au moins un actionneur (33) agit dans la zone d'un point d'articulation (27) disposé entre une joue latérale (16, 17) et une tige de couplage (26).
  9. Appareil selon l'une quelconque des revendications 1 à 8, caractérisé en ce que deux actionneurs (33, 33a, 33b) se croisant sont présents, lesquels agissent respectivement d'une part de ce côté et d'autre part de l'autre côté de l'axe principal (12) sur la structure délivrant une force (15).
  10. Appareil selon l'une quelconque des revendications 1 à 9, caractérisé en ce que les joues latérales (16, 17) de la structure délivrant une force (15) dans la zone de pied (13) sont reliées par articulation ou rigidement à un support rigide (22).
  11. Appareil selon l'une quelconque des revendications 1 à 10, caractérisé en ce qu'au moins un actionneur (33) est un actionneur linéaire.
  12. Appareil selon l'une quelconque des revendications 1 à 11, caractérisé en ce qu'au moins un actionneur (33) est un actionneur actionné par fluide, en particulier un actionneur pneumatique, sachant qu'il est, de manière appropriée, un actionneur de contraction (65) qui présente un tuyau de contraction (66) s'étendant entre deux têtes (72) permettant un prélèvement de force, lequel tuyau est élargi dans le sens radial en cas de sollicitation par pression interne et est contracté dans le sens axial en même temps.
  13. Appareil selon l'une quelconque des revendications 1 à 12, caractérisé en ce que les barres de couplage (26) sont présentes par paires à la même hauteur par rapport à la direction de l'axe principal (12).
  14. Appareil selon l'une quelconque des revendications 1 à 13, caractérisé en ce que les joues latérales (16, 17) présentent une forme de bande, sachant que la largeur des joues latérales (16, 17) diminue de manière appropriée en partant de la zone de pied (13) vers la zone de tête (14) de la structure délivrant une force (15).
  15. Appareil selon l'une quelconque des revendications 1 à 14, caractérisé en ce qu'il est réalisé comme un dispositif de retenue, sachant qu'une surface de sollicitation (89) est associée de manière appropriée à la structure délivrant une force (15) dans la zone de l'une des joues latérales (16, 17).
  16. Appareil selon l'une quelconque des revendications 1 à 15, caractérisé par une configuration comme appareil flottant commandé en particulier à distance, pour lequel la structure délivrant une force (15) de l'unité d'entraînement (2) peut être entraînée par au moins un actionneur (33) en un mouvement de pivotement (37) alternatif, contribuant à l'avancement, sachant qu'il s'agit pour l'appareil flottant de manière appropriée d'un appareil flottant profond qui présente en particulier une forme inspirée par l'anatomie d'un poisson, sachant que l'unité d'entraînement (2) est responsable de manière appropriée de la génération du battement d'une nageoire caudale (5) de l'appareil.
EP07723444A 2006-04-15 2007-03-21 Appareil delivrant une force Not-in-force EP2007620B1 (fr)

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DE200620006115 DE202006006115U1 (de) 2006-04-15 2006-04-15 Gerät zur Kraftabgabe
PCT/EP2007/002484 WO2007118571A1 (fr) 2006-04-15 2007-03-21 Appareil délivrant une force

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EP2007620A1 EP2007620A1 (fr) 2008-12-31
EP2007620B1 true EP2007620B1 (fr) 2012-04-04

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DE102008019454A1 (de) 2008-04-18 2009-10-29 Festo Ag & Co. Kg Elektrisch oder fluidisch angetriebenes Gerät zur Kraftabgabe
EP2502714B1 (fr) * 2011-03-23 2013-05-01 Festo AG & Co. KG Dispositif de retenue pour la retenue d'objets
CN102962843B (zh) * 2012-12-03 2014-12-10 中国科学院自动化研究所 一种跃水机器海豚
CN104554682B (zh) * 2015-01-28 2017-02-22 中国科学技术大学 一种面积可控的水下仿生推进装置
EP3244822B1 (fr) 2015-10-13 2018-12-19 Brainlab AG Guide de trajectoire réglable
CN106364649B (zh) * 2016-09-28 2018-06-19 博雅工道（北京）机器人科技有限公司 一种机器鱼鱼尾结构
CN108438182B (zh) * 2018-02-26 2019-10-25 南京航空航天大学 可变体积仿生鱼主体结构及仿生鱼与运动调控方法
DE102018009038A1 (de) * 2018-11-19 2020-05-20 Senvion Gmbh Rotorblatt-Stütze
CN110194247A (zh) * 2019-05-30 2019-09-03 深圳市环境科学研究院 一种蝠鲼式水面巡游装置
DE102020215228B3 (de) 2020-12-02 2022-03-17 Festo Se & Co. Kg Greifvorrichtung zum Greifen von Objekten und Verfahren zum Betreiben einer solchen Greifvorrichtung
CN113071640B (zh) * 2021-04-30 2022-04-15 白城师范学院 一种水中探测仿生机器鱼及其系统控制方法
CN114044138B (zh) * 2021-11-01 2023-11-07 上海智能制造功能平台有限公司 一种仿生鲸鱼的悬浮飞行器及其控制方法

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WO2007118571A1 (fr) 2007-10-25
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