GB2089890A - A device for producing movement in mechanical systems - Google Patents
A device for producing movement in mechanical systems Download PDFInfo
- Publication number
- GB2089890A GB2089890A GB8134073A GB8134073A GB2089890A GB 2089890 A GB2089890 A GB 2089890A GB 8134073 A GB8134073 A GB 8134073A GB 8134073 A GB8134073 A GB 8134073A GB 2089890 A GB2089890 A GB 2089890A
- Authority
- GB
- United Kingdom
- Prior art keywords
- container
- operating device
- axis
- respect
- fluid
- 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.)
- Withdrawn
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- 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
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2853—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using potentiometers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
An operating device for a robot, comprises a flexible container (4) for receiving a fluid, the container being formed from a first material which is stretchable radially with respect to an axis of the container and from a second material which is substantially non-stretchable with respect to the axis. Thus inflation of the container by the fluid causes the container to expand radially with respect to the axis and to contract with respect to the axis. Deflation of the container by removing the fluid from the container causes the container to regain substantially its original size. A measuring device 28 extends axially through the container to provide an electrical signal indicative of the container's axial length. <IMAGE>
Description
SPECIFICATION
Device for producing movement in mechanical systems
This invention relates to a device for producing movement in mechanical systems.
Devices are known which can produce complex sequences or movements. These devices are yenerally known as robots. The known robots suffer from the disadvantage that their range of movement is restricted. It is an aim of the present invention to help to reduce this problem by providing an operating device for a robot which is functionally similar to a human muscle.
Accordingly, this invention provides an operating device for operating a robot, which operating device comprises a flexible container for receiving a fluid, the container being formed from a first material which is stretchable radially with respect to an axis of the container and from a second material which is substantially nonstretchable with respect to the axis, whereby inflation of the container by the fluid causes the container to expand radially with respect to the axis and to contract with respect to the axis, and whereby deflation of the container by removing the fluid from the container causes the container to remain substantially its original size.
Since the container will not stretch along a chosen axis but will stretch along all other axes perpendicular to the chosen axis, it will be apparent that when the container is inflated with a fluid under pressure, the container will blow up somewhat like a balloon and this causes the shortening in length of the container. The fluid for the container may be a gas or a liquid.
The first and second materials may be any known materials which are suitable for the specified purpose.
The operating device may include length measuring means for determining the varying length of the container.
The length measuring means may be electrical length measuring means for measuring the resistance between two points on the container and thereby determining the length of the container at any one instant.
The electrical length measuring means may comprise a resistor attached to one point on the container, and a conductor attached to another point on the container, the conductor and the resistor overlapping in a middle portion of the container.
The resistor may be a rod, the conductor may be a tube, and the resistor may then be movable in and out of the tube.
The operating device may include tension sensing means for measuring forces applied by the robot to an outside environment.
The tension sensing means may be in the form of a strain gauge. The ends of the container may be attached to more than one fixed point so that when the container contracts, tension is produced between the points of attachment. Conversely, when the fluid is released from the container, for example via a suitable valve device, the container will relax and this relaxation can be appropriately measured on the tension sensing means.
The operating device may also include a valve, the valve being for controlling the fluid flow to and from the container.
The operating device may perform its contractions and relaxations under the control of a
microprocessor device.
The microprocessor device may be instructed to generate a required force over a required
distance. The required force will then be generated
by means of opening or closing the valve device.
Such forces generated may then be monitored the length measuring means and/or by the tension sensing means. The microprocessor device may then produce a response as may be required.
The present invention also extends to a robot whenever provided with the operating device.
In order to avoid loss of fluid from the container, it will be apparent that the container should form part of a closed system. This will avoid the need to continually replenish the fluid for the container.
Embodiments of the invention will now be described solely by way of example and with reference to the accompanying drawings in which:
Figure 1 is a block diagram of an operating device in accordance with the invention;
Figure 2 shows a flexible container in contracted and relaxed states;
Figure 3 shows a flexible container in circuit with electrical length measuring means; and
Figure 4 shows another type of electrical length measuring means.
Referring to Figure 1 , there is shown an operating device 2 including at least one flexible container 4 for operating a robot (not shown). The container 4 is controlled via a main computer 6, a control unit 8 especially for the container 4, and a pressure control unit 10. The expansion and contraction of the operating device 4 causes it to vary in length and these variations in length are sensed by length measuring means 12 via line 14.
The length measuring means 12 may include feedback mechanisms. The length measuring means 12 sends signals along line 1 6 to the control unit 8 via line 1 9 and the main computer 6 via line 20. The length measuring means 12 is itself fed with further information from a length measuring means 22, and the length measuring means 22 may measure variations in length of other flexible containers 24.
Referring now to Figure 2, there is shown a flexible container 4 in a contracted state and in a relaxed state, the contracted state being shown in the upper part of Figure 2 and the relaxed state being shown in the lower part of Figure 2. The flexible container 4 comprises a bag 26 for containing a fluid. Also shown in Figure 2 is length measuring means in the form of an electrical wiper arrangement 28. The wiper arrangement 28 is for measuring the variations in length of the bag 26. It will be seen that the wiper arrangement 28 comprises a fixed arm 30 and a movable wiper arm 32. The movable wiper arm 32 moves along the fixed arm 30 and this causes variations in electrical resistance. The variations in electrical resistance can then be translated into corresponding variations in length of the bag 26.
The bag 26 expands as illustrated because it is formed from a first material which is stretchable radially with respect to the longitudinal axis of the bag 26 and from a second material which is substantially non-stretchable with respect to the longitudinal axis of the bag 26. The bag 26 is caused to contract and relax due to the particular properties of the materials from which it is made.
During the contraction stage, the bag 26 will be inflated somewhat like a balloon and the materials from which it is made will be under tension. When the fluid causing the bag 26 to expand is removed, for example by being bled off via a valve (not shown), then the elasticity in the materials from which the bag 26 is made will cause the bag 26 to relax and assume its original shape.
The length measuring means 28 illustrated in
Figure 2 may be overriden at random intervals as desired and a higher level length measuring mechanism may be employed to correlate the real position with respect to the computed position.
When there is a position divergence, the length
measuring means at the lower level will be
corrected to allow for the necessary change.
Referring to Figure 3, it will be seen that an operating device having a bag 26 and a wiper
arrangement 28 with arms 30, 32 is connected in
circuit with a Wheatstone bridge arrangement 34.
The circuit includes a switch 36 and a power source 38.
Referring now to Figure 4, there is shown a bag
26 which has a resistor rod 40 connected to a
point 42 of the bag 26, and a conductor tube 44
connected to a point 46 of the bag 26. The upper
part of Figure 4 illustrates the bag 26 in a relaxed
condition and the lower part of Figure 4 illustrates
the bag 26 in an inflated contracted condition. The
difference in movement is indicated as the amount
of contraction 48.
It will be apparent that the operating devices
illustrated in the drawings simulate the action of
an animal muscle. The bags 26 are appropriately
sealed so that fluid is not lost.
The size and shape of the bags 26 or other
flexible containers can be designed to conform to
the arrangement of a robot's skeletal structure in
the same way as that organised in nature. This
helps to obviate the complex engineering
problems existing in current robots employing
conventional mechanical systems.
By employing different flexible containers, a
large range of characteristics can be simulated.
The tension produced will depend on the size of
the flexible containers. The hysteresis curve
produced during contraction and relaxation will
depend on the precise materials, for example the
polymer composites, used in the manufacture of
the first and second materials.
By varying the rate at which the flexible
container or containers inflate or deflate, the force generated can easily be controlled. The sensitivity and efficiency of the operating device will depend upon the speed at which the flexible container is instructed to inflate or deflate. To maximise the sensitivity and the fine control of the variation in length of the container, a valve may be needed which opens and closes as fast as possible. The valve should be able to operate over large pressure gradients and to withstand a high flow rate.
An operating device in accordance with the present invention may be added to a robot's network by plugging it into via an appropriate connection such for example as a fibre optic link.
It is envisaged that the operating device of the present invention will allow the simpler assembly of robots than hitherto. The robots should be of a simpler design than hitherto and repair should easily be effected. The fluid necessary for the flexible container may be provided by pumps or
compressed gas containers.
It is to be appreciated that the embodiments of the invention described above have been given by way of example only and that modifications may be effected. Thus, for example, other types of length measuring means may be employed together with other shapes for the bag 26.
Claims (10)
1. An operating device for operating a robot, which operating device comprises a flexible container for receiving a fluid, the container being formed from a first material which is stretchable radially with respect to an axis of the container and from a second material which is substantially non-stretchable with respect to the axis, whereby inflation of the container by the fluid causes the container to expand radially with respect to the axis and to contract with respect to the axis, and whereby deflation of the container by removing the fluid from the container causes the container to regain substantially its original size.
2. An operating device according to claim 1 and including length measuring means for determining the varying length of the container.
3. An operating device according to claim 2 in which the length measuring means is electrical length measuring means for measuring the resistance between two points on the container and thereby determining the length of the container at any one instant.
4. An operating device according to claim 3 in which the length measuring means comprises a resistor attached to one point on the container, and a conductor attached to another point on the container, the conductor and the resistor overlapping in a middle portion of the container.
5. An operating device according to claim 4 in which the resistor is a rod, and in which the conductor is a tube.
6. An operating device according to any one of the preceding claims and including tension sensing means for measuring forces applied by the robot to an outside environment.
7. An operating device according to claim 6 in which the tension sensing means is a strain gauge.
8. An operating device according to any one of the preceding claims including a valve, the valve being for controlling the fluid flow to and from the container.
9. An operating device according to any one of the preceding claims and including a microprocessor.
10. An operating device substantially as herein described with reference to the accompanying drawings.
1 A robot wherever provided with an operating device as claimed in any one of the preceding claims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8134073A GB2089890A (en) | 1980-12-23 | 1981-11-12 | A device for producing movement in mechanical systems |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8041218 | 1980-12-23 | ||
| GB8134073A GB2089890A (en) | 1980-12-23 | 1981-11-12 | A device for producing movement in mechanical systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| GB2089890A true GB2089890A (en) | 1982-06-30 |
Family
ID=26277963
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8134073A Withdrawn GB2089890A (en) | 1980-12-23 | 1981-11-12 | A device for producing movement in mechanical systems |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2089890A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2560102A1 (en) * | 1984-02-28 | 1985-08-30 | Exameca Monedi | Contractile devices generating mechanical or robotic movements for manipulation or locomotion and robot limbs actuated by these devices |
| WO1989011381A1 (en) * | 1988-05-19 | 1989-11-30 | Eric Frank Rhys Edwards | Improvements relating to movement actuators |
| WO1989011633A1 (en) * | 1988-05-19 | 1989-11-30 | Eric Frank Rhys Edwards | Improvements relating to linear movement sensors |
| EP1342925A3 (en) * | 2002-03-08 | 2003-11-19 | FESTO AG & Co | Contraction unit with position sensing device |
| WO2003104659A1 (en) * | 2002-06-07 | 2003-12-18 | Festo Ag & Co | Contraction unit with position sensor device |
-
1981
- 1981-11-12 GB GB8134073A patent/GB2089890A/en not_active Withdrawn
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2560102A1 (en) * | 1984-02-28 | 1985-08-30 | Exameca Monedi | Contractile devices generating mechanical or robotic movements for manipulation or locomotion and robot limbs actuated by these devices |
| WO1989011381A1 (en) * | 1988-05-19 | 1989-11-30 | Eric Frank Rhys Edwards | Improvements relating to movement actuators |
| WO1989011633A1 (en) * | 1988-05-19 | 1989-11-30 | Eric Frank Rhys Edwards | Improvements relating to linear movement sensors |
| GB2237648A (en) * | 1988-05-19 | 1991-05-08 | Eric Frank Rhys Edwards | Improvements relating to linear movement sensors |
| GB2237843A (en) * | 1988-05-19 | 1991-05-15 | Eric Frank Rhys Edwards | Improvements relating to movement actuators |
| GB2237843B (en) * | 1988-05-19 | 1992-06-10 | Eric Frank Rhys Edwards | Improvements relating to movement actuators |
| GB2237648B (en) * | 1988-05-19 | 1993-01-06 | Eric Frank Rhys Edwards | Improvements relating to linear movement sensors |
| AU635706B2 (en) * | 1988-05-19 | 1993-04-01 | Eric Frank Rhys Edwards | Improvements relating to movement actuators |
| EP1342925A3 (en) * | 2002-03-08 | 2003-11-19 | FESTO AG & Co | Contraction unit with position sensing device |
| WO2003104659A1 (en) * | 2002-06-07 | 2003-12-18 | Festo Ag & Co | Contraction unit with position sensor device |
| US7104182B2 (en) | 2002-06-07 | 2006-09-12 | Festo Ag & Co. | Contractile unit having a position sensor means |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |