SK5432000A3 - Method and device for the hollow fiber manipulation - Google Patents

Abstract

The invention relates to a device which is actuated by a pressure medium, comprising at least one hollow-bodied, elastically deformable member (20) provided with at least one actuating part (8). Said actuating part can be moved from one position into another. At least one deformable connecting means (4) is arranged in direct contact with the wall (5) of the member, sub-dividing the wall into areas having different extensions, extending from the actuating part in the direction of the member or connecting the actuating part to another actuating part (8.1).

Description

Method of handling hollow fiber and apparatus for its implementation.

Technical field:

The present invention relates to a method for handling hollow fibers which makes it possible to use them as fluid motors, i. hydraulic motors, pneumatic motors, or vacuum motors.

BACKGROUND OF THE INVENTION:

At present, hydraulic and pneumatic elements are used as fluid engines to convert the applied pressure medium or vacuum into linear or rotary motion.

Their main drawbacks are their relative robustness even in miniaturization, and their complexity, because they are composed of several components, causing structural rigidity, the individual components - except for the seals - are mostly metal /, and the steering / sensed are usually two extreme positions / and the difficulty of precision and lengthy production.

The essence of the invention:

The above-mentioned drawbacks, in particular robustness, complexity, inflexibility and manufacturing difficulty, are eliminated by a solution which consists in manipulating the flexible hollow fiber by supplying a pressure medium or vacuum to achieve the desired hollow fiber movement axial shortening or elongation, radial thickening, or constriction, rotation, bending, and combinations thereof.

By increasing the conductivity of its walls, for example by mixing graphite or metal powder into the base elastomer or rubber, a suitable positioning of the sensing electrodes is created and suitably provided by a feedback information system that allows us to identify the position of the hollow fiber handled and its bond strength to the counterpart, in fact, the magnitude of the force we exerted by the hollow fiber

-2Overview of drawings:

The method of handling the hollow fiber and the apparatus for making it are illustrated in more detail in the accompanying figures. Fig. 1 shows a cross section of a hollow fiber in general. The specific shapes of hollow fibers for each type of motion are shown in the following figures'

- axial shortening - 2 a - hollow fiber / without pressure / b - hollow fiber / before pressure /

- axial extension - 3 a - hollow fiber t without pressure / b - hollow fiber / before pressure /

- radial roughing - 4 a - hollow fiber / without pressure / b - hollow fiber / before pressure /

- radial gap narrowing - 5 a - hollow fiber / without pressure / b - hollow fiber / before pressure /

- rotation - 6 a - hollow fiber / without pressure t b - hollow fiber / before pressure /

- bend - 7 a - hollow fiber / without pressure / b - hollow fiber even before pressure /

- combination of axial shortening and bending - 8 a - hollow fiber / without pressure / b - hollow fiber / before pressure /

- bundle of diverging fibers - 9 a - hollow fiber / without pressure / b - hollow fiber / under pressure /

- branched fiber - gripper - 10 a - hollow fiber / without pressure / b - hollow fiber / under pressure t

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An example of the invention

The method of handling the hollow fiber I, FIG. 2, 3, 4, 5, 6, 7, 8 consists in introducing a pressure medium or a vacuum into the hollow fiber I through the inlet opening 3. In this way, the movement membranes 5 which are dispensed by the applied pressure or the vacuum are moved. Since the shaped projections 4, preferably reinforced with a cord 6, retain the desired shape of the hollow fiber 1, the movement of the movement membranes 5 is reflected in the movement of the hollow fiber 1 as a whole, according to its

-3specific shape, ie the desired movement. By measuring the change in the conductivity of the material between the electrodes 13 and 14, we can measure the change in the position of the hollow fiber 1 and between the electrodes 12 and 13 the bond strength of the counterpart and the hollow fiber 1 and hence the force that the hollow fiber has developed.

In special cases, in the case of combined complex movements of the hollow fiber I, it is advantageous to use more electrodes to measure the individual phases of the movement of the forces exerted by the fiber in the individual movement sections.

The fibers 1 can be joined in series or in parallel to bundles that run to the locations where they are to act as a source of force / tension, pressure, rotation, and the like. 91

The fibers 1 may be branched / e.g. 10), or a 3-finger gripper, or they may have multiple parallel hollow chambers.

The fiber 1 need not be attached in the direction of the axis of movement such as e.g. but it can be wrapped or bent somewhere and work as a source of power in a different direction / fig. 9 /.

The filament 11 can structurally connect two rings, which are then exerted by a force depending on the fluid pressure applied to it (FIG. 9), or itself constitutes a structural element that performs the desired action (FIG. 10 /.

Industrial usability:

The hollow fiber handling method can be widely used in the field of robotics and industrial automation. The hollow fiber thus operated can be used as a fluid motor (hydraulic motor, pneumatic motor or vacuum motor), gripper, slide, stop, dampers and the like. A great advantage is its flexibility, which allows its use to control elements so to speak around the corner / e.g. replacement of a cable pulled by a tire and the like. /.

The production of the device itself is simple, since it is an elastomeric or rubber casting, or a molding preferably made of silicone.

Claims (11)

PATENT CLAIMS A method of hollow fiber handling, characterized in that a specially shaped hollow fiber formed by a bottom, an inlet; reinforced protrusions directed inwardly and / or outwardly of the hollow fiber and movement membranes which are formed of rubber and / or elastomer preferably filled with graphite or metal powder and preferably at appropriate locations reinforced with a cord are pressurized or drained fluid under pressure or vacuum, thereby stretching or collapsing the movement membranes while maintaining the overall shape of the hollow fiber through the projections, thereby allowing subsequent movement of the entire hollow fiber, axial shortening or elongation of the hollow fiber, radial thickening of the hollow fiber, axial narrowing of the hollow fiber slit, bending hollow fiber, its rotation about an axial axis, and combinations thereof. Hollow fiber handling method according to claim 1, characterized in that sensing the position of the hollow fiber (1) is provided by measuring the resistance of the wall of the hollow fiber (1) between the electrodes (13) and (14). Hollow fiber handling method according to claims 1 and 2, characterized in that the measurement of bond strength, i.e. the force exerted by the hollow fiber (1), is provided by measuring the wall resistance by the bond strength indicator (8) between the electrodes (12) and (13). /. Device for carrying out the method according to Claims 1, 2 and 3, characterized in that it consists of a specially shaped hollow fiber (1) with a bottom (2), an inlet (3) reinforced by inward projections (4) and / or or out of a hollow fiber (1) and movement membranes (5), the hollow fiber (1) being formed of rubber and / or an elastomer preferably filled with graphite or metal powder and preferably at appropriate locations reinforced with a cord (6) Device for carrying out the method according to claim 1, 2 and 3 for axially shortening the hollow fiber (1), characterized in that in the unloaded state the movement membrane (5) of the hollow The fibers (1) parallel to the axis of the hollow fiber (1) and the reinforced projections (4) are formed axially and radially from the outside of the hollow fiber (1) and connected to each other. Device according to claim 1, 2 and 3 for axially extending the hollow fiber (1), characterized in that, in the unloaded state, the reinforced projections (4) form radial rings outside the hollow fiber (1) and the movement membranes (5) form radial lobes. inside the hollow fiber (1). Device according to claim 1, 2 and 3 for rotating the hollow fiber (1), characterized in that the shaped projections (4) form rings which are helically interconnected. Device according to claim 1, 2 and 3 for bending the hollow fiber (1 t), characterized in that the thickness of the hollow fiber (1) is uneven in both axial and radial directions and the bond strength indicator (8) is located on the wall of the hollow fiber (1). preferably on its coarse portion. Apparatus according to claim 1, 2 and 3 for radially thickening the hollow fiber (1), characterized in that the shaped projections (4) and the movement membranes (5) of the hollow fiber (1) are parallel to its axis. Apparatus according to claim 1, 2 and 3 for radially narrowing a slit in a hollow fiber (1), characterized in that the slit (9) formed by a movement membrane (5) on which is suitably positioned a bond strength indicator (8) of cylindrical shape. Device according to claim 1, 2, 3, 4, 5, 6, 7, 8, 9 for the combined movement of the hollow fiber (1), characterized in that the shaped projections (4) and the movement gates (5) are arranged such that to form sections for the desired individual movements of the hollow fiber (1) suitably supplemented by the sensing electrodes (12), (13) and (14).