WO1992015790A1 - Dispositif de generation d'une force de traction au moyen d'un fluide sous pression - Google Patents

Dispositif de generation d'une force de traction au moyen d'un fluide sous pression Download PDF

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Publication number
WO1992015790A1
WO1992015790A1 PCT/DE1992/000194 DE9200194W WO9215790A1 WO 1992015790 A1 WO1992015790 A1 WO 1992015790A1 DE 9200194 W DE9200194 W DE 9200194W WO 9215790 A1 WO9215790 A1 WO 9215790A1
Authority
WO
WIPO (PCT)
Prior art keywords
network
strands
hose body
pressure medium
flexible tube
Prior art date
Application number
PCT/DE1992/000194
Other languages
German (de)
English (en)
Inventor
Ralph Wenzel
Original Assignee
Ralph Wenzel
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ralph Wenzel filed Critical Ralph Wenzel
Priority to JP4505470A priority Critical patent/JPH06505326A/ja
Publication of WO1992015790A1 publication Critical patent/WO1992015790A1/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
    • 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 device for generating a tensile force by means of pressure medium with an elastic hose body having an expansion chamber and at least one pressure medium connection and a network surrounding the hose body or the expansion chamber as a whole, the network having meshes that contract axially in the event of radial expansion.
  • the devices in question are problematic in so far as the networks or meshes formed there are characterized by fixed connections between the struts forming the meshes.
  • the mesh size or leg length of the struts is specified there and cannot be changed.
  • the struts meet, they are either knotted or - depending on the material of the struts - glued, welded or soldered.
  • the nodes are considerably bulky, hinder handling and lead to considerable abrasive wear between the network or the nodes formed there and the hose body.
  • hose bodies used in devices of the type in question only rarely have one hundred percent homogeneous wall thicknesses or consistencies. Consequently, with the radial expansion of the hose body, i.e. when the hose body is filled with pressure medium, which unevenly stresses the mesh of the network, or is stressed unevenly due to the uneven expansion of the hose body. A compensation of this inhomogeneous load between individual meshes or the struts forming the meshes is not possible, so that partial load peaks can lead to destruction of the network, although the load limit of the network as a whole has not yet been exceeded.
  • the invention is therefore based on the object of specifying a device for generating a tensile force by means of pressure medium of the type in question, in which inhomogeneities in the tube body or resulting local stress peaks are compensated when the tube body expands. Furthermore, the friction between the network and the hose body should be effectively reduced, so that any abrasion or wear resulting therefrom is minimal. Finally, the device, in particular with regard to the network, should be simple to manufacture and thus ultimately inexpensive.
  • the device according to the invention for generating a tensile force by means of pressure medium achieves the above object by means of the features of patent claim 1.
  • adjacent strands loop around one another at predetermined intervals in such a way that each strand runs approximately in a zigzag shape and the loops formed in this way have an approximately elongated rhombic shape.
  • the strands of the network loop around one another simply in the sense of a mesh fence or mesh, so that at least a slight relative movement of the strands is possible at the points of contact or lines of contact between two adjacent strands.
  • the strands according to this advantageous embodiment are not knotted or otherwise fixed against one another, but can slide past one another within a certain range, as a result of which local load peaks of the network or the mesh can be compensated for via the strands.
  • the network is integrated into the hose body in the sense of a reinforcement. As a result of this measure, the meshes are virtually stationary, and the strands can slide slightly against one another.
  • the network could surround the tube body in a closely fitting or approximately form-fitting manner. In order to fix the network, this could in turn be at least slightly surrounded by an elastic encapsulant. As a result of this measure, the meshes or the points of contact or lines of contact between the strands would be virtually stationary, the certain relative movement between the. Strands is easily possible.
  • the investment could, for example, consist of the same material as the tube body itself, so that between the tube body and the investment - in the area between the meshes - material weft, i.e. a kind of material fusion, or at least adhesion, is present. These measures would particularly ensure that the network was fixed.
  • the tubular body and possibly the investment material could be made of an elastomeric material, in particular synthetic rubber or rubber.
  • the required wall thicknesses are to be designed in the expansion chamber depending on the material used and the pressures to be applied.
  • the hose body and possibly the investment material are made of silicone, which results in a particularly simple production technique with regard to the hose body due to the usual silicone processing.
  • Strands and the tube body as well as the investment material are made of materials that effectively prevent good wetting and thus good adhesion between the strands and the tube body or investment material.
  • the possibility of an at least slight relative movement between the strands of the network and the tubular body or the investment material is ensured by this special measure.
  • the strands can be coated or impregnated with an agent which at least largely excludes wetting, for example with silicone oil or the like. Other coatings with the same effect are also conceivable.
  • the strands of the network are made of a strand, i.e. consist of several preferably twisted fibers.
  • the strands of the network can consist of a singular fiber, which in itself must then have the required tensile strength or tensile strength.
  • the strands - whether stranded or singular fiber - can be made in a further advantageous manner from a high-strength plastic, preferably from nylon or the like, whereby a considerable tensile load on the network is possible.
  • the network is more or less closely meshed, the mesh or mesh diameter being designed so that the strength of the intermediate hose body is not exceeded.
  • This second network could be identical or similar to the first network.
  • the network projects beyond the hose body on both sides and at both ends - in a bound, knitted or other form - a fastening or suspension of the Device forms. Consequently, the hose body was only used for the radial expansion and thus for the axial contraction of the device according to the invention, but has no special holding or connecting function, as a result of which the hose body per se is considerably relieved.
  • the pressure medium connection of the device according to the invention could be attached to one end of the hose body and - optionally - serve to fasten the hose body.
  • This pressure medium connection could be molded onto the hose body in the form of a connection nipple or the like.
  • a total of two pressure medium connections could be provided, both pressure medium connections being formed at the respective ends of the hose body could be.
  • these two pressure medium connections could also serve to fasten the device, a corresponding tensile strength or tensile strength of the hose body material having to be ensured.
  • the pressure medium connections could also lead into the side of the hose body and, for example, protrude unhindered through a mesh of the network.
  • the pressure medium connections could be provided with shut-off valves, which are particularly advantageously electromagnetically actuated valves. A quick opening and closing of the valves for the sudden activation of the device according to the invention is possible.
  • FIG. 1 shows a schematic illustration, partially in section, of an embodiment of an inventive device for generating a tensile force by means of pressure medium and a section along the line A-A,
  • FIG. 2 shows a schematic illustration, partially sectioned, of the object from FIG. 1 with the expansion chamber pressurized and a section along the line BB, Fig. 3 in an enlarged detail, partially, the network of the object of FIGS. 1 and 2 and
  • Fig. I shows an embodiment of an inventive device for generating a tensile force by means of pressure medium.
  • This device includes an elastic hose body 3, which has an expansion chamber 1 and a pressure medium connection 2, and a network 4, which surrounds the hose body 3 or the expansion chamber 1 as a whole.
  • the network 4 has meshes 5, which extend when the hose body 3 or of the network 4 axially contract, ie shorten in the longitudinal direction.
  • the stitches 5 are formed by elastic strands 6 which extend over the entire length of the tubular body 3 and are not or only slightly stretchable but elastic. 3 shows particularly clearly that adjacent strands 6 wrap around each other at predetermined intervals in such a way that each strand 6 runs approximately in a zigzag shape and the loops 5 formed in this way have an approximately elongated rhombic shape .
  • the strands 6 loop around one another simply in the sense of a mesh fence or mesh, so that at least slight relative movement of the strands 6 is possible at the points of contact or lines of contact between two adjacent strands 6.
  • the network 4 is integrated in the tubular body 3 or that the network 4 is at least slightly surrounded by an elastic encapsulant 7 in order to fix it the ma material of the investment 7 is identical to the material of the tube body 3.
  • the strands 6 of the network 4 are each made from a singular fiber. It could also be a multi-stranded strand. According to the representations in FIGS. 1 to 3, the network 4 is of close-meshed design in accordance with the pressures occurring within the hose body 3.
  • Fig. 2 shows the device according to the invention in the pressurized state, i.e. in a state in which the tubular body * 3 is radially expanded, so that the meshes 5 of the network 4 - likewise radially expanded - are contracted in the longitudinal direction.
  • a force acting along the device according to the invention can be exerted, with which, for example, a lever arm 8 according to the illustration in FIG. 4 can be applied.
  • the lever arm 8 is acted upon on both sides of a rotatable articulation 9 with a device according to the invention, so that the lever arm 8 can be both lowered and raised when subjected to force.
  • the application example shown in FIG. 4 is used here only for the exemplary demonstration of an application of the device according to the invention to robots, namely for the actuation of robot arms, robot legs or the like.
  • the pressure medium connection 2 leads into the side of the hose body 3.
  • the pressure medium connection 2 is provided with a shut-off valve (not shown in the figures), the shut-off valve being an electromagnetic shut-off valve. Since the strands 6 of the network 4 extend beyond the length of the hose body 3, the strands 6 present at both ends of the hose body 3, for example in a bound form, can form a suspension 10 of the device.
  • a core or the like is provided, to which, for example, silicone rubber is then applied.
  • the core should consist of a material to which the silicone rubber does not adhere in the hardened state.
  • the core could be made of wood, for example hardwood, and brushed with or dipped in zinc stearate, stearin or another release agent.
  • the core could, for example, have a diameter between 10 and 15 mm and a length of approximately 20 cm. At the end, the core could taper, so that the tube body would taper accordingly.
  • a hole can be drilled in the radial direction at an angle to the axis of the core.
  • a metal rod or the like is inserted there, for example. For a better hold, this could be tapered in the insertion area.
  • the rod can have a diameter of approximately 3 to 5 mm and, like the core, is also coated with release agent.
  • the final thickness or wall thickness of the hose body could be, for example, 5 to 7 mm.
  • This layer can be applied to the core in one or more operations apply, although manual coating by multiple application is also conceivable.
  • a thin reinforcement could be placed on the pressure medium connection and also coated with rubber.
  • the core should protrude from the rubber coating at both ends, so that an opening at the end is ensured. Due to the enormous elasticity of the silicone rubber, the core can later be easily removed from the tube body produced in this way.
  • the tube body After the tube body has completely hardened on the core, it is arranged together with the core in a stand or the like.
  • pulling ropes or the strands around the hose body can now be “braided” in the manner according to the invention, adjacent strands being laid around one another such that each strand runs in a zigzag shape along the hose body.
  • the mesh density can be varied as desired, especially since the contact points of adjacent strands are free of knots, welds or adhesions.
  • the stitches can be brought into the correct position using a comb-like tool or the like, so that the tubular body - stitch row by stitch row - gradually comes along braided identical stitches.
  • the strands or ropes running out at the ends of the hose body are bound together in the manner of a holder or suspension.
  • the tubular body provided with the network is in turn coated with a silicone rubber mixture, so that the meshes are virtually bound in the position selected here.
  • This drawn over the network gene layer serves to fix the network and prevents the contact points of the strands forming the stitches from slipping, so that a certain relative movement between the strands is possible, but slipping of the stitches is largely prevented.

Abstract

Un dispositif de génération d'une force de traction au moyen d'un fluide sous pression comprend un tuyau flexible (4) formé d'une chambre gonflable (10 et d'au moins un raccordement (2) pour le fluide sous pression, et un filet (4) qui entoure entièrement le tuyau flexible (3) ou la chambre gonflable (1). Le filet (4) est formé de mailles (5) qui se rétractent axialement lorsque le filet est radialement étiré. Afin de compenser des manques d'homogénéité du tuyau flexible et les crêtes de pression locales qui en résultent lorsque le tuyau flexible est étiré, afin de réduire efficacement le frottement entre le filet et le tuyau flexible, donc l'abrasion ou l'usure qui en résulte, et afin de simplifier la production du filet et d'en réduire le coût, les mailles (5) sont formées par des cordons (6) élastiques mais de préférence peu ou pas extensibles qui s'étendent sur toute la longueur du tuyau flexible (3). Les cordons adjacents (6) se croisent alternativement à intervalles prédéterminés, de sorte que chaque cordon (6) suit un trajet en zig-zag et que les mailles (5) ainsi formées ont la forme de rhomboïdes allongés.
PCT/DE1992/000194 1991-03-06 1992-03-06 Dispositif de generation d'une force de traction au moyen d'un fluide sous pression WO1992015790A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4505470A JPH06505326A (ja) 1991-03-06 1992-03-06 圧力媒体により引張り力を発生させるための装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP4107134.4 1991-03-06
DE19914107134 DE4107134A1 (de) 1991-03-06 1991-03-06 Vorrichtung zum erzeugen einer zugkraft mittels druckmittel

Publications (1)

Publication Number Publication Date
WO1992015790A1 true WO1992015790A1 (fr) 1992-09-17

Family

ID=6426599

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1992/000194 WO1992015790A1 (fr) 1991-03-06 1992-03-06 Dispositif de generation d'une force de traction au moyen d'un fluide sous pression

Country Status (5)

Country Link
EP (1) EP0574467A1 (fr)
JP (1) JPH06505326A (fr)
CA (1) CA2105475A1 (fr)
DE (1) DE4107134A1 (fr)
WO (1) WO1992015790A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0677662A1 (fr) * 1994-04-11 1995-10-18 Werner Homann Dispositif d'actionnement sous forme de muscle

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19730838C2 (de) * 1997-05-13 2000-07-06 Langendorf Textil Gmbh & Co Kg Schlauchsystem
EP1228321B1 (fr) * 1999-11-11 2006-08-23 Hofmann, Klaus Dispositif de serrage ou de freinage
JP2008082554A (ja) * 2003-03-25 2008-04-10 Hitachi Medical Corp 流体圧式アクチュエータ及びそれを用いたｃｐｍ装置
JPWO2006080088A1 (ja) * 2005-01-31 2008-06-19 スキューズ株式会社 アクチュエータ、駆動装置、及びハンド装置
DK2286965T3 (da) 2008-04-02 2013-11-04 Squse Inc Rotationsindretning
JP6710029B2 (ja) * 2015-08-31 2020-06-17 ダイヤホールディングス株式会社 アクチュエータ及び身体支援装置
DE102015225143B4 (de) * 2015-12-14 2019-09-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Linearaktor
US11927284B2 (en) 2020-06-24 2024-03-12 Winston Products Llc Expandable hose

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2844126A (en) * 1955-01-20 1958-07-22 Clevite Corp Fluid actuated motor system and stroking device
EP0146261A1 (fr) * 1983-11-21 1985-06-26 Mirko Kukolj Actionneur opérant par contraction axiale
DE3542277A1 (de) * 1984-11-30 1986-06-05 Bridgestone Corp., Tokio/Tokyo Pneumatische betaetigungsvorrichtung
EP0208332A2 (fr) * 1985-07-12 1987-01-14 Henry M. Paynter Servomoteur à traction actionné par fluide sous haute pression et procédé de fabrication
EP0261721A2 (fr) * 1986-09-22 1988-03-30 Théophile Beullens Dispositif d'entraînement hydraulique ou pneumatique
EP0161750B1 (fr) * 1984-04-25 1988-10-12 Bridgestone Corporation Vérin
GB2207702A (en) * 1987-07-23 1989-02-08 Dr Colin George Morgan Pneumatic or hydraulic actuator mechanism (an artificial muscle)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4615260A (en) * 1983-04-25 1986-10-07 Bridgestone Corporation Pneumatic actuator for manipulator
DE3644481A1 (de) * 1986-12-24 1988-07-07 Hans Halder Antriebseinrichtung fuer bewegungsmechanismen
US4819547A (en) * 1988-03-28 1989-04-11 Mirko Kukolj Axially contractable actuator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2844126A (en) * 1955-01-20 1958-07-22 Clevite Corp Fluid actuated motor system and stroking device
EP0146261A1 (fr) * 1983-11-21 1985-06-26 Mirko Kukolj Actionneur opérant par contraction axiale
EP0161750B1 (fr) * 1984-04-25 1988-10-12 Bridgestone Corporation Vérin
DE3542277A1 (de) * 1984-11-30 1986-06-05 Bridgestone Corp., Tokio/Tokyo Pneumatische betaetigungsvorrichtung
EP0208332A2 (fr) * 1985-07-12 1987-01-14 Henry M. Paynter Servomoteur à traction actionné par fluide sous haute pression et procédé de fabrication
EP0261721A2 (fr) * 1986-09-22 1988-03-30 Théophile Beullens Dispositif d'entraînement hydraulique ou pneumatique
GB2207702A (en) * 1987-07-23 1989-02-08 Dr Colin George Morgan Pneumatic or hydraulic actuator mechanism (an artificial muscle)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0677662A1 (fr) * 1994-04-11 1995-10-18 Werner Homann Dispositif d'actionnement sous forme de muscle

Also Published As

Publication number Publication date
JPH06505326A (ja) 1994-06-16
DE4107134A1 (de) 1992-09-10
EP0574467A1 (fr) 1993-12-22
CA2105475A1 (fr) 1992-09-07

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