WO2007014980A3 - Device with a flexible pressurisable container inside moving tubes for achieving working movement - Google Patents

Device with a flexible pressurisable container inside moving tubes for achieving working movement Download PDF

Info

Publication number
WO2007014980A3
WO2007014980A3 PCT/FI2006/000269 FI2006000269W WO2007014980A3 WO 2007014980 A3 WO2007014980 A3 WO 2007014980A3 FI 2006000269 W FI2006000269 W FI 2006000269W WO 2007014980 A3 WO2007014980 A3 WO 2007014980A3
Authority
WO
WIPO (PCT)
Prior art keywords
flexible
tubes
moving tubes
container inside
working movement
Prior art date
Application number
PCT/FI2006/000269
Other languages
French (fr)
Other versions
WO2007014980A2 (en
Inventor
Veikko Virta
Original Assignee
Iprbox Oy
Veikko Virta
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 Iprbox Oy, Veikko Virta filed Critical Iprbox Oy
Publication of WO2007014980A2 publication Critical patent/WO2007014980A2/en
Publication of WO2007014980A3 publication Critical patent/WO2007014980A3/en

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Joints Allowing Movement (AREA)
  • Actuator (AREA)
  • Soil Working Implements (AREA)
  • Massaging Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The device for achieving working movements embodied by this invention consists of two or more moving tubes (1 ,2), inside of which is a flexible pressurisable container (6) whose lateral expansion is prevented. The lateral expansion of the container (6) is prevented by the threads of a coil spring (5), preferably made of steel, that surround the container (6) inside the tubes (1 ,2). The invention can be applied as a pushing device, wherein the tube sections move telescopically or as a joint, in which between the moving tubes (1 ,2) are one or more joint sections, from which the tubes (1 ,2) can be turned relative to each other.
PCT/FI2006/000269 2005-08-03 2006-08-01 Device with a flexible pressurisable container inside moving tubes for achieving working movement WO2007014980A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20050794 2005-08-03
FI20050794A FI20050794L (en) 2005-08-03 2005-08-03 Equipment for creating work movements

Publications (2)

Publication Number Publication Date
WO2007014980A2 WO2007014980A2 (en) 2007-02-08
WO2007014980A3 true WO2007014980A3 (en) 2007-04-05

Family

ID=34896266

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2006/000269 WO2007014980A2 (en) 2005-08-03 2006-08-01 Device with a flexible pressurisable container inside moving tubes for achieving working movement

Country Status (2)

Country Link
FI (1) FI20050794L (en)
WO (1) WO2007014980A2 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007017417B4 (en) * 2007-04-13 2011-06-30 FESTO AG & Co. KG, 73734 actuator
EP2335884B1 (en) * 2009-12-15 2012-09-05 FESTO AG & Co. KG Fluid-operated manipulator
CN101850551B (en) * 2010-05-29 2011-07-20 北华大学 Disomic artificial muscle
US9492930B2 (en) 2013-10-18 2016-11-15 President And Fellows Of Harvard College Mechanically programmed soft actuators with conforming sleeves
DE102013114660B4 (en) * 2013-12-20 2015-10-22 Technische Hochschule Nürnberg Georg Simon Ohm rotary drive
JP6792851B2 (en) * 2016-05-13 2020-12-02 国立大学法人東京工業大学 Robot hand and flying robot
CN115013639B (en) * 2022-06-10 2023-04-18 山东大学 Variable-length robot for jet cleaning of inner wall of pipeline

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1286821A (en) * 1968-06-14 1972-08-23 Dunlop Ltd Manipulating device
JPH08323675A (en) * 1995-06-02 1996-12-10 Kubota Corp Finger for robot hand
WO2000007781A1 (en) * 1998-08-05 2000-02-17 Vincenzo Arrichiello Bellows actuation device, specially for robotic manipulator, and method to operate said device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1286821A (en) * 1968-06-14 1972-08-23 Dunlop Ltd Manipulating device
JPH08323675A (en) * 1995-06-02 1996-12-10 Kubota Corp Finger for robot hand
WO2000007781A1 (en) * 1998-08-05 2000-02-17 Vincenzo Arrichiello Bellows actuation device, specially for robotic manipulator, and method to operate said device

Also Published As

Publication number Publication date
WO2007014980A2 (en) 2007-02-08
FI20050794A0 (en) 2005-08-03
FI20050794L (en) 2007-02-04

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