WO2007118571A1 - Appliance for emitting force - Google Patents

Appliance for emitting force

Info

Publication number
WO2007118571A1
WO2007118571A1 PCT/EP2007/002484 EP2007002484W WO2007118571A1 WO 2007118571 A1 WO2007118571 A1 WO 2007118571A1 EP 2007002484 W EP2007002484 W EP 2007002484W WO 2007118571 A1 WO2007118571 A1 WO 2007118571A1
Authority
WO
Grant status
Application
Patent type
Prior art keywords
power
structure
device
side
output
Prior art date
Application number
PCT/EP2007/002484
Other languages
German (de)
French (fr)
Inventor
Markus Fischer
Elias Maria Knubben
Original Assignee
Festo Ag & Co. Kg
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

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63HMARINE PROPULSION OR STEERING
    • B63H1/00Propulsive elements directly acting on water
    • B63H1/30Propulsive elements directly acting on water of non-rotary type
    • B63H1/36Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Abstract

The invention relates to an appliance for emitting force, in particular for holding parts or for onward movement, having at least one drive unit (2) which contains at least one actuator (33) which can be operated by electrical power and/or fluid force and is suitable for exerting tensile and/or compressive forces. One drive unit (2) comprises a force-emitting structure (15) which has two sidepieces (16, 17) which can be bent resiliently elastically, extend alongside one another towards a head area (14), starting from a foot area (13) in the direction of a main axis (12) and approaching one another, and which sidepieces (16, 17) are connected to one another via coupling struts (26) which are articulated on them, are separated in the direction of the major axis (12), and then transversely to this major axis (12). The actuator (33) acts on the force-emitting structure (15) such that, when it is activated, the force-emitting structure (15) deflected sideways, with the sidepieces (16, 17) being bent elastically.

Description

Device to the power output

The invention concerns a device to the power output, especially for holding of parts or for locomotion with at least one drive unit which can be actuated at least one lectrical with e energy and / or fluid power, for exerting tensile and / or compressive forces suitable actuator contains.

A equipped with means for its transportation device of this type is shown in the US 6,138,604. It is there formed as an underwater swimming apparatus and modeled on the anatomy of the fish. Its hull acts as a drive unit and includes a plurality of actuators that are able to pivot about a quasi the backbone of the device forming lever assembly back and forth. In this pivoting motion, a ribbed structure is moved, which is wrapped by a flexible membrane, which can deliver a propulsion inducing driving force to the surrounding water.

From EP 1316651 A2 a equipped with a flexible outer skin, which is provided for absorbing forces component is known. transverse coupling to-struts are spaced-apart at two opposite outer side pieces hinged. If one of the outer side pieces acted upon from outside with a pressure force, it bends through, wherein the intermediary of the coupling struts the opposite outer cheek is deformed accordingly.

A from DE 299 03 281 Ul known device to the power output is constructed as a toggle lever clamping device, and allow the recording of parts, for example, to be joined workpieces. It has arranged on a pivotable clamping arm rigid application surface, with a festzuhaltendes part can be clamped in a given position.

DE 198 52 944 Cl describes an adaptive flow body, for example an aircraft wing in which two partial profiles, separated by a slot, are arranged side by side. Each sub-profile contains a connected by structural elements with an outer skin inner skin to which a Aktu- attacks ator to cause a bulge.

According to DE 198 25 224 C2 two skin sections of the flow body are connected by webs. A arranged in a recess actuator able to move the skin sections relative to each other fen a curvature hervorzuru-.

In a process described in DE 102 37 918 Al profile body a plurality of segments are hinged together and can be pivoted by means of a wire rope.

A from DE 43 34 496 Al known Strömungskδrper contains two lateral profile surfaces, which can be displaced relative to each other through gears or the like to cause a bulge. The profile areas are not connected by struts. The drive unit of the known from the initially cited US 6,138,604 device has a relatively complex structure and requires a very large number of AK tuatoren. Due to the instability of the rib structure also 5, the power output to the environment is not optimal. Wherein also serving for the power output apparatus of the above DE 299 03 281 Ul in particular, there is a problem that the impact surface may cause damage to a part at festzuhaltendes improper dosing of the power output.

lo It is the object of the present invention to provide a device to the power output of the aforementioned type, the drive unit works very effective with a simple structure.

To achieve this aim it is provided that the at least one drive unit comprises a power delivery structure, which has two i5 under mutual approach starting from a foot region in the direction of a major axis to a head area out side by side extending resiliently bendable side walls, the hinged on to them, in spaced apart along the main axis and transverse to said main axis

2o extending coupling rods are connected to each other, wherein the at least one actuator acts on the power delivery structure, such that when activated, the power delivery structure is deflected by elastic bending of the side cheeks sideways.

5 In a thus constructed drive unit is sufficient in principle even one actuator to cause a sideways deflection of the entire power delivery structure. If an active deflection in two opposing directions are made possible, this range of two alter- natively 0 activatable actuators, or even a single actuator, which may optionally act on the pushing or pulling bestruktur Kraftabga-. Regardless of the selected force introduction point the tuator caused by the at least one AK impingement causes an active lengthening or shortening of the diagonals between the individual forthcoming Trains t trapezoidal panels the power output structure, wherein the caused through the intermediary of the coupling struts interaction regardless of the placement of the force introduction point, the two side cheeks out a bulge substantially in the same direction.

Based on the induced by the activation of the at least one actuator force deflection of the dispensing structure, an external force output can be caused for various purposes. For example, the device can be designed as a traveling device, and here in particular as a floating device, the deflection movement of the force output structure caused by interaction with the surrounding water propulsion. Another possible use case is that of a configuration as a holding device for active retaining parts, for example in the fields of manufacturing and assembly. The application as a switchman in the field of conveyor technology is conceivable. These applications are to be understood as not being exhaustive.

Although already a composite of outer cheeks and coupling braces is clear from the EP 1316651 A2, the behavior similar to the power delivery structure creates the day with application of force. However, this known device only serves to accommodate external forces and is not part of an additionally at least one actuator comprising drive unit. An active power output is not provided in this known purchase order. Advantageous developments of the invention will become apparent from the dependent claims.

At least one actuator is suitably arranged so that the force introduction direction in which it initiates its tensile and / or compressive forces in the power delivery structure obliquely extending to the main axis of the power delivery structure.

A device with very small dimensions is obtained when the cheek is arranged at least one actuator between the two side. It can thereby be placed in particular so that its attachment points are located on opposite sides of the main axis.

The at least one actuator may act exclusively on the power delivery structure. In this case its existing generally two attachment points form the force transfer points where the operating forces are introduced into the power output structure simultaneously. For example, the actuator may at one end on the one side cheek attack and subsequent dernends on the other side cheek, or in other this side and located beyond the main axis components of the power delivery structure. The actuator may in particular engage at least one coupling strut.

A two attachment points disponer actuator can also be arranged such that it is connected at only one attachment point with the power delivery structure, while its other attachment point is located at a the entire drive unit supporting carrier which does not follow the movements of the drive unit. An advantageous force introduction point for the at least one actuator is the area of ​​one of the existing between the side wall and the coupling strut hinge points. The actuator can engage at the same time, for example in the range of two such hinge points, the different side walls are assigned.

In particular, when used as actuators particularly simple construction, so-called single-acting actuators, which can operate either only pulling or only pressing, the installation is recommended at least of intersecting actuators which produce mutually opposite deflection movements of the power delivery structure at alternate actuation of two.

Different movement behavior of the power delivery structure can be achieved by the side cheeks are mounted in the foot region either hingedly or rigidly fixed to a rigid support in turn. Is the power delivery structure articulated on the support, results from activation of the at least one actuator is a simple bend. With a rigid connection, however, the power output structure is approximately S-like deflected.

For operating the power output structure operated actuators are suitable for both electrical power and fluid power. In fluid-operated actuators especially pneumatic actuators are used. It is preferable that each of the linear actuators.

A particularly advantageous design of a fluid-operated actuator, a so-called Kontraktionsaktuator having an extending between two each having a power take-ER- possible forming head pieces contraction tube, which radially expands upon pressurization its interior space, under simultaneous axial contraction is recommended. A possible design for such a con- traktionsaktuator WO 00/61952 describes the Al. Such contraction actuators 5 characterized by the fact that it can exert high tensile forces despite the small dimensions. They are also flexible so that they do not again put under no pressure, the shape change of the power output structure and can be deflected from this without presenting a lo obstacles nis. This proves to be especially advantageous when the actuator system is arranged in the existing between the side clearance and very high deflections occur during operation, which have the effect that the side cheeks act with a transverse force on the actuators i5 can.

The side bolsters expediently have a strip-like shape. They can be designed in the manner of leaf springs. Conveniently, its strip width is reduced starting from the foot region towards the head region of the Kraftabgabestruk- 20 tur.

The side walls can consist for example of spring steel. Also advantageous and dazuhin yet weight-saving is a realization of a suitable plastic material, which can be, fiber-reinforced plastic material is bility to obtain a particularly high Belast- 25 also.

It is advantageous if the power output structure is shielded by a surrounding them flexible sheath. This casing is suitably mounted on a molding and the support structure serving o, which attached to the power delivery structure or may be partially formed by the power output structure itself, at least. For example, the support structure is composed of a plurality of consecutive in the direction of the major axis of ring elements, between which in each case at least one coupling strut can extend.

In one embodiment of the device as a holding device, the power output structure is suitably provided with at least one engagement surface which can exert a holding force on a festzuhaltendes part with a corresponding deflection of the power delivery structure. Conveniently, the actuating area is one of the side cheeks. Since the side walls upon actuation of the at least one gate actuaries assume an arcuate shape, they can optimally conform to also sensitive parts, thus enabling a gentle detention of parts.

A further advantageous design, an embodiment of the device in front of a floating device in which the caused by the at least one actuator deflection movement of the power output structure is responsible for propulsion in the water. The swimming device is suitably designed for funkgesteuer- th operation.

In a particularly expedient embodiment is an underwater swimming device. This can in particular have one of the anatomy of a fish modeled design, wherein the drive unit may be responsible for the generation of the shock of the tail fin.

In the latter case, the driving unit preferably forms the rear end portion of the unit body, with its head portion faces backwards and carries the tail fin. the tail fin is driven to move to a wedeln- drive unit in a reciprocating deflection movement of the arrival therefore, resulting in, inter alia, a propulsion for the device.

The tail fin turn may be constructed on the basis of at least one power output structure as has the drive unit. However, in this case no additional actuators are required. Instead, the power delivery structure in this case acts as a passive structure, comparable to the process known from EP 1316651 A2, serving to absorb forces component. Caused by the drive unit kicking motion of the tail leads here due to the pressure exerted by the water reaction forces to a bulging of the tail fin with the result of an optimal power transfer.

To be able to steer the fishy modeled underwater swimming apparatus, the drive unit is arranged in its foot region expediently total pivotally mounted on a Kopf the device with extensive equipment front. By one or more steering actuators its orientation can be changed with respect to the device front part, resulting in a change of direction of forward floating underwater swimming apparatus results.

The at least one steering actuator is suitably a Kontraktionsaktuator the above already described type.

In order to adjust the diving depth of the underwater swimming apparatus according to need, the device advantageously comprises at least one Tarierkammer, the appropriate means are associated in order to be able to fill with water optionally in a different ratio with air and / or. Required for the operation of the device Steuerungsmit- tel located conveniently in the device head. There, the receiving unit of a radio remote control device can be located in particular that allows remote operation of the device and all its features.

Provided for the operation of the apparatus pressurized air is necessary, it is preferably provided with at least one compressed air reservoir, which allows autonomous operation of the device over a longer period of time.

The invention will be explained in more detail with reference to the accompanying drawings. This explanation takes place predominantly on the basis of a trained as an underwater swimming equipment unit, but without the specific details would be limited to such a design.

In detail:

1 shows a device to the power output in the form of an underwater swimming apparatus which is modeled in terms of its design to the anatomy of a fish, in perspective view,

2 shows the device of Figure 1 in a side view;

3 shows the device of Figure 1 in a top view,

4 shows the device of Figures 1 to 3 in an exploded view, omitting the surrounding cover the torso area,

5 shows the arrangement of Figure 4 in a side view, Figure 6 shows the arrangement of Figure 4 and Figure 5, in a plan view looking in the direction according to arrow VI

7 shows a vertical longitudinal section through the device according to section line VII-VII in Figures 3 and 8,

8 shows a horizontal longitudinal section through the device according to section line VIII-VIII of Figure 7,

9 shows a further longitudinal section through the device according to section line IX-IX of Figure 7,

Figures 10 to 12, in the apparatus of Figures 1 to 9 realized driving unit in a schematic view and in different operating states, and

Figures 13 to 15, the reaching at the tail of the device for use in passive structure also a schematic representation and in different

Operating conditions.

The designated in its entirety by reference numeral 1. A power output apparatus 1 is designed in the embodiment as a traveling device, which, due to an integrated drive unit 2, may themselves move. Figures 10 to 12 illustrate the drive unit 2 in a separate schematic view in different operating phases.

The power output apparatus 1 of the embodiment is a swimming device, more specifically an underwater swimming apparatus. It allows movement in submerged under water condition. In principle, it could, if sufficiently large, be equipped with a cabin for receiving operating personnel. In this specific case is an unmanned underwater swimming device that can be operated by remote radio control. A radio receiver is published in figure 7 at 3 clearly.

A special feature of the imaged underwater swimming apparatus is that its overall exemplary configuration of the anatomy of a fish is reproduced, whereby the typical reciprocating impact tail fins can be mimicked by the integrated driving unit. 2 The latter is indicated in Figure 3 at 4 by a double arrow. The caudal fin bears the reference number. 5

The power output apparatus has the longitudinal extent with a longitudinal axis 6. The tail fin stroke 4 is performed in horizontal direction transverse to the longitudinal axis 6. Notwithstanding could the swimming device be designed to generate a vertical tail fin shock.

The power output apparatus 1 has a front in the moving direction of the device head 7, the rear connection tail fin 5 and an extending therebetween devices fuselage 8. The drive unit 2 forms the rear end portion of the device body 8 and is therefore a link between the device head 7 and the tail fin. 5

The drive unit 2 has a longitudinal extent with the constricting folic referred to as the main axis 12 longitudinal axis. Starting from its side facing the device head end 7 - referred to as root portion 13 - towards to have a mutually facing to the opposite, the tail fin 5 head portion 14 tapering shape. A core component of the drive unit 2 is referred to as a power output structure 15 composite structure of multiple coupled together in a special way elements. Among these elements are two spaced alongside one another are arranged, the longitudinal extension having side cheeks 16, 17 which extend, starting from the root region 13 to the head portion 14 in which they converge in the direction to the head portion 14, in particular uniformly to each other. In the example of figures 6 and 10 hervorgehen- the basic position, the side cheeks 16, 17 are arranged symmetrically on either side of the major axis 12, which coincides with the longitudinal axis. 6

The two side cheeks 16, 17 extend in a common plane of extension 18 which in the horizontal Mallage standards of the force delivery device 1 is exemplarily a horizontal plane. The tail fin stroke 4 takes place in this plane of extension 18th

In the base region 13, the two side cheeks 16, 17 attached to a rigid carrier 22nd actuating provide to the associated Befes- 23 may - according to figures 10 and 12 - a rigid connection or - according to Figure 11 - an articulated connection with right-angled to the plane of extension 18 joint axes are present.

The head portion 14, the two side cheeks 16, 17 together in egg ner mounting interface 24th the tail fin 5, there is, via a suitable counterpart 25, is mounted.

The two side cheeks 16, 17 are resiliently bendable in the plane of extension 18, similar to a leaf spring. They have a preferably strip-like configuration with the extension plane 18 of rectangular strip plane, IH re reckwinkelig to the plane of extension 18 measured width advantageously starting from the foot portion 13 decreases toward the head portion fourteenth

Figures 11 and 12 give an impression of the Fe derelastizität the two side walls 16, 17. They can be bent easily so that they are bulged in the extension plane. After removal of the corresponding deformation force they return in the position shown in Figures 6 and 10 basic position in which they example - as viewed in the direction normal to the plane of extension 18 - to the head portion 14 toward a V-shape towards each other.

The two side cheeks 16, 17 are in direction of the main axis 12 spaced-apart rigid coupling struts 26 connected to each other. The joints are designed as joints 27, in particular with rectangular to the plane of extension 18 articulated axles 28. The coupling braces 26 extend transversely to the major axis 12 and in particular parallel to the extension plane of the eighteenth

The side cheeks 16, 17 and coupling braces 26 may be einstü- connected in one piece with each other. The joints 27 are executed in this case as solid joints or so-called film hinges. Especially, however, when relatively high forces are to be generated as in the embodiment, a separate configuration of these components may len recommendations, which are then articulated by means of suitable hinge means to each other.

The coupling struts 26 are in particular arranged so as to extend in the emerging from Figures 6 and 10 basic position perpendicular to the main axis 12th They form by DA, together with the extending between respective adjacent pivot points 27 length portions of the side cheeks 16, 17, several successive trapezoidal fields 32nd

In order to obtain a particularly rigid structure, it may be advantageous to arrange the coupling struts 26 at one or more lying at the same height with respect to the main axis 12 digits in pairs. One can imagine each as a frame-like structure, the two side cheeks 16, 17 engage on two opposite frame legs and each form the other two frame members, a coupling bar 26, this example. The coupling struts 26 of each strut pair are expediently in the normal direction of the plane of extension 18 with spacing.

The thus formed power delivery structure 15 is combined with at least one electrical energy and / or with FIU idkraft operable actuator 33 which is depending on the design capable of pulling and / or to initiate compressive forces in the power delivery structure 15th It is in particular to linear actuators.

In the exemplary embodiment, the drive unit 2 comprises a total of two actuators 33a, 33b in which it is Zugaktua- gates and a tensile force can be tapped at its axially opposed end portions. From Figu- ren 10 to 12 it can be seen that these two actuators 33a, 33b are advantageously arranged in the interior of the power delivery structure 15 and thereby extend in particular between the two side cheeks.

The two actuators 33a, 33b are perpendicularly offset from the plane of extension 18 relative to one another and intersect exceeded. Their two end Kraftabgriffsbereiche each lie on either side of the main axis 12. Overall, this is a pertinent configuration that the actuators 33a, 33b attack with oblique to the main axis 12 direction of force application on the structure Kraftabgabe- 15th

Preferably, the two actuators grip 33a, 33b exclusively to the power output structure 15th The corresponding targets are advisory centers to as Krafteinlei- 34a, 35a; 34b, 35b, respectively. The two force introduction points 34a, 35a; 34b, 35b of a respective actuaries tors 33a, 33b are 12 spaced from each other in the direction of the major axis. Each actuator 33a, 33b engages one end to the one and at the other on the other side wall 16, 17 in, or alternatively on one of the hinge points 27 or that portion of a coupling strut 26 located on the corresponding side of the main axis 12th

The intersection 31 of the two actuators 33a, 33b is advantageously in a to the extension plane keligen rechtwin- 18, the main axis 12 containing level.

Especially advantageous has proven to be as shown in the region of joints to position the force introduction points 34 27th

Notwithstanding the described design, the Aktuato- could ren 33a, 33b only at one end engaging the force output structure 15, while the other end would then be attached in particular to the support 22nd

The two actuators 33a, 33b are preferably carried housed in the device head 7 control means 36 alternately be activated and deactivated bar. During activation of a respective actuator 33a, 33b remains the other actuator 33b, 33a zweckmäßigεrweise disabled.

Figures 11 and 12 respectively show an operating state in which the one, first actuator 33a is activated and the other second actuator 33b is disabled. The activated actuator 33a has drawn the two powered by him force introduction points 34a 35a to each other. This leads to a concavity that side cheek 17, on which the closer to the head portion 14 force introduction point 35a is located. Because of the hinged transverse coupling braces 26, the curvature of a side cheek 17 acts directly on the other side cheek 16, which thus also bulges with the same direction of curvature. It occurs here a total of the effect on that the diagonals between the individual trapezoidal panels be shortened 32, which leads to a displacement of the individual structural portions, and ultimately has according to figures 11 or 12 the result that the entire power output structure 15 lastischem under e- bending of side cheeks 16, 17 in the one o- the other direction in the plane of extension 18 is deflected sideways.

In this case, the effect was found that, for a hinged connection of the side cheeks 16, 17 on the carrier 22 a there is substantially C-shaped bending curve (Figure 11). For rigid connection to the fastening points 23, however, results in an S-shaped Auslenkkurve (Figure 12).

If the first actuator 33a is deactivated again, the power delivery structure 15 returns due to the reversible Rückstellei- properties of the resilient side walls 16, 17 back into the position shown in Figure 10 basic position. If now the other, second actuator 33b is activated in a corresponding manner, the same deflection movement taking place in the opposite direction.

Thus, a angedeute- te in Figure 3 by a double arrow oscillating motion 37 may be the power output structure with respect to the adjoining at their root region 13 Device front part 38 caused 15 °. The mounting interface 24, and with this the attached thereto root portion 42 of the tail 4 thus oscillate with in a corresponding manner.

The structure with a planar to the plane 18 of rectangular extension plane representing tail fin 5 performs the natural Lobtailing a fish comparable due to the driving motion taking place in the plane of extension 18 pendulum motion 37th The case the occurring kinematics can be effectively supported by a particularly advantageous construction of the tail 5, as implemented in the embodiment.

The tail fin 5 comprises advantageously two in the direction of right angles to the extension plane 18 vertical axis 43 of the power output apparatus 1 apart force release structures 44, the conceptual structure to that of the power delivery structure 15 of the drive unit 2 corresponds. Their leg portions 45 are located at the root portion 42 and diverge from there up to their head portions 46, wherein the intermediate area of ​​a single- or multi-layer webbing 47 is spanned.

Notwithstanding the drive unit 2 are not assigned to the actuators force output structures 44 of the tail fin. 4 These are passive structures whose deformation results from the on pivoting acting on them counterforce 48, which brings the surrounding water when the tail 5, and thus the power output structures 44 are moved by the oscillating movement of the mounting interface 24 back and forth (Figures 14 and 15).

5 In Figure 13 one of the two power output structures 44 is exemplarily shown in its basic position, which corresponds to the basic position shown in Figure 10, the power output structure 15 of the drive unit. 2 The foot portion 45 of the power delivery structure 44 is in the acting as carrier assembly lo cut parts 24 is either articulated (Figure 14) or rigid

(Figure 15) attached, from which the self-adjusting in the oscillating motion 37, 14 and 15 resulting from apparent shape changes. The power delivery structure 44 bulges due to the opposing force 48 each at that i5 a side toward which the mounting interface 24 and the root portion 42 is pivoted out.

The power output structures 44 are coated with a Hüllhaut 52 so that there, too, and not only in the region of the webbing 47, the forces are cooperating with the sur- rounding 20 the water is possible.

Deviating from the embodiment, the entire tail fin 5 may be embodied in the form of a sheathed 44 KraftabgäbeStruktur. The power delivery structure 44 then extends even over the area which is, for example bridged during execution 25 of the webbing 47th

A waterproof case 53, the power output favoring to the surrounding water surrounding the drive unit. The sheath 53 is flexible and preferably comparable to a skin or foil made relatively thin, so that they OH 3o the deflection movements and curvature of the power delivery structure 15 can join ne another. Preferably, the wrapper 53 is of tubular construction, with an over its length in accordance with the design of the drive unit 2 changing type cross-section, their assembly is possible in that it is mounted is not yet installed tail fin 5 on the mounting interface 24 across to the drive unit 2 ,

For fixing the sleeve 53, the force delivery structure can be provided with a support structure 54 and / or at least partially formed by the power output structure 15 itself directly be 44. In the exemplary embodiment the support structure 54 includes a plurality of spaced apart 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 at the force output structure 15th In this way, there is according to Figure 4 an array of in the direction of the main axis 12 at a distance from successive ring structures to which the flexible sleeve is mounted 53 in FIG. 7

The aforementioned pivotal mounting of the drive unit 2 with respect to the device front part 38 is implemented via a pivot bearing of the carrier 22nd The carrier 22 is mounted to the main axis about a 12 rectangular and conveniently rectified with the device vertical axis 43 of rotation axis 56 rotatable on the apparatus front part 38th The axis of rotation 56 defining Drehachsmittel 57 can be seen for example from Figures 4 and 7. FIG.

The pivotability between the drive unit 2, and appliance front part 38 allows practically bending of the entire power output device 1 for the purpose of its steering. The two in this case hervorrufbaren Steering movements 58 of the drive-unit 2 are highlighted in Figure 8 by arrows.

The torque for the generation of steering deflection movements 58 provide for better differentiation as two steering actuators 62 described actuators as the actuators 33 of the drive unit 2 is preferably designed as linear actuators.

In the embodiment, the steering actuators 62 are pure Zugaktuatoren. One of the steering actuators 62 engages at one end on this side of the rotation axis 56 to the carrier 22, while the other steering actuator 62 engages with its one end beyond the axis of rotation 56 on the support 22nd Starting from these points of engagement 63, the two steering actuators 62 extend in the direction of the device head 7 to the front, where they, of further engagement points 64, are fixed at their other end regions. Is generated by the activation of a steering actuator 62, a tensile force, the carrier 22 is rotated accordingly around the rotating shaft 56 and the output unit 2 performs the associated steering deflection movement.

In principle, it would also be possible, the steering torque alternatively elicit pushing through effective steering actuators, or by double-acting actuators, which are able to exert both a compressive force and a tensile force. In the latter case, only a single steering actuator could also be used.

Both the actuators 33 of the drive unit 2 and the steering actuators 62 - hereinafter collectively simplified as only actuators 33, designated 62 - are preferably formed as fluid actuators. They can be operated with any fluid, either gaseous or hydraulic nature. In the embodiment compressed air is used as motive fluid used.

The actuators 33, 62 could be implemented in the form of conventional pneumatic cylinders. However, the realized design in the embodiment is regarded as a contraction of actuators 65 to be particularly advantageous. An expedient design of this can be seen from WO 00/61952 Al, which is hereby expressly incorporated.

Each Kontraktionsaktuator 65 has a illustrated in FIG 9 in an enlarged section contraction tube 66 which is made of a rubber-elastic tubular body 67 and coaxial to the tube body 67 strand structure 68th The strand structure 68 comprises a plurality of flexible bending, but also high tensile strength tensile cords, which are arranged in a crossover configuration, either the hose body 67 around or, preferably, embedded therein.

The contraction tube 66 extends between two serving the power take-off head pieces 72. About this head pieces 72 it is anchored to the force introduction points 34, 35 and the engagement points 63, 64th The interior 73 of the contraction tube 66 communicates over which a pressurization or pressure release is possible with a not shown fluid line.

In the pressure-relieved state of the Kontraktionsaktuator 65 occupies the position shown in the drawing extended position. Will be interior 73 acted upon by 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 hence the secured to WAIVED constituents of the power output apparatus 1 to each other to be pulled.

A major advantage of this Kontraktionsaktuators 65 is its especially at the beginning of the contraction movement extremely high tensile strength 5. In addition, it is flexible, so that it in a disabled state - can be easily bent when it is acted upon by the force feeding structure 15 with a transverse force - as can be seen from Figures 11 and 12. FIG. This not impeded 65, the deactivated Kontraktionsaktuator lo the deflection movement of the force output structure 15th

The already-mentioned control means 36 enable the desired operation of ensuring end-controlled fluid application to the actuators 33, 62. To this end, 36 preferably contain the control means includes a carrier with the radio receiver i5 3 cooperating control electronics 74 as well as electrically controlled by these control electronics 74 control valves 75 miles. the necessary compressed air provides a housed inside the power output apparatus 1 compressed air reservoir 76 which includes, in particular to the device front part 38th It is about

20 with him appropriately to a pressure-resistant container. In the embodiment, an output capacity of 1.5 liters of air is provided, which is compressed to 300 bar.

The compressed air reservoir 76 may be via fasteners 77, for example an encircling clamp it to be attached to the device-25 tekopf. 7 It is also preferably the link to the drive unit 2. As an example of the compressed air reservoir 76 is enclosed by a coaxial to the longitudinal axis 6 the clamping ring 78 is mounted on the interposition of the Drehachsmittel 57 of the carrier 22nd Inside the device the front part 38 and here in particular in the interior of the device the head 7, is suitably also a Tarierkammer 82 housed. Their function is comparable to that of the swim bladder of a fish. It can be filled in a selected ratio with air and water to balance out the force delivery device 1 in a stable horizontal floating position and in the desired depth.

At the bottom of Tarierkammer 82 are one or more water passage openings 83. A supply and suction tube 84 extends so inside the Tarierkammer 82 that his mouth close to the ceiling in the region of the Tarierkammer 82 is located. Through the intermediary of the control valves 75 through 84 compressed air can be fed into the Tarierkammer 82 via the supply and suction tube, so that the water therein is displaced through the water passage openings 83 away to the surroundings out.

a working according to the principle of a jet pump ejector 85 is also connected to the supply and suction tube 84th If it is enabled, an aspiration of the air in the Tarierkammer 82, with the result that water can flow to 83 away from the outside via the water passage openings in the Tarierkammer 82nd

In this way, the desired ratio between water and air flow in the Tarierkammer 82 can be adjusted as needed.

In turn, the compressed air necessary for operating the Tarierkammer 82 comes from the compressed air reservoir 76. At least one preferably also accommodated in the device head 7 the battery 86 or a similar electric power source provides the electrical power for the onboard electrical components, in particular for the 5 control electronics 74 and the electrically actuated control valves 75 miles.

An onboard pressure regulator 87 or the pressure reducer reduces the pressure present in the memory 76 air pressure to an acceptable for the pneumatic components Ar- lo beitsdruck, for example of the order of 8 bar.

A pressure sensor 88 detects the ambient pressure in the water. Based on the determined values ​​of it, the control electronics 74 may adjust by appropriate filling of the Tarierkammer 82 the desired depth.

i5 The device head 7 is suitably constructed of several parts. It may have control means 36 comprising main body 93 according to Figures 4 and 5 a, in which also the drive unit 2 is fixed. A surface-mounted on this main body 93 upper part 94 expediently forms the Tarierkam-

2o mer 82. On the upper part 94, a hood 95 is fitted, which can serve the same time, the sheath 53 to be tightened between itself and the upper part 94 at the front end portion. The rear end portion of the sheath 53 is suitably at the mounting interface 24 or on the associated counterpart

25 25 of the tail fin 5 is attached.

In particular, the relating to the drive unit 2 statements also apply to other configurations of the force delivery device 1. As an example may be mentioned a configuration as a holding device at this point, in which case 30, the power delivery structure 15 of the drive unit 2, such as 10 to 12 indicated guren in Fi, can apply valve means at least one surface 89 or form having associated zweckmäδigerweise one of the two side cheeks 17th The released upon activation of an actuator 33 of the power output structure 15 motor 90 is not used in this case, unlike the embodiment as a movement unit for generating a driving force, but to generate a holding force with which the engagement surface 89 can be biased against an item to be restrained.

Claims

claims
1. Device to the power output, especially for holding of parts or for locomotion with at least one drive unit (2), the at least one electrical power and / or actuated by fluid force, the exercise of tensile
includes 5 and / or compressive forces suitable actuator (33), characterized in that the at least one drive unit (2) comprises a power output structure (15), the two in the direction of a major axis with mutual approach starting from a foot region (13) (12) connected to a head portion lo (14) towards next to one another extending, resiliently bendable side walls (16, 17) which are articulated on them, in the direction of the main axis (12) spaced apart and transverse to said main axis (12) extending coupling members (26) with each other are, said at least one actuator on the i5 power output structure (15) engages, such that, when activated, the power output structure (15) (16, 17) under elastic bending of the side walls is deflected sideways.
2. Apparatus according to claim 1, characterized in that the at least one actuator 20 with an angle to the main axis
(12) extending direction of force application acts on the power output structure.
3. Device according to claim 1 or 2, characterized in that the at least one actuator (33) is arranged in the interior of the power output structure (15).
4. An apparatus according to any one of claims 1 to 3, marked thereby
5 is distinguished in that arranged at least one actuator (33) between the two side cheeks (16, 17).
5. Apparatus according to claim 3 or 4, characterized in that the at least one actuator (33) is arranged so that its fixing points are located on opposite sides of the main lo axis (12).
6. An apparatus according to any one of claims 1 to 5, characterized in that the at least one actuator (33) acts exclusively on the power output structure (15).
7. unit records according to one of claims 1 to 6, characterized marked i5 that the at least one actuator (33) at two
Direction of the main axis (12) spaced force input filters (34a, 35a; 34b, 35b) to the power output structure (15) engages.
8. An apparatus according to any one of claims 1 to 7, characterized marked
2o is characterized in that the at least one actuator (33) engages at one end on one side cheek (16) or at one of the side cheek (16) facing side of the major axis lying (12) portion of a coupling strut (26) and at the other on the other side cheek (17) or at one of the arrival of this
25 whose side wall (17) facing side of the main axis portion of a coupling strut (26) situated (12).
9. An apparatus according to any one of claims 1 to 8, characterized in that at least one actuator (33) in the region of between one side cheek (16, 17) and a coupling strut engages (26) arranged articulation point (27).
10. An apparatus according to any one of claims 1 to 9, characterized in that two cross-over actuators (33, 33a, S 33b) are provided, each at one end on this side and subsequently dernends beyond the main axis (12) to the power output structure (15) attack.
11. An apparatus according to any one of claims 1 to 10, characterized in that the side cheeks (16, 17) of the Kraftabgabe- lo structure (15) are hinged or fixed in the foot region (13) having a rigid carrier (22).
12. An apparatus according to any one of claims 1 to 11, characterized in that the at least one actuator (33) is a linear actuator.
i5 13. An apparatus according to any one of claims 1 to 12, characterized in that the at least one actuator (33) is a fluidbe- actuated actuator, in particular a pneumatic actuator.
14. Apparatus according to claim 13, characterized in that the 20 at least one actuator (33) is a Kontraktionsaktuator (65), the one to a power take-allowing between two head pieces extending (72) contraction tube (66) has which radially expanded in internal pressure is contracted and at the same time axially.
25 15. An apparatus according to any one of claims 1 to 14, characterized in that the coupling members (26), based on the direction of the main axis (12), at the same level are present in pairs.
16. An apparatus according to any one of claims 1 to 15, characterized in that, the side cheeks (16, 17), strip-like shape.
17. Apparatus according to claim 16, characterized in that the 5 width of the side cheeks (16, 17) starting from the root region
(13) decreases towards the head region (14) of the power delivery structure (15).
forms 18. An apparatus according to any one of claims 1 to 17, characterized in that the power output structure (15) is provided with a waste lo support structure (54) or at least parts of such a support structure (54) itself directly, where (on the support structure 54 ) the force output a structure (15) enclosing flexible envelope (53) is mounted.
19. An apparatus according to one of claims 1 to 18, characterized characterized marked i5 that it is designed as a holding device, wherein the power output structure (15) is assigned at least one apply valve means surface (89), expediently in the area of ​​one of the side cheeks (16, 17).
20. An apparatus according to one of claims 1 to 19, characterized 20 by a configuration as in particular remote-controlled
Floating device, in which the power output structure (15) of the drive unit (2) through the at least one actuator (33) contributing to the propulsion, reciprocating pivotal movement (37) can be driven.
5 21. Apparatus according to claim 20, characterized in that it is an underwater swimming apparatus.
22. Apparatus according to claim 20 or 21, characterized by the anatomy of a fish modeled design, WO at the drive unit (2) is responsible advantageously for the production of the fins blow a tail fin (5) of the device.
23. Apparatus according to claim 22, characterized in that the 5 drive unit (2) the rear end portion of the device body (8), wherein it is arranged weisendem with the device head (7) the foot region (14) and the tail fin (5) on to backward head portion (14) is seated.
24. Apparatus according to claim 23, characterized in that the lo tail fin (5) has one or enveloped more of a Hüllhaut (52) force release structures (44), which expediently according to the same design principle as the power output structure (15) of the drive unit (2) is constructed / are and their foot area (s) (45) on the head region (14) of the i5 Kraftabgäbestruktur (15) of the drive unit (2) is / are arranged, while each forming a passive structure without her acting actuators and the kicking of tail fin (5) of the reciprocating movement of the head portion (14) of the power output structure (15) of the drive
20 unit (2) results.
25. An apparatus according to any one of claims 21 to 24, characterized in that the drive unit (2) containing at one of the device head (7) Device front part (38) right-angled to at least one to the main axis (12) axis of rotation (56)
25 is arranged pivotally, at least one steering actuator (62) on the one hand on the device front section (38) and on the other hand on the drive unit (2) or a support (22) thereof engages in order by controlled applying a steering of the floating device enabling forming pivoting 0 of the drive unit (2) causing relative to the apparatus front part (38).
26. An apparatus according to claim 25, characterized in that the at least one steering actuator (62) is actuated by fluid power type.
27. Apparatus according to claim 26, characterized in that the s least one steering actuator (62) a Kontraktionsaktuator
(65), having an extending to a power take-allowing between two head pieces (72) contraction tube (66), which is radially expanded in internal pressure and at the same time contracted axially.
lo
28. An apparatus according to any one of claims 25 to 27, characterized by two steering actuators (62), which are responsible in opposite directions for pivoting the drive unit (2).
29. An apparatus according to one of claims 21 to 28, characterized denotes overall i5 that it contains at least one fillable in a variable ratio with air and / or water Tarierkammer (82) required to balance the device in a desired depth.
30. Apparatus according to claim 29, characterized in that the 20 Tarierkammer (82) serving to one of the air discharge, which is operated with compressed air ejector (85) is connected, which is located on board the device.
31. Apparatus according to any one of claims 20 to 30, characterized in that in the device head (7) for the operation of the
Control means 25 necessary device (36) are housed.
32. Apparatus according to claim 31, characterized in that the control means (36) includes an electronic control unit (74) and multiple devices connected to these control valves (75).
33. An apparatus according to any one of claims 20 to 32, characterized by at least one on-board compressed air reservoir (76) as Druckquellε for at least the existing fluidbetä- saturated actuators (33, 62).
34. Apparatus according to claim 33, characterized in that the drive unit (2) in their foot area (13) is attached to the compressed air storage (76).
PCT/EP2007/002484 2006-04-15 2007-03-21 Appliance for emitting force WO2007118571A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE200620006115 DE202006006115U1 (en) 2006-04-15 2006-04-15 Device to the power output
DE202006006115.0 2006-04-15

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20070723444 EP2007620B1 (en) 2006-04-15 2007-03-21 Appliance for emitting force

Publications (1)

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WO2007118571A1 true true WO2007118571A1 (en) 2007-10-25

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ID=36794650

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PCT/EP2007/002484 WO2007118571A1 (en) 2006-04-15 2007-03-21 Appliance for emitting force

Country Status (3)

Country Link
EP (1) EP2007620B1 (en)
DE (1) DE202006006115U1 (en)
WO (1) WO2007118571A1 (en)

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DE102008019454A1 (en) 2008-04-18 2009-10-29 Festo Ag & Co. Kg Electrically or fluidically driven force delivering device e.g. locomotion unit, has delivering units designed in forward and backward movable manner transverse to longitudinal axis of device according to driving principle of fish
EP2502714B1 (en) * 2011-03-23 2013-05-01 Festo AG & Co. KG Holding device for fixing objects
CN102962843B (en) * 2012-12-03 2014-12-10 中国科学院自动化研究所 Porpoising robotic dolphin
CN104554682B (en) * 2015-01-28 2017-02-22 中国科学技术大学 For an areal controlled bionic underwater propulsion device

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EP1316651A2 (en) 1999-04-01 2003-06-04 Leif Kniese Load-carrying element with flexible outer skin
FR2840584A1 (en) 2002-06-07 2003-12-12 Daniel Evain Drive for marine vessel has motor driven articulated hull with tail to simulate movement of fish
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WO1997045317A1 (en) 1996-05-28 1997-12-04 Massachusetts Institute Of Technology Method and apparatus for reducing drag on a moving body
US6138604A (en) 1998-05-26 2000-10-31 The Charles Stark Draper Laboratories, Inc. Pelagic free swinging aquatic vehicle
DE19825224C2 (en) 1998-06-05 2001-02-22 Oberhofer Gernot Flow body with adjustable profile curvature
DE19852944C1 (en) 1998-11-17 2000-02-10 Daimler Chrysler Ag Variable geometry wing profile has flexible construction for the leading and trailing edges operated by integral actuators
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EP1316651A2 (en) 1999-04-01 2003-06-04 Leif Kniese Load-carrying element with flexible outer skin
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EP2007620B1 (en) 2012-04-04 grant
DE202006006115U1 (en) 2006-07-27 grant
EP2007620A1 (en) 2008-12-31 application

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