WO2007118571A1 - Appareil délivrant une force - Google Patents

Appareil délivrant une force Download PDF

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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
WIPO (PCT)
Prior art keywords
actuator
force
drive unit
output structure
power output
Prior art date
Application number
PCT/EP2007/002484
Other languages
German (de)
English (en)
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
Application filed by Festo Ag & Co. Kg filed Critical Festo Ag & Co. Kg
Priority to EP07723444A priority Critical patent/EP2007620B1/fr
Publication of WO2007118571A1 publication Critical patent/WO2007118571A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

Definitions

  • the invention relates to a device for power delivery, in particular for holding parts or for locomotion, with at least one drive unit containing at least one operable with e- lectric energy and / or fluid power, suitable for the exercise of tensile and / or compressive forces actuator.
  • a equipped with means for its movement device of this kind is shown in US 6,138,604. It is designed there as an underwater swimming device and the anatomy of a fish modeled. Its hull functions as a drive unit and includes a plurality of actuators capable of pivoting a lever assembly that is quasi the backbone of the apparatus. In this pivoting movement, a ribbed structure is moved, which is enveloped by a flexible skin, which can deliver a propulsive driving force on the surrounding water.
  • EP 1 316 651 A2 a provided with a flexible outer skin, provided for receiving forces component is known.
  • On two opposite outer cheeks are spaced apart, transverse coupling struts articulated. If one of the outer cheeks from the outside subjected to a compressive force, it bends through, under Mediation of the coupling struts and the opposite outer cheek is deformed accordingly.
  • a known from DE 299 03 281 Ul known device for power delivery is designed as a toggle-clamping device and allows for holding parts, for example, to be joined together workpieces. It has a arranged on a pivotable clamping arm rigid loading surface with which a festzuhaltendes part can be tightened in a specific position.
  • DE 198 52 944 C1 describes an adaptive flow body, for example an aircraft wing, in which two sub-profiles, separated by a slot, are arranged next to one another.
  • Each partial profile contains an inner skin connected by structural elements with an outer skin, on which an actuator acts in order to produce a curvature.
  • two outer skin sections of a flow body are connected by webs.
  • An actuator arranged in a recess is able to displace the outer skin sections relative to each other in order to produce a curvature.
  • a flow body known from DE 43 34 496 A1 contains two lateral profile surfaces which can be displaced relative to one another by gears or the like in order to cause a curvature.
  • the profile surfaces are not connected by struts.
  • the drive unit of the device known from the cited US Pat. No. 6,138,604 has a relatively complex construction and requires a very large number of actuators. Due to the lability of the rib structure 5 is also the power to the environment is not optimal. In the also serving for power device of said DE 299 03 281 Ul in particular there is the problem that the loading surface at improper dosage of power output can damage a part to be held.
  • the at least one drive unit comprises a force output structure, which has two elastically bendable side cheeks extending from a foot region in the direction of a main axis to a head region, approaching each other and approaching each other Direction of the main axis spaced and transverse to this major axis
  • a single actuator is in principle sufficient to cause a sideways deflection of the entire power delivery structure. If an active deflection in two opposing directions is to be made possible, two alternatively activatable actuators or even a single actuator, which can be either pushing or pulling on the force output, are sufficient. structure. Regardless of the selected force application point, the application caused by the at least one actuator causes an active extension or shortening of the diagonals between the individual, preferably trapezoidal fields of the power delivery structure, whereby the interaction caused by the coupling struts regardless of the placement of the force application point Side cheeks experience a bulge in substantially the same direction.
  • an external power output may be caused for a variety of purposes.
  • the device may be designed as a locomotion device and in this case in particular as a floating device, wherein the deflection movement of the power output structure by cooperation with the surrounding water causes propulsion.
  • Another possible application is that of an embodiment as a holding device for actively holding parts, for example in the fields of manufacturing and assembly. A use as switchman in the field of materials handling is conceivable. These applications are not meant to be exhaustive.
  • EP 1 316 651 A2 already discloses a composite of outer cheeks and coupling struts, which exhibits a similar behavior to the force output structure when force is introduced.
  • this known component is used only for receiving external forces and is not part of an additional at least one actuator having drive unit. An active power output is not provided in this known order.
  • the at least one actuator is expediently arranged such that the force introduction direction in which it introduces its tensile and / or pressure forces into the force output structure extends obliquely to the main axis of the force output structure.
  • a device with particularly compact dimensions results when the at least one actuator is arranged between the two side cheeks. It can be placed in particular so that its attachment points are on opposite sides of the main axis.
  • the at least one actuator can only act on the power output structure.
  • his usually two existing attachment points simultaneously form the force introduction points at which the actuating forces are introduced into the power output structure.
  • the actuator can attack at one end on one side cheek and at the other on the other side cheek, or also on other components located on either side of and beyond the main axis of the force output structure.
  • the actuator may in particular also act on at least one coupling strut.
  • An actuator having two attachment points can also be arranged so that it is connected to the power delivery structure at only one attachment point, while its other attachment point is located on a support which carries the entire drive unit and does not participate in the movements of the drive unit.
  • An advantageous force introduction point for the at least one actuator is the area of one of the articulation points present between the side wall and the coupling struts.
  • the actuator may, for example, simultaneously attack in the region of two such joints, which are assigned to different side cheeks.
  • Different movement behavior of the power delivery structure can be achieved by the side cheeks are mounted in the foot either articulated or rigidly on a rigid support in turn. If the power output structure is articulated to the carrier, the activation of the at least one actuator results in a simple bend. By contrast, in the case of a rigid connection, the force output structure is deflected approximately S-like.
  • both actuated by electrical energy and fluid power actuators are actuated by electrical energy and fluid power actuators.
  • fluid actuated actuators in particular pneumatic actuators are used.
  • these are each linear actuators.
  • a so-called contraction actuator which comprises a contraction tube extending between two respective force-transmitting head pieces has, which expands radially when pressurizing its interior, with simultaneous axial contraction.
  • a contraction actuator is described in WO 00/61952 A1.
  • Such 5 Kon Consumerionsaktuatoren are characterized by the fact that they can exert high tensile forces despite small dimensions.
  • they are bendable, so that they can not be replaced in the pressureless state of the change in shape of the power output structure and can be deflected by this, without representing a hindrance.
  • This proves to be particularly advantageous if the actuator is arranged in the intermediate space between the side cheeks and very strong deflections occur during operation, which have the consequence that the side cheeks can act on the actuators with a transverse force i5.
  • the side cheeks have expediently a strip-like shape. They can be designed in the manner of leaf springs. Expediently, its strip width decreases starting from the foot region towards the head region of the power output structure.
  • the side cheeks may for example consist of spring steel. Equally advantageous and, moreover, even less weight is a realization made of a suitable plastic material, which may also be fiber-reinforced plastic material in order to obtain a particularly high load capacity.
  • the power output structure is shielded by a flexible sleeve enclosing it.
  • This casing is expediently mounted on a shaping support or supporting structure which is attached to the power output structure or at least partly by the power output.
  • structure itself can be formed.
  • the support structure is composed of a plurality of ring elements successive in the direction of the main axis, between each of which at least one coupling strut can extend.
  • the power delivery structure is expediently provided with at least one loading surface, which can exert a holding force on a part to be retained with a corresponding deflection of the power output structure.
  • the loading surface is located on one of the side cheeks. Since the side cheeks occupy an arcuate shape upon actuation of the at least one actuator, they can optimally cling to even sensitive parts and thus enable gentle retention of parts.
  • a further advantageous design provides for an embodiment of the device as a floating device, in which the deflection movement of the force output structure caused by the at least one actuator is responsible for the propulsion in the water.
  • the swimming device is expediently designed for radio-controlled operation.
  • it is an underwater swimming device.
  • This may in particular have a design that is modeled on the anatomy of a fish, wherein the drive unit may be responsible for the generation of the fin beat of the caudal fin.
  • the drive unit preferably forms the rear end portion of the equipment body with its head portion facing back and supporting the caudal fin.
  • the tail fin With a reciprocating deflection movement of the drive unit, the tail fin becomes a wagging driven the movement, which among other things, a propulsion for the device results.
  • the caudal fin may in turn be constructed on the basis of at least one force delivery structure, as it also has the drive unit. However, no additional actuators are needed here. Rather, the power output structure in this case acts as a passive structure, comparable to the known from EP 1 316 651 A2, serving to absorb forces component. Due to the reaction forces exerted by the water, the fin movement of the caudal fin caused by the drive unit leads to a bulging of the caudal fin with the consequence of an optimal force transmission.
  • the drive unit in its foot region is expediently arranged pivotally overall on a head of the device with a comprehensive front part of the device.
  • the drive unit in its foot region is expediently arranged pivotally overall on a head of the device with a comprehensive front part of the device.
  • the at least one steering actuator is expediently a contraction actuator of the design already described above.
  • the device expediently contains at least one buoyancy chamber, which are associated with suitable means to fill them either in different proportions with air and / or water.
  • the control means required for the operation of the device are expediently located in the device head.
  • the receiving unit of a radio remote control device can in particular be located, which allows remote operation of the device and all its functions.
  • the device compressed air
  • it is expediently equipped with at least one compressed air storage, which allows a self-sufficient operation of the device over a longer period of time.
  • FIG. 1 shows a device for power delivery in the form of an underwater swimming device, which is modeled with respect to its design of the anatomy of a fish, in perspective view,
  • FIG. 3 shows the device from FIG. 1 in a top view
  • FIG. 4 shows the device of FIGS. 1 to 3 in an exploded view, omitting the casing enclosing the body region;
  • FIG. 5 shows the arrangement from FIG. 4 in a side view
  • FIG. 6 shows the arrangement from FIG. 4 and FIG. 5 in a plan view with a viewing direction according to arrow VI
  • arrow VI shows the arrangement from FIG. 4 in a side view
  • FIG. 7 shows a vertical longitudinal section through the device according to section line VII-VII of Figures 3 and 8,
  • FIG. 8 shows a horizontal longitudinal section through the device according to section line VIII-VIII from FIG. 7, FIG.
  • FIG. 9 shows a further longitudinal section through the device according to section line IX-IX from FIG. 7, FIG.
  • FIGS. 10 to 12 show the drive unit realized in the apparatus of FIGS. 1 to 9 in a schematic representation and in different operating states
  • FIGS. 13 to 15 show the passive structure used for the caudal fin of the device in a likewise schematic illustration and in different embodiments
  • power output device 1 is designed in the embodiment as a locomotion device, which itself, due to an integrated drive unit 2, can move.
  • Figures 10 to 12 illustrate the drive unit 2 in a separate schematic representation in different operating phases.
  • the power output apparatus 1 of the embodiment is a swimming apparatus, more specifically, an underwater swimming apparatus. It allows movement in the submerged state. In principle, it could, with sufficient size, with a cab be equipped to accommodate operators. In this case, it is an unmanned underwater swimming device, which can be operated remotely via radio. A radio receiver is shown in FIG. 7 at 3.
  • a peculiarity of the pictured underwater swimming device is that its Monhafte design of the anatomy of a fish is modeled, with the integrated drive unit 2, the typical, reciprocating tail fin beat can be imitated. The latter is indicated in Figure 3 at 4 by a double arrow.
  • the caudal fin bears the reference numeral 5.
  • the force delivery device has a longitudinal extent with a longitudinal axis 6.
  • the tail fin beat 4 takes place in a horizontal direction transversely to the longitudinal axis 6.
  • the floating device could also be designed to generate a vertical tail fin beat.
  • the power output device 1 has a forward device head 7 in the direction of movement, the tail fin 5 arranged on the rear side and a device body 8 extending therebetween.
  • the drive unit 2 forms the rear end section of the device body 8 and is thus a link between the device head 7 and the tail fin 5.
  • the drive unit 2 has a longitudinal extent with a longitudinal axis designated below as the main axis 12. Starting from its end region facing the device head 7 - referred to as foot region 13 - it has a shape tapering towards the opposite, the tail fin 5 facing head region 14.
  • a core component of the drive unit 2 is a composite structure, referred to as a force output structure 15, of a plurality of elements coupled together in a special way. Beneath these elements are two side cheeks 16, 17 arranged at a distance alongside one another and having a longitudinal extension, which extend from the foot region 13 to the head region 14, approaching each other in the direction of the head region 14, in particular uniformly.
  • the side cheeks 16, 17 are arranged symmetrically on both sides of and beyond the main axis 12, which coincides with the longitudinal axis 6.
  • the two side cheeks 16, 17 extend in a common plane of extent 18, which in the horizontal Nor- mallage of the power output device 1 is exemplarily a horizontal plane.
  • the tail fin beat 4 takes place in this extension plane 18.
  • the two side cheeks 16, 17 are fastened to a rigid support 22.
  • a rigid connection or, according to FIG. 11, an articulated connection with joint axes perpendicular to the plane of extent 18 can be present at the assigned fastening points 23.
  • the two side cheeks 16, 17 are brought together in a mounting interface 24. There, via a suitable counterpart 25, the tail fin 5 is mounted.
  • the two side walls 16, 17 are elastically bendable in the plane of extension 18, comparable to a leaf spring. They have a preferred strip-like design with the plane of extension 18 rectangular strip plane, wherein ih- R eckwinkig measured to the extension plane 18 width expediently starting from the foot region 13 toward the head portion 14 decreases.
  • FIGS. 11 and 12 give an impression of the spring elasticity of the two side cheeks 16, 17. They can easily be bent so that they are bulged in the plane of extent. After removal of the corresponding deformation force, they return to the basic position shown in FIGS. 6 and 10, in which, by way of example, viewed in the normal direction of the plane of extent 18, they approach the head region 14 in a V-shaped manner.
  • the two side cheeks 16, 17 are interconnected in the direction of the main axis 12 mutually spaced rigid coupling struts 26.
  • the connection points are designed as hinge points 27, in particular with hinge axes 28 perpendicular to the extension plane 18.
  • the coupling struts 26 extend transversely to the main axis 12 and in particular parallel to the plane of extent 18.
  • the side cheeks 16, 17 and coupling struts 26 can be integrally connected to one another.
  • the hinge points 27 are designed in this case as solid-state joints or so-called film hinges. However, especially if, as in the embodiment, relatively high forces are to be generated, a separate embodiment of these components can be recommended, which are then articulated to one another by suitable hinge means.
  • the coupling struts 26 are in particular arranged so that they extend at right angles to the main axis 12 in the basic position resulting from FIGS. 6 and 10. They form, together with the ones between each other Hinges 27 extending lengths of the side walls 16, 17, a plurality of successive trapezoidal panels 32nd
  • the coupling struts 26 may be advantageous to arrange the coupling struts 26 in pairs on one or more points lying at the same height with respect to the main axis 12.
  • this can be imagined as a frame-like structure, wherein the two side cheeks 16, 17 engage on two opposite frame legs and the two other frame legs each form a coupling brace 26.
  • the coupling struts 26 of a respective pair of struts are expediently opposite each other in the normal direction of the extension plane 18 at a distance.
  • the force output structure 15 designed in this way is combined with at least one actuator 33 which can be actuated with electrical energy and / or with fluid force and, depending on the embodiment, is capable of introducing tensile and / or pressure forces into the power output structure 15.
  • actuator 33 which can be actuated with electrical energy and / or with fluid force and, depending on the embodiment, is capable of introducing tensile and / or pressure forces into the power output structure 15.
  • the drive unit 2 comprises a total of two actuators 33a, 33b, which are Wertua- factors and at the axially opposite end portions of a tensile force can be tapped. From FIGS. 10 to 12 it can be seen that these two actuators 33a, 33b are expediently arranged in the interior of the power output structure 15 and in particular extend between the two side cheeks.
  • the two actuators 33a, 33b are arranged at a right angle to the plane of extent 18 offset from one another and have a superimposed cross each other. Their two end Kraftabgriffs Suitee lie on both sides of the main axis and 12. Overall, this results in a pertinent configuration that the actuators 33a, 33b attack with obliquely to the main axis 12 extending force introduction direction of the power output structure 15.
  • the two actuators 33a, 33b engage exclusively on the power output structure 15.
  • the corresponding points of attack are hereinafter referred to as force introduction points 34a, 35a; 34b, 35b.
  • the two force introduction points 34a, 35a; 34 b, 35 b of a respective actuator 33 a, 33 b are spaced apart in the direction of the main axis 12.
  • Each actuator 33a, 33b engages at one end at one and the other on the other side cheek 16, 17, or alternatively at one of the hinge points 27 or that portion of a coupling strut 26 which lies on the corresponding side of the main axis 12.
  • the crossing point 31 of the two actuators 33a, 33b is expediently located in a plane that is right-angled to the plane of extent 18 and contains the main axis 12.
  • the actuators 33a, 33b could also engage the power delivery structure 15 only at one end, in which case they would then be fastened to the carrier 22 in particular at the other end.
  • the two actuators 33a, 33b are alternately activated by control means 36 preferably accommodated in the device head 7. bar and deactivatable. During the activation of the respective one actuator 33a, 33b, the other actuator 33b, 33a is expediently deactivated.
  • FIGS. 11 and 12 each show an operating state in which the one, first actuator 33a is activated and the other, second actuator 33b is deactivated.
  • the activated actuator 33a has the two applied by him force application points 34a, 35a pulled each other. This leads to a curvature of those side cheek 17 at which the force introduction point 35a, which is closer to the head area 14, is located. Due to the articulated, transverse coupling struts 26, the curvature of this one side wall 17 also has an immediate effect on the other side wall 16, which consequently also bulges out with the same direction of curvature.
  • the overall effect here is that the diagonals between the individual trapezoidal fields 32 are shortened, which leads to a displacement of the individual structural sections and ultimately has the result according to FIGS. 11 or 12 that the entire force output structure 15 is deflected under elastic bending Side cheeks 16, 17 in one or the other direction in the extension plane 18 is deflected sideways.
  • the force output structure 15 returns to the basic position shown in FIG. 10 due to the reversible restoring properties of the elastic side cheeks 16, 17. If now the other, second actuator 33b is activated in a corresponding manner, the same deflection movement takes place in the opposite direction.
  • a pendulum movement 37 of the power output structure 15, indicated by a double arrow in FIG. 3, can be produced with respect to the device front part 38 adjoining its foot region 13.
  • the mounting interface 24 and, with it, the attached root region 42 of the caudal fin 4 consequently oscillate in a corresponding manner.
  • the caudal fin 5 which is a planar structure with a plane of extent 18 perpendicular to the plane of extension, performs a drive movement comparable to the natural fin beat of a fish.
  • the kinematics occurring in this case can be effectively supported by a particularly advantageous construction of the tail fin 5, as implemented in the exemplary embodiment.
  • the tail fin 5 expediently contains two force delivery structures 44 which are spaced apart in the direction of the vertical axis 43 perpendicular to the plane of extent 18 of the power output device 1 and whose conceptual structure corresponds to that of the force output structure 15 of the drive unit 2.
  • Their foot regions 45 are located at the root region 42 and they diverge from there to their head regions 46, the intermediate region being spanned by a single or multi-layered fin skin 47.
  • one of the two power output structures 44 is shown by way of example in its basic position, which corresponds to the basic position of the power output structure 15 of the drive unit 2 depicted in FIG.
  • the foot region 45 of the power delivery structure 44 is either articulated (FIG. 14) or rigid on the mounting component 24 functioning as a carrier
  • FIG. 15 from which the shape changes occurring in pendulum movement 37 resulting from FIGS. 14 and 15 result. Due to the opposing force 48, the force output structure 44 books in each case on that side to which the mounting interface 24 or the root region 42 is pivoted.
  • the force delivery structures 44 are covered with an envelope skin 52, so that even there, and not only in the area of the fin skin 47, a force-like interaction with the surrounding water 20 is possible.
  • the entire tail fin 5 can also be embodied in the form of a covered force output structure 44.
  • the force output structure 44 then also extends over the region which is bridged by the fin skin 47 in the exemplary embodiment.
  • a waterproof shell 53 which favors the power delivery to the surrounding water, also encloses the drive unit.
  • the sheath 53 is flexible and preferably designed to be comparatively thin, comparable to a skin or foil, so that it compensates for the deflection movements and curvature of the force output structure 15. ne can join.
  • the sheath 53 is formed like a tube, with a cross section along its length according to the design of the drive unit 2 changing cross section, their assembly is possible in that it is mounted on not yet installed caudal fin 5 on the mounting interface 24 on the drive unit 2 ,
  • the force output structure 44 may be provided with a support structure 54 and / or at least partially directly formed by the force output structure 15 itself.
  • the support structure 54 includes a plurality of spaced 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 on the power output structure 15. In this way, according to FIG. 4, a multiple arrangement of ring structures spaced successively in the direction of the main axis 12 results, onto which the flexible sleeve 53 according to FIG. 7 is mounted.
  • the aforementioned pivotal mounting of the drive unit 2 with respect to the device front part 38 is realized via a pivot bearing of the carrier 22.
  • the carrier 22 is rotatably mounted on the device front part 38 about a right angle to the main axis 12 and suitably rectified with the device vertical axis 43 axis of rotation 56.
  • the axis of rotation 56 defining Drehachsstoff 57 can be seen for example in Figures 4 and 7.
  • the torque for the generation of the steering deflection movements 58 provide two for better distinction as steering actuators 62 designated actuators, which are preferably formed as the actuators 33 of the drive unit 2 as linear actuators.
  • the steering actuators 62 are pure Switzerlandaktuatoren.
  • One of the steering actuators 62 engages on one side of the axis of rotation 56 on the carrier 22, while the other steering actuator 62 engages with its one end beyond the axis of rotation 56 on the carrier 22.
  • the two steering actuators 62 protrude in the direction of the device head 7 to the front, where they are fixed at other points of attack 64, with their other end portions. If a tensile force is generated by the activation of a steering actuator 62, the carrier 22 correspondingly rotates about the axis of rotation 56 and the output unit 2 carries out the associated steering deflection movement.
  • actuators 33 of the drive unit 2 and the steering actuators 62 - hereinafter simply simplified as actuators 33, 62 together - are preferably designed as fluid actuators. They can be operated with any fluid, be it gaseous or hydraulic Nature. In the embodiment, compressed air is used as drive fluid.
  • the actuators 33, 62 could be designed in the shape of conventional pneumatic cylinders. However, the design realized in the exemplary embodiment is considered to be particularly advantageous as contraction actuators 65. An expedient design thereof is apparent from WO 00/61952 Al, the contents of which are hereby expressly incorporated.
  • Each contraction actuator 65 has a contraction tube 66 shown in an enlarged detail in FIG. 9, which consists of a rubber-elastic tube body 67 and a strand structure 68 coaxial with the tube body 67.
  • the strand structure 68 comprises a plurality of bend flexible but at the same time highly tensile cords which are arranged in a cross-over configuration either around the tube body 67 or, preferably, embedded therein.
  • the contraction tube 66 extends between two headers 72 serving the force tap. Via these headers 72, it is anchored to the force introduction points 34, 35 or the points of application 63, 64.
  • the interior 73 of the contraction tube 66 communicates with a fluid line not shown in connection, over which a pressurization or pressure relief is possible.
  • the contraction actuator 65 assumes the extended position shown in the drawing. If its interior 73 is subjected to atmospheric pressure, it expands radially, which due to the strand structure 68 results in a simultaneous axial contraction, with the effect that the two head pieces 72 and thus the sen attached components of the power output device 1 are drawn to each other.
  • this contraction actuator 65 is its extremely high tensile force, especially at the beginning of the contraction movement. In addition, it is flexible, so that in the deactivated state - as can be seen from FIGS. 11 and 12 - it can easily be deflected if it is acted on by the force-output structure 15 with a transverse force. As a result, the deactivated contraction actuator 65 does not hinder the lo deflection movement of the power output structure 15.
  • control means 36 enable the controlled operation of the actuators 33, 62 to ensure the desired operation.
  • the control means 36 preferably includes control electronics 74 cooperating with the radio receiver 3 and control valves 75 which are electrically controllable by this control electronics 74.
  • the necessary compressed air supplies a compressed air reservoir 76, which is accommodated in the interior of the power output device 1 and belongs in particular to the device front part 38. It is about
  • the compressed air reservoir 76 may be fastened to the device head 7 via fastening means 77, for example a clamping collar enclosing it. It is also preferably the link to the drive unit 2. As an example, the compressed air reservoir 76 is enclosed by a clamping ring 78 which is coaxial with the longitudinal axis 6 and on which the carrier 22 is mounted with the intermediary of the rotary axis means 57. In the interior of the device front part 38 and in this case in particular in the interior of the device head 7, a taring chamber 82 is expediently also accommodated. Its function is similar to that of the swim bladder of a fish. It can be filled in a selected ratio with air and water in order to balance the power output device 1 in stable horizontal swimming position and in the desired depth.
  • a feed and suction grub 84 runs inside the tare chamber 82 in such a way that its mouth lies in the region of the taring chamber 82 which is near the ceiling.
  • compressed air can be fed into the taring chamber 82 via the feed and suction probes 84, so that the water therein is displaced beyond the water passage openings 83 to the environment.
  • an ejector device 85 operating according to the principle of a jet pump is connected to the feed and suction probes 84. If it is activated, the air in the tare chamber 82 is sucked off, with the result that water can flow from the outside over the water passage openings 83 into the tare chamber 82.
  • the desired ratio between the amount of water and air in the tare chamber 82 can be adjusted as needed.
  • the required compressed air for the operation of the taring chamber 82 in turn comes from the compressed air reservoir 76th
  • At least one rechargeable battery 86 which is likewise preferably accommodated in the device head 7, or a comparable electrical energy source supplies the electrical energy for the electrical components on board, in particular for the control electronics 74 and the electrically actuatable control valves 75.
  • An on-board pressure regulator 87 or pressure reducer reduces the air pressure present in the pressure accumulator 76 to an acceptable pressure for the pneumatic components, for example of the order of magnitude of 8 bar.
  • a pressure sensor 88 detects the ambient pressure in the water. On the basis of the values determined by it, the control electronics 74 can set the desired diving depth by appropriate filling of the taring chamber 82.
  • the device head 7 is expediently constructed in several parts. It can according to Figures 4 and 5 have a control means 36 containing the main body 93, to which the drive unit 2 is attached. An upper part 94 which can be placed on this main body 93 expediently forms the tare cam
  • a hood 95 is placed, which can simultaneously serve to clamp between itself and the upper part 94, the shell 53 at the front end portion.
  • the rearward end portion of the sheath 53 is conveniently at the mounting interface 24 or at its associated counterpart
  • the embodiments relating to the drive unit 2 also apply to other embodiments of the power output device 1.
  • a design as a holding device may be mentioned at this point, in which case 30 the power output structure 15 of the drive unit 2, as in FIG. Guren 10 to 12 indicated, at least one Beaufschlagungs- surface 89 form or may have, which is . .79.
  • the force 90 emitted by the force output structure 15 when activating an actuator 33 does not serve to generate a driving force, unlike the configuration as a locomotion device, but rather to generate a holding force with which the urging surface 89 can be prestressed against an object to be held.

Abstract

L'invention concerne un appareil délivrant une force, notamment pour le maintien de pièces ou pour le déplacement, comprenant au moins une unité (2) d'entraînement qui contient au moins un actionneur (33) pouvant être actionné avec de l'énergie électrique et/ou avec la force d'un fluide et conçu pour appliquer des forces de traction et/ou de pression. L'unité (2) d'entraînement comprend une structure (15) délivrant une force qui présente deux joues (16, 17) latérales flexibles par effet élastique s'étendant l'une à côté de l'autre et se rapprochant en partant d'une zone (13) de base dans le sens d'un axe (12) principal vers une zone (14) de tête, qui sont reliées ensemble par le biais de montants (26) d'accouplement articulés à celles-ci, espacés dans le sens de l'axe (12) principal et s'étendant transversalement à cet axe (12) principal. L'actionneur (33) vient en prise avec la structure (15) délivrant une force de telle sorte que lorsqu'il est activé, la structure (15) délivrant une force est déviée latéralement en pliant les joues (16, 17) latérales par effet élastique.
PCT/EP2007/002484 2006-04-15 2007-03-21 Appareil délivrant une force WO2007118571A1 (fr)

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EP07723444A EP2007620B1 (fr) 2006-04-15 2007-03-21 Appareil delivrant une force

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DE200620006115 DE202006006115U1 (de) 2006-04-15 2006-04-15 Gerät zur Kraftabgabe
DE202006006115.0 2006-04-15

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CN106364649A (zh) * 2016-09-28 2017-02-01 博雅工道（北京）机器人科技有限公司 一种机器鱼鱼尾结构
CN110194247A (zh) * 2019-05-30 2019-09-03 深圳市环境科学研究院 一种蝠鲼式水面巡游装置
CN113071640A (zh) * 2021-04-30 2021-07-06 白城师范学院 一种水中探测仿生机器鱼及其系统控制方法
DE102020215228B3 (de) 2020-12-02 2022-03-17 Festo Se & Co. Kg Greifvorrichtung zum Greifen von Objekten und Verfahren zum Betreiben einer solchen Greifvorrichtung
WO2023070690A1 (fr) * 2021-11-01 2023-05-04 上海智能制造功能平台有限公司 Aéronef en vol stationnaire biomimétique d'une baleine et son procédé de commande

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DE102008019454A1 (de) 2008-04-18 2009-10-29 Festo Ag & Co. Kg Elektrisch oder fluidisch angetriebenes Gerät zur Kraftabgabe
EP2502714B1 (fr) * 2011-03-23 2013-05-01 Festo AG & Co. KG Dispositif de retenue pour la retenue d'objets
CN102962843B (zh) * 2012-12-03 2014-12-10 中国科学院自动化研究所 一种跃水机器海豚
CN104554682B (zh) * 2015-01-28 2017-02-22 中国科学技术大学 一种面积可控的水下仿生推进装置
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106364649A (zh) * 2016-09-28 2017-02-01 博雅工道（北京）机器人科技有限公司 一种机器鱼鱼尾结构
CN106364649B (zh) * 2016-09-28 2018-06-19 博雅工道（北京）机器人科技有限公司 一种机器鱼鱼尾结构
CN110194247A (zh) * 2019-05-30 2019-09-03 深圳市环境科学研究院 一种蝠鲼式水面巡游装置
DE102020215228B3 (de) 2020-12-02 2022-03-17 Festo Se & Co. Kg Greifvorrichtung zum Greifen von Objekten und Verfahren zum Betreiben einer solchen Greifvorrichtung
CN113071640A (zh) * 2021-04-30 2021-07-06 白城师范学院 一种水中探测仿生机器鱼及其系统控制方法
CN113071640B (zh) * 2021-04-30 2022-04-15 白城师范学院 一种水中探测仿生机器鱼及其系统控制方法
WO2023070690A1 (fr) * 2021-11-01 2023-05-04 上海智能制造功能平台有限公司 Aéronef en vol stationnaire biomimétique d'une baleine et son procédé de commande

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EP2007620B1 (fr) 2012-04-04
DE202006006115U1 (de) 2006-07-27

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