WO2009018793A3 - Actuator - Google Patents

Actuator Download PDF

Info

Publication number
WO2009018793A3
WO2009018793A3 PCT/DE2008/001098 DE2008001098W WO2009018793A3 WO 2009018793 A3 WO2009018793 A3 WO 2009018793A3 DE 2008001098 W DE2008001098 W DE 2008001098W WO 2009018793 A3 WO2009018793 A3 WO 2009018793A3
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
rope
winding
rotation
contact
Prior art date
Application number
PCT/DE2008/001098
Other languages
German (de)
French (fr)
Other versions
WO2009018793A2 (en
Inventor
Harald Staab
Christof Hieger
Arne Sonnenburg
Original Assignee
Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung_E.V.
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 Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung_E.V. filed Critical Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung_E.V.
Publication of WO2009018793A2 publication Critical patent/WO2009018793A2/en
Publication of WO2009018793A3 publication Critical patent/WO2009018793A3/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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
  • Flexible Shafts (AREA)

Abstract

The invention relates to an actuator comprising a shaft drive (1) setting a shaft (2) in rotation, wherein at least one rope (3) can be wound onto or off the shaft, the rope having a rope length and two rope ends, wherein the rope ends (3') can each be connected to a rope attachment support (4, 5). In the region of the rope attachment point a means is provided, by which the rope forces acting along the ropes each engage in tangential points diametrically opposed with respect to a shaft axis of the shaft, in that upon a rotation of the shaft for the purpose of winding the rope onto the shaft both rope ends spaced from the shaft can be moved relative to the shaft toward the shaft at equal speeds, and in that the ropes during winding around the shaft have contact, or have contact in a plurality of layers around the shaft while the axial position to the shaft remains the same and the winding radius increases.
PCT/DE2008/001098 2007-08-08 2008-06-30 Actuator WO2009018793A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007037376.9 2007-08-08
DE200710037376 DE102007037376B3 (en) 2006-03-17 2007-08-08 actuator

Publications (2)

Publication Number Publication Date
WO2009018793A2 WO2009018793A2 (en) 2009-02-12
WO2009018793A3 true WO2009018793A3 (en) 2009-10-01

Family

ID=39832249

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2008/001098 WO2009018793A2 (en) 2007-08-08 2008-06-30 Actuator

Country Status (2)

Country Link
DE (1) DE102007037376B3 (en)
WO (1) WO2009018793A2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11773948B2 (en) 2017-09-19 2023-10-03 Cornell University Passive transmissions, and methods of making and using same
CN109176493A (en) * 2018-09-18 2019-01-11 哈尔滨工业大学（深圳） A kind of wire drive and drive parallel robot of restricting
KR102129317B1 (en) * 2018-12-31 2020-07-03 중앙대학교 산학협력단 Twisted string actuator
DE102020207038A1 (en) * 2020-06-04 2021-12-09 Kuka Deutschland Gmbh Gripper with a cable actuator
CN115107010A (en) * 2022-04-26 2022-09-27 腾讯科技（深圳）有限公司 Rope sheave bearing member, rope actuating mechanism and arm

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3044312A (en) * 1960-05-20 1962-07-17 Curtiss Wright Corp Mechanism for converting rotary to linear movement
US3709049A (en) * 1970-09-08 1973-01-09 Metron Corp Non-slip linear to rotary motion conversion apparatus
US4613798A (en) * 1985-04-01 1986-09-23 Baumann Peter H Electric-powered spring-return actuating device
DE102006012431A1 (en) * 2006-03-17 2007-09-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Actuator for lifting device, has shaft drive rotating shaft, around which belt or rope element is coiled or uncoiled, which has two ends, where rope is connected with shaft along length in location limiting rope area

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2300104C3 (en) * 1973-01-03 1975-09-04 Idealspaten- U. Schaufelwalzwerke A. Bredt & Co Kg, 5804 Herdecke chain-link fence

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3044312A (en) * 1960-05-20 1962-07-17 Curtiss Wright Corp Mechanism for converting rotary to linear movement
US3709049A (en) * 1970-09-08 1973-01-09 Metron Corp Non-slip linear to rotary motion conversion apparatus
US4613798A (en) * 1985-04-01 1986-09-23 Baumann Peter H Electric-powered spring-return actuating device
DE102006012431A1 (en) * 2006-03-17 2007-09-20 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Actuator for lifting device, has shaft drive rotating shaft, around which belt or rope element is coiled or uncoiled, which has two ends, where rope is connected with shaft along length in location limiting rope area

Also Published As

Publication number Publication date
DE102007037376B3 (en) 2008-10-16
WO2009018793A2 (en) 2009-02-12

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