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FI20050794A7 - Devices for producing work movements - Google Patents

Devices for producing work movements Download PDF

Info

Publication number
FI20050794A7
FI20050794A7 FI20050794A FI20050794A FI20050794A7 FI 20050794 A7 FI20050794 A7 FI 20050794A7 FI 20050794 A FI20050794 A FI 20050794A FI 20050794 A FI20050794 A FI 20050794A FI 20050794 A7 FI20050794 A7 FI 20050794A7
Authority
FI
Finland
Prior art keywords
tubes
devices
container
producing work
work movements
Prior art date
Application number
FI20050794A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI20050794L (en
FI20050794A0 (en
Inventor
Veikko Virta
Original Assignee
Iprbox Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iprbox Oy filed Critical Iprbox Oy
Priority to FI20050794A priority Critical patent/FI20050794L/en
Publication of FI20050794A0 publication Critical patent/FI20050794A0/en
Priority to PCT/FI2006/000269 priority patent/WO2007014980A2/en
Publication of FI20050794A7 publication Critical patent/FI20050794A7/en
Publication of FI20050794L publication Critical patent/FI20050794L/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators

Landscapes

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

Abstract

Keksinnön mukainen laite työliikkeen aikaansaamiseksi muodostuu kahdesta tai useammasta liikkuvasta putkesta (1,2), joiden sisällä on joustava paineistettava säiliö (6), jonka laajeneminen sivusuunnassa on estetty. Säiliön (6) laajenemisen sivusuunnassa estää putkien (1,2) sisällä, säiliötä (6) ympäröivän kierrejousen (5) kierteet. Keksintöä voidaan soveltaa työntölaitteena, jolloin putkiosat liikkuvat teleskooppimaisesti tai nivelenä, jolloin liikkuvien putkien (1,2) välissä on yksi tai useampi nivelkohta, josta putket (1,2) ovat kääntyviä toisiinsa nähden. FIG. 5aThe device according to the invention for achieving a working movement consists of two or more movable tubes (1,2), inside which there is a flexible pressurizable container (6), the expansion of which in the lateral direction is prevented. The expansion of the container (6) in the lateral direction is prevented by the threads of the coil spring (5) surrounding the container (6) inside the tubes (1,2). The invention can be applied as a pusher, whereby the tube parts move telescopically or as a joint, whereby there is one or more joint points between the movable tubes (1,2), from which the tubes (1,2) are rotatable relative to each other. FIG. 5a

FI20050794A 2005-08-03 2005-08-03 Equipment for creating work movements FI20050794L (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FI20050794A FI20050794L (en) 2005-08-03 2005-08-03 Equipment for creating work movements
PCT/FI2006/000269 WO2007014980A2 (en) 2005-08-03 2006-08-01 Device with a flexible pressurisable container inside moving tubes for achieving working movement

Applications Claiming Priority (1)

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

Publications (3)

Publication Number Publication Date
FI20050794A0 FI20050794A0 (en) 2005-08-03
FI20050794A7 true FI20050794A7 (en) 2007-02-04
FI20050794L FI20050794L (en) 2007-02-04

Family

ID=34896266

Family Applications (1)

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

Country Status (2)

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

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007017417B4 (en) * 2007-04-13 2011-06-30 FESTO AG & Co. KG, 73734 actuator
EP2335884B1 (en) * 2009-12-15 2012-09-05 FESTO AG & Co. KG Fluid-operated manipulator
CN101850551B (en) * 2010-05-29 2011-07-20 北华大学 Disomic artificial muscle
ES2856342T3 (en) 2013-10-18 2021-09-27 Harvard College Soft, mechanically programmed actuators with adaptable sleeves
DE102013114660B4 (en) * 2013-12-20 2015-10-22 Technische Hochschule Nürnberg Georg Simon Ohm rotary drive
JP6792851B2 (en) * 2016-05-13 2020-12-02 国立大学法人東京工業大学 Robot hand and flying robot
CN107932530B (en) * 2017-11-17 2024-05-31 重庆城市职业学院 Bionic finger of robot
CN115013639B (en) * 2022-06-10 2023-04-18 山东大学 Variable-length robot for jet cleaning of inner wall of pipeline

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1286821A (en) * 1968-06-14 1972-08-23 Dunlop Ltd Manipulating device
JPH08323675A (en) * 1995-06-02 1996-12-10 Kubota Corp Robot hand fingers
IT1306514B1 (en) * 1998-08-05 2001-06-11 Vincenzo Arrichiello BELLOW ACTUATION DEVICE, ESPECIALLY FOR ROTARY MANIPULATOR, AND METHOD OF DRIVING THAT DEVICE.

Also Published As

Publication number Publication date
WO2007014980A3 (en) 2007-04-05
FI20050794L (en) 2007-02-04
FI20050794A0 (en) 2005-08-03
WO2007014980A2 (en) 2007-02-08

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Legal Events

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PC Transfer of assignment of patent

Owner name: IPRBOX OY

Free format text: IPRBOX OY

PC Transfer of assignment of patent

Owner name: IPRBOX OY

Free format text: IPRBOX OY