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WO2025027439A3 - Remote actuation system - Google Patents

Remote actuation system Download PDF

Info

Publication number
WO2025027439A3
WO2025027439A3 PCT/IB2024/057027 IB2024057027W WO2025027439A3 WO 2025027439 A3 WO2025027439 A3 WO 2025027439A3 IB 2024057027 W IB2024057027 W IB 2024057027W WO 2025027439 A3 WO2025027439 A3 WO 2025027439A3
Authority
WO
WIPO (PCT)
Prior art keywords
cylinder
piston
actuation system
remote actuation
forming
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/IB2024/057027
Other languages
French (fr)
Other versions
WO2025027439A2 (en
Inventor
Marco BOLIGNARI
Marco Fontana
Francesco DAMIANI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
Original Assignee
Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
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 Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna filed Critical Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
Publication of WO2025027439A2 publication Critical patent/WO2025027439A2/en
Publication of WO2025027439A3 publication Critical patent/WO2025027439A3/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/001—With multiple inputs, e.g. for dual control
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/08—Characterised by the construction of the motor unit
    • F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • 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
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/06—Details

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Actuator (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

A remote actuation system (100), comprising: A) an actuator assembly (10) comprising: a first cylinder-piston device (11) comprising a first rolling diaphragm (16) forming a sealing element (15) between a first cylinder (12) and a first piston (13), and an actuator device (30); B) an actuated assembly (50) comprising: a second cylinder-piston device (51) comprising a second rolling diaphragm (56) forming a sealing element (55) between a second cylinder (52) and a second piston (53), and an actuated element (80); C) a hydraulic conduit (90), which connects said first cylinder- piston device (11) to said second cylinder-piston device (51); D) an antagonistic preloading device (35, 85) configured to apply an antagonistic force (36, 86), so as to maintain the internal absolute pressure of said cylinder-piston devices (11, 51) at a value greater than or equal to a predetermined threshold value.
PCT/IB2024/057027 2023-08-02 2024-07-19 Remote actuation system Pending WO2025027439A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT202300016416 2023-08-02
IT102023000016416 2023-08-02

Publications (2)

Publication Number Publication Date
WO2025027439A2 WO2025027439A2 (en) 2025-02-06
WO2025027439A3 true WO2025027439A3 (en) 2025-03-13

Family

ID=88505110

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2024/057027 Pending WO2025027439A2 (en) 2023-08-02 2024-07-19 Remote actuation system

Country Status (1)

Country Link
WO (1) WO2025027439A2 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3990240A (en) * 1974-06-13 1976-11-09 Siegfried Harcuba Control method and apparatus for processing tools
DE19802517A1 (en) * 1997-10-25 1999-05-06 Rudolf Paukner Device for remote control of vehicle and work machine drives
DE10026224A1 (en) * 1999-05-28 2000-11-30 Luk Lamellen & Kupplungsbau Automotive clutch damper employs two one-way valve elements seated on support and all with transfer channels and load springs for steady valve response and clutching.
US7284374B2 (en) * 2005-02-08 2007-10-23 Massachusetts Institute Of Technology Actuation system with fluid transmission for interaction control and high force haptics
US20090039205A1 (en) * 2007-08-07 2009-02-12 Honeywell International, Inc. Aircraft flight control user interface linkage system
US20200069441A1 (en) * 2017-05-12 2020-03-05 Exonetik Inc. Exoskeleton, orthosis, wearable device or mobile robots using magnetorheological fluid clutch apparatus
US20200132067A1 (en) * 2018-08-27 2020-04-30 Regents Of The University Of Minnesota Long-stroke rolling diaphragm cylinder and methods of making same
US20210381543A1 (en) * 2018-10-24 2021-12-09 Uti Limited Partnership A fluid-cable transmission for remote actuation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3990240A (en) * 1974-06-13 1976-11-09 Siegfried Harcuba Control method and apparatus for processing tools
DE19802517A1 (en) * 1997-10-25 1999-05-06 Rudolf Paukner Device for remote control of vehicle and work machine drives
DE10026224A1 (en) * 1999-05-28 2000-11-30 Luk Lamellen & Kupplungsbau Automotive clutch damper employs two one-way valve elements seated on support and all with transfer channels and load springs for steady valve response and clutching.
US7284374B2 (en) * 2005-02-08 2007-10-23 Massachusetts Institute Of Technology Actuation system with fluid transmission for interaction control and high force haptics
US20090039205A1 (en) * 2007-08-07 2009-02-12 Honeywell International, Inc. Aircraft flight control user interface linkage system
US20200069441A1 (en) * 2017-05-12 2020-03-05 Exonetik Inc. Exoskeleton, orthosis, wearable device or mobile robots using magnetorheological fluid clutch apparatus
US20200132067A1 (en) * 2018-08-27 2020-04-30 Regents Of The University Of Minnesota Long-stroke rolling diaphragm cylinder and methods of making same
US20210381543A1 (en) * 2018-10-24 2021-12-09 Uti Limited Partnership A fluid-cable transmission for remote actuation

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PARK SUNGBIN ET AL: "Stiffness-Switchable Hydrostatic Transmission Toward Safe Physical Human-Robot Interaction", IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS, IEEE, PISCATAWAY, NJ, USA, vol. 53, no. 5, 25 July 2023 (2023-07-25), pages 855 - 864, XP011950020, ISSN: 2168-2291, [retrieved on 20230725], DOI: 10.1109/THMS.2023.3294517 *
WHITNEY JOHN P ET AL: "A low-friction passive fluid transmission and fluid-tendon soft actuator", 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IEEE, 14 September 2014 (2014-09-14), pages 2801 - 2808, XP032677044, DOI: 10.1109/IROS.2014.6942946 *

Also Published As

Publication number Publication date
WO2025027439A2 (en) 2025-02-06

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