Expansible chamber devices – Bellows type expansible chamber – With separate ring-like reinforcing element abutting pleat
Patent
1986-10-16
1988-10-18
Chambers, A. Michael
Expansible chamber devices
Bellows type expansible chamber
With separate ring-like reinforcing element abutting pleat
92 47, F01B 1900
Patent
active
047778687
DESCRIPTION:
BRIEF SUMMARY
The present invention refers to a flexible actuator, comprising at least one pressure tube, which is axially extendable and/or contractable by a pressure fluid.
BACKGROUND OF THE INVENTION
Flexible actuators, e.g. in the shape of bellows for performing straight axial movements are previously known. Bellows can only execute very limited movements and if the material of the bellows is rubber or the like it can only carry relatively low pressures.
In case larger axial movements are to be performed, for example one or several meters long, and under high pressure e.g. 200 bar or more, only piston-cylinders have up to now been used. If it however is also desired that the actuator should execute curved movements in one or several planes, piston-cylinders can not be used.
THE OBJECT AND MOST IMPORTANT FEATURES OF THE INVENTION
The object of the present invention is to provide a flexible actuator, which can not only perform straight axial displacement movements, but also curved movements and even work with very high pressures. These objects have been solved by the fact that the tube with the exception of its end-, connection- or attachment parts is corrugated and that att least the parts of the corrugated tube, which are located between its out-turned folds, are provided with a member made of a material which is not extensible relatively the material in the tube, and which members are arranged essentially to prevent a radial extension and/or contraction of the tube in said parts.
DESCRIPTION OF THE DRAWINGS
FIG. 1 shows a partly broken perspective view of an end portion of the tube according to the invention,
FIGS. 2 and 3 are also perspective views of portions of the tube according to the invention, where a reinforcement wire for providing an extension--FIG. 2--respective shortening--
FIG. 3--of the tube is schematically illustrated,
FIG. 4 is a perspective view and partly in section of a straight actuator according the invention,
FIG. 5 a side view of a modified actuator which can make curved movements,
FIG. 6 is a side view of another application of the actuator provided with collapse-preventing stays,
FIG. 7 is a side view of a flexible robot arm provided with several actutors according to the invention,
FIG. 8 shows a further variant of a pressure tube which is a part of the actuator.
FIG. 9 shows a section through an actuator designed as a double-acting cylinder.
FIG. 10 shows in perspective and in section an actuator according to the invention with a hollow cylinder-piston.
DESCRIPTION OF THE EMBODIMENTS
The actuator 11 according to the invention comprises at least one pressure tube 12 which with the exception of its end-, connection- or attachment portions 13 is corrugated. The pressure tube 12 consists of an inner tube 14 preferably made of a rubber material, which is provided with a member 8, which at least partially prevents the tube from radially extending and/or contraction. This inhibition, which is purposed to prevent the tube from being pressurized to baloon shape, can be achieved in different ways, and one possible way is a reinforcement 15 to arrange over the whole external envelope surface of the inner tube and a protective external tube 16, which for example could be rigidly shrinked on the reinforced inner tube. The reinforcement 15 is preferably made of fibres with very high tensile strength, for example aramid fibres steel or the like, which are helicaly wound around the tube, so that the wires of the reinforcement 15a follow the corrugated out-turned folds 9 as well as the parts 10 therebetween, which can be inwards-turned folds as well as cylindric portions. The helical reinforcement 15 is either directly wind on the inner tube 14 or is preferably manufactured in the form of a "sock" with reinforcement wires 17 arranged crosswise in right- and lefthand revolutions.
If a tube 12 is to be made which under pressure should be extended the helix angle of the helical reinforcement to the longitudinal axle of the tube should be >.beta.-FIG. 2--and if a shortening of the pressurized
REFERENCES:
patent: 1054197 (1913-02-01), Goydner etal.
patent: 2056106 (1936-09-01), Kuhn
patent: 2365063 (1944-12-01), Downey
patent: 3213764 (1965-10-01), Nelson et al.
patent: 3401607 (1968-09-01), Wordman
patent: 3584093 (1971-06-01), Vernon
Chambers A. Michael
Komatsu Ltd.
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