Machine element or mechanism – Control lever and linkage systems – Multiple controlling elements for single controlled element
Patent
1997-01-24
1998-12-01
Marmor, Charles A.
Machine element or mechanism
Control lever and linkage systems
Multiple controlling elements for single controlled element
745021, 901 21, B25J 1806
Patent
active
058423818
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
Machines are ever more frequently carrying out even complicated manipulations. In some cases, it is also necessary for actuators to be able to reach locations which are inaccessible or dangerous for persons. Examples of such actuators are robot arms which are used in industrial production or microactuators which are used, for example, for grippers.
Industrially used actuators are frequently complicated units which are equipped with many sensors and whose movement mechanics require expensive regulation and control. Given the increasingly more technical nature of areas outside so-called high-tech environments, it seems to be desirable for actuators which can be produced cost effectively and are easy to control to be available. A future field of use of such low-cost units would be, for example, conceivable in the case of service robots in office or domestic environments.
Large numbers of actuators are known. U.S Pat. No. 3,266,059 discloses a flexible prestressed arm. Metal strips having a U-shaped cross-sectional profile are wound helically to form this arm. An arm is formed in each case by two strips constructed in such a way. The said arm is constructed in this case in such a way that the U-shaped profiles of the two helically wound metal strips cross one another. Thus, the construction of an arm in each case requires a metal strip one U-profile of which points outwards relative to the longitudinal axis of the arm, and the other U-profile of which points inwards relative to the longitudinal axis of the arm. The metal strips can be prestressed by a helical spring in this case. Adequately guided tension cables are used to stretch and compress the arm.
SUMMARY OF THE INVENTION
It is the object of the invention to specify a flexible actuator which, particularly in the direction of extent, has a very high elastic deformability and whose available force can be prescribed in any of its movement directions, and which can be subdivided as desired into rigid and movable segments of any desired size.
In general terms the present invention is a flexible actuator, having a helical spring comprising at least one elastically deformable material. The cross-sectional area of a turn of the helical spring has in the longitudinal direction of the helical spring an elongated profile which has a bent-over edge at each of its ends. The first edge is bent over towards the spring longitudinal axis and the second edge is bent over away from the spring longitudinal axis. The helical spring is configured such that the respective first edge and the respective second edge of two adjacent turns of the helical spring overlap in an overlap zone. The first and/or second edge is designed in the overlap zone such that it extends essentially parallel to the respectively adjacent turn of the helical spring, with the result that it forms a parallel zone therewith. There is provided the at least one location of a respective parallel zone a controllable arresting means to which the mutual displaceability of the adjacent turns can be blocked. Guide eyes are provided uniformly distributed on the circumference of the helical spring such that they are situated on at least three first parallel axes in the direction in which the helical spring extends, which axes have virtually the same separation from one another. First tension cables which are all secured at the first end of the helical spring are guided along the first parallel axes through the eyes. A desired direction of movement is produced owing to the fact that tension is exerted on at least one of the tension cables at the second end of the helical spring. Thereby, as a function of the at least one controllable arresting means, the guide eyes through which at least a first tension cable is guided, are moved closer to one another.
Advantageous developments of the present invention are as follows.
Uniformly distributed guide slots are provided on the circumference of the helical spring such that they are situated on at least three second parallel axes, which have
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Fenstermacher David M.
Marmor Charles A.
Siemens Aktiengesellschaft
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