EP0123558A2
Expired / Lapsed
EP
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Pneumatic actuator for manipulator
Assignee: Bridgestone Corp
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Filing: 1984-04-25
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Granted: —
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Expires: 2004-04-25
Abstract
Abstract A pneumatic actuator includes an elastic tubular body (1), closure members (3) sealingly closing its ends and a braided structure (2) made of braided cords reinforcing the tubular body. The braided structure is expanded in its radial direction and simultaneously contracted in its axial direction together with the tubular body when pressurized fluid is supplied into the tubular body. According to the invention the braided cords of the braided structure comprises mono-filaments each having a smoothly rounded outer surface of a large radius of curvature. A protective layer (33) may be provided between the tubular body and the braided structure. Afiller (45) such as an incompressible fluid substance having no constant shape may be provided in the tubular body, or the diameters of both ends of the braided structure and braided angles at both the ends may be made larger than those at substantially the mid-portion of the braided structure. The actuator according to the invention decreases damage of the tubular body to prolong its service life and exhibits an improved contacting performance and high fatigue strength and can greatly save air consumption.
Inventors
- 👤 Takeo Takagi
- 👤 Yuji Sakaguchi
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-25 08:43
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/10; B25J9/14; B25J9/142; B25J17/00; B25J17/02; B25J17/0258; B25J17/0266; B25J17/0275; F; F15; F15B; F15B15/00; F15B15/08; F15B15/10; F15B15/103
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
114 words
A pneumatic actuator including a tubular body (1) made of a rubber-like elastic material, closure members (3) sealingly closing ends of the tubular body, and a braided structure (2) reinforcing the outside of the tubular body and made of braided cords of high tensile fibers, the said braided structure being expanded in its radial direction and being simultaneously contracted in its axial direction together with the tubular body when pressurized fluid is supplied in a cavity (10) of the tubular body through one of the said closure members, characterized in that the said braided cords of the braided structure comprise monofilaments each having a smoothly rounded outer surface of a large radius of curvature.
Claim 2
Dependent Claim
114 words
A pneumatic actuator including a tubular body (1) made of a rubber-like elastic material, closure members (3) sealingly closing ends of the tubular body, and a braided structure (2) reinforcing the outside of the tubular body and made of braided cords of high tensile fibers, the said braided structure being expanded in its radial direction and being simultaneously contracted in its axial direction together with the tubular body when pressurized fluid is supplied in a cavity (10) of the tubular body through one of the said closure members, characterized in that the said braided cords of the braided structure comprise monofilaments each having a smoothly rounded outer surface of a large radius of curvature.
Claim 3
Dependent Claim
40 words
A pneumatic actuator as claimed in claim 1, characterized in that the said monofilament comprises a number of fine filaments (35) twisted to form a bundle (37) and a rubber-like elastomer or synthetic resin (33) coated on the said bundle.
Claim 4
Dependent Claim
18 words
A pneumatic actuator as claimed in claim 1, characterized in that the said monofilament has an elliptical cross-section.
Claim 5
Dependent Claim
30 words
A pneumatic actuator as claimed in any of claims 1 to 3, characterized in that a protective layer (33) is provided between the tubular body and the braided structure .
Claim 6
Dependent Claim
29 words
A pneumatic actuator as claimed in claim 4, characterized in that the said protective layer is finely braided so as to be expansible and contractible in a tricot weave.
Claim 7
Dependent Claim
9 words
A pneumatic actuator as claimed in claim 4, characterized
Claim 8
Dependent Claim
26 words
in that the tubular body consists of two elastic layers, comprising an inner layer and a protective outer layer made of an elastomer resistant to damage.
Claim 9
Dependent Claim
26 words
in that the tubular body consists of two elastic layers, comprising an inner layer and a protective outer layer made of an elastomer resistant to damage.
Claim 10
Dependent Claim
44 words
A pneumatic actuator as claimed in any of claims 1 to 6, characterized in that the diameters of both ends of the braided structure and braided angles at both the ends are made larger than those at substantially the mid-portion of the braided structure.
Claim 11
Dependent Claim
37 words
A pneumatic actuator as claimed in any of claims 1 to 7, characterized in that a filler (45) is provided in the cavity of the tubular body without obstructing the expansion and contraction of the tubular body.
Claim 12
Dependent Claim
22 words
A pneumatic actuator as claimed in claim 8, characterized in that the filler is an incompressible fluid substance having no constant shape.
Claim 13
Dependent Claim
29 words
A pneumatic actuator as claimed in claim 8, characterized in that the filler is solid grains (45) having a grain size distribution to be filled under the densest condition.
Claim 14
Dependent Claim
27 words
A pneumatic actuator as claimed in claim 8, characterized in that the filler is a bar-like elastic body (46) flexible only in its expanding and contracting directions.
Claim 15
Dependent Claim
64 words
An articulated arm for a manipulator comprising at least two pneumatic actuators as claimed in any of claims 1 to 11, the said arm being further characterized by comprising first and second arm members (51,52), one ends of the said actuators being connected to the first arm member (51) and the other ends of the actuators being connected to the second arm member (52).
Claim 16
Dependent Claim
33 words
An articulated arm as claimed in claim 12, characterized in that the said one ends and the said other ends of the actuators are pivotally connected to the first and second arm members.
Claim 17
Dependent Claim
28 words
An articulated arm as claimed in claim 13, characterized in that three said actuators are arranged spaced apart 120 0 about the axes of the said arm members.
Claim 18
Dependent Claim
81 words
An articulated arm as claimed in any of claims 12 to 14, characterized in that to the second arm member (52) is fixed a sheave or pulley (70) the axle (71) of which is pivotally connected to the first arm member (51) and the said one ends of the actuators being pivotally connected to the first arm member (51) and the said other ends of the actuators being connected by a wire or a rope (72) extending about the pulley (70).
Claim 19
Dependent Claim
115 words
A driving control system for connection of two pneumatic actuators as claimed in any of claims 1 to 11,the said system being further characterized by comprising flowing-in control valves for controlling the fluid flowing into the said actuators, respectively and flowing-out control valves for controlling the fluid flowing-out of the actuators, respectively, the flowing-in and flowing-out control valves for each actuator being operated reversely in a manner such that when the flowing-in valve is opened, the flowing-out valve is closed and vice versa, and the flowing-in control valves for the actuators being operated reversely in a manner such that when one of the flowing-in control valves is opened, the other is closed and vice versa.
Claim 20
Dependent Claim
47 words
A driving control system as claimed in claim 16, characterized in that the said flowing-in and flowing-out control valves for the actuators are electromagnetic flow control valves capable of continuously controlling flow rate of the fluid flowing in and out of the actuators depending upon electric signals.
References Cited (Backward Citations)
No citation records indexed.
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