U.S. patent number 3,640,564 [Application Number 05/106,061] was granted by the patent office on 1972-02-08 for fluid-operated actuator.
This patent grant is currently assigned to The B. F. Goodrich Company. Invention is credited to Howard L. Kuster.
United States Patent |
3,640,564 |
Kuster |
February 8, 1972 |
FLUID-OPERATED ACTUATOR
Abstract
An actuator comprising a flexible elastomeric tube, which curls
when one end is closed and the other end is connected to a fluid
pressure source and has a uniplanarly flexible member provided in
the bore of the tube and disposed so as to permit flexing of the
tube only in a single plane. The tube preferably has an elongated
longitudinal member of inextensible material embedded in the wall
of the tube so as to extend transversely for less than one-half the
tube periphery and so that the plane of curling includes the
flexible member and the tension member. One embodiment includes a
plurality of such tubes connected to a common manifold such that
each tube curls about its respective tension member toward a
central region for grasping an object.
Inventors: |
Kuster; Howard L. (Stow,
OH) |
Assignee: |
The B. F. Goodrich Company (New
York, NY)
|
Family
ID: |
22309266 |
Appl.
No.: |
05/106,061 |
Filed: |
January 13, 1971 |
Current U.S.
Class: |
294/119.3;
901/37; 294/112; 901/39; 294/200 |
Current CPC
Class: |
F16C
1/10 (20130101); B25B 11/00 (20130101); B25J
15/12 (20130101); B25J 15/0023 (20130101) |
Current International
Class: |
B25J
15/00 (20060101); B25J 15/12 (20060101); B25B
11/00 (20060101); F16C 1/10 (20060101); B25b
011/00 (); B66c 001/42 () |
Field of
Search: |
;294/88,99,112 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Blunk; Evon C.
Assistant Examiner: Silverman; I. Kenneth
Claims
I claim:
1. A fluid pressure operated actuator comprising:
a. a closed-end flexible tube having longitudinally extending
regions of different extensibilities such that the tube curls about
an axis substantially perpendicular to its length when fluid
pressure is applied to the interior of the tube; and
b. an elongated stiffening member disposed in the bore of said
tube, the said member being capable of flexing in only a single
plane and arranged with the said plane of flexure coinciding with
the said plane of curvature of the tube.
2. The actuator defined in claim 1, wherein said stiffening member
has one end anchored within the tube at a location remote from the
closed end and the remaining end free.
3. The actuator defined in claim 1, wherein said stiffening member
is a roller chain.
4. The actuator defined in claim 1, wherein said flexible member
includes a generally flat strip of elastomeric material reinforced
with a layer of longitudinally extending cords embedded adjacent
one face thereof with the opposite face having a plurality of
longitudinally spaced transverse serrations formed therein.
5. The actuator defined in claim 1, wherein said tube is formed of
elastomeric material with a layer of circumferentially extending
substantially weftless reinforcing cords embedded in the wall
thereof.
6. The actuator defined in claim 1, wherein one of said regions of
different extensibility includes a plurality of substantially
inextensible longitudinally extending weftless cords.
7. The actuator defined in claim 1 in combination with:
a. a fluid pressure manifold having a plurality of transfer ports
thereon; and wherein
b. one of said tubes is attached to each of said transfer ports
with the tubes extending radially outwardly therefrom with the
planes of curling of said tubes oriented such that upon
pressurization they curl about an object adjacent thereto.
Description
BACKGROUND OF THE INVENTION
In the design and manufacture of fluid pressure operated actuators,
it has long been desirable to provide an actuator, of the type
having a flexible "finger" of elastic material extending from a
source of fluid pressure in which the finger would be capable of
precise, predictable and controllable motion in a single plane.
This is particularly desirable where a plurality of such fingers
have been interconnected to a common pressure manifold for curling
toward a central region for grasping an object.
Heretofore, various expedients have been tried, generally
unsuccessfully, to provide such an actuator, examples of which
include pivoted links actuated by fluid pressure power cylinders
connected to the links and flexible curling tubes having portions
of the tube containing greater amounts of material to permit
extension of one side of the tube upon internal pressurization. An
example of this latter type of actuator is found in the Baer U.S.
Pat. No. 3,343,864, wherein a plurality of tubes is attached to a
common pressure manifold with one side of each tube corrugated for
the length of the tube such that, upon internal pressurization, the
corrugated side of the tube wall extends longitudinally an amount
greater than the remaining portion of the tube, thus causing the
tubes or fingers to curl about a central region and provide for
grappling or grasping an object therein.
In the former-type actuator, the pivoted links, power cylinders and
associated hardware have rendered these devices rather complex and
costly. For applications where small size is required, in addition
to portability and lightness in weight, the pinned linkage-type
actuator is generally considered too heavy and cumbersome and
therefore unsuitable.
Moreover, where it is desired to provide large magnitude gripping
forces in actuators of the flexible finger type having a partially
corrugated tube wall for providing the flexibility and curling of
the fingers, it has been quite difficult to fabricate a "finger" of
this type capable of withstanding the higher pressures required for
gripping heavier objects. Moreover, the motion of such corrugated
fingers is somewhat erratic and imprecise in view of the difficulty
in providing a corrugated tube structure which has uniform
extension qualities and which responds accurately and repeatably to
variations in pressure. Experience has shown that the curling
motion of the corrugated fingers often exhibits an axial lead or
helical pitch rather than curling in a single plane. Furthermore,
fingers of this type are readily subject to undesirable lateral or
helical deflection by contact with other objects or by the
application of external lateral forces. Therefore, in those
applications, as for example precision remote-control
material-handling devices, where precise planar curling of the
fingers is required, actuators of the type having no restraint
against helical motion are generally unsuitable. Thus, it has been
desirable to devise an actuator of the type having elastic fingers
which curl upon internal pressurization, with the fingers
restrained to curl in a single plane and one in which the fingers
are capable of being precisely controlled in the degree of curling
and further capable of repeating successively, with precision, a
specified amount of curling motion for gripping or actuating other
mechanisms.
SUMMARY OF THE INVENTION
The present invention provides a solution to the above-described
problem by providing an actuator having a flexible finger of
elastic material which is initially linear, but, upon introduction
of pressurized fluid therein, curls toward a central region to
grasp an object and preferably has a uniplanarly flexible member
inserted in the bore of the tube to limit the curling to a single
plane. Preferably, the finger has a longitudinally extending
tension-resistant member embedded in the tube wall which member
extends transversely less than one-half the periphery thereof and
is so located that a radial plane passing through the
tension-resisting member contains the plane of curling. In one
embodiment of the invention, a common roller chain is used in the
bore of the tube to prevent helical curling and in another
embodiment a transversely serrated strip of reinforced elastomeric
material is used.
A plurality of such fingers may be attached to a common pressure
manifold to form a gripping device capable of having its fingers
each curl in controlled motion in a single plane since the
uniplanarly flexible member in the bore of each tube prevents axial
or helical lead while the finger is curling. The structure of the
present actuator thus produces precisely repeatable motion for the
finger upon successive pressurization and depressurization
cycles.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of one embodiment in which a plurality
of actuator fingers are connected to a manifold and which are
illustrated in the curled position in solid outline and in phantom
outline in the initial or relaxed position;
FIG. 2 is a side view of one of the fingers of the embodiment of
FIG. 1 showing the attachment to the manifold with the actuated
state shown in solid outline and the initially relaxed state shown
in phantom outline;
FIG. 3 is a fragmentary top view of the actuator of FIG. 2 with a
portion of the tube broken away to show the roller chain in the
bore of the tube;
FIG. 4 is a side view of the finger of FIG. 3 showing the roller
chain in the curved position;
FIG. 5 is a sectional view taken along section indicating line 5--5
of FIG. 4 and shows the details of the reinforcing member in the
tube wall; and,
FIG. 6 is a perspective view of a portion of an alternate form of
the uniplanarly flexible member.
DETAILED DESCRIPTION
Referring now to FIG. 1, the presently preferred form of the
invention is shown embodied in an actuator 10 shown as comprising a
pressure manifold 12 of metal or other rigid material having a
pressure chamber therein and an inlet port 13 communicating with
the chamber. A plurality of spaced transfer ports 14 are provided
in the manifold with each transfer port communicating with said
pressure chamber. A plurality of actuator fingers 11 formed of
tubing of elastomeric material is provided with one of the said
tubes connected to each of the transfer ports 14. The free end of
the tube 11 is closed in a pressure sealing manner.
Referring now to FIG. 2, each tube 11 is received over a nipple 14a
extending from the transverse port 14 and a clamp 15 is provided
over the tubing to provide a fluid pressure sealing connection. It
will be understood, however, that other means for attaching the
tube to the nipple as, for example, vulcanizing may be used in
place of clamping. In the unpressurized state, the tubes have the
rectilinear position shown in FIG. 1 by a phantom outline. When
pressurized, the tubes curl about a central region as shown in
solid outline in FIG. 1.
Referring now to FIG. 5, the presently preferred construction of
each of the tubes 11 is shown as comprising a longitudinally
extending strip 11a of substantially inextensible but flexible
material embedded in the reinforced elastomeric wall of the tube
which strip extends less than one-half the periphery of the tube.
In the presently preferred practice of the invention, the strip 11a
comprises a plurality of inextensible, weftless, textile cords
embedded in the elastomeric material of the tube; however, the
strip may be formed of a homogenous layer of flexible but
inextensible material as, for example, metal rather than a
plurality of textile cords. The tube 11 preferably has at least one
layer of circumferentially disposed inextensible cords 11b embedded
in the wall radially inwardly of the tension cords 11a with the
cords 11b circumferentially overlapping in a region of the tension
cords 11a. The construction is such that, upon pressurization, each
tube curls about the side having tension cords 11a therein.
Therefore, in order to provide a gripping action, it is required
that the tubes be connected to the transverse ports 14 with the
tubes arranged such that the tension members 11a are adjacent a
common side such that the tubes will curl toward a common central
region.
Referring now to FIG. 4, each of the tubes is shown as having a
uniplanarly flexible stiffening member 16 extending in the bore of
the tube, which member 16 is preferably attached to the nipple 14a
of the transverse port and thus extends in cantilever into the bore
of the tube 11. In the embodiment of FIGS. 3 and 4, the uniplanarly
flexible member 16 comprises a roller chain having one end received
in a slot 14a' formed in the end of the nipple 14a and the chain is
secured in the slot by a pin 17 received transversely through the
nipple and passing through one of the spaced intermediate adjacent
rollers of the chain. The chain is disposed such that it flexes
about an axis perpendicular to the length of the tube thus
restricting the direction of the curling of the tube 11 to that of
the flexure plane of the chain. The chain is oriented such that the
flexure plane passes through the longitudinal centerline of the
tension member in the tube wall. The free end of the chain extends
in close proximity to the closed end of the tube 11 and the chain
rests along the bore of the tube. FIG. 4 shows the position of the
chain when the tube 11 is pressurized.
Referring now to FIG. 6, an alternate embodiment of the flexible
member 16' is shown as transversely serrated reinforced elastomeric
strip 20. The strip has a plurality of tension-reinforcing cords 21
embedded therein adjacent one side thereof and a plurality of
spaced transverse notches or serations 22 formed in the strip 20 in
the side opposite the reinforcing cords. The strip is thus capable
of flexing freely in only one plane by virtue of the lateral
stiffness imparted thereto by the layer of reinforcing cords.
Furthermore, flexing is limited in the direction tending to close
the serrations by virtue of contact of portions adjacent the
serrations; whereas, flexing in a direction tending to further open
the serrations is more freely permitted. The strip 20 is disposed
in the tube bore with the reinforcing cords adjacent the side about
which curling is desired. The embodiment of the stiffening member
16' of FIG. 6 thus serves in the same manner of roller chain 16 in
the embodiment of FIGS. 3 and 4.
The present invention thus provides an actuator having at least one
and preferably a plurality of initially straight actuator fingers
which upon introduction of fluid pressure therein curl toward a
central region to provide gripping or grasping of an object. Each
of the fingers has a uniplanarly flexible stiffening member
provided in the tube bore such that the fingers are capable only of
curling in a single plane and thus provide for precisely
controllable and repeatable motion.
Modifications and adaptations of the described and illustrated
embodiments of the invention will be apparent to those having
ordinary skill in the art and the invention is limited only by the
spirit and scope of the following claims
* * * * *