JPH0758084B2 - New Matte Actuator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an air bag type pneumatic actuator which expands and deforms by the introduction of a pressurized fluid to generate a contracting force in the axial direction.

(Prior Art) An air bag type pneumatic actuator, which expands in a radial direction and produces a contracting force in an axial direction by introducing a pressurized fluid, for example, compressed air into an internal cavity of a tubular body, is a hydraulic actuator. Compared with an actuator that reciprocates using a cylinder or an electric motor, the device itself has a light weight, and there are many features such as no environmental pollution due to leakage of hydraulic oil, and no problems such as fire due to sparking.

As such an actuator, for example, one having a structure shown in FIG. 3 is disclosed in Japanese Patent Publication No. 52-40378. Reference numeral 1 is a tubular body, 2 is a braided reinforcing structure on the outer periphery thereof, and 3 is a closing member at both ends. In consideration of air impermeability, the tubular body 1 is made of rubber, a rubber-like elastic material, or a material equivalent thereto. The braided reinforcing structure 2 has a braid angle θ at the time of maximum expansion due to internal pressure filling of the tubular body 1.
It has a braided structure that reaches a so-called static angle (54 ° 44 '). Organic or inorganic high-strength fibers such as aromatic polyamide fibers (Kevlar: trade name), twisted filaments such as ultrafine metal wires, or Suitable for non-twisted bundles.

In such an actuator A, when a control pressure is applied to the internal cavity 6 of the tubular body 1 via the fitting 5 attached to at least one of the connection holes 4 of the closing member 3, the braid angle of the braided reinforcing structure 2 is expanded, That is, the diameter of the tubular body 1 is expanded by the pantograph motion and the axial contraction is caused by the expansion, that is, the distance between the connecting pin holes 7 formed in the closing member 3 is reduced. Reference numeral 8 indicates a crimping cap at both ends, and 9 indicates an indentation.

(Problems to be Solved by the Invention) In this known pneumatic actuator, the tubular body 1 and the braided reinforcing structure 2 are separated from each other, and the contact surface between the tubular body 1 and the braided reinforcing structure 2 and / or Alternatively, by applying a release agent such as fluororesin or molybdenum disulfide to the braided reinforcing structure to minimize the deformation resistance of the braided reinforcing structure 2 during the pandagraph movement, the contraction force generated by the actuator is improved. Was designed to.

Therefore, when the pressurized fluid is repeatedly supplied to and discharged from the actuator and the expansion and contraction are repeated, the braided reinforcing structure 2 may be partially or wholly knitted, and when the pressurized fluid is introduced, Since the tubular body locally protrudes and expands from the braided portion in the radial direction, the braided fabric further progresses, and the tubular body cannot sufficiently function as an actuator. Further, the tubular body made of rubber or a rubber-like elastic body is repeatedly locally deformed in the knitted portion, which causes a problem that the tubular body is damaged early.
In particular, various problems caused by the breakage of the braid were remarkable when a monofilament having a higher tensile strength than the multifilament was used as a braided reinforcing structure.

An object of the present invention is to prevent braid breakage of a braided reinforcing structure,
It is to provide a pneumatic actuator having a long life.

(Means for Solving the Problems) In order to achieve this object, the pneumatic actuator of the present invention includes a tubular body made of rubber or a rubber-like elastic material, and an organic or inorganic high-tensile fiber covering the outer periphery thereof. A braided reinforcing structure, a covering material made of rubber or a rubber-like elastic material for covering the outer periphery of the braided reinforcing structure, and a closing member for sealing and joining the tubular body, the braided reinforcing structure and both ends of the covering material are closed. At least one of the members has a connection hole communicating with the internal cavity of the tubular body, and a contracting force is generated in the axial direction by filling and supplying the pressurized fluid into the internal cavity, and the coating material is provided with a braided reinforcing structure. Providing an intruding portion that penetrates the stitches, the tubular body, the braided reinforcing structure, and the covering material are laminated without adhering, and the intruded portion has a stitch of the braided reinforcing structure that accompanies the supply and discharge of the pressurized fluid into the tubular body. Strange Elastically deforms following the shape.

(Operation) When a pressurized fluid is introduced into the inner cavity of the tubular body through the connection hole provided in the closing member, the braided reinforcing structure resists the intruding part of the covering member made of rubber or rubber-like material that enters the stitch. As a result, the tubular body expands in diameter and produces a contracting force in the axial direction. That is, the braided reinforcing structure performs pantograph motion while elastically deforming the intrusion part of the covering member.

On the other hand, when the pressurized fluid is discharged from the inner cavity of the tubular body, the braid reinforcing structure in which the braid angle is enlarged by the pantograph motion is reduced in the braid angle as the tubular body is reduced in diameter and extended. On the other hand, the penetration part of the covering member elastically deformed during the pantograph motion of the braided reinforcing structure is also restored to the initial shape as the tubular body is contracted and expanded. that time,
Since the intrusion part of the covering member is restored while contacting the braided reinforcing structure, the braided reinforcing structure returns to the initial braid angle without causing the braid to break.

The covering member exerts a deformation resistance when the braided reinforcing structure performs pantograph motion, but the deformation resistance of the intruding portion is sufficiently smaller than the deformation resistance of the tubular body, and the braid breakage of the braided reinforcing structure is caused by the actuator. The deformation resistance does not pose any problem when compared with the effect on the.

(Example) The pneumatic actuator of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a diagram showing a preferred embodiment of the present invention. In the figure, the same parts as those shown in FIG. 3 are designated by the same reference numerals.

Reference numeral 1 is a tubular body, 2 is a braided reinforcing structure on the outer periphery thereof, 3 is a closing member at both ends, and 4 is a connecting hole provided in one closing member, which communicates with an internal cavity 6 of the tubular body 1. A fitting 5 is attached to the connection hole 4, and is connected to an operating pressure source, for example, a pipeline including an air compressor. Reference numeral 7 is a connecting pin hole, 8 is a caulking cap, and 9 is an indentation when caulking.

The outer periphery of the braided reinforcing structure 2 is covered with a covering member 10 made of rubber or a rubber-like elastic material as shown in FIG. 2 (a). This state is shown in a partially cut state in FIG. In this embodiment, as the braided reinforcing structure 2, a monofilament having a small friction coefficient, a smooth surface and a small elongation, such as nylon or polyester fiber, is used.

To provide a covering member for covering the outer periphery of the braided reinforcing structure 2, a release agent is provided on the outer peripheral surface of the braided reinforcing structure and the tubular body 1,
For example, a fluorine resin or a silicone resin is applied in advance, and then an unvulcanized rubber or rubber-like elastic covering member is applied to the outer surface of the braided reinforcing structure 2. Then, a part of the covering member is pressed so as to enter the stitches of the braided reinforcing structure 2, and then heated to be vulcanized. It is advantageous in terms of work to perform this vulcanization work simultaneously with the tubular body 1, but it may be performed separately from the vulcanization work of the tubular body.

Second cross-sectional view of the actuator after vulcanization work
It is shown in FIG. Reference numeral 10a indicates an intruding portion of the covering member 10 that has entered the stitches of the braided reinforcing structure 2. As described above, since the mold release agent is previously applied to the outer peripheral surfaces of the tubular body 1 and the braided reinforcing structure 2, the coating material 10 adheres to the tubular body 1 and the braided reinforcing structure 2. There is no such thing.

When a pressurized fluid is introduced from an air compressor (not shown) into the internal cavity 6 of the tubular body 1 of the actuator configured as described above, the braided reinforcing structure performs pantograph motion, and the tubular body undergoes diametrical deformation and is axially displaced. Produces contraction force. At this time, the covering member 10 also expands radially outward due to the diametrical deformation of the tubular body. On the other hand, the penetration portion 10a of the covering member elastically deforms in accordance with the pantograph movement of the braided reinforcing structure 2, that is, the deformation of the stitch portion.

When compressed air is discharged from the internal cavity 6 after the actuator has performed a predetermined movement, the diameter of the covering member 10 is also reduced as the diameter of the tubular body 1 is reduced, and the braided reinforcing structure 2 is expanded corresponding to this movement. The braid angle is also reduced. At this time, the invading portion that has entered the stitches of the braided reinforcement structure is restored based on the release of the elastic energy stored during the deformation, and the engaged braided reinforcement structure is returned to the initial braid angle. Therefore, the braided reinforcing structure does not have a knitting failure.

Moreover, since the covering member also functions as a braided reinforcing structure and a protective cover for protecting the tubular body, an actuator that is resistant to external damage is obtained, and by forming the covering member with a material having excellent weather resistance, for example, ultraviolet rays, etc. The adverse effects on the tubular body and the braided reinforcing structure can be eliminated as much as possible.

(Effects of the Invention) As described in detail above, in the pneumatic actuator of the present invention, the outer periphery of the tubular body is covered with the braided reinforcing structure, and further, rubber or rubber-like material having an intruding portion that enters the stitches of this braided reinforcing structure. Since it is covered with a covering member made of an elastic material, even if the pressurized fluid is repeatedly supplied to and discharged from the tubular body,
The braided reinforcement structure does not have any braid breakage. Therefore, not only the multifilament but also a monofilament having a higher tensile strength than the multifilament can be used as the braided reinforcing structure, and in this case, the performance and life of the actuator are significantly improved. Moreover, since the covering member also functions as a protective cover that protects the actuator from external damage, an actuator that is resistant to external damage is obtained.

[Brief description of drawings]

FIG. 1 is a front view showing the pneumatic actuator of the present invention in a partial cross section, and FIG. 2 (a) is a schematic view showing a bulging portion of the actuator shown in FIG. FIG. 2B is an explanatory view showing the braided reinforcing structure of the actuator shown in FIG. 1 and a covering member in a developed manner, and FIG. 2C is a longitudinal sectional view showing a part of the actuator shown in FIG. FIG. 3 is a front view showing a known pneumatic actuator in a partial cross section. 1 ... Tubular body, 2 ... Braided reinforcing structure 3 ... Closing member, 4 ... Connection hole, 5 ... Fitting, 6 ... Internal cavity, 7 ... Connection pin hole, 8 ... Caulking cap, 9 ... Indentation, 10 …… Coating member 10a …… Intrusion part

Claims (1)

[Claims] 1. A tubular body made of rubber or a rubber-like elastic material, a braided reinforcing structure of organic or inorganic high-strength fibers covering the outer periphery thereof, and a rubber or rubber-like elastic material covering the outer periphery of the braided reinforcing structure. A covering material, and a tubular member, a braided reinforcing structure, and a closing member sealingly adhering both end openings of the covering material, at least one of the closing members having a connection hole communicating with the internal cavity of the tubular body, In a pneumatic actuator that causes a contraction force in the axial direction by filling and supplying a pressurized fluid into an internal cavity, a coating material is provided with an intrusion part that penetrates into a stitch of a braided reinforcement structure, and a tubular body, a braided reinforcement structure, and A coating material is laminated without adhering, and the penetration portion is elastically deformed following the deformation of the stitches of the braided reinforcing structure accompanying the supply and discharge of the pressurized fluid into the tubular body. Machikku actuator.