US3640564A - Fluid-operated actuator - Google Patents

Fluid-operated actuator Download PDF

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Publication number
US3640564A
US3640564A US106061A US3640564DA US3640564A US 3640564 A US3640564 A US 3640564A US 106061 A US106061 A US 106061A US 3640564D A US3640564D A US 3640564DA US 3640564 A US3640564 A US 3640564A
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United States
Prior art keywords
tube
actuator
tubes
plane
fluid pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US106061A
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English (en)
Inventor
Howard L Kuster
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SMR Acquisition LLC
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BF Goodrich Corp
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Publication of US3640564A publication Critical patent/US3640564A/en
Anticipated expiration legal-status Critical
Assigned to SMR TECHNOLOGIES, INC. reassignment SMR TECHNOLOGIES, INC. ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: B.F. GOODRICH COMPANY, THE
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
    • F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"

Definitions

  • 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.
  • the pivoted links, power cylinders and associated hardware have rendered these devices rather complex and costly.
  • the pinned linkage-type actuator is generally considered too heavy and cumbersome and therefore unsuitable.
  • actuators of the type having no restraint against helical motion are generally unsuitable.
  • 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 degee of curling and further capable of repeating successively, with precision, a specified amount of curling motion for gripping or actuating other mechanisms.
  • the present invention provides a solution to the abovedescribed 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.
  • the finger has a longitudinally extending tension-resistant member embedded in the tube wall which member extends transversely less than onehalf the periphery thereof and is so located that a radial plane passing through the tension-resisting member contains the plane of curling.
  • 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.
  • FIG. I 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 alongsection indicating line 5-5 of FIG. 4 and shows the details of the reinforcing member in the tube wall;
  • FIG. 6 is a perspective view of a portion of an alternate form of the uniplanarly flexible member.
  • 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.
  • 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.
  • a clamp 15 is provided over the tubing to provide a fluid pressure sealing connection.
  • other means for attaching the tube to the nipple as, for example, vulcanizing may be used in place of clamping.
  • the tubes 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. I.
  • each of the tubes 11 is shown as comprising a longitudinally extending strip Ila 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.
  • the strip lla comprises a plurality of inextensible, weftless, textile cords embedded in the elastomeric material of the tube however, the strip may be fonned 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 Ila with the cords llb circumferentially overlapping in a region of the tension cords Ila.
  • the construction is such that, upon pressurization, each tube curls about the side having tension cords Ila 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.
  • 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 1].
  • 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 1 1 is pressurized.
  • 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 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 precisely controllable and repeatable motion.
  • 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;
  • 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.
  • 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.
  • said tube is formed of elastomeric material with a layer of circumferentially extending substantially weftless reinforcing cords embedded in the wall thereof.
  • one of said regions of different extensibility includes a plurality of substantially inextensible longitudinally extending weftless cords.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Actuator (AREA)
US106061A 1971-01-13 1971-01-13 Fluid-operated actuator Expired - Lifetime US3640564A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10606171A 1971-01-13 1971-01-13

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US3640564A true US3640564A (en) 1972-02-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
US106061A Expired - Lifetime US3640564A (en) 1971-01-13 1971-01-13 Fluid-operated actuator

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US (1) US3640564A (it)
IT (1) IT947060B (it)

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3981528A (en) * 1974-05-30 1976-09-21 Firma Carl Freudenberg Robot finger
US4534006A (en) * 1981-05-15 1985-08-06 D.E.A. Digital Electronic Automation S.P.A. Operating arm unit controlled by a computer system
US4792173A (en) * 1987-10-30 1988-12-20 Duke University Fluid actuated limb
WO1990015696A1 (en) * 1989-06-21 1990-12-27 Chr. Michelsens Institutt Arrangement for hydraulically or pneumatically operated gripping or holding device
WO1990015697A1 (en) * 1987-12-21 1990-12-27 Chr. Michelsens Institutt Arrangement for pivot link-forming means
WO1991006404A1 (en) * 1989-10-26 1991-05-16 University Of Bristol Controlled flexure element
US5065640A (en) * 1990-07-09 1991-11-19 The Regents Of The University Of Michigan Inflatable structure
US20060028041A1 (en) * 2003-06-27 2006-02-09 Atsushi Ono Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
US20060220403A1 (en) * 2005-03-31 2006-10-05 Korea Electronics Technology Institute Micro gripper and method for manufacturing the same
US20150360372A1 (en) * 2013-02-27 2015-12-17 Materialise N.V. Gripping apparatus and method of manufacturing a gripping apparatus
WO2016210438A1 (en) * 2015-06-26 2016-12-29 Soft Robotics, Inc. Food handling gripper
CN108381534A (zh) * 2018-05-11 2018-08-10 清华大学 一种具有弓字形连续弯曲内腔的柔性机械手
CN108638100A (zh) * 2018-05-11 2018-10-12 清华大学 一种柔性仿人机械手指
US10137580B1 (en) * 2017-09-15 2018-11-27 Honda Motor Co., Ltd. Systems and methods for robotic arm guard assemblies
US10179411B2 (en) * 2016-01-20 2019-01-15 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US20190022875A1 (en) * 2016-01-19 2019-01-24 President And Fellows Of Harvard College Soft robotic actuators and grippers
US10189168B2 (en) * 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
US20190061170A1 (en) * 2016-01-20 2019-02-28 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10280951B2 (en) 2014-03-02 2019-05-07 Drexel University Articulating devices
US20190143538A1 (en) * 2017-11-10 2019-05-16 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10322511B1 (en) * 2017-12-06 2019-06-18 X Development Llc Robotic finger shape recovery
US10478974B2 (en) 2016-01-20 2019-11-19 Soft Robtics, Inc. End of arm tools for soft robotic systems
CN110561469A (zh) * 2019-09-30 2019-12-13 清华大学 一种内嵌骨架的软体气动手指
US10569422B2 (en) 2016-01-20 2020-02-25 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10632625B2 (en) 2017-10-13 2020-04-28 Soft Robotics, Inc. End of arm tools for soft robotic systems
US20200156266A1 (en) * 2017-11-10 2020-05-21 Soft Robotics, Inc. End of arm tools for soft robotic systems
US11077565B2 (en) 2014-09-17 2021-08-03 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
US11247345B2 (en) * 2018-08-20 2022-02-15 Massachusetts Institute Of Technology Shape-shifting fingers for robotic grippers
EP4148272A1 (en) * 2014-11-18 2023-03-15 Soft Robotics, Inc. Soft robotic actuator enhancements
US20230122515A1 (en) * 2020-03-04 2023-04-20 University Of Georgia Research Foundation, Inc. Pneumatic soft robotic spiral gripper with fiber optic sensor
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1693074A (en) * 1926-12-24 1928-11-27 Falco Michael Lifting device
US3343864A (en) * 1965-10-07 1967-09-26 James I Baer Material handling apparatus and the like
US3601442A (en) * 1970-01-26 1971-08-24 Goodrich Co B F Gripping device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1693074A (en) * 1926-12-24 1928-11-27 Falco Michael Lifting device
US3343864A (en) * 1965-10-07 1967-09-26 James I Baer Material handling apparatus and the like
US3601442A (en) * 1970-01-26 1971-08-24 Goodrich Co B F Gripping device

Cited By (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3981528A (en) * 1974-05-30 1976-09-21 Firma Carl Freudenberg Robot finger
US4534006A (en) * 1981-05-15 1985-08-06 D.E.A. Digital Electronic Automation S.P.A. Operating arm unit controlled by a computer system
US4792173A (en) * 1987-10-30 1988-12-20 Duke University Fluid actuated limb
WO1990015697A1 (en) * 1987-12-21 1990-12-27 Chr. Michelsens Institutt Arrangement for pivot link-forming means
WO1990015696A1 (en) * 1989-06-21 1990-12-27 Chr. Michelsens Institutt Arrangement for hydraulically or pneumatically operated gripping or holding device
WO1991006404A1 (en) * 1989-10-26 1991-05-16 University Of Bristol Controlled flexure element
US5065640A (en) * 1990-07-09 1991-11-19 The Regents Of The University Of Michigan Inflatable structure
US20060028041A1 (en) * 2003-06-27 2006-02-09 Atsushi Ono Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
US7258379B2 (en) * 2003-06-27 2007-08-21 Matsushita Electric Industrial Co., Ltd. Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same
US20060220403A1 (en) * 2005-03-31 2006-10-05 Korea Electronics Technology Institute Micro gripper and method for manufacturing the same
US7770951B2 (en) * 2005-03-31 2010-08-10 Korea Electronics Technology Institute Micro gripper and method for manufacturing the same
US20150360372A1 (en) * 2013-02-27 2015-12-17 Materialise N.V. Gripping apparatus and method of manufacturing a gripping apparatus
US10280951B2 (en) 2014-03-02 2019-05-07 Drexel University Articulating devices
US11077565B2 (en) 2014-09-17 2021-08-03 Soft Robotics, Inc. Soft robotic actuator attachment hub and grasper assembly, reinforced actuators, and electroadhesive actuators
EP4148272A1 (en) * 2014-11-18 2023-03-15 Soft Robotics, Inc. Soft robotic actuator enhancements
US20230405843A1 (en) * 2014-11-18 2023-12-21 Soft Robotics, Inc. Soft robotic actuator enhancements
US11738471B2 (en) * 2014-11-18 2023-08-29 Soft Robotics, Inc. Soft robotic actuator enhancements
US10189168B2 (en) * 2014-11-18 2019-01-29 Soft Robotics, Inc. Soft robotic actuator enhancements
US20220088801A1 (en) * 2014-11-18 2022-03-24 Soft Robotics Inc. Soft robotic actuator enhancements
US12145259B2 (en) * 2014-11-18 2024-11-19 Soft Robotics, Inc. Soft robotic actuator enhancements
US11110616B2 (en) * 2014-11-18 2021-09-07 Soft Robotics, Inc. Soft robotic actuator enhancements
US10112310B2 (en) 2015-06-26 2018-10-30 Soft Robotics, Inc. Food handling gripper
CN108290298A (zh) * 2015-06-26 2018-07-17 软机器人公司 食品处理抓持器
WO2016210438A1 (en) * 2015-06-26 2016-12-29 Soft Robotics, Inc. Food handling gripper
US10780591B2 (en) * 2016-01-19 2020-09-22 President And Fellows Of Harvard College Soft robotic actuators and grippers
US20190022875A1 (en) * 2016-01-19 2019-01-24 President And Fellows Of Harvard College Soft robotic actuators and grippers
US11045959B2 (en) * 2016-01-20 2021-06-29 Soft Robotics, Inc. End of arm tools for soft robotic systems
US20190061170A1 (en) * 2016-01-20 2019-02-28 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10569422B2 (en) 2016-01-20 2020-02-25 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10179411B2 (en) * 2016-01-20 2019-01-15 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US10478974B2 (en) 2016-01-20 2019-11-19 Soft Robtics, Inc. End of arm tools for soft robotic systems
US10661447B2 (en) * 2016-01-20 2020-05-26 Soft Robotics, Inc. End of arm tools for soft robotic systems
US20200189121A1 (en) * 2016-01-20 2020-06-18 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10889004B2 (en) 2016-01-20 2021-01-12 Soft Robotics, Inc. Soft robotic grippers for cluttered grasping environments, high acceleration movements, food manipulation, and automated storage and retrieval systems
US10137580B1 (en) * 2017-09-15 2018-11-27 Honda Motor Co., Ltd. Systems and methods for robotic arm guard assemblies
US10632625B2 (en) 2017-10-13 2020-04-28 Soft Robotics, Inc. End of arm tools for soft robotic systems
US11059188B2 (en) 2017-11-10 2021-07-13 Soft Robotics, Inc. Fasteners with reduced bacterial harborage points, sealing capabilities, and component protection features
US11072080B2 (en) * 2017-11-10 2021-07-27 Soft Robotics, Inc. End of arm tools for soft robotic systems
US20190143538A1 (en) * 2017-11-10 2019-05-16 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10518423B2 (en) * 2017-11-10 2019-12-31 Soft Robotics, Inc. End of arm tools for soft robotic systems
US20200156266A1 (en) * 2017-11-10 2020-05-21 Soft Robotics, Inc. End of arm tools for soft robotic systems
US10322511B1 (en) * 2017-12-06 2019-06-18 X Development Llc Robotic finger shape recovery
CN108638100A (zh) * 2018-05-11 2018-10-12 清华大学 一种柔性仿人机械手指
CN108381534A (zh) * 2018-05-11 2018-08-10 清华大学 一种具有弓字形连续弯曲内腔的柔性机械手
US11247345B2 (en) * 2018-08-20 2022-02-15 Massachusetts Institute Of Technology Shape-shifting fingers for robotic grippers
US11738893B2 (en) 2019-04-30 2023-08-29 Soft Robotics, Inc. Picking, placing, and scanning bagged clothing and other articles
CN110561469A (zh) * 2019-09-30 2019-12-13 清华大学 一种内嵌骨架的软体气动手指
CN110561469B (zh) * 2019-09-30 2021-03-30 清华大学 一种内嵌骨架的软体气动手指
US20230122515A1 (en) * 2020-03-04 2023-04-20 University Of Georgia Research Foundation, Inc. Pneumatic soft robotic spiral gripper with fiber optic sensor

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Owner name: SMR TECHNOLOGIES, INC., OHIO

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:B.F. GOODRICH COMPANY, THE;REEL/FRAME:005029/0510

Effective date: 19890227