| WO1986003816A1 | 1986-07-03 | |||
| WO1986001493A1 | 1986-03-13 |
| 1. | A material actuating device of the type having a bellow carrier <1) adapted to perform movements in three different directions, and which is provided with means (7) for causing a pressure in the space (8) limited by the bellow carrier <1> being different from the ambient atmospheric pressure, c h a r a c t e r i s e d in that the bellow carrier (1) comprises a number of axially interconnected, ring shaped elements (2), each of said elements (2) having walls (3) substantially completely surrounding the ring shaped inner space C4) αf the element. |
| 2. | A material actuating device according to claim 1, c h a r a c t e r i s e d in that said walls <3) are made of a thin layor of material being stiff in the directions of its surface e.g. a rubber impregnated woven material or a flexible plastic material. |
| 3. | A material actuating device according to claim 1, c ha r a c t e r i s e d in that the ring shaped inner space (4) of one of the elements <2> is connected to a reservoir (12) for a liquid or gaseous medium. |
| 4. | A material actuating device according to claim 3, c h a r a c t e r i s e d in that the inner spaces (4) of at least two adjacent elements (2) are provided with a direct interconnection (13). |
This invention relates to a material actuating device of the type having a bellow carrier adapted to perform movements in three different directions, and which is provided with means for causing a pressure in the space limited by the bellow carrier being different from the ambient atmospheric pressure.
Material actuating devices of this type may be used in industrial robotics and may be designed to hold, lift or move a material by using vacuum.
However, if it is additionally a must that the material or the object to be moved should be turned or diverted in its direction during transportation, the bellows should be designed so as to be rigid i directions perpendicular to the axis of the bellows. This will decrease the ability of the bellows to adjust itself to the shape of the material to be actuated. Therefore it is common practise to choose different devices depending on whether or not only vertically directed forces should be taken into account.
The present invention has for its object to provide a material actuating device having a good ability to adjust itself at the gripping appliance and which is able to transmit substantial forces i three different directions while retaining its ability to grip materials of a broad variety.
This is according to the present invention obtained thereby that the bellow carrier comprises a number of axially interconnected, ring shaped elements, each of said elements having walls substantially completely surrounding the ring shaped inner space of the element.
The invention will be described below reference being made to the accompanying drawing, in which *•
Figs. 1 and 2 schematically and in vertical section show two different embodiments of material actuating devices according to the invention.
The material actuating device shown in Fig. 1 comprises a bellow carrier 1, comprising a number of axially disposed and interconnected, ring shaped elements 2. Each element 2 has walls 3 totally limiting the ring shaped inner space 4 of the element. Said space may be filled with air or a liquid.
The carrier 1 has disc shaped end elements 5, 6 preferably made of metal. The one designated by 5 has a tube connection 7 to the inner space 8 of the carrier 1 as well as a tube connection 9 being passed through the other end element 6. The end element 6 has a ring shaped gland 10 adapted to engage a surface of the object to be handled.
The walls 3 of the element 2 are made of a thin plastic material which will make it stiff in the directions of the layor of the plastic material, but allow bending in all other directions. The walls may alternatively be made of reinforced rubber cloths.
The device shown in Fig. 1 will operate as follows:
By using the tube connection 7 the air pressure in the space of the carrier 1 may be changed causing variations of the distance between the end elements 5 and 6. The gland 10 may thus be caused to forcibly abut an object to be moved. By use of the tube connection 9 a vacuum may now be erected in the space limited " by the end element 6, the gland 10 and the object to be handled. Said object will now be firmly fixed also relative to the end element 5 because of the rather great stiffness of the bellow carrier 1 i directions perpendicular to the axis of the bellows.
The end element 5 may be rigidly connected to remote controlled devices which may turn and move the end element 5 in all directions.
The device shown in Fig. 2 differs from that of Fig. 1 thereby that the lower end element 6 as well as the tube connection 9 and the gland 10 have been omitted. The tube connection 7 has been connected to the inner space 8 of the bellow carrier 1. A tube 11 connects a reservoir 12 tothe inner space of the ring shaped element 2 adjacent to the upper end element 5. The inner space 4 of said element 2 is connected to the adjacent element 2 through small openings 13 in walls otherwise separating the interiors 4 of adjacent elements 2.
The device shown in Fig. 2 has a very good ability to adapt itself to an irregular shape of an object to be handled.
The lowermost, ring shaped element 2 may be forced downwardly relative the end element 5 by supplying compressed air or a pressure liquid through the tube connection 11. After a possible substantial deformation of the bellow carrier 1 caused by its abutting the object to be handled, a vacuum may be erected in the inner space 8 of the carrier 1 and the said object may be rigidly retained in all directions relative to the end element 5, which is supposed to be remote controlled and movable in all directions.