Control of multiple inverting actuators

Abstract

This specification discloses systems and methods for controlling multiple reversible actuators with a single motor or without motors, thereby reducing the size and cost of multiple reversible actuators. The starting mechanism may include a motor rotating in the expansion direction, a rotating shaft, a clutch, a brake, a pressure source under high pressure, and / or a valve. The starting mechanism can deploy and extend the actuator, which includes a reel of wound material. The retraction mechanism may include a motor rotating in the contraction direction opposite to the expansion direction, a rotating shaft, a clutch, a low-pressure source, a valve connected to the pressure source, and / or a passive retraction system. The retraction mechanism can rewind and shorten the actuator.

Description

Technical Field

[0001] (Related Application) This application claims priority to U.S. Patent Application No. 18 / 158,071, filed on January 23, 2023, the entire content of which is incorporated herein by reference.

Background Art

[0002] This application relates to a reciprocating actuator, and more particularly, to a method and system for controlling a plurality of reciprocating actuators.

[0003] A linear actuator is an actuator that generates linear motion, in contrast to the circular motion of a conventional electric motor. Linear actuators are used in machine tools and industrial machinery, computer peripherals such as disk drives and printers, valves and dampers, and many other applications where linear motion is required. Since linear actuators can be used independently, when it is necessary to employ a plurality of linear actuators, the size and cost of the device increase.

Summary of the Invention

[0004] This application discloses a system and method for controlling a plurality of reciprocating actuators using a single motor or without using a motor, to reduce the size and cost of the plurality of reciprocating actuators. The activation mechanism can include a motor that rotates in the expanding direction, a rotating shaft, a clutch, a brake, a high-pressure pressure source, and / or a valve. This activation mechanism can deploy and extend an actuator including a reel around which a material is wound. The retraction mechanism can include a motor that rotates in the contracting direction opposite to the expanding direction, a rotating shaft, a clutch, a pressure source having a low pressure, a valve associated with this pressure source, and / or a passive retraction system. This retraction mechanism can retract and shorten the actuator.

Brief Description of the Drawings

[0005] [Figure 1A] A side view of a vacuum table conveyor is shown. [Figure 1B] This shows a 3 / 4 view of a vacuum table conveyor using an actuator array. [Figure 2] The operation of the inverting base actuator is shown (2A~2C). [Figure 3] This document describes a system for controlling an inverted base actuator array according to one embodiment. [Figure 4] Another embodiment of a system for controlling an inverted base actuator array is shown. [Figure 5] A system for controlling an inverted base actuator array according to a third embodiment is shown. [Figure 6] This is a flowchart illustrating a method for controlling multiple inverting base actuators according to one embodiment. [Figure 7] This is a flowchart of a method for controlling multiple inverting base actuators according to another embodiment. [Figure 8] This is a schematic diagram of a machine in an exemplary form of a computer system that executes a set of instructions to cause the machine to perform one or more of the methodologies or modules discussed herein. [Modes for carrying out the invention]

[0006] This specification discloses systems and methods for controlling multiple reversing actuators using a single motor or without a motor, thereby reducing the size and cost of multiple reversing actuators. The starting mechanism may include a motor rotating in the expansion direction, a rotating shaft, a clutch, a brake, a high-pressure source, and / or a valve. This starting mechanism can cause the actuator to unwind and extend a reel on which material is wound. The retraction mechanism may include a motor rotating in the contraction direction opposite to the expansion direction, a rotating shaft, a clutch, a low-pressure source, a valve associated with the pressure source, and / or a passive retraction system. This retraction mechanism can cause the actuator to unwind and shorten. Control of multiple inverting actuators

[0007] Figure 1A shows a side view of a vacuum table conveyor. The vacuum table conveyor ("vacuum table") 120 supports a substrate 105 moving in a predetermined direction 125. The substrate 105 can be a canvas for receiving a printing material 117 such as ink. The vacuum table 120 includes a vacuum source (e.g., a centrifugal blower) 155 and a vacuum chamber 150 that fixes and flattens the substrate 105 on the vacuum table by applying downward pressure to the substrate.

[0008] Figure 1B shows a 3 / 4 view of a vacuum table conveyor using an actuator array. Multiple or numerous actuator arrays, such as an array of reversible actuators, may include actuators 100, 110. These can be controlled simultaneously using the technology disclosed herein. The vacuum table 120 flattens, secures, and conveys materials such as substrates 105, thereby preventing the materials conveyed by the vacuum table 120 from warping or experiencing uncontrollable motion. One common application of the vacuum table 120 is inkjet digital printing. Inkjet digital printing imposes stringent requirements regarding substrate flatness and motion accuracy due to the non-contact ink application method and the required level of precision.

[0009] A perforated belt 130 is placed on a vacuum table platen 140. The perforated belt 130 has openings 130A (only one opening is labeled for brevity) arranged in a longitudinal row. These openings 130A connect the inside of the vacuum table chamber 150 to the substrate 105, creating an adhesive force between the substrate 105 and the perforated belt 130. This adhesive force is caused by a decrease in pressure within the vacuum table chamber 150, which is triggered by an airflow 160 passing through the perforated belt 130 and the openings 130A of the vacuum table chamber. The airflow 160 can be generated by an industrial fan.

[0010] For optimal operation, the most important aspect is reducing the leakage area 170 of the vacuum conveyor (i.e., the area not covered by the conveyed substrates 105). This is because large leakage reduces the pressure, resulting in decreased substrate planarization performance and reduced fan power efficiency. The challenges are to address the fact that in area 170A, the width of the substrates 105 is narrower than the width of the vacuum table 120, causing the vacuum table 120 to open along the horizontal axis, and in area 170B, the number of substrates is insufficient to cover the entire length of the vacuum table 120, causing the vacuum table 120 to open along the longitudinal axis.

[0011] In this context, the array of inverted base actuators 100, 110 can be arranged in alignment with longitudinal rows of openings 180, 190 of the vacuum table 120. The inverted base actuators 100, 110 can extend outward and inward of the longitudinal rows 180, 190. By extending the inverted base actuators 100, 110 to partially or completely close the longitudinal rows of openings 180, 190, the entire length or a portion of a given longitudinal row of openings 180, 190 can be opened and closed. In this way, it becomes possible to block the flow through the portion of the vacuum table region 170A that is wider than the width of the substrate and the region 170B that is not covered by the substrate.

[0012] One drawback of this array of inverting actuators aligned in rows of openings 180 and 190 of the vacuum table 120 is that the number of actuators 100 and 110 required is equal to the number of rows of openings in the vacuum table. Typically, the vacuum table 120 maximizes the number of rows 180 and 190 per unit width of the vacuum table 120 to maximize its effectiveness, but this negatively impacts the cost of a system with actuators 100 and 110 in each row of openings 180 and 190 of the vacuum table 120. The technology disclosed herein provides a method for mechanically multiplexing the operation of multiple inverting actuators 100 and 110 to mitigate the cost and complexity impacts of increasing the number of actuators.

[0013] The majority of the cost of the reversing actuators 100 and 110 is related to the cost of the motors and motor drivers that control the extension and retraction of the material reels, as described in this application. For a standard actuator array, the cost is obtained by multiplying by the number of actuators. Therefore, the key to reducing the cost and complexity of actuators 100 and 110 is to reduce the number of motors required. The technology disclosed herein proposes various embodiments for achieving controllability of the actuator array 100 and 110 while reducing the number of motors required and enabling control of rotational motion with less expensive actuators.

[0014] In addition to being used in vacuum table 120 applications, actuators 100 and 110 can also be applied to trenchless pipe repair. In this application, the inverting actuators coat the damaged interior of the pipe with a liner to cover existing cracks and leaks. Inverting actuators 100 and 110 can be used to create robots that can change their trajectory in response to the environment. A particularly valuable characteristic of actuators 100 and 110 is their ability to reliably navigate in confined and unfamiliar spaces.

[0015] Figures 2A-2C illustrate the operation of the inverting actuator. The inverting actuator 200 is a soft linear actuator, and its operation is achieved by inverting (reversing) a tubular bladder 210 made of a thin, non-stretchable, and non-porous material by the action of fluid pressure. The bladder material is typically housed in a material pulley or material reel 220 within a pressurized chamber 230. The length of the actuator 200 can be increased by unfolding the material reel 220 under fluid pressure. The extension and retraction of the material reel 220 and the actuator 200 can be controlled by manually or motor-controlled rotation of the material reel. The actuator 200 has many unique advantages compared to other linear actuator technologies. For example, 1) this actuator can be constructed from very inexpensive off-the-shelf materials. 2) Due to its flexibility, this actuator achieves inherent sealing along its entire length. 3) Because this actuator does not have a rigid shape, it can easily adapt to different environments. 4) This actuator is flexible and can be compressed to a cross-sectional area smaller than that of the tubular bladder, so that it can reliably move through a space smaller than the cross-sectional area of ​​the tubular bladder 210. 5) The ratio of the length of the actuator in the fully extended state to the length of the actuator in the fully retracted state can be increased as needed.

[0016] The tubular bladder 210 may include markings 240, 250 indicating the length of the actuator 200. The length of the actuator 200 can be measured and controlled by a processor as described in this application.

[0017] Figure 3 shows a system for controlling an array of reversible actuators according to one embodiment. In this first embodiment, different material reels / pulleys 310, 315, each equipped with a unidirectional freewheel clutch mechanism 330, 335, are mounted on a common shaft 320 within a single pressurizing chamber 300. This clutch mechanism allows relative rotation of the shaft and the material reel only in the direction that extends the actuator. The rotation of the shaft 320 is controlled by a single motor 350. Examples of suitable unidirectional freewheel clutch mechanisms include pawl ratchet mechanisms, axial ratchet mechanisms, sprag clutches, and cam clutches. In addition, an active brake 340 is required for each actuator to selectively prevent the rotation of the material reel 310 by connecting the material reel 310 to a fixed component (e.g., pressurizing chamber). In this embodiment, the material reel 310 locked by the active brake 340 remains locked, while the material reel 315 rotates in accordance with the rotation of the common shaft 320.

[0018] In this embodiment, the retraction motion of all actuators must be identical and cannot be controlled by the active brake. For example, if material reel 310 is extended to a length of 10 cm while material reel 315 is only extended to a short length such as 0 cm, the lengths of the two material reels 310 and 315 must be equal before the material reels are fully retracted. One way to do this is to engage the brake 340 on material reel 310 to block further extension of material reel 310, while simultaneously releasing the brake 360 ​​on material reel 315 to allow further extension of material reel 315. Once the length of material reel 315 matches the length of material reel 310, the system can release the brake 360 ​​and rotate the shaft in the direction in which the two material reels 310 and 315 contract (e.g., shorten).

[0019] In this embodiment, the actuator can include a material reel 310, a clutch 330, and a brake 340. The starting mechanism of the actuator can include a motor 350, a shaft 320 that rotates in the extending direction, a clutch, and a brake when released. The pulling-in mechanism of the actuator can include a motor 350, a shaft 320 that rotates in the contracting direction, and a clutch.

[0020] FIG. 4 shows a system for controlling an array of reversing actuators according to another embodiment. In this second embodiment, within a single pressure chamber 400, different material reels / pulleys 410, 415 with bearings are attached to a common shaft 430. The rotation of this shaft 430 is controlled by a single motor 420. To rotate or block the material reels 410, 415 respectively, one active clutch 440, 445 and one active brake 450, 455 are required for each actuator. The active clutches 440, 445 connect the rotational movement of the material reels 410, 415 and the rotational movement of the common shaft 430 respectively. The active brakes 450, 455 prevent the rotation of the material reels 410, 415 respectively by connecting the material reels 410, 415 to a fixed part. In this embodiment, the material reels 410, 415 are either locked to the common shaft 430 by the active clutches 440, 445 and move in response to the rotation of the common shaft, or fixed and locked by the active brakes 450, 455. In this embodiment, since two additional actuators (e.g., clutch actuator and brake actuator) are required for each of the material reels 410, 415, there is a constraint that the minimum allowable interval between the reversing actuators increases. In this embodiment, the reversing actuator can include a material reel 410, a clutch 440, and a brake 450.

[0021] As an option, passive retraction mechanisms 460, 465 such as torsion springs can be attached to the material reels 410, 415, thereby preventing the material reels from extending when both the active clutches 440, 445 and the brakes 450, 455 are disengaged from the material reels 410, 415.

[0022] In this embodiment, the actuator can include the material reels 410, the clutches 440, and the brakes 450. The activation mechanism of the actuator can include the motor 420, the shaft 430 rotating in the extension direction, the clutch 440 when engaged and the brake 450 when disengaged. The retraction mechanism of the actuator can include the motor 420, the shaft 430 rotating in the contraction direction, and the clutch 440.

[0023] The movement of the actuator described in this application can be controlled using a programmable logic controller (PLC). The PLC includes a processor that can perform various calculations such as measuring the extension amount of the reversing actuator. In the embodiments shown in FIGS. 3 and 4, the processor can perform position measurements of the actuator for closed-loop control in various main ways.

[0024] The first method is to measure the rotation of the common shaft with a rotary encoder and determine the longitudinal movement amount of the actuator from the measured value using the diameter of the material reel. The main problem with this method is that as the actuator extends, the material on the material reel decreases, so the diameter of the material reel changes as the actuator extends. Therefore, the processor needs to implement a difference method to account for the changing diameter of the material reel when estimating the length of the material reel.

[0025] The second method involves estimating the actuator's position using a volumetric flowmeter. This is achieved by obtaining flowmeter readings (in volume units) between two positions (e.g., length) on the material reel, and then converting these flowmeter readings into the longitudinal displacement of the actuator between the two positions on the material reel. To calculate the difference in length between the two positions on the material reel, the processor can divide the volume by the cross-sectional area of ​​the pressurized material reel. If the pressurized chamber is used for multiple material reels, the volume received by the pressurized chamber can be distributed among the multiple material reels. To correctly calculate the length of each material reel, the processor can determine the number of extended material reels between position 1 and position 2. To determine the difference in length between position 1 and position 2 for each material reel, the processor can divide the volume by the cross-sectional area of ​​the pressurized material reel, and then further divide by the number of extended material reels.

[0026] A third method involves using an optical sensor to record images of the actuator at positions 1 and 2. The material reel itself may have length markings. The processor can acquire the recorded images and read the length markings from the images.

[0027] Figure 5 shows a system for controlling an array of inverted-base actuators according to a third embodiment. In this third embodiment, different material reels / pulleys 500, 505 are mounted on a common fixed shaft 510 via bearings. Unlike the two embodiments described above, each actuator requires a different pressurizing chamber 520, 530, but no motor is required. Each chamber 520, 530 can be selectively connected to two different pressure sources 522, 524, 532, 534 (one pressure source 522, 532 for high pressure and the other pressure source 524, 534 for low pressure) by the operation of valves 540, 545, 550, 555. Each pressure source 522, 524, 532, 534 is provided with volumetric flow meters 562, 564, 572, 574 for estimating the position of the actuator, as described in this application. Each pressure source 522, 524, 532, 534 has a pressure regulator 582, 584, 592, 594. These pressure regulators allow the processor to estimate and close-loop control the operating and retracting speeds of the actuators connected to them. The material reels 500, 505 are connected to a fixed shaft 510 or other fixed component via a passive retraction system 570, 575 (a torsion spring-like structure) that enables retraction.

[0028] In this embodiment, the actuator may include a material reel 500, a pressurizing chamber 530, pressure sources 522, 524, and valves 540, 545. The actuator activation mechanism may include a high-pressure source 522 and a valve 540 associated with the pressure source 522. The actuator retraction mechanism may include a low-pressure source 524, a valve 545 associated with the pressure source 524, and a passive retraction system 570.

[0029] All the embodiments described reduce cost and complexity compared to using multiple standard actuators. For example, in the pipe lining application described above, the disclosed embodiments allow for faster turnaround by processing multiple pipes at once rather than processing them one by one. In robotic applications, coordinated operation between multiple actuators can be achieved. In any of the embodiments described above, multiple inverted base actuator arrays can be combined to generate a two-dimensional array of actuators. By controlling the extension of each actuator in this array, it is possible to create any three-dimensional surface that is useful in many applications. One of these is in the manufacturing equipment industry, where this system can be used to build a reconfigurable mold system for manufacturing parts from foams, plastics, composites, and other materials.

[0030] Figure 6 is a flowchart of a method for controlling multiple inverted base actuators according to one embodiment. Step 600 provides a pressurized chamber including an opening for drawing in fluid. Step 610 provides an inverted base actuator among the multiple inverted base actuators. This actuator may include a material reel of a material that can be expanded by the drawing in of fluid. This material may be flexible, such as a bladder.

[0031] Step 620 provides a shaft that can rotate bidirectionally around an axis. Step 630 provides a clutch for selectively connecting a material reel to the shaft. Step 640 provides a brake connected to the material reel. The brake can prevent the material reel from unfolding when engaged.

[0032] In step 650, a motor connected to a shaft is provided. The motor can rotate the shaft bidirectionally around its axis. By rotating the shaft in a first direction, the motor can simultaneously extend a first set of multiple inverted base actuators among a set of inverted base actuators. The operation of the clutch and brake can determine whether or not the inverted base actuators extend by rotating the shaft in the first direction. For example, if the brake is engaged, the actuators will not extend even if the shaft is rotated in the first direction.

[0033] The motor can simultaneously retract a second set of reversible base actuators among a set of reversible base actuators by rotating the shaft in a second direction opposite to the first direction. The first set of reversible base actuators and the second set of reversible base actuators may be different or the same. For example, in the first embodiment described herein, when the shaft rotates in the retraction direction, the clutch always retracts the material reel. In the second embodiment described herein, when the shaft rotates in the retraction direction, the clutch needs to be engaged in order to retract the material reel.

[0034] In the first embodiment, when the shaft rotates in a second direction, the provided clutch rotationally connects the material reel to the shaft. This causes the provided clutch to retract the material reel when the shaft rotates in the second direction. Also, when the shaft rotates in a first direction, the provided clutch rotationally connects the material reel to the shaft, thereby causing the material reel to expand when the shaft rotates in the first direction and the clutch rotationally connects the material reel to the shaft. The provided brake can operate in a first mode and a second mode. The first mode can release the brake from the material reel, allowing the material reel to rotate with the shaft. The second mode can engage the brake with the material reel, preventing the material reel from rotating.

[0035] The system may include multiple actuators, such as a first actuator and a second actuator, driven by a single motor. However, the lengths of the first actuator and the second actuator may differ, since the first brake of the first actuator can be engaged during the rotation of the shaft. As a result, only the second actuator extends. Ultimately, the lengths of the two actuators differ. To retract the actuators to their initial positions, a hardware or software processor can execute the instructions described in this application. This processor may be part of a PLC system. The processor can set the first brake to a second mode, thereby preventing the first material reel from rotating with the shaft. The processor can set the second brake to a first mode, thereby allowing the second material reel to rotate with the shaft. The processor can drive a motor to rotate the shaft in a first direction, thereby extending the second actuator. The processor can set the first brake to a first mode, thereby allowing the material reel to rotate with the shaft. The processor can set the second brake to a second mode, which prevents the second material reel from rotating with the shaft. The processor can operate the motor to rotate the shaft in a first direction until the length of the first actuator matches the length of the second actuator. The processor can set the second brake to a first mode, which allows the second material reel to rotate with the shaft. The processor can operate the motor to rotate the shaft in a second direction, which causes both the first and second material reels to contract.

[0036] In a second embodiment, the provided clutch and brake can operate in multiple modes, including a first mode and a second mode. The first mode of the clutch can rotatably couple the material reel to the shaft. The second mode of the clutch can discouple the material reel from the shaft. The first mode of the brake can release the brake from the material reel, allowing the material reel to rotate. The second mode of the brake can engage the brake with the material reel, preventing the material reel from rotating. In addition, by setting the brake to operate in the second mode, the processor can prevent the material reel from rotating when drawing in fluid, and allow fluid to be drawn into the pressurized chamber, thereby extending other actuators without extending the actuator with the brake engaged.

[0037] This processor can measure the length of one or more inverted base actuators. In one embodiment, to measure the length of the actuator, the processor may use a rotary encoder that can measure the rotation of a shaft. The processor can obtain instructions for the rotation of the shaft from the rotary encoder and obtain the diameter associated with the material reel. Based on the instructions for the rotation of the shaft and the diameter associated with the material reel, the processor can determine the length of the inverted base actuator.

[0038] In another embodiment, to measure the length of an actuator, the processor may use a volumetric flow meter capable of measuring the volume of fluid associated with a pressurized chamber. The processor can obtain an indication of the volume of fluid associated with the pressurized chamber and an indication of the cross-sectional area associated with the material reel. Based on the indication of the cross-sectional area associated with the material reel and the volume of fluid associated with the pressurized chamber, the processor can determine the length of the inverted base actuator. Furthermore, the processor may also take into account the number of actuators that are actually operating. Thus, to obtain the length of each actuator, the processor can divide the length obtained by division by the number of actuators that are operating.

[0039] In a third embodiment, to measure the length of an actuator, the processor may use an optical sensor capable of recording an image associated with the inverting actuator. Based on the recorded image, the processor can determine the length of the inverting actuator. For example, the actuator may have length markings that can be recorded in the image. To determine the length of the actuator, the processor can analyze the image to extract the length markings.

[0040] Figure 7 is a flowchart of a method for controlling multiple inverting actuators according to another embodiment. In step 700, a pressurized chamber including an opening for drawing in fluid is provided. In step 710, an inverting actuator among the multiple inverting actuators is provided. The inverting actuator may include a material reel of a material that can be expanded by the drawing in of fluid. This material may be flexible, such as a bladder.

[0041] In step 720, a first valve is provided which is connected to the pressurizing chamber and which connects the pressurizing chamber to a first pressure source through an opening. When actuated, the first valve allows the suction of fluid into the pressurizing chamber.

[0042] In step 730, a second valve is provided, which is connected to the pressurizing chamber and, through an opening, connects the pressurizing chamber to a second pressure source. The pressure of the fluid in the first pressure source can exceed the pressure of the fluid in the second pressure source. When actuated, the second valve allows the fluid to flow out of the pressurizing chamber.

[0043] Step 740 provides a passive retraction system that applies a retraction force to the material reel. The passive retraction system can shorten the material reel when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber. The passive retraction system may include a torsion spring or an angle spring.

[0044] A first pressure regulator associated with a first pressure source is provided. The first pressure regulator can estimate the extension and contraction rates associated with a material reel connected to the first pressure regulator.

[0045] A volumetric flow meter for measuring the volume of fluid associated with a pressurized chamber is provided. A hardware or software processor that performs instructions in this application can obtain an indication of the volume of fluid associated with the pressurized chamber and an indication of the cross-sectional area associated with a material reel. Based on the indication of the cross-sectional area associated with the material reel and the volume of fluid associated with the pressurized chamber, the processor can determine the length of the inverting base actuator. Furthermore, the processor calculates the number of actuators in operation and divides the length of the inverting actuator by the number of actuators in operation.

[0046] A second pressurized chamber is provided, including a second opening for drawing in a second fluid. A second inverting actuator is provided among a plurality of inverting actuators. The second inverting actuator may include a second material reel of material which is expandable when the second fluid is drawn in. A third valve is provided, connected to the second pressurized chamber and connecting the second pressurized chamber to a third pressure source via a second opening. When activated, the first valve can allow the fluid to be drawn into the pressurized chamber. A fourth valve is provided, connected to the second pressurized chamber and connecting the second pressurized chamber to a fourth pressure source via a second opening. The pressure of the second fluid in the third pressure source can exceed the pressure of the second fluid in the fourth pressure source. When activated, the fourth valve can allow the second fluid to flow out of the second pressurized chamber. A second passive pull-in system is provided for exerting a second pull-in force on the second material reel. The second passive retraction system can shorten the second material reel when the second retraction force exceeds the second expansion force exerted by the second fluid in the second pressurized chamber. The processor can independently control the extension and shortening of the material reel and the extension and shortening of the second material reel. computer

[0047] Figure 8 is a schematic diagram of a machine in an exemplary form of a computer system 800 capable of executing an instruction set for the machine to perform one or more of the methodologies or modules discussed herein.

[0048] In the example in Figure 8, the computer system 800 includes a processor, memory, non-volatile memory, and interface devices. For the sake of illustration simplicity, various common components (e.g., cache memory) are omitted. The computer system 800 is intended to represent a hardware device that can implement any of the components described in the examples in Figures 1-7 (and other components described herein). The computer system 800 may be of any known or convenient type. The components of the computer system 800 can be connected to one another via a bus or other known or convenient devices.

[0049] This disclosure assumes that the computer system 800 may take any suitable physical form. For example, the computer system 800 may be an embedded computer system, a system on a chip (SOC), a single-board computer system (SBC) (such as a computer on a module (COM) or system on a module (SOM)), a desktop computer system, a laptop or notebook computer system, an interactive kiosk, a mainframe, a mesh of computer systems, a mobile phone, a personal digital assistant (PDA), a server, or a combination of two or more of these. Where appropriate, the computer system 800 may comprise one or more computer systems 800, be single or distributed, span multiple locations, span multiple machines, or reside in a cloud which may include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 800 may perform one or more steps of one or more methods described or illustrated herein with substantially no spatial or temporal limitations. As an example, one or more computer systems 800 may perform one or more steps of one or more methods described or illustrated herein in real time or in batch mode. Where appropriate, one or more computer systems 800 may perform one or more steps of one or more methods described or illustrated herein at different times or in different locations.

[0050] This processor may be a conventional microprocessor, such as an Intel Pentium microprocessor or a Motorola PoWer PC microprocessor. Those skilled in the art will understand that the terms “machine-readable (storage) medium” or “computer-readable (storage) medium” include any type of device that the processor can access.

[0051] Memory is connected to the processor, for example, by a bus. Memory includes, but is not limited to, random access memory (RAM), such as dynamic RAM (DRAM) and static RAM (SRAM). Memory may be local, remote, or distributed.

[0052] The bus also connects the processor to non-volatile memory and drive units. Non-volatile memory is often magnetic floppy disks or hard disks, magneto-optical disks, optical disks, CD-ROMs, EPROMs, EEPROMs, or other forms of read-only memory (ROM), magnetic or optical cards, or other forms of storage for large amounts of data. Some of this data is often written to memory by direct memory access processes during the execution of software on the Computer 800. Non-volatile storage can be local, remote, or distributed. Non-volatile memory is optional because the system can be built to make all applicable data available in memory. A typical computer system will usually include at least a processor, memory, and a device connecting the memory and the processor (e.g., a bus).

[0053] Software is typically stored in non-volatile memory and / or drive units. In practice, it may not always be possible to store an entire large program in memory. However, it should be understood that software is moved to a computer-readable location suitable for processing (for illustrative purposes, this document will refer to this location as memory) as needed for execution. Even when software is moved to memory for execution, the processor typically uses hardware registers to store values ​​associated with the software and a local cache, ideally to speed up execution. In this specification, when a software program is described as being "implemented in computer-readable medium," it is assumed that this software program is stored in any known or convenient location (from non-volatile storage to hardware registers). A processor considers a program to be "configured to run" if at least one value associated with the program is stored in a register readable by the processor.

[0054] The bus also connects the processor to a network interface device. The interface may include one or more modems or network interfaces. It will be understood that a modem or network interface can be considered part of the computer system 800. The interface may include an analog modem, an Integrated Digital Network (ISDN) modem, a cable modem, a Token Ring interface, a satellite transmission interface (e.g., "Direct PC"), or other interfaces for connecting a computer system to another computer system. The interface may include one or more input and / or output (I / O) devices. I / O devices include, but are not limited to, other input and / or output devices, such as a keyboard, mouse or other pointing device, a disk drive, a printer, a scanner, and a display device. Display devices include, but are not limited to, a cathode ray tube (CRT), a liquid crystal display (LCD), or other known display devices. For simplicity, controllers of devices not shown in the example in Figure 8 are assumed to be located within the interface.

[0055] During operation, the computer system 800 can be controlled by operating system software, including a file management system such as a disk operating system. An example of operating system software with associated file management system software is the family of operating systems known as Windows from Microsoft Corporation in Redmond, Washington, and their associated file management systems. Another example of operating system software with associated file management system software is the Linux operating system and its associated file management systems. The file management system is typically stored in non-volatile memory and / or drive units and causes the processor to perform various operations required by the operating system for data input / output and storage of data in memory, including storing files in non-volatile memory and / or drive units.

[0056] Some detailed explanations may be presented by algorithms and symbolic representations of operations performed on data bits in computer memory. These algorithmic descriptions and representations are means used by those skilled in the field to most effectively communicate their research to others skilled in the field. An algorithm, as used herein and generally, is understood to be a self-consistent set of operations that produce a desired result. These operations require the physical manipulation of physical quantities. These physical quantities typically take the form of electrical or magnetic signals that can be stored, transferred, combined, compared, or otherwise manipulated, though not necessarily limited to these forms. It sometimes proves convenient, primarily for reasons of common use, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, etc.

[0057] However, it should be noted that all these and similar terms should be associated with appropriate physical quantities and are merely convenient labels applied to those quantities. As will be evident from the following explanation, unless otherwise specifically stated, any explanation using terms such as “processing,” “calculating,” “determining,” “displaying,” and “generating” is understood to refer to the operation and process of a computer system or similar electronic computing device that manipulates and converts data, represented as physical (electronic) quantities in the registers and memory of a computer system, into other data, similarly represented as physical quantities in the memory or registers of a computer system, or other information storage, transmission, or display devices.

[0058] The algorithms and representations presented herein are not inherently related to any particular computer or other device. Various general-purpose systems can be used with programs following the teachings herein, or it may be more convenient to construct more specialized devices to perform the methods of some embodiments. The structures required for these various systems will become apparent from the following description. Furthermore, since these techniques are not described with reference to any particular programming language, various embodiments may be implemented using various programming languages.

[0059] In alternative embodiments, the machine may operate as a standalone device or be connected to another machine (e.g., via a network connection). In a networked deployment, the machine may operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment.

[0060] The machine can be a server computer, client computer, personal computer (PC), tablet PC, laptop computer, set-top box (STB), PDA, mobile phone, iPhone, BlackBerry, processor, telephone, web appliance, network router, switch, bridge, or any machine capable of executing a set of instructions (sequential or other instruction sets) that specifies the actions the machine should perform.

[0061] In exemplary embodiments, a machine-readable medium or machine-readable storage medium is shown as a single medium, but the terms “machine-readable medium” and “machine-readable storage medium” should be interpreted to include a single medium or multiple mediums (e.g., a centralized or distributed database, and / or associated caches and servers) that store one or more instruction sets. The terms “machine-readable medium” and “machine-readable storage medium” include any medium that can store, encode, or carry instruction sets for machine execution and cause a machine to execute one or more methodologies or modules of the technologies and innovations of this disclosure.

[0062] Generally, routines performed to implement embodiments of the disclosure may be implemented as part of an operating system or as part of a particular application, component, program, object, module, or instruction sequence referred to as a “computer program.” A computer program typically includes one or more instructions that are set at various points in time in various memory and storage devices within the computer, and when read and executed by one or more processing units or processors within the computer, causes the computer to perform operations to execute elements, including various aspects of the disclosure.

[0063] Furthermore, although embodiments are described in the context of fully functional computers and computer systems, those skilled in the art will understand that various embodiments can be distributed as various forms of program products, and that the disclosure applies equally regardless of the specific type of machine or computer-readable medium used to actually distribute them.

[0064] Further examples of machine-readable storage media, machine-readable media, or computer-readable (storage) media include, but are not limited to, volatile and non-volatile memory devices, floppy disks and other removable disks, hard disk drives, and recording media such as optical discs (e.g., Compact Disk Read-Only Memory (CD-ROM), Digital Multipurpose Disc (DVD), etc.), and transmission media such as digital and analog communication links.

[0065] Depending on the circumstances, the operation of a memory device, for example, a state change from binary 1 to binary 0, or vice versa, may involve transformations such as physical transformations. In certain types of memory devices, such physical transformations may involve a physical transformation of an item into a different state or object. For example, but not limited to, in some types of memory devices, a state change may involve the accumulation and storage of charge, or the release of accumulated charge. Similarly, in other memory devices, a state change may involve a physical change or transformation of magnetic orientation, or a physical change or transformation of molecular structure, such as from crystalline to amorphous, or vice versa. The foregoing is not intended to exhaustively list all instances in which a state change from binary 1 to binary 0, or vice versa, in a memory device may involve transformations such as physical transformations. Rather, the foregoing is intended as illustrative examples.

[0066] Storage media are typically non-temporary, or may contain non-temporary devices. In this context, non-temporary storage media may contain tangible devices. This means that the devices have a concrete physical form, but their physical state can change. Thus, for example, non-temporary means that the device remains tangible despite changes in its state. remarks

[0067] The terminology used herein has been selected primarily for readability and descriptive purposes, and not to describe or limit the subject matter of the invention. Accordingly, the scope of the invention is intended to be limited not by this detailed description, but by the claims issued based thereon. Therefore, the disclosure of various embodiments is intended to illustrate, not limit, the scope of the embodiments described in the following claims.

Claims

1. A device for controlling multiple inverting actuators, A pressurized chamber including an opening for drawing in fluid; An inverting actuator among the plurality of inverting actuators, comprising a material reel of material expandable by the suction of the fluid; A first valve connected to the pressurizing chamber and connecting the pressurizing chamber to a first pressure source via the opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. First valve; A second valve connected to the pressurizing chamber and connecting the pressurizing chamber to a second pressure source via the opening, The pressure of the fluid in the first pressure source exceeds the pressure of the fluid in the second pressure source, and When in operation, the second valve allows the fluid to flow out of the pressurized chamber. The second valve; and A passive retraction system that, when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber, applies the retraction force to the material reel to shorten the material reel. A device equipped with the following features.

2. A second pressurized chamber including a second opening for drawing in a second fluid; A second reversible actuator among a plurality of reversible actuators, the second reversible actuator comprising a second material reel of material expandable by the suction of the second fluid; A third valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a third pressure source via the second opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. The third valve; A fourth valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a fourth pressure source via the second opening, The pressure of the second fluid in the third pressure source exceeds the pressure of the second fluid in the fourth pressure source. When in operation, the fourth valve allows the second fluid to flow out of the second pressurized chamber. The fourth valve; A second passive retraction system that applies the second retraction force to the second material reel to shorten the second material reel when the second retraction force exceeds the second expansion force exerted by the second fluid in the second pressurized chamber; and A processor that independently controls the extension and shortening of the material reel and the extension and shortening of the second material reel. The apparatus according to claim 1, comprising:

3. A first pressure regulator associated with the first pressure source, The first pressure regulator estimates the extension and retraction speeds of the material reel connected to the first pressure regulator. First pressure regulator, The apparatus according to claim 1, comprising:

4. A volumetric flow meter for measuring the volume of the fluid associated with the pressurized chamber; and Obtain an indication of the volume of the fluid associated with the pressurized chamber, Obtain the cross-sectional area associated with the material reel, and The length of the reversing actuator is determined based on the cross-sectional area associated with the material reel and the volume of the fluid associated with the pressurizing chamber. Processor, The apparatus according to claim 1, comprising:

5. The apparatus according to claim 1, wherein the passive retraction system includes a torsion spring or an angle spring.

6. A pressurized chamber including an opening for drawing in fluid; A reversible actuator among a plurality of reversible actuators comprising a plurality of material reels of material expandable by the suction of the aforementioned fluid; A starting mechanism for extending the first of the plurality of material reels; A retraction mechanism for retracting a second set of material reels from among the aforementioned set of material reels, Equipped with, and The operation of the starting mechanism and the operation of the retracting mechanism individually control the material reels among the plurality of material reels. Device.

7. The aforementioned starting mechanism, A first valve connected to the pressurizing chamber and connecting the pressurizing chamber to a first pressure source via the opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. First valve, The apparatus according to claim 6, comprising:

8. The aforementioned retraction mechanism A second valve connected to the pressurizing chamber and connecting the pressurizing chamber to a second pressure source via its opening, When in operation, the second valve allows the fluid to flow out of the pressurized chamber. The second valve; and A passive retraction system that, when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber, applies the retraction force to the material reel to shorten the material reel. The apparatus according to claim 6, comprising:

9. A first valve connected to the pressurizing chamber and connecting the pressurizing chamber to a first pressure source via the opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. First valve; A second valve connected to the pressurizing chamber and connecting the pressurizing chamber to a second pressure source via the opening, The pressure of the fluid in the first pressure source exceeds the pressure of the fluid in the second pressure source, and When in operation, the second valve allows the fluid to flow out of the pressurized chamber. The second valve; A passive retraction system that applies the retraction force to the material reel to shorten the material reel when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber; A second pressurized chamber including a second opening for drawing in a second fluid; A second reversible actuator among the plurality of reversible actuators, comprising a second material reel of material expandable by the suction of the second fluid; A third valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a third pressure source via the second opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. The third valve; A fourth valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a fourth pressure source via the second opening, The pressure of the second fluid in the third pressure source exceeds the pressure of the second fluid in the fourth pressure source. When in operation, the fourth valve allows the second fluid to flow out of the second pressurized chamber. The fourth valve; A second passive retraction system that applies the second retraction force to the second material reel to shorten the second material reel when the second retraction force exceeds the second expansion force exerted by the second fluid in the second pressurized chamber; and A processor that independently controls the extension of the material reel and the shortening of the second material reel. The apparatus according to claim 6, comprising:

10. The aforementioned starting mechanism, A shaft that can rotate in both directions around an axis; A clutch for selectively connecting the material reel to the shaft, The clutch allows the shaft to rotate freely relative to the reel when the rotation of the reel is prevented. The clutch enables rotational connection between the material reel and the shaft when the shaft rotates in the first direction and the reel rotates freely, thereby causing the material reel to expand when the shaft rotates in the first direction and the clutch rotationally connects the material reel to the shaft, The clutch enables rotational connection between the material reel and the shaft when the shaft rotates in the second direction and the reel rotates freely, thereby causing the material reel to retract when the shaft rotates in the second direction. clutch; and A motor connected to the aforementioned shaft, The motor rotates the shaft bidirectionally around the axis, The operation of the motor, which rotates the shaft in the first direction, causes the first of the multiple reversing actuators to extend simultaneously. motor, The apparatus according to claim 6, comprising:

11. The aforementioned retraction mechanism A shaft that can rotate in both directions around an axis; A clutch for selectively connecting the material reel to the shaft, The clutch allows the shaft to rotate freely relative to the reel when the rotation of the reel is prevented. The clutch enables rotational connection between the material reel and the shaft when the shaft rotates in a first direction and the reel rotates freely, thereby causing the material reel to expand when the shaft rotates in a first direction and the clutch rotationally connects the material reel to the shaft, and The clutch enables rotational connection between the material reel and the shaft when the shaft rotates in a second direction and the reel rotates freely, thereby causing the material reel to retract when the shaft rotates in a second direction. clutch; and A brake connected to the material reel, When the brake is engaged, it prevents the material reel from unfolding. brake; A motor connected to the shaft that rotates the shaft in both directions around the aforementioned axis, The operation of the motor that rotates the shaft causes the second of the multiple reversing actuators among the multiple reversing actuators to contract simultaneously. motor, The apparatus according to claim 6, comprising:

12. A shaft that can rotate in both directions around an axis; A first clutch that selectively connects a first reversing actuator among the plurality of reversing actuators to the shaft, The first clutch allows the shaft to rotate freely relative to the first reel when the rotation of the first reel is prevented. The first clutch enables a rotational connection between the first material reel and the shaft when the shaft rotates in a first direction and the first reel rotates freely, thereby causing the first material reel to expand when the shaft rotates in a first direction and the first clutch rotationally connects the first material reel to the shaft, and The first clutch enables rotational connection between the first material reel and the shaft when the shaft rotates in the second direction and the first reel rotates freely, thereby causing the first material reel to retract when the shaft rotates in the second direction. First clutch; A first brake connected to the first material reel associated with the first reversible actuator, The operation of the first brake includes a first mode and a second mode, The first mode releases the first brake from the material reel, allowing the material reel to rotate, and The second mode involves engaging the first brake with the material reel to prevent the material reel from rotating. The first brake; A second clutch for selectively connecting a second reversing actuator among the plurality of reversing actuators to the shaft, The second clutch allows the shaft to rotate freely relative to the second reel when the rotation of the second reel is prevented. The second clutch enables rotational connection between the second material reel and the shaft when the shaft rotates in the first direction and the second reel rotates freely, thereby causing the second material reel to expand when the shaft rotates in the first direction and the second clutch is rotationally connected to the shaft, and The second clutch enables rotational connection between the second material reel and the shaft when the shaft rotates in the second direction and the second reel rotates freely, thereby causing the second material reel to retract when the shaft rotates in the second direction. The second clutch; and A second brake connected to the second material reel associated with the second reversible actuator, The operation of the second brake includes a first mode and a second mode, The first mode releases the second brake from the material reel, allowing the material reel to rotate, and The second mode involves engaging the second brake with the material reel to prevent the material reel from rotating. The second brake, The apparatus according to claim 6, comprising:

13. The aforementioned starting mechanism, A shaft that can rotate in both directions around an axis; A clutch for selectively connecting the material reel to the shaft, The material reel is rotatably connected to the shaft. clutch; and A motor connected to the aforementioned shaft, The motor rotates the shaft bidirectionally around the axis, The operation of the motor that rotates the shaft in the first direction causes the first of the multiple reversing actuators to extend simultaneously. motor, The apparatus according to claim 6, comprising:

14. The aforementioned retraction mechanism A shaft that can rotate in both directions around an axis; A clutch for selectively connecting the material reel to the shaft, The clutch disengages the material reel from the shaft. clutch; A brake connected to the material reel, The brake prevents the material reel from unfolding when engaged. Brakes; and A motor connected to the aforementioned shaft, The motor rotates the shaft bidirectionally around the axis, The operation of the motor that rotates the shaft causes the second of the multiple reversing actuators among the multiple reversing actuators to contract simultaneously. motor, The apparatus according to claim 6, comprising:

15. A shaft that can rotate bidirectionally around the aforementioned axis; A clutch for selectively connecting the material reel to the shaft, The clutch includes a first mode and a second mode, The first mode rotates the material reel onto the shaft, and The second mode involves removing the material reel from the shaft. clutch; A brake connected to the material reel, The brake prevents the material reel from unfolding when engaged. The operation of the brake includes a first mode and a second mode, The first mode releases the brake from the material reel, allowing the material reel to rotate, and The second mode involves engaging the brake with the material reel to prevent the material reel from rotating. brake; A motor connected to the aforementioned shaft, The operation of the motor, which rotates the shaft in the first direction, causes the first of the multiple reversing actuators to extend simultaneously. The operation of the clutch and the brake determines whether or not the reversing actuator extends by rotating the shaft in the first direction, and The motor's operation, which rotates the shaft in a second direction opposite to the first direction, causes the second set of reversing actuators among the set of reversing actuators to contract simultaneously. motor; and The brake is set to operate in the second mode, thereby preventing the material reel from rotating when the fluid is drawn in, and The fluid is drawn into the pressurized chamber. Processor, The apparatus according to claim 6, comprising:

16. A pressurized chamber is provided, which includes an opening for drawing fluid into the pressurized chamber; A reversible actuator among a plurality of reversible actuators, including a material reel of a material expandable by the suction of the aforementioned fluid, is provided; A step of providing a first valve connected to the pressurizing chamber and connecting the pressurizing chamber to a first pressure source through the opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. Step; A step of providing a second valve connected to the pressurizing chamber and connecting the pressurizing chamber to a second pressure source through an opening, The pressure of the fluid in the first pressure source exceeds the pressure of the fluid in the second pressure source, and When in operation, the second valve causes the fluid to flow out of the pressurized chamber. Step; and A passive retraction system is provided that shortens the material reel by applying the retraction force to the material reel when the retraction force exceeds the expansion force exerted by the fluid in the pressurized chamber. A method that includes [a certain feature].

17. A second pressurized chamber is provided, which includes a second opening for drawing in a second fluid; A second inverting actuator among a plurality of inverting actuators, comprising a second material reel of material expandable by the suction of the second fluid, is provided; A step of providing a third valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a third pressure source via the second opening, When in operation, the first valve allows the fluid to be drawn into the pressurized chamber. Step; A step of providing a fourth valve connected to the second pressurizing chamber and connecting the second pressurizing chamber to a fourth pressure source via the second opening, The pressure of the second fluid in the third pressure source exceeds the pressure of the second fluid in the fourth pressure source, and When in operation, the fourth valve allows the second fluid to flow out of the second pressurized chamber. Step; A second passive retraction system is provided which applies the second retraction force to the second material reel to shorten the second material reel when the second retraction force exceeds the second expansion force exerted by the second fluid in the second pressurized chamber; and A processor is provided that independently controls the extension and shortening of the material reel and the extension and shortening of the second material reel. The method according to claim 16, comprising:

18. A step of providing a first pressure regulator associated with the first pressure source, The first pressure regulator estimates the extension and contraction rates of the material reel connected to the first pressure regulator. Step, The method according to claim 16, comprising:

19. A volumetric flow meter is provided to measure the volume of the fluid associated with the pressurized chamber; and Obtain an indication of the volume of the fluid associated with the pressurized chamber, Obtain the cross-sectional area associated with the material reel, and The length of the reversing actuator is determined based on the cross-sectional area associated with the material reel and the volume of the fluid associated with the pressurizing chamber. Step, The method according to claim 16, comprising:

20. The method according to claim 16, wherein the passive retraction system includes a torsion spring or an angle spring.

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