Fluid Pressure Actuator Sealing Structure for Cover Retention
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Solution Overview
Problem
The existing McKibben-type fluid pressure actuators used in robot hands experience slippage when gripping objects, and attaching a non-slip cover member to the sealing member can lead to the cover member coming off due to weight or repeated use.
Innovation Solution
A fluid pressure actuator design that includes a cylindrical tube, an elastic sleeve made of woven fiber cords, and a sealing member with a bamboo shoot part on its free end to securely engage and retain a cover member.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a non-slip cover member is attached to the sealing member, then slippage prevention is improved, but the cover member may come off or tear due to object weight or repeated use
Solution Approach 1:
The sealing member incorporates a bamboo shoot part with stepped portions creating multiple retention dimensions. The cover member is held not only by basic attachment but also by lateral engagement with the stepped portions, adding dimensional constraints that prevent coming off while maintaining non-slip functionality.
Solution Approach 2:
The sealing member combines the bamboo shoot part (structural retention component) with the cover member (non-slip functional component). This composite structure integrates both retention and non-slip functions into a unified system where each component supports the other's performance.
2Object-affected harmful factors
If a cover member is attached to prevent slippage, then gripping stability is improved, but the structure becomes more complex and prone to failure
Solution Approach 1:
The bamboo shoot part is integrated directly into the sealing member as an inherent structural feature rather than a separate attachment mechanism. This merging reduces the number of discrete components while achieving both retention and non-slip functions, simplifying the overall structure.
Solution Approach 2:
The sealing member serves multiple functions: it provides the primary seal, incorporates the bamboo shoot part for cover member retention, and works with the cover member to prevent slippage. This multi-functionality reduces the need for separate dedicated components for each function.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design effectively prevents the cover member from coming off the sealing member, even under heavy loads or repeated use, thereby enhancing the gripping stability of robot hands.
Implementation Method 1
a cylindrical tube that expands and contracts by fluid pressure
Implementation Method 2
a sleeve that is an elastic structure made of woven fiber cords oriented in a predetermined direction and covers an outer circumference of the tube
Data Source
AI summary
Provided is a fluid pressure actuator in which a bamboo shoot part is formed on a free end side of the sealing member to enable engaging and retaining a cover member that is separate from the fluid pressure actuator.