DE102017002000A1 - DEVICE COMPRISING A MULTIPLE OF JOINTED BODIES - Google Patents

Abstract

Device comprising a plurality of articulated bodies (10a - 10e) arranged side by side and at least one tensioning cable (12) which connects the articulated bodies (10a - 10e) in a chain - like manner, wherein in each case two adjacent articulated bodies (10a - 10e) are fitted over mutually fitting joint surfaces (16a, 16b; 18a, 18b) being pivotally connected to one another, wherein a frictional torque acting between the articulated surfaces (16a, 16b; 18a, 18b) can be set by changing a tension of the tensioning cable (12), characterized by at least one actuator (14) integrated in the device. for tightening and loosening the tensioning cable (12).

Description

The invention relates to a device with a plurality of juxtaposed articulated bodies, which can be reversibly converted from a movable state to a rigid state.

From the WO 2009/152633 A1 is a generic device for external fixation of fractures known. A number of hinged on a tensioning cable joint elements is connected to each other via ball joints with spherical cap and socket. By applying a tensile force to a central tensioning cable, a frictional force in the ball joints can be increased in such a way that the device in the joints becomes practically immobile and solidifies in the previously set configuration. To tighten the pull cable, a motorized torque wrench is attached to a screw, which is connected via an abutment on a provided at the end of the chain-like device housing with the tensioning cable that the tension of the tensioning cable can be increased or decreased by turning the screw.

The invention is in particular the object of increasing the ease of use of such a device and to develop new uses.

The object is achieved in particular by a device having the features of claim 1. Further advantageous embodiments emerge from the subclaims.

The invention relates to a device with a plurality of juxtaposed articulated bodies and at least one tensioning cable, which connects the articulated body like a chain. Each two adjacent joint bodies are pivotally connected to each other via mating joint surfaces, wherein a frictional torque acting between the joint surfaces is adjustable by changing a tension of the tensioning cable.

In particular, it is proposed to provide an actuator integrated in the device for clamping and releasing the tensioning cable.

In the context of the invention, the term "tensioning cable" is to be understood broadly, and generally it includes any elongate element which is suitable for transmitting tensile forces. In particular, chains or wires can be used in addition to ropes in the strict sense.

Articulated surfaces are compatible with each other if they have at least substantially opposite curvatures. Depending on the application, the joints may be pivotable in two directions as ball joints with joint sockets and joint caps or as hinge joints in only one direction, wherein the joint surfaces are then preferably substantially configured as sections of the outer or inner surface of a cylinder jacket with substantially the same radius , Small deviations of the radii of curvature in the range of 10% need not affect the joint function, in particular as far as the concave joint surface of the two matching joint surfaces has a larger radius of curvature than the associated convex articular surface. To guide the tensioning cable, the joint surfaces comprise suitable openings, which are preferably sufficiently large to allow a desired movement of the joint.

In a preferred embodiment of the invention, the tensioning cable is guided so that even at maximum deflection of the joint torque generated when tightening the tensioning cable is smaller than acting between the joint surfaces friction torque, so that the relative position of the joint body when tightening the tensioning cable changes at most insignificant , The tribological properties of the joint surfaces and the angle of the tensioning cable are chosen so that there is a self-locking.

As an actuator in particular electric motors, such as stepper motors into consideration. However, applications would also be conceivable, for example in scaffolding, for work platforms, floating platforms or the like, in which internal combustion engines can be used.

The actuator should be considered as an integrated actuator, if it is an integral part of the device and a proper use of the device with attached actuator is possible. Preferably, the actuator is permanently installed and can not be manually disconnected from the device. However, embodiments of the invention would also be conceivable in which the actuator can be plugged in with a suitable locking connection and, if necessary, can also be released again, wherein use of the device is, however, also possible with a fixed actuator.

In a preferred embodiment of the invention, the tensioning cable runs in the center of the joint body. Insofar as the above-described self-locking properties are not impaired, deviations from the central position are tolerable, in particular as far as they are necessary due to the set angle between adjacent joint bodies. The tensioning cable is preferably tightly guided in a central region of the joint body, but has at least in the region of the joint surfaces a certain amount of space to allow movements of the joint.

The joint surfaces are in particular with respect to their tribological properties and shape preferably designed so that the joint body are at least at low tension of the tensioning cable against each other and are at high voltage frictionally or non-positively fixed to each other, so that the device solidifies in shape. The terms "pivotable" and "fixed" in relation to the typical forces acting on the intended use are to be interpreted, in particular to a weight to be supported by the device in the fixed state and the pivoting of the joint elements by hand in the released state of the tensioning cable.

It is further proposed that the device comprises a control element for operating the actuator. In this case, the control element may be a simple push-button or toggle switch, which allows a switch between two voltage values of the tensioning cable, which correspond to the pivotable and fixed state of the device, or allow a gradual or continuous adjustment of the voltage, if required by the application.

In the case of the possibility of adjustment between at least one fixed and at least one movable state, the friction torque between adjacent joint bodies in the movable state is preferably between 2 and 30 Newton meters and in the fixed state 15 Newton meters or more, but in any case more than in the movable state.

According to one aspect of the invention, the device is designed as an adjustable armrest, in particular for the arrangement next to a seat or armchair, but possibly also for placement on a workstation for standing or lying work. An adjustment of the armrest is then carried out by pivoting the joint body against each other and then fixing using the cable tension generated by the actuator.

In a preferred embodiment of such an adjustable armrest, the latter comprises a control element for a machine, in particular a joystick or the like, attached to a distal end of the armrest, preferably in an area which is easily reachable by the hand of the applied arm. Such armrests with controls can be provided for example in cabs of construction machinery, especially excavators. Furthermore, the application as an armrest on a wheelchair or other workstations with joystick, trackball or mousepad is conceivable.

Another aspect of the invention relates to the use of the device according to the invention for guiding a flexible shaft for transmitting torques. For this purpose, the hinge elements preferably comprise a channel for guiding such a shaft, which is then rotatable within the channel, while the hinge elements remain rigid. For example, such a device can be used as an attachment for a power wrench or torque wrench to facilitate working with screws in hard to reach places or even to allow.

Another aspect of the invention relates to the use of a device according to the invention as an exoskeleton. For example, the chains can be fixed in the device on the foot or on the hip of a patient who can then perform virtually unhindered movements with loosened tensioning cable, but can be partially or completely fixed by increasing the tension of the tensioning cable. In such application examples, embodiments of the invention could be useful in which the pivot position when tightening the pull rope is not fixed due to the self-locking of the system, but the joint body are aligned by tightening the pull rope in a predetermined configuration, so as to a patient in aligning his limbs or when getting up or the like to help.

A control element for actuating the actuator can be fixedly connected to one of the joint bodies, for example a joint body arranged at the end of the chain, or configured as a remote control for the wireless actuation of the actuator, which can be arranged or carried at a position which is largely independent of the device ,

Furthermore, in a preferred embodiment of the invention, the device comprises a brake or lock for locking the device so that the actuator need not apply force to maintain a certain tension. For this purpose, the actuator may be connected, for example via a self-locking mechanism with the tension cable.

A further aspect of the invention relates to the use of the device for attaching a user interface and / or a screen to a fixed base, for example on a machine. The user can then freely position the user interface and / or the screen with loosened tensioning cable and fix in the desired position by the tension of the tensioning cable is increased. The frictional forces in the released position are preferably chosen so that they are greater than those held by the gravitational force on the Subject forces are, however, can be easily overcome when moving the device by hand.

Further features and advantages of the present invention will become apparent from the following description of the figures. The description, the claims and the figures contain numerous features in specific combinations. Those skilled in the art will also appreciate these features for adapting the invention to a desired application singly and in further combinations and subcombinations without departing from the scope of the invention as defined by the claims.

• 1 eine generische Vorrichtung gemäß der Erfindung mit drei Gelenkkörpern, einem Spannseil und einem integrierten Aktuator;
• 2 eine schematische Schnittdarstellung der Vorrichtung gemäß 1;
• 3 eine verstellbare Armlehne mit einer erfindungsgemäßen Vorrichtung;
• 4 eine Benutzerschnittstelle für eine Maschine mit einer erfindungsgemäßen Vorrichtung;
• 5 ein Exoskelett mit einer erfindungsgemäßen Vorrichtung; und
• 6 eine erfinungsgsmäße Vorrichtung nach einer weiteren Ausgestaltung der Erfindung, in welcher Gelenkkörper einen Kanal zur Führung einer biegsamen Welle bilden.

Showing:

• 1 a generic device according to the invention with three articulated bodies, a tensioning cable and an integrated actuator;
• 2 a schematic sectional view of the device according to 1 ;
• 3 an adjustable armrest with a device according to the invention;
• 4 a user interface for a machine with a device according to the invention;
• 5 an exoskeleton with a device according to the invention; and
• 6 an erfinungsgsmäße device according to a further embodiment of the invention, in which hinge body form a channel for guiding a flexible shaft.

1 and 2 show, to illustrate the principle of action of the invention, a generic device according to the invention with three joint bodies 10a . 10b . 10c , a guy rope 12 and an integrated actuator 14 ,

The device may, in further embodiments not only three but any number of juxtaposed articulated bodies 10a . 10b . 10c include. Furthermore, designs with several tension cables are conceivable which the joint body 10a . 10b . 10c connect like a chain.

Two adjacent joint bodies 10a . 10b . 10c are over matching joint surfaces 16a . 16b . 18a . 18b pivotally connected to each other. The joints can, depending on the application as joints with a degree of freedom and cylinder jacket-shaped joint surfaces 16a . 16b . 18a . 18b or as joints with two degrees of freedom with dome-shaped or spherical joint surfaces 16a . 16b . 18a . 18b be designed. Various possible configurations of the device with different positions of the joints are in 1 indicated by dashed lines.

At one end of the chain-like device, this device comprises the integrated actuator 14 for tightening and loosening the tensioning cable 12 , The actuator 14 who in 1 Dashed line is completely in one of the joint body 10a hidden and not visible from the outside. The joint body 10a must be screwed with screwdrivers to the actuator 14 to arrive and remove or replace it if necessary.

The tensioning rope 12 Depending on the field of application of the invention, a braided wire rope, a synthetic fiber rope or a combination of these.

By changing a tension of the tensioning cable 12 can be one between the articular surfaces 16a . 16b . 18a . 18b acting friction torque can be changed. A large voltage leads to a large friction torque and a low voltage corresponds to a low friction torque.

By a suitable choice of the shape and the tribological properties of the articular surfaces 16a . 16b . 18a . 18b These are designed so that the joint body 10a . 10b . 10c at least at low tension of the tensioning cable 12 can be pivoted against each other by hand and at high voltage frictionally or non-positively fixed to each other, ie the user can no longer be pivoted against each other by hand. Suitable friction moments depend on the application. The manual pivoting on the one hand and the fixation on the other hand can be sufficiently ensured for a wide range of applications, if the first value of the tension of the tensioning cable 12 a friction torque between adjacent joint bodies 10a . 10b , 10c, which is between 2 and 30 Newton meters, and the second value of the tension of the tensioning cable 12 a friction torque between adjacent joint bodies 10a . 10b , 10c, which is higher than the friction torque corresponding to the first value and greater than 15 Newton meters.

The friction torque in the state of low tension is advantageously different from zero, in particular chosen so that the device under the action of gravitational forces does not fold by itself, but still can be moved by hand.

2 shows a schematic sectional view of the device according to 1 ,

The joint body 10a . 10b . 10c each comprise a channel in their center 20a . 20b . 20c for guiding the tensioning cable 12, which extends into at least one of the joint surfaces 16a . 16b , 18a, 18b opens. At least one of the channels 20a . 20b . 20c two adjacent joint surfaces 16a . 16b . 18a , 18b widens in a funnel shape toward the corresponding articular surface to permit pivotal movement. The angle of the expansion (s) of the two adjacent joint surfaces 16a . 16b . 18a . 18b corresponds essentially to the maximum amplitude of the pivoting movement in the corresponding joint.

The joint body 10a . 10b . 10c and channels may be formed depending on the forces acting from suitable materials, preferably as plastic hollow body, in areas where the tensioning cable 12 rests with great forces, reinforced with metal inserts. In other embodiments of the invention, the joint body 10a . 10b . 10c completely made of metal or plastic, optionally made of fiber-reinforced plastic, be formed.

The actuator 14 is in the embodiment of 1 and 2 in a joint body 10a . 10b . 10c at the end of the chain of joint bodies 10a . 10b . 10c arranged. The actuator 14 includes an electric stepper motor 14a that has a spindle drive 14b with one in a counter bearing 14c supported spindle nut 14d a spindle 14e drives, which is moved axially by this rotary drive. The spindle 14e is then with the tension cable 12 connected so that an axial displacement of the spindle 14e to a tensioning or loosening of the tensioning cable 12 leads. The spindle gear 14b is designed self-locking, so that rotational movements of the spindle nut 14d Although can be converted into tensile forces, but not tensile forces in rotational movements of the spindle nut 14d. In alternative embodiments of the invention, the device, in addition to or as an alternative to the self-locking of the spindle gear, a locking device 14f (in 2 shown as a dashed option) for locking the device, such as a pin or a latching tongue for fixing the spindle nut 14d , the or the actuation of the actuator 14 automatically released and brought back into operation upon completion of the operation. Depending on the area of application, the person skilled in the art may instead use the spindle gear 14b another suitable linear drive and / or another suitable locking device 14f use.

On the with the actuator 14 equipped joint body 10a is a trained as a switch knob control 22 for operating the actuator 14 arranged. The switch button 22 has two positions that correspond to the two states of the device explained above, ie a fixed state and a movable state. The actuator 14 can be controlled by a microcontroller and powered by batteries or a power connector (not shown).

At the two ends of the chain-like device 1 and 2 , especially at their end surfaces 28a . 28b , any objects can be attached, which should be positioned relative to each other. Thus, one end of the device can be connected to a wall and the other end to a wall-mounted object, such as a monitor. The end surfaces 28a . 28b The device may include attachment structures, pedestals, or plates, which may then be bolted or otherwise connected to the objects. Furthermore, in the tensioning cable 12 or parallel to a power supply line and / or data line are fed, which supplies the object to be fastened at the end with power and data. The end surfaces 28a . 28b or other surfaces of the device may for this purpose include connections for inserting corresponding lines.

The device according to the invention enables the setting of a plurality of degrees of freedom of movement by a single operation. Devices with multiple joints, which would otherwise have to have one screw or other locking device per joint, so that multiple user interventions to fix a set configuration would be necessary, by a single user intervention, the tensioning of the tensioning cable 12 causes to be fixed.

3 shows a further embodiment or use of the invention as an adjustable armrest, in particular for the arrangement next to a seat or armchair. It comprises a device of the type described above, wherein an adjustment of the armrest by pivoting the joint body 10a , 10b, 10c takes place against each other. A first endface 28a on a joint body 10c the device is on a pedestal 24 Attached to a scaffold of a Sizes and on the opposite, arranged at the distal end of the armrest hinge body 10a is a designed as a joystick control 30 intended for a machine. A middle joint element 10b is with an arm pad 26 fitted. Other elements such as beverage holders, writing pads, mouse pads, etc. can be added as desired.

The operating element 22 for fixing and releasing the armrest is in the in 3 illustrated embodiment in the vicinity of the joystick 30 on a side surface of one of the hinge elements 10a arranged. Depending on the expected frequency of use, it may also be integrated in the joystick, on be arranged proximal end and / or on any other surface of the device.

The armrest according to the invention can be used, for example, in trucks, aircraft cockpits, train driver seats, construction machines, in particular excavators, wheelchairs or any other areas.

4 shows a further embodiment of the invention, in which a device of the type described above for attaching a user interface 38 used to operate a machine. The user interface designed as a console 38 is moved by means of the device to a fixed base 24 or attached to a wall and can be adjusted in position and orientation to the wishes of the user.

5 shows a further embodiment of the invention, in which two devices of the type described above are used in an exoskeleton. The joint body 10a . 10b . 10c each of the devices comprises a middle joint body corresponding in length and function to a thigh of a human 10b and a lower joint body corresponding in length and function to a lower leg of a human 10c and a third joint body located at the waist of the human 10a that has a strap 38 attached to the hip of the wearer. The lower joint body 10c is about cuffs 40 attached to the ankles of the wearer.

The exoskeleton includes a remote control 36 for wireless actuation of the actuators (not shown) of the two devices. The wearer can freely move the exoskeleton by loosening the tensioning cables (not shown) and then, when the leg strength subsides, solidifying the exoskeleton. For specifically controllable training suitable friction moments can be generated by setting intermediate values for the rope tension.

This in 5 schematically shown exoskeleton is just one of many conceivable embodiments of the exoskeleton, which can be adapted to individual legs, to an arm, foot or for supporting only a knee or the spine or to relieve a particular area or bone and designed.

When using the device in machines, vehicles or aircraft or as an exoskeleton, the actuator 14 be actuated independently of an operation by the user of the machine control, for example, such that the device automatically fixed in certain operating conditions of the machine or the vehicle or the tension cable 12 is tensioned, for example, in aircraft during takeoff and / or landing approach or when turbulence or during the flight occurs. Furthermore, it is conceivable that the control excludes an actuation of the actuator by the user in certain operating states.

6 shows a further embodiment of the invention, in which the joint body 10a - 10e next to the canal 20a -20e another channel 32a - 32e to guide a flexible shaft 34 form. The channels 20a - 20e, 32a - 32e can also be combined into a single channel.

The device can with one of its joint body 10a on the housing of a screwdriver 40 or a drill attached, in the chuck 44 the flexible shaft 34 is clamped. The other end of the flexible shaft 34 is with a connection 42 for attaching a screwdriver attachment, such as a socket insert, a bit for Allen, slot, Torx or Phillips screws in different versions or for a drill or adapter for other tools. The opposite end of the machine flexible shaft 34 can also be equipped with a chuck.

The device according to the in 6 illustrated embodiment of the invention allows a torque transmission around the corner, ie along a by adjusting the joint body 10a - 10e largely freely configurable way, so as to allow screwing or Borharbeiten even in very difficult to reach places.

LIST OF REFERENCE NUMBERS

10a

joint body

10b

joint body

10c

joint body

12

tether

14

actuator

14a

Electric stepper motor

14b

spindle gear

14c

thrust bearing

14d

spindle nut

14e

spindle

14f

locking

16a

articular surface

16b

articular surface

18a

articular surface

18b

joint surfaces

20a

channel

20b

channel

20c

channel

22

operating element

24

base

26

Armpolster

28a

end face

28b

end face

30

operating element

32a

channel

32b

channel

32c

channel

34

wave

36

remote control

38

User interface

40

Screwdrivers

42

connection

44

chuck

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2009/152633 A1 [0002]

Claims (16)

Device comprising a plurality of articulated bodies (10a-10e) and at least one tensioning cable (12), which connects the articulated bodies (10a-10e) in a chain-like manner, wherein two adjacent articulated bodies (10a-10e) each have matching joint surfaces (16a, 16b; 18a, 18b) being pivotally connected to one another, wherein a frictional torque acting between the articulated surfaces (16a, 16b; 18a, 18b) can be set by changing a tension of the tensioning cable (12), characterized by at least one actuator (14) integrated in the device. for tightening and loosening the tensioning cable (12). Device after Claim 1 , characterized in that the tensioning cable (12) in the center of the joint body (10a-10e) extends. Device according to one of the preceding claims, characterized in that the joint surfaces (16a, 16b, 18a, 18b) are designed such that the joint body (10a - 10e) are mutually pivotable against each other at least at low voltage and fixed at high voltage frictionally or non-positively to each other are. Device according to one of the preceding claims, characterized by an operating element (22) for operating the actuator (14). Device according to one of the preceding claims, characterized in that the actuator (14) is adapted to adjust the tension of the tensioning cable (12) to one of at least two predetermined values, the values being selected such that the articulated bodies (10a-10e ) are mutually pivotable against each other when a first, low value is set and the joint body (10a-10e) are fixed against each other and not manually against each other are pivotable when a second, higher value is set. Device after Claim 5 , characterized in that the first value of the tension of the tensioning cable (12) generates a friction torque between adjacent joint bodies (10a - 10e) which is between 2 and 30 Newton meters and the second value of the tension of the tensioning cable (12) a friction torque between adjacent joint bodies (10a-10e) which is higher than the friction torque corresponding to the first value and larger than 15 Newton-meters. Device according to one of the preceding claims, characterized in that the mating hinge surfaces (16a, 16b, 18a, 18b) each comprise a ball joint head and a ball joint socket. Device according to one of the preceding claims, characterized by a fixedly connected to one of the joint body (10a - 10e) operating element (22) for actuating the actuator (14). Device according to one of the preceding claims, characterized by a locking device (14f) for locking the device. Device according to one of the preceding claims, characterized by a remote control (36) for wireless actuation of the actuator (14). A user interface (38) for operating a machine, comprising a device according to any one of Claims 1 to 10 wherein the device is adapted to movably attach the user interface (38) to a fixed pedestal (24). Adjustable armrest, in particular for arrangement next to a seat or armchair, comprising a device according to one of the preceding claims, wherein an adjustment of the armrest by pivoting of the joint body (10a - 10e) takes place against each other. Arm rest to Claim 12 characterized by a control element (30) for a machine attached to a distal end of the armrest. Arm rest to Claim 13 , characterized in that the operating element (30) comprises a joystick. Device according to one of Claims 1 to 10 , characterized in that the hinge bodies (10a - 10e) form a channel for guiding a flexible shaft (34). Exoskeleton with a device according to one of Claims 1 to 11 ,

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