DE1531252A1 - Multi-directional arm - Google Patents

Description

Patent attorney Dlp |.-Lng.R.Beetzii. 410-120 ^ 5.7.1967 DlpK-ing. Lemprecht 1 c; ο 1 ο c ο Munich 22, Steimdorfrtr. 1 »'O 0 I {. Ό 4

SIERSATOM, Paris (France)

Much adjustable arm

The invention relates to an arm which can be aligned with any arbitrary direction in space, and which is operated essentially under the action of hydraulic, pneumatic, electric or electro-magnetic. Table control means experiences variable curvature, the control means allowing the execution of complicated movements and allowing the arm to change the orientation of certain of its parts one after the other and these parts can be pivoted in all azimuth angles i around hinge points, their position in a suitable manner over the entire length of the arm is distributed

Of the arms of the above kind, the invention relates particularly to but not exclusively to those intended to make remote-controlled handling of objects under difficult operating conditions, such as in particular very high conditions or very low temperatures, in a strong vacuum or under increased pressure, in a radioactive or corrosive environment,

BATH ORIGINAL

41O ~ (B2464.55) DfGr (6)

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determined in a state of weightlessness or under waaaer are ο

There are already.mechanical handling arms known that are made up of different parts articulated to one another, these arms in particular being sealed off inside Containers are used to carry out various experiments and operations in a hazardous atmosphere stored objects. These arms usually have a control part which is external to the container and accessible to the operator, and a close-up Part that is located inside the container and mimics the movements of the control part · In other embodiments, the control of the setting of the articulated takes place Part of the arm with the help of electric motors and mechanical tracking systems, which become more complicated; the more the Number of degrees of freedom that one has inside the container wants to give located end of the arm increases.

Such articulated arms generally have a number of disadvantages other than their severity and their lack due to the difficulty of giving in to these arms under special working conditions, for example at Use a specified pressure or a specified temperature that will damage the electric motors or of the transmission organs · In addition, these arms have the defect that they do not allow access to a

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enable given point under any orientation So it is ZeB. in the special case that the Maneuvering arm under water and from a submerged device is practically impossible in cavities get in, which have partially clogged through openings. For such cases it is essential to have a to have a compliant organ available, which in particular can bypass the obstacles before it enters the opening into the one wishes to penetrate is introduced »The same case occurs in certain installations in which one undertakes experiments Vacuum and especially in negative pressure vessels or in space simulators, where various operations have to be carried out remotely in hard-to-reach places «

The invention therefore has an arm that can be disengaged in multiple ways to the object that meets the needs set out above, which is a compliant arm, the in a sense with the grasping organs or with the whole Is related to the body of certain men, such as the tentacle of a polyp, the trunk of an elephant or the body of a snake

For this purpose, the arm according to the invention is characterized on the one hand by a large number of analogously designed ones Individual elements that allow at least one degree of freedom by twisting the individual elements against each other Connecting links strung together in the longitudinal direction

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are, and on the other hand by with each pair of adjacent individual elements coupled means for independent pivoting of the individual elements of the other individual elements respective pair against each other »

Preferably, the connecting links for each individual element consist of two coaxially successive sections cone-like or eyelet-like parts limited by a spherical general shape and the individual elements are strung together in such a way that that the pin-like part of the neighboring element always engages, the outer diameter of the pin-like part and the inner diameter of the eyelet-like part correspond to each other

The multi-directional arm created in this way represents a series of ball joints Relative movements, which can be remotely controlled in particular from one of the ends of the arm, can be made in a suitable manner distributed acting forces and 'torques result, which give the arm a curvature that changes significantly and which allows the arm to adopt any desired profile, which is what the articulated devices known so far is completely excluded "

However, for the practical implementation of the connecting links think of different mutually equivalent embodiments between adjacent individual elements of the arm;

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ORIGINAL

so these connecting links can be realized in particular with the help of universal joints or similar joints «. In addition, the individual elements of the arm can have lateral approaches that have at least two flat or curved lateral extensions Have stop surfaces which stop surfaces in adjacent Individual elements work together for the purpose of guiding them in their mutual deflections ο

To further explain the details of construction and Λ in the operation of the invention, some embodiments are described in more detail below, "

It is in the drawing

Figo 1 is a schematic section through part of a multiple orientable arm according to a

first embodiment of the invention; the Fig. 2 is a section along the line ΊΙ-ΙΙ in Figo 1,

illustrates the
Figo 3 summarizes any profiles that the in the i

ffig · 1 arm shown is the 4 shows a partial section through a second embodiment.

of the invention are the
5 and 6 sections through two other embodiments;

is the
7 shows a schematic perspective illustration of a

Detail of Fig. 6 and relates to Fig. 8 shows a final embodiment of the invention.

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■■ 9.0 $ 8 3-9 / 0 $ Tf

In FIG. 1, only a section of a multi-directional arm according to the invention is shown. That arm is made up of a sequence of identical rotationally symmetrical Individual elements, such as 1, la, Ib together, which are arranged along a common central axis 2 when the arm has no curvature. The single element 1 has, for example, two parts 3 and 4 which are arranged coaxially to one another, of which part 5 has an outer profile 5 has, which is limited by a section of a spherical surface, and the part 4 has an inner recess which is also limited by a section of a spherical surface 6, which has essentially the same Durohmesser » like the spherical surface circumscribing the outer profile 5 »

The various individual elements, such as 1, 1a, 1b ".", Are in the lined up in the way shown in the drawing, with adjacent elements each pin-like parts with a very small play in corresponding loop-like parts, what continues from element to element * Under these circumstances, the spherical section 5 of the individual element 1 is involved the spherical recess 6b of the individual element 1b together, while the spherical portion 6 of the element 1 with the Part 5a of the element la works together. The different, Individual elements assembled in this way form just as many Ball joints, which are mutually opposite to the common centers of the peg-like and the loop-like parts of two be—

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Let neighboring elements pivot, since the corresponding spherical sections have essentially the same diameter exhibit.

For purely mechanical reasons, it goes without saying that the inner diameter of the spherical recesses of the loop-like Ropes 6 are a little larger than the * outer diameter of the spherical profiles forming the peg-like parts 5 in order to be a To allow the various elements to be nested in one another and to allow a ball joint to pivot in relation to the following one

In the first embodiment shown in Fig. 1, each individual element is connected with three cables, such as «7, which are arranged with the same distance around the axis of rotation 2, i.e. in the present particular case by 120 relative to each other are offset. Under these circumstances there is only one in FIG this cable is visible while the cable is in the sectional view the.Fig. 2 can all be seen. Each of these cables has an end corresponding to the individual element 1 Anchoring device 8 and continues on the other side to the end of the set of those lined up together Each of the cables 7 traverses adjacent and consecutive ones on its way to this end Individual elements, such as, for example, 1a through holes 9, which are made in a suitable manner in the walls of these elements are incorporated and slightly widened at their ends

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are to the YerSchwenken, for example, the element 1a opposite the element 1 etc. not to hinder from element to element.

In FIG. 2, the various cables are visible at any arbitrary level of the arm under consideration Level determined by the section line II-II in FIG is «In this sectional view there are also those with the element 1 connected cables 7 the other cables are shown, which control the more distant individual elements 1b, 1d, 1f, etc. «

The Fig *. 3 schematically illustrates the profile, which the arm constructed in accordance with FIGS. 1 and 2 assumes when different cables are used in a suitable manner Distributed forces exerted In position A, the arm is assumed to be straight. In position B are those with the individual elements of the arm connected cable from a control point 10 tightened so that the profile of the arm corresponds essentially to a segment of a circular arc. In position 0 they are open forces exerted on the cables so that the profile of the arm is a sine curve. As it goes without saying It does not matter which profile is achieved and thus which position in the room is to be maintained, as a suitable Dimensioning of the forces exerted on the cables of the various individual elements, which these forces have against their neighboring elements swivel, can realize any desired curvature »

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Fig. 4 illustrates a second embodiment., in the 'the single element 1 and its two neighboring elements 1a and 1b are no longer connected via a plurality of cables to a control point 10 provided at one end of the arm are, but in the case of each individual element with its neighboring elements above and below a plurality of electrically, pneumatically or hydraulically operated pressure cylinders is coupled ”. In this embodiment, for example, the element 1 has 5 on its peg-like part an inner collar 11, which is provided with ball joints, such as 12, on which the bodies of printing cylinders 13 are articulated, which are distributed with the same distance around the axis of rotation 2 ο Each push rod 14 of a pressure cylinder 13 is in turn via a connection 15 on one End of the peg-like part 5a of the adjacent individual element- tea ■ 1a are articulated, and this continues in the same way from element to element «.

With this arrangement, the distribution of the forces exerted by the pressure cylinders, which in turn is given by the corresponding position of the push rods 14, determines the controlled pivoting of each individual element of the arm with respect to its Hachbarelemente and realizes as in the previous example any curvature and any shape for . the arm in its entirety _β

;, iit advantage can be each individual element in its peg-like part 5

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be provided with a seal 16, which comes to rest on the recess 6 of the neighboring element and thus the interior of the. arms consisting of the succession of the individual elements. 1, 1a etc. are isolated from the medium surrounding them . the means for controlling the position of the individual elements (cables according to FIG. 1 or pressure cylinders according to FIG. 4) can come into contact with the external atmosphere without any disadvantage. Under this assumption, the pressure equilibrium is automatically established on both sides of the arm, otherwise it is useful to keep the inside of the arm in pressure equilibrium with the external medium, for example by applying a counterpressure by oil or another suitable liquid exercises »

In another embodiment shown in FIG. 5, each individual element 1 has 5 in its peg-like part an inner collar 17 and in its loop-like part 6 a collar 18 * between the collar 17 of the individual element 1 and the Collar 18b, for example, of the adjacent individual element 1b are distributed around the axis of rotation 2 capsules 19, which are deformable under the action of an internal pressure Organs exist. The capsules 19 are arranged in a symmetrical manner around the axis of rotation 2 and outside the arm connected to a pressure distributor not shown in the drawing. By acting on the in between different capsules liquid introduced into two successive elements

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It is possible to swivel an element relative to it to achieve the Ifachbarelement and consequently as with the Above "described embodiments to achieve any curvature of the arm"

In a fourth embodiment shown in Figure 6, the arm still consists of a plurality of identical individual elements 1, 1a, 1c .., each individual element having a body 20 of cylindrical general shape with a raised boss at one of its ends 21 has, in which an inner recess 22 of spherical general shape is incorporated. At its other end, the body 20 has a bore 23 with an internal thread into which the threaded end 24 of a joint ball 25 is screwed, the diameter of which is the same as that of the recess 22, so that the various individual elements can be lined up in mutual extension by each ball 25 of an element in the recess 22 of the following element engages etc _o continued in the previously considered embodiments an analogous manner to the end of the arm "It is noted each ball 25 in the associated recess 22 by means of a screw 26, of the Ball 25 is penetrated and in turn is screwed onto a thread 27 cut into the outer surface of the boss 21. The body 20 of each individual element also has lateral claws, such as 28 for example, on its outer surface, which are attached to them with the aid of connecting ball joints 29

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the bodies of pressure cylinders 30 are articulated, the push rods 31, in turn, are articulated to the claws of the neighboring elements via further ball joints 32 Embodiment, each individual element has four pressure cylinders, which in the manner described above evenly are arranged distributed around the axis of each element and pivoting with mutual compensation of their action allow each ball 25 in the associated recess 22

In this embodiment, however, the entire arm can easily be provided with at least one inner channel 33, which runs along the axis of the individual elements 1, 1a, 1c "... and connects them to one another through the balls 25 and their respective recesses, this being Channel is provided in particular for the supply and / or discharge of a drive fluid via solenoid valves (not shown in the drawing) or any other analog device to the pressure cylinders for the purpose of controlling the pivoting of each individual element relative to its neighboring elements 26 on the body 20 of the respective neighboring element is limited in its amplitude. In addition, each individual element of the arm is provided with additional parts which ensure a lateral guidance of the elements during their pivoting controlled by the various pressure cylinders and the exact shape of which is shown in detail in FIG.

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This figure shows in a partial sectional view the body 20 of any individual element, which is provided with a ball 25 which is intended to interact with the associated recess 22 of a second individual element, not shown in the drawing, adjacent to the first individual element ο on the body 20 is mounted and by means of screws such as 34 are fixed members 35 and 36 'which extend the body 20 and the ball 25 sentlichen essen- \ opposite, the components 35 and 36 through illustrated in the drawing with dot-dash lines balls 39 and .40 have limited inner profiles 37 and 38 - the centers 41 and 42 of the balls 39 and 40 lie on an axis 43 which passes through the center 44 of the ball 25. The guide parts 35 and 36 constructed in this way work together with two further parts 45 and 46, which in turn sit on the body 20 of the laughable element, but are opposite the recess 22 in which the ball 25 engages. In the external view of FIG. 3, only component 36 of individual element 1a and component 46 of individual element 1c are shown, which are in contact with one another in order not to overload the drawing 45 and 46 have profiles 48 or «which belong to a cone 50, the tip of which coincides with the center point 44 of the ball 25, _{or the like}

With this arrangement slide during any movement

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Pivoting of an individual element of the arm with respect to its neighboring element, components 35 and 45 on the one hand and 36 and 46 on the other hand, according to the movements of the body 20, with

en

which they are connected / are, on top of each other, whereby the related Profiles 37 and 48 on the one hand and 38 and 49 on the other hand in constant contact with one another in the course of these movements Remaining This results in addition to a precise guidance of each individual element in relation to its neighboring element Elimination of any possibility of torsion of the arm in itself, even if it has any curvature in the room, which in particular the effect of individual elements sitting further out due to the weight and possibly the torques generated by the end of the arm on any individual element. Under In these circumstances, the guide parts 35 and 36 on the one hand and 45 and 46 on the other hand prevent any reaction force on the pressure cylinders 30 and prevent the arm from taking any direction other than that of movement the pressure cylinder controlled.

In the last embodiment shown in FIG. 8, similar devices can be seen as they are in connection have been explained with the embodiment according to FIG. 6, w.as the general structure of the arm and the control means for the pivoting of any individual element in relation to its neighboring elements. Again, there is every single element

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of the arm consists of a body 20 of cylindrical general shape, which is provided with external claws 28, to which control cylinders 30 are articulated, which can also have lateral guide pieces, as described above. In this embodiment, however, the connection of the individual elements is no longer done via a ball joint, but with the help of a double cardan joint, which consists of a first sleeve 50 firmly connected to the body 20 of a first individual element ₉ which carries a turnstile 52 via a transverse axis 51 which is in turn articulated via an axis 53 perpendicular to the axis 51 to a second sleeve 54 which is seated on the body 20 of the neighboring element. In Pig * 8 you can also see that the channel 33 ', which runs transversely through all the individual elements of the arm, is offset from the axis of the individual elements, an arrangement which, when carefully selected, enables a better distribution of the forces, especially in the event that the The curvatures to be imparted to the arm result in accordance with previously known preferred Eichtung, guaranteed.

Finally, in Pig 8, an outer protective sheath 55 is shown around the arm, which the control mechanisms of the Poor isolated from the environment of the external environment. The protective cover 55 can be attached with its end adjacent to the end of the arm to a collar 56, which in turn with the the last element of the arm is firmly connected, while the

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other end of the protective cover first forms a loop 58 and is then attached to a housing 57, so that the protective cover 55 in the interior of the housing 57 can experience a certain deflection. With such an arrangement, the insulating Fill the protective cover 55 without further ado with any liquid which is in pressure equilibrium with the environment of the external environment can be maintained, whereby the pressure

"Compensate automatically by appropriately shifting the das reducing the volume of the internal fluid available or enlarging loop 58 completes «In such an embodiment, in particular for the case intended for use of the arm underwater, the protective cover 55 preferably consists of a resilient thermostatic Tube »In another embodiment, which is particularly suitable for use under vacuum, the Protective cover 55 made of a metal that is suitable for a

k Suitable for operation in a wide temperature range.

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Claims (1)

Claims 1. Multi-directional arm, characterized on the one hand by a large number of analog individual elements, which by means of a twisting of the individual elements against each other with at least a degree of freedom allowing connecting links are strung together in the longitudinal direction, and on the other hand by Means coupled to each pair of adjacent individual elements | for pivoting independently of the respective other individual elements of the individual elements of the respective pair against each other. 2 «arm according to claim 1, characterized in that the connecting links each individual element of two coaxially successive, delimited by sections of spherical general shape There are pin-like or »eyelet-like parts and that the individual elements are lined up in such a way that always the peg-like Part of a single element in the loop-like part of the NaCh- ( engages bar elements, the outer diameter of the pin-like part and the inner diameter of the eyelet-like part correspond to each other " 3 » Arm according to claim 1 or 2, characterized in that each individual element has lateral lugs which have at least two flat or curved lateral stop surfaces, which stop surfaces interact with adjacent individual elements for the purpose of guiding them in their mutual deflections. 909839/061 $ 4o arm according to claim 3 s characterized in that the lateral Approaches of a single element have outer surfaces that lie on identical balls, the centers of which on one common through the common center of the spherical sections of the peg-like part of the individual element concerned and the eyelet-like part of the Hachbarelementes extending Axis lie, the lateral Pührungsansätze with on the Adjacent element provided stop surfaces cooperate, the profile of which belongs to a cone, the tip of which with the common The center of the various spherical sections coincides with O 5β arm according to claim 1, characterized in that certain Individual elements of the arm are firmly connected to one end of cables that are distributed around the axis of the individual element and continue across the entire arm, the entirety of the & abel being connected to a drive member is that exerted compensated tensile forces on the cables 6β arm according to claim 1, characterized in that certain Individual elements of the arm have an inner collar to which the bodies of pressure cylinders are articulated, which in turn are arranged at a uniform distance from each other in each individual element and their push rods at the end of each adjacent individual element are articulated, the pressure cylinders are coupled to a JDruckvert eiler organ that the the individual elements distributed pressures exerted. 909839/061 « 7. Arm according to claim 1, characterized in that certain individual elements of the arm with the same distance around the axis of the individual element have side plates arranged in a distributed manner, to which the bodies of pressure cylinders are articulated Pushrods hinged to corresponding plates of the neighboring elements are. 8. Arm according to claim 6 or 7, characterized by at least one of the individual elements axially penetrating channel for the ^ Passage of a control fluid for the pressure cylinder » 9 · Arm according to claim 1, characterized in that certain individual elements of the arm with a plurality of under one variable pressure deformable capsules are coupled between the peg-like part of each element and an inner one Collar on the eyelet-like part of the respective neighboring element are arranged and connected at one end of the arm to a pressure distribution element which is exerted on the individual elements Forces distributed 10. Arm according to claim 1, characterized in that certain Individual elements of the arm with their neighboring elements via cardan joints are connected· 11 · Arm according to claim 1, characterized in that the pressure inside the arm corresponds to that prevailing in the external environment, as The pressure serving the reference pressure is in equilibrium 909839/0616 12. Arm according to claim 2, characterized in that the interior of the arm is under a different pressure from the pressure in the outer TJangebung Pressure is and that each individual element is provided with a sealing member between the pin-like Part of an element and the loop-like part of the Uachbarelementes cooperating with this part is arranged. 13 «arm according to claim 1, characterized in that it of ρ a dense and flexible protective sleeve which is maintained by means of on the one connected to the variable-volume device under the same pressure is surrounded, which is filled with a liquid, as prevails in the external environment « 14. Arm according to claim 13 »characterized in that the protective cover consists of a pressure-resistant thermostatic metal tube that can be used over a wide temperature range. 909839/061 6