Classifications

• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16H—GEARING
  • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
  • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16H—GEARING
  • F16H27/00—Step-by-step mechanisms without freewheel members, e.g. Geneva drives
  • F16H27/02—Step-by-step mechanisms without freewheel members, e.g. Geneva drives with at least one reciprocating or oscillating transmission member

Definitions

• the present invention relates to a driving mobile / driven mobile assembly, comprising transmission means which make it possible to ensure a transmission of movement between the driving mobile and the driven mobile according to a fixed cycle during which the gear ratio between the two mobile n is not constant.
• the invention finds its application in all industrial equipment comprising a member (mobile driven) to be driven by a fixed cycle, with a variable speed of movement during a cycle, such as for example, and in a nonlimiting manner , manipulator arm, indexed transfer system, turntable, ...
• guided mobile means any guided mobile, and in particular any mechanical member, part or assembly of parts, which is driven by an actuator, whatever the type of actuator and whatever the movement (linear , rotary, ...) of the mobile.
• the actuator can be automatic (motor, pneumatic cylinder, %) or manual (lever, manually actuated arm).
• guided mobile means any guided mobile, and in particular any part or assembly of parts, which is driven by the driving mobile, via the rigid link, whatever the movement (linear, rotary, etc. ) of the driven mobile.
• cycle means any cycle composed of a predefined and fixed sequence of movement phases and possibly stop phases, as opposed to cycles which are automatically modified by external data, such as by example of the variable cycles which are a function of the state of the environment of the driven mobile, said state being measured by one or more sensors, or even such as for example cycles programmable.
• the main objective of the present invention is to provide a simple, reliable and low cost solution for driving a mobile (mobile driven) at variable speed and according to a fixed and repetitive cycle, and which in a manner general allows to respect the following conditions: a) A positioning of the driven mobile which is precise during the whole cycle, and which is reproducible with precision from one cycle to another, b) A linear speed profile of the driven mobile on a cycle which is not constant, and which is reproducible with precision from one cycle to another.
• the solution of the invention must make it possible to obtain: c) stopping the driven mobile with a precise and reproducible positioning from one cycle to the other, and in particular a more precise positioning than that which would be obtained by simply suspending the control of an actuator driving the driven mobile, on a state of a sensor detecting the stop position of the driven mobile, d) maintaining each stop position, which 'may be the external stresses (latch stop position).
• an assembly which is known in that it comprises a first mobile and a second mobile, and transmission means allowing a transmission of movement between the two mobiles according to a canned cycle during which the speed ratio between the two mobiles is not constant, one of the mobiles being a driving mobile, the other mobile being a driven mobile.
• said transmission means comprise a guide separate from the two mobiles and defining a first cam profile, and a rigid connection which connects the first mobile to the second mobile so that the distance between the two mobile leading and led is variable;
• the first mobile comprises a guide portion which forms a second cam profile, and said rigid connection on the one hand is held in abutment on the first cam profile so that during movement of the first mobile the rigid connection is moved while being permanently guided by the first cam profile, and on the other hand cooperates with the second cam profile of the second mobile for the transmission of movement between the two mobile;
• the two cam profiles are chosen so that the speed ratio between the two moving and driving moving parts during a cycle is not constant. More particularly, that at least a portion of the first cam profile is oriented in the same direction as the second cam profile so that the second mobile is immobilized when the rigid connection is guided by said portion.
• the assembly further comprises a compression-expansion unit which connects the first mobile and said connection, said a recession-expansion unit being designed to be compressed when the first mobile approaches the second mobile, and for relax during the acceleration phases of the second mobile relative to the first mobile.
• a compression-expansion unit which connects the first mobile and said connection
• said a recession-expansion unit being designed to be compressed when the first mobile approaches the second mobile, and for relax during the acceleration phases of the second mobile relative to the first mobile.
• FIGS. 13 to 17 represent different positions during a cycle of a driving mobile / driven mobile assembly produced in accordance with the third variant of the invention
• FIGS. 19 to 22 represent different positions during a cycle of a movable driving / driven mobile assembly produced in accordance with a fourth variant of the invention
• FIGS. 23 to 22 26 represent different positions during a cycle of a mobile driving / mobile driven assembly produced in accordance with a fifth variant of the invention
• FIG. 27 represents a mobile driving / mobile driven assembly conforming to a sixth var iante of the invention.
• the driving mobile 1 essentially comprises a part 10 threaded and mounted sliding on a rectilinear guide 3. This part 10 is coupled to an actuator
• the driven mobile 2 is constituted by a part 20, which is also threaded on the straight guide 3, and which can freely slide in translation relative to this guide 3.
• the two moving leads 1 and driven 2 are therefore designed to move linearly in the same direction, corresponding to axis AA, of guide 3.
• the part 20 comprises a rectilinear oblong lumen 21, the general direction of which makes substantially an angle ⁇ with the direction of movement of the part 20. Equivalently, this lumen 21 could be replaced by a groove of the same geometry.
• the part 10 and the part 20 are mechanically connected to each other by a connecting rod 4.
• This connecting rod 4 is in the form of a rod (or arm) 4a of which a first end is pivotally mounted relative to the part 10 along an axis 5, transverse to the direction of movement of the part 10; the rod 4 is extended at its other end by a transverse cylindrical pin 4b.
• One end of this crank pin 4b of the rod 4 is passed through the lumen 21 of the part 20, and can move exclusively in translation inside this lumen 21.
• a compression-expansion unit 6 is also mounted between the piece 10 and the link 4 in the alternative embodiment of FIG.
• this compression-expansion unit 6 comprises a tubular body 6a inside which is mounted a spring (not visible in the figures) and a rod 6b, one part of which is slidably mounted inside the tubular part 6a, and the lower end of which is pivotally mounted relative to the rod 4.
• the rod 4 pivots upwards according to the axis 5, relative to the part 10, the rod 6b rises inside the tubular part 6a and compresses the spring housed inside the tubular part 6a.
• the whole of the invention comprises also a guide 7 in the form of a plate whose upper edge 7a extends parallel along the guide 3, that is to say along the path of the driving mobile 1 and the driven mobile 2.
• the crank pin 4b of the link 4 is permanently maintained in simple support on the upper edge 7a of the guide, which upper edge 7a defines a first cam profile for the link 4, the internal face 21 has light 21 of the part 20 defining a second cam profile for the rod 4.
• the driving mobile 1 is in a position such that the part 10 is in abutment in contact with the curved part 7b (FIG. 1) of the guide 7. This initial position is not shown on the attached figures.
• the part 10 of the driving mobile 1 is initially (“outward” path) pushed in translation by the actuator along the guide 3 (FIG. 1 / arrow D). The end of this “outward” path of the driving mobile corresponds to the position of the part 10 in abutment against the curved part 7c of the guide 7 (FIG. 1).
• a second step (“return” path)
• the part 10 of the driving mobile 1 is pulled by the above-mentioned actuator so as to move in the opposite direction (FIG. 1 / arrow D '), to return to the above-mentioned initial position.
• This operating cycle is repeated iteratively, by appropriate control of the aforementioned actuator.
• cam profiles 7a and 21a make it possible to program in a precise and reproducible manner from one cycle to another, the position and the linear speed of the driven mobile 2 with respect to the position and the linear speed of the driving mobile 1.
• These cam profiles 7a are therefore determined specifically for each application, and more precisely as a function of the displacement (position and speed) desired for the driven mobile relative to displacement (position and speed) of the driving mobile .
• the cam profile 7a of the guide 7 successively comprises, from the aforementioned initial position of the driving mobile, a first horizontal rectilinear portion I, a first ascending portion II, a short substantially horizontal portion III, a descending portion IV and a horizontal rectilinear portion V.
• the two ascending portions II and descending IV are symmetrical to one another and have the same slope.
• the angle ⁇ formed by these two portions, relative to the direction the linear part I is identical to the angle ⁇ , and is more particularly 45 °.
• the rod 4 is supported by the crank pin 4b, on the above-mentioned rectilinear part I of the cam profile 7a, the rod 4a of the rod 4 being slightly inclined downwards as illustrated in the Figure 1 (initial angular position of the rod 4). It is considered in the following explanations that the part 10 of the driving mobile 1 is moved by the actuator in the direction D at a linear speed (V1), which may or may not be constant depending on the application.
• V1 linear speed
• the part 20 of the driven mobile 2 is pushed by the link 4 whose crank pin 4b pushes on the cam profile 21 a of the part 20.
• the two parts 10 and 20 move linearly in the same direction D and with the same linear speed (V1), the difference between the two parts remaining constant, and the ,
• a fourth operating phase (FIGS. 5 and 6) the link 4 is guided in contact with the descending portion IV of the cam profile 7a.
• the part 20 of the driven mobile 2 is pushed by the link 4, said link pivoting downwards (FIG. 5 and 6 / arrow F '), and the crank pin 4b of the link 4 sliding in direction reverse in the light 21 of the part 20; the linear speed (V2) of movement of said part 20 is thus greater than the linear speed (V1) of part 10, part 20 03 00666
• a fifth operating phase which corresponds to guiding the rod 4 by the rectilinear portion V of the cam profile 5, the two moving parts 10 and 20 move linearly at the same speed in the same way as for the first phase above operation, etc.
• cam profile 7a and of the cam profile 21 of the light 21 conditions the different operating phases during a cycle, and in particular the relative position and relative speed of displacement of the driven mobile 2 relative to the driving mobile 1.
• These profiles will therefore be chosen by a person skilled in the art, depending on the application, and in particular the desired movement for the two mobile.
• the invention advantageously makes it possible, in a simple manner, to carry out operating cycles which are perfectly reproducible, with a precise and reproducible movement (position and speed) of the driven mobile with respect to the movement (position and speed) of the driving mobile. More particularly, the stop positions of the driven mobile are advantageously maintained whatever the external conditions, and are perfectly reproducible from one cycle to another.
• FIGS. 8 to 12 a second alternative embodiment of a movable assembly leading V I driven mobile 2 ', in which the two mobiles move linearly in the same direction (arrows D and D').
• the guide 7 is formed by a plate in which a groove is formed, the internal face of which forms the cam profile 7a, and in which the crank pin 4b of the connecting rod 4 is guided.
• the cam profile 7a comprises two rectilinear portions (A) and (C) oriented at right angles, and connected by a curved portion (B).
• the first rectilinear portion (A) extends parallel to the direction of movement of the two mobiles (guide 3).
• the second rectilinear portion (C) extends transversely to this direction of movement.
• the rectilinear opening 21 of the part 20 of the mobile 2 ' extends substantially parallel to the second rectilinear portion (C).
• the guide 7 forming the first cam profile 7a which allows the guide of the rod 4 is fixed.
• this guide 7 could be mounted on a carriage allowing its adjustment in position, or even be mobile during the displacement of the two parts 10 and 20.
• the link 4 is in sliding contact with the two cam profiles 7a and 21a; in another variant, it could be a rolling contact, the crank pin 4b being for example provided with rollers of rotary bearings or equivalent.
• the link 4 is pivotally mounted relative to the driving mobile. This characteristic, although preferred, is not however limiting of the invention.
• the link 4 may more generally be mounted to pivot and / or slide relative to the driving mobile.
• the rod 4 can more generally be mounted to pivot and / or slide relative to the driven mobile.
• the mobile leading 1 ′′ is moved in rotation in the direction of the arrow F.
• This mobile leading 1 ′′ is for example a rotary lever actuated manually or a lever actuated by a jack or equivalent .
• the force which is applied to the driving mobile 1 ′′ is transmitted directly to the driven mobile 2 ′′.
• the cam profile 7a is substantially parallel to the movement of the driven mobile 2 '".
• the mobile assembly leading 1 ′′ and driven 2 ′′ has two additional functionalities which will now be described, and in particular allows the clamping or clamping of a part 23.
• the guide 7 is in connection with a non-return device 22, which in the illustrated example is in the form of a pawl 22a coming to cooperate with a peripheral toothing 22b of the guide 7.
• This non-return device 22 authorizes the guide 7 to follow the movement of the mobile leading 1 ′′ as long as the driven mobile 2 ′′ does not encounter any obstacles.
• the driven mobile 2 '"comes into contact with a part 23 to be clamped or clamped the guide 7 is then prevented from moving back by the non-return device and becomes fixed.
• the driven mobile 2 '" has a prestressed device 24. Referring to FIG.
• FIG. 27 shows a sixth alternative embodiment of the invention, in which the axes of rotation R and R 'of the driving mobile 1'"and of the moving mobile driven 2 '" respectively are not merged, but are offset .
• the present invention finds its application in any industrial embodiment where it is necessary to drive a mobile (driven mobile) by a driving mobile, according to a fixed cycle, with a variable speed of movement of the driven mobile relative to the driving mobile, during a cycle. Its application is notably found in the production, in industrial equipment, of manipulator arms, of indexed transfer systems with linear displacement (first and second variant mentioned above) or with rotary displacement (third variant).
• the invention also finds its application to the production of clamping or clamping devices.
• the reversible character of the moving mobile / driven mobile assemblies which have been described with reference to the appended figures.
• the first mobile (1, 1 ', 1 ", 1" ) constitutes the driving mobile
• the second mobile (2, 2', 2", 2 '") constituted the driven mobile.
• the operation of each assembly could be reversed, the second mobile (2, 2 ', 2 ", ...) being able to constitute a driving mobile, and the first mobile (1, 1', 1", ... ) constituting in this case the driven mobile.

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• Engineering & Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Transmission Devices (AREA)

Applications Claiming Priority (3)

Publications (1)

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Family Applications (1)

Country Status (4)

Family Cites Families (4)

• 2002
  • 2002-03-08 FR FR0202954A patent/FR2836971B1/fr not_active Expired - Fee Related
• 2003
  • 2003-02-28 WO PCT/FR2003/000666 patent/WO2003076830A1/fr not_active Application Discontinuation
  • 2003-02-28 EP EP03722684A patent/EP1483518A1/de not_active Withdrawn
  • 2003-02-28 AU AU2003229849A patent/AU2003229849A1/en not_active Abandoned

Non-Patent Citations (2)

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