EP1610930A2 - Antriebseinrichtung, insbesondere für einen gelenkarm - Google Patents

Antriebseinrichtung, insbesondere für einen gelenkarm

Info

Publication number
EP1610930A2
EP1610930A2 EP04742826A EP04742826A EP1610930A2 EP 1610930 A2 EP1610930 A2 EP 1610930A2 EP 04742826 A EP04742826 A EP 04742826A EP 04742826 A EP04742826 A EP 04742826A EP 1610930 A2 EP1610930 A2 EP 1610930A2
Authority
EP
European Patent Office
Prior art keywords
pulleys
drive shafts
motors
shafts
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04742826A
Other languages
English (en)
French (fr)
Inventor
Florian Gosselin
Dominique Ponsort
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP1610930A2 publication Critical patent/EP1610930A2/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/04—Foot-operated control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Definitions

  • the subject of this invention is an actuation arrangement, in particular for an articulated arm.
  • two motors are placed on a first part movable relative to the base, and with which begins the train of segments which is articulated to the base.
  • One typically controls the second segment of the train, articulated to the first by its end opposite the base.
  • the other engine controls the third segment of the train, articulated to the second.
  • the motor output shafts are engaged with pulleys belonging to the transmissions leading to the joints concerned and which exert a significant reduction in the rotational movement of the motors.
  • the pulleys are very advantageously coaxial and one next to the other, in order to mount them on the same axis and thus simplify the arm, while saving space on the base.
  • the two motors can be placed in opposite directions, each on the side of the pulley that it controls, but the arrangement comprising the two motors aligned in the direction of their output shafts, which corresponds to their main elongation, and the two pulleys, is very wide. It even becomes inadmissible in practice if it has to be repeated for another portion of the articulated arm and in particular a second branch leading to the same wrist.
  • Another arrangement consists in placing the motors side by side, the output shafts directed in the same direction, and in ordering pulleys of different diameters. The width of the arrangement is reduced since it is substantially the sum of the widths of a single motor and of the pulleys. However, we regret the difference in diameter of the latter since it complicates the design of the arm and its control.
  • the invention constitutes an improvement on these previous tests of controlling or retaining an articulated arm by a pair of motors mounted on a common part, and placed side by side. It thus relates to an actuating device comprising at least two motors placed side by side on the same part, motor shafts directed in the same direction, at least two pulleys at least essentially coaxial and actuated by the motors, characterized in that the pulleys are offset along the drive shafts and these have portions of engagement on the pulleys which are also offset. It also relates to an articulated arm provided with this device and comprising a base, a train of segments and connections between the segments and the base, as well as respective devices for actuating the links, two of said actuating devices comprising motors.
  • the drive shafts are supported by a frame fixed to the base, and the pulleys are offset along the drive shafts, and the drive shafts have engagement portions on the pulleys which are also offset; preferably, the pulleys are perfectly coaxial, the gripping portions of the drive shafts on the pulleys forming bulges of the drive shafts, and the frame is unique and comprises a pair of bearings, aligned perpendicular to the drive shafts, supporting the ends of the shafts engines.
  • FIG. 1 represents, without limitation, a general view of an arm fitted (twice) with the invention
  • FIG. 2 illustrates the invention itself.
  • a control arm is shown in Figure 1. It comprises two branches 1 similar to each other and a wrist 2 which unites the ends of the branches 1 which are opposite to a fixed base 3.
  • Each of the branches 1 is composed of a first vertical section 4 and pivoting around itself on the base 3, a second segment 5 articulated to the previous one and which can rotate in a vertical plane, and a third segment 6 articulated to the previous one and can also rotate in a vertical plane.
  • a universal joint 7 connects the wrist 2 to the third segment 6, and the user grasps a handle 8 belonging to the wrist 2.
  • a translational movement applied to the handle 8 moves the segments 4, 5 and 6 in unison for the two branches 1, and a tilting applied to the handle moves them by different movements of the two branches 1.
  • the handle 8 can be pivoted around itself.
  • the arm comprises, for each of the branches 1, a first articulation 29 (invisible in FIG. 1) between the base 3 and the first segment 4, a second articulation 9 between the first and second segments 4 and 5, a third articulation 10 between the second and third segments 5 and 6, a triplet of joints in the joint 7, and finally a pivot joint 11 between the wrist 2 and the handle 8.
  • the first joint 29 and the joints 9, 10 and 11 are equipped encoders to measure their movements and force feedback motor to retain them, which is conventional.
  • the invention applies to the actuation of the joints 9 and 10 at the ends of the second segment 5 and to the elements which are functionally connected to them. They have been shown in FIGS. 1 and 2 and comprise, for each of the articulations of each of the branches 1, a force feedback motor and a transmission comprising a pulley controlled by the motor.
  • the pulleys are placed on an axis 31 coinciding with that of the second articulation 9.
  • One of the pulleys bears the reference 12 and directly controls the rotation around the axis 31, and the other of the pulleys bears the reference 13 and controls the rotation of the third segment 6 around the third articulation 10 by a link 14.
  • the pulleys 12 and 13 are coaxial, and of the same diameter. They are controlled respectively by motors 15 and 16 conventionally provided with an encoder and which comprise respective motor shafts or output shafts 17 and 18. The motors 15 and 16 are placed side by side, and the motor shafts 17 and 18 in the same way.
  • the section 4 has a frame 19 for supporting the drive shafts 17 and 18, in particular by bearings 20 and 21 situated at the free ends thereof.
  • the frame 19 essentially surrounds the drive shafts 17 and 18 and in particular comprises, in addition to the flanges receiving the bearings 20 and 21, opposite flanges receiving another bearing 22 or 23 for each of the shafts 17 and 18, and side wall joining these two flanges.
  • the pulleys 12 and 13 pass between the flanges.
  • the two motors are located on the first mobile section 4 and actuate the second and third joints 9 and 10.
  • This device is applicable to any other pair of joints.
  • the motors can be arranged on any other segment or fixed base, provided that the motors 15, 16 and the pulleys 12, 13 comply with the general provisions illustrated in FIG. 2.
  • the pulleys 12 and 13 have the same radius, as well as the grip portions 24 and 25, and that the two motors 15 and 16 and the transmissions to the axes of rotation (here, those of the pulleys 12 and 13) are identical. Ordering is easier then.
  • the invention also applies to the case where more than two pulleys are actuated by more than two motors, each comprising an output shaft having a bulge driving one of the parts by a mechanism of the cable capstan type.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP04742826A 2003-04-04 2004-04-01 Antriebseinrichtung, insbesondere für einen gelenkarm Withdrawn EP1610930A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0304200A FR2853273B1 (fr) 2003-04-04 2003-04-04 Dispositif d'actionnement, notamment pour un bras articule
PCT/FR2004/050138 WO2004089578A2 (fr) 2003-04-04 2004-04-01 Dispositif d'actionnement, notamment pour un bras articule

Publications (1)

Publication Number Publication Date
EP1610930A2 true EP1610930A2 (de) 2006-01-04

Family

ID=32982239

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04742826A Withdrawn EP1610930A2 (de) 2003-04-04 2004-04-01 Antriebseinrichtung, insbesondere für einen gelenkarm

Country Status (5)

Country Link
US (1) US20060207377A1 (de)
EP (1) EP1610930A2 (de)
JP (1) JP2006522290A (de)
FR (1) FR2853273B1 (de)
WO (1) WO2004089578A2 (de)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI345996B (en) * 2007-10-19 2011-08-01 Ind Tech Res Inst Position controlling mechanismand apparatus for controlling eye movement using the same
FR2952573B1 (fr) * 2009-10-02 2011-12-09 Commissariat Energie Atomique Structure de robot ou d'interface haptique a bras en parallele
CN102109029B (zh) * 2009-12-28 2014-03-26 鸿富锦精密工业（深圳）有限公司 减速机构
US9314934B2 (en) * 2014-02-27 2016-04-19 Disney Enterprises, Inc. Gravity-counterbalanced robot arm
FR3021574B1 (fr) * 2014-05-27 2019-04-05 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Manipulateur cobotique
CN106584445B (zh) * 2016-12-16 2018-12-25 微创（上海）医疗机器人有限公司 不动点机构

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2949039A (en) * 1956-11-21 1960-08-16 Hupp Corp Power operated window regulators
US3088727A (en) * 1958-06-19 1963-05-07 Magneti Marelli Spa Control device of a window regulator in motor car doors
GB1372327A (en) * 1971-10-11 1974-10-30 Commissariat Energie Atomique Articulated manipulator
US4398863A (en) * 1981-05-15 1983-08-16 Westinghouse Electric Corp. Pick and place robot
US4419041A (en) * 1981-06-26 1983-12-06 Rose Stanley E Spacial mechanism and method
US4962676A (en) * 1989-10-12 1990-10-16 The Gillette Company Two axis transfer device
ES2052292T3 (es) * 1990-02-23 1994-07-01 Stefan Kerpe Accionamiento de por lo menos dos arboles concentricos para el movimiento de un dispositivo de salida de fuerza de un robot.
FR2809047B1 (fr) * 2000-05-18 2002-07-12 Commissariat Energie Atomique Bras de commande parallele a deux branches
JP4578649B2 (ja) * 2000-08-22 2010-11-10 ナブテスコ株式会社 トラクションドライブ減速機を用いた搬送装置
JP2003048187A (ja) * 2001-08-07 2003-02-18 Sanyo Electric Co Ltd ロボット機構

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2004089578A3 *

Also Published As

Publication number Publication date
WO2004089578A3 (fr) 2005-01-13
FR2853273B1 (fr) 2006-03-10
US20060207377A1 (en) 2006-09-21
WO2004089578A2 (fr) 2004-10-21
JP2006522290A (ja) 2006-09-28
FR2853273A1 (fr) 2004-10-08

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