Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J1/00—Manipulators positioned in space by hand
  • B25J1/02—Manipulators positioned in space by hand articulated or flexible
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J13/085—Force or torque sensors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/041—Cylindrical coordinate type
  • B25J9/042—Cylindrical coordinate type comprising an articulated arm
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/041—Cylindrical coordinate type
  • B25J9/042—Cylindrical coordinate type comprising an articulated arm
  • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement

Definitions

• the present invention relates to collaborative robotics equipment.
• the invention relates to an improvement to tool-carrying robots.
• This equipment generally comprises a frame supporting at least one arm movable in space and whose end is provided with a tool.
• the total enslavement of the tool to the robot makes it possible, in particular, to increase the forces applied by the tool and to increase the rates while maintaining a remarkable precision.
• the object of the present invention is to solve the technical problems set forth above by producing an improved robotic equipment based on the collaboration and synergy between the operator and the robot.
• said arm comprises a first section horizontal, movable on a vertical axis and connected to the frame by a first pivot, a second pivot providing the rotary connection of a second horizontal section to the first section, a nozzle ensuring the connection of the second section to a linear actuator motorized tool holder and equipped with a manual piloting mandrel cooperating with a main force sensor to control the vertical movement of the tool and the amplification of the manual forces.
• This equipment is called “cobot” because it is part of the “collaborative robotics", that is to say, the joint and intimate intervention of the man and the machine.
• the equipment of the invention comprises an auxiliary force sensor mounted between the actuator and the tool for controlling the forces amplified by said mandrel.
• the equipment comprises a first detector of the angular position of the first section coupled to a second detector of the angular position of the second section, said detectors being intended to validate the displacement of the linear actuator.
• the first detector is coupled to braking members acting on the first and second pivots.
• said connecting piece between the second section and the actuator consists of a ball joint.
• At least one of the first and second pivots is motorized to compensate for the inertia of the sections and dampen the amplified forces.
• the arm is equipped with a movable member of the frame.
• the displacement member is coupled to a flexible transmission member.
• said flexible transmission member comprises a set of two endless belts respectively engaged with the first and second pivots and cooperating with the first and second sections.
• said frame consists of a mast provided with a mounting base.
• the equipment of the invention allows the execution of delicate mechanical operations in which the technician retains control of the process while benefiting from the collaborative assistance of the machine, in particular, for the application of significant efforts on very specific areas.
• This equipment thus provides intuitive control of the tool by closely accompanying the actions of the operator and assisting in its management.
• FIG. 1 is a diagram showing an embodiment of the equipment of the invention in use by an operator
• FIG. 2 is a perspective view of the equipment of FIG. 1,
• FIG. 3 is a partial sectional side view of the equipment of the invention with its tool actuator
• FIG. 4 is a sectional detail view of the actuator with the mandrel and a tool
• FIG. 5 represents a perspective view of the equipment with the drive members and the transmission members
• Figure 6 shows a partial perspective view of the equipment with an actuator variant.
• the equipment according to the invention comprises a frame 1 supporting an arm 2 movable in space along at least one axis.
• the frame 1 is here in the form of a vertical mast provided with a base 10 fixed on a support S so as to be accessible by an operator in a standing position.
• the end of the arm 2 is provided with a tip 3 ensuring its connection to a linear displacement actuator 4, here vertical axis, equipped with a tool holder 41.
• the tool holder is preferably in the form of a transverse base on which is mounted, optionally removable, a tool 6 which is, in the variant shown, consisting of a punch.
• the arm 2 comprises a first horizontal section 21, movable in translation along a vertical axis X which is, in the embodiment shown, parallel to the axis of the frame 1.
• the first section 21 is connected to the frame 1 by a first pivot 211 while a second pivot 212 provides the rotary connection between the first section 21 of the arm 2 and a second horizontal section 22.
• the arm 2 is provided with a displacement member 7 preferably consisting of an electric motor integral with the frame 1.
• This displacement member is coupled to a flexible member 8 for transmitting motion, shown in FIGS. 5 and 6.
• the transmission member 8 comprises a set of two endless belts 81, 82 driven in movement by the displacement member 7.
• the belt 81 of the first section 21 is engaged, on the one hand, with the motor shaft 7 and passes, on the other hand, around the second pivot 212 forming a roller.
• the belt 82 of the second section is engaged on the one hand on the second pivot 212 and on the other hand on a nut 45 (or in the groove of a pulley or roller) carried by a threaded rod 46, integral with the actuator 4.
• the actuator 4 is, in turn, associated with a motor 40 (FIGS. 1 and 6) and / or a jack and is provided with a mandrel 5 assembled to the tool holder 41.
• the mandrel 5 is intended for manual piloting. of the tool 6 by an operator, as illustrated in FIG.
• the mandrel 5 comprises a peripheral sleeve 51 for manual gripping.
• the sleeve 51 is provided with a lower cup 51a and an upper cup 51b each receiving a return spring 52 surrounding the mandrel 5, as illustrated by FIGS. 3 and 4.
• the actuator 4 cooperates with a main force sensor 54 integrated in the mandrel 5 which converts the crushing force of the springs 52 into an electrical signal in order to control the vertical displacement of the tool and the amplification of the manual forces exerted by the operator.
• the sensor 54 measures the vertical force exerted by the hand of the operator and controls, in proportion to the value of said force, the speed of the motor 7 of the actuator 4.
• the lower portion of the mandrel 5 enters the base 41 coaxially with the tool 6 through a bore 45 which accommodates an auxiliary force sensor 56 (see Figure 4).
• the auxiliary sensor 56 measures the compression force by the so-called “strain gauge ring” technology exerted between the tool 6 and the actuator 4 via the tool holder 41 to control the forces amplified by the mandrel 5.
• the sensor 56 measures and controls the force actually applied by the tool 6 by comparing it with a predetermined set value according to the task to be performed. This method makes it possible to limit the forces applied and amplified by the actuator in a secure manner.
• the equipment of the invention also comprises a first detector of the angular position of the first section 21 coupled to a second detector of the angular position of the second section 22. These detectors are intended to validate the displacement of the linear actuator 4 and therefore of the tool in a specific and confined area of space, both for safety and precision purposes.
• the implementation method thus comprises a first initialization phase consisting of defining and validating a three-dimensional cartography of the working area likely to be covered by the arm 2 and / or the tool 6.
• the first detector is coupled to braking members acting on the first pivot 211 and / or the second pivot 212.
• the end piece 3 connecting between the second section 22 and the actuator 4 is, for its part, consists of a ball joint optionally provided with a brake.
• at least one of the pivots 211, 212 is motorized to compensate for the inertia of the sections 21, 22 and to dampen the forces amplified by the mandrel 5.
• the linear actuator 4 shown in FIG. 6 is moved in translation by the motor 40 via a notched drive belt 44 and at least one pinion 43 engaged with the motor shaft.
• the band 44 is secured to the tool holder 41 and enclosed in a vertical casing 42.

Landscapes

• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Manipulator (AREA)
• Transmission Devices (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=43416421

Family Applications (1)

Country Status (6)

Families Citing this family (14)

Family Cites Families (9)

• 2010
  • 2010-06-01 FR FR1002313A patent/FR2960467B1/fr not_active Expired - Fee Related
• 2011
  • 2011-06-01 EP EP11728317.6A patent/EP2576153A1/de not_active Withdrawn
  • 2011-06-01 BR BR112012030249A patent/BR112012030249A2/pt not_active IP Right Cessation
  • 2011-06-01 WO PCT/FR2011/000327 patent/WO2011151544A1/fr active Application Filing
  • 2011-06-01 CA CA2801188A patent/CA2801188A1/fr not_active Abandoned
  • 2011-06-01 US US13/700,993 patent/US9120222B2/en not_active Expired - Fee Related

Non-Patent Citations (2)

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