EP2941577A1 - Dispositif de transmission de couple, actionneur, robot - Google Patents

Dispositif de transmission de couple, actionneur, robot

Info

Publication number
EP2941577A1
EP2941577A1 EP14700859.3A EP14700859A EP2941577A1 EP 2941577 A1 EP2941577 A1 EP 2941577A1 EP 14700859 A EP14700859 A EP 14700859A EP 2941577 A1 EP2941577 A1 EP 2941577A1
Authority
EP
European Patent Office
Prior art keywords
bellows
transmission device
torque transmission
inner ring
receiving
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Withdrawn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
EP14700859.3A
Other languages
German (de)
English (en)
Inventor
Georg Bachmaier
Marco CYRIACKS
Andreas GÖDECKE
Wolfgang Zöls
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP2941577A1 publication Critical patent/EP2941577A1/fr
Withdrawn legal-status Critical Current

Links

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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/80—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive in which a fluid is used
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid 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
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts
    • F16D3/66—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts the elements being metallic, e.g. in the form of coils
    • 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
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
    • F16F15/161—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material characterised by the fluid damping devices, e.g. passages, orifices
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • 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
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor

Definitions

  • the torque transfer device, actuator, robot The present invention relates to a Drehmomentübertra ⁇ constriction device with a variably adjustable stiffness, an actuator with the torque transfer device and a robot.
  • Robots are increasingly used in direct contact with humans, whether in patient care or in industry. Common to these applications is the increased demand for robot safety. Thus, it must be ruled out that a person will sustain an injury if he is accidentally hit by a moving robot part. Also should in case of errors, be mainly in the field of wearable robotics, ruled that a human joint with excessive forces beauf ⁇ will beat them and thereby contributes injuries.
  • a well-known solution for this is the use of actuators with variable rigidity.
  • the second approach is the construction of actuators whose rigidity is made purely mechanically variable.
  • lever systems with a variable force tap are used.
  • An actuator is to be connected, for example via an additional mechanical element, which contains as a central Me ⁇ a spring mechanism.
  • the lever arm of the force tap is adjustable, for example via an electric motor.
  • a disadvantage of this approach is the relatively large space requirement of the Konstrukti ⁇ on.
  • the present invention has for its object to overcome these disadvantages and to provide an improved actuator with variable stiffness.
  • the torque transmission device with an inner ring, a rotatable from a neutral position in a positive direction of rotation or negative direction to the inner ring outer ring, at least one pair of receiving bellows, comprising a positive receiving bellows and a negative receiving bellows, at least one gas spring and a ner with the at least one Provided gas spring connected adjustment.
  • the Consbälge are disposed between the Au ⁇ Oxring and the inner ring in such a way that the Positivabilitybalg during a rotation of the inner ring in positive direction of rotation is compressible and the negative receiving bellows is compressible in a rotation of the inner ring in the negative direction of rotation.
  • the receiving bellows are also fluidly connected to the at least one gas spring.
  • fluid is preferably a hydraulic fluid ⁇ set.
  • the torque transmission device according to the invention advantageously has very compact dimensions and, with the almost incompressible hydraulic fluid, is capable of very high
  • the hydraulic power transmission advantageously also has a high internal damping, the egg ⁇ gene vibrations of the system are greatly over-damped and occur only at high frequencies.
  • the frequency response of the system up to high frequencies is linear, which brings a good rule ⁇ availability of the torque transmission device with it
  • the at least one gas spring on a hermetically sealed gas pressure chamber and a protruding into the gas pressure chamber transfer bellows and projecting into the gas pressure chamber Verstellbalg.
  • the receiving bellows are fluid-conductively connected to the transfer bellows and the adjusting unit is fluid-conductively connected to the adjustment bellows.
  • the adjustment unit comprises a reservoir and a pump.
  • the pump is in particular a piezo pump.
  • the piezo pumps can be equipped with a non-return valve, which is self-opening in the event of a fault (normally open).
  • a hydraulic adjusting unit With the reservoir and the pump, a hydraulic adjusting unit is provided with simple and inexpensive components. Semi asked.
  • the piezo pump advantageously takes up a small space and works effectively.
  • the check valve With the check valve, the rigidity of the torque transmitting device in case of failure, for example, upon failure of the power supply or the control signal automatically reduced to the minimum, the safe state of the system is ⁇ represents: The system is therefore intrinsically safe.
  • the torque transmission device has two gas pressure springs connected to the adjustment unit. It is at least fluidly connected to a Po ⁇ sitivagebalg with one of the two gas-pressure springs and the at least one Negativabilitybalg with the other of the two gas compression springs.
  • the adjusting unit per gas spring comprises a separate pump.
  • the gas springs can thus be set independently.
  • the rigidity of the torque transmission device is thus advantageously different depending on the direction of ⁇ interpretable and variable.
  • the pressure phases can be interpreted differently than the tension phases.
  • the torque transmission device comprises two pairs of intake bellows.
  • At least one of the bellows is a metal bellows.
  • Metal bellows are extremely robust, even at high temperatures and under the influence of aggressive environmental conditions. This gives the torque transmission device longevity and safety.
  • the torque transmission device essentially has the shape of a cylinder with a circular base area.
  • the torque transmission device is provided with a shape that can be well attached to the shape of a conventional servo motor.
  • the servomotor and the torque ⁇ transmission device take together only little more space than the servo motor alone.
  • the torque transmission device is preferably integrated in all its embodiments in an actuator which has a servo motor in addition to the torque transmission device.
  • the servomotor comprises a rotor and a stator.
  • the stator of the servomotor according to the invention with the outer ring or the inner ring of the torque transmitting device rotatably connected.
  • the actuator according to the invention is preferably tegriert in a robot in ⁇ .
  • the actuator is with a mechanical unit of the Robot force transmitting or torque transmis ⁇ ing connected.
  • the mechanical unit of the robot can be operated with different stiffnesses due to the actuator according to the invention.
  • the robot offers a high level of security, especially in direct contact with people.
  • FIG. 1 shows a robot according to the invention
  • FIG. 2 shows an actuator according to the invention
  • FIGS. 3 to 5 a torque transmission device of the actuator according to the invention in various embodiments.
  • the robot 26 has an actuator 1 which is connected with a mechanism unit 27 frictionally Bezie ⁇ hung as to transmit torque.
  • the mechanical unit 27 is changeable in its Po ⁇ position.
  • the mechanical unit 27 is designed in such a way to convert the movement generated by the actuator 1.
  • the mechanical unit 27 can perform, for example, a rotational movement, a translatory movement or a combination of two movements.
  • the actuator 1 according to the invention is sketched by way of example.
  • the actuator 1 has a servomotor 2 and a torque transmission device 3.
  • the servomotor 2 comprises a rotor 21 and a stator 22.
  • the rotor 21 is mounted rotatably on the stator 22 on a rotation axis 23.
  • the stator 22 may be disposed around the rotor 21, in this way it is shown in FIG.
  • the rotor 21 may also be arranged around the stator 22 around.
  • the stator 22 is the supporting element and the rotor 21 is the movable element.
  • the stator 22 is rotatably connected according to the invention with the torque transmitting device 3.
  • the torque transmission device 3 comprises an inner ring 5 and an outer ring 4 arranged around the inner ring 4.
  • the outer ring 4 and the inner ring 5 are arranged concentrically to the axis of rotation 23.
  • the outer ring 4 is rotatable relative to the inner ring 5 on the axis of rotation 23 by a certain angle of rotation.
  • the inner ring 5 of the Drehmomentübertra ⁇ constriction device 3 is firmly clamped and the stator 22 of the servomotor 2 is attached to transmit torque to the outer race 4 of the constriction device Drehmomentübertra ⁇ .
  • a torque decrease 20 can thus take place on the rotor 21.
  • the outer ring 4 of the torque transmitting device 3 is firmly clamped and the stator 22 of the servo motor 2 with the inner ring 5 of the torque transmission ⁇ device 3 is rotatably connected.
  • the torque transmission device 3 is sketched in FIGS. 2 to 4 by way of example in various design variants.
  • the Drehmomentübertragungsvor ⁇ direction 3 according to the invention comprises in addition to the outer ring 4 and the inner ring 5 at least a pair of receiving bellows 9, 10, a gas ⁇ pressure spring 13, an adjustment and fluid lines 16.
  • the inner ring 5 of the torque transmission device according to the invention 3 each shown in a neutral position 25.
  • the inner ring 5 can rotate against the outer ring 4 in a positive direction of rotation 17 or in a negative direction of rotation 18.
  • the outer ring 4 has at least two formations 24. Each formation 24 protrudes into a recess 7 of the inner ring 5. The formations 24 are located at each At least one impetus 6. At each recess 7, the inner ring 5 on a the abutment 6 opposite to a region 8 on. Between the support 8 of the inner ring 5 and the abutment 6 of the outer ring 4 each one of the receiving bellows 9, 10 is arranged. The receiving bellows 9, 10 are each attached at least to the support 8. For the purposes of the present ⁇ the invention may also be a hydraulic cylinder or the like a bellows, in particular the bellows of metal.
  • the at least one pair dividendbälge 9, 10 comprises a Po ⁇ sitivagebalg 9 and a Negativitybalg 10.
  • the Positiviserbalg 9 being arranged in such a way that it at a change of In ⁇ nenrings 5 out of the neutral position 25 in positive direction of rotation 17 is compressed.
  • the Negativitybalg 10 it is arranged according to the invention ⁇ in such a way that it is compressed at a ⁇ n ⁇ alteration of the inner ring 5 from the neutral position 25 in the negative direction 18th
  • the Consbälge 9, 10 are according to the invention with a fluid, in particular with a hydraulic fluid, such as ⁇ example, silicone oil or glycerine.
  • a hydraulic fluid such as ⁇ example, silicone oil or glycerine.
  • the receiving bellows 9, 10 with the at least one gas ⁇ pressure spring 13 fluidly connected.
  • the at least one gas spring 13 comprises egg ⁇ NEN hermetically sealed, filled with a fluid gas pressure chamber 28th
  • the fluid is in particular a gas and can be under an overpressure of 2 bar to 10 bar.
  • the gas pressure chamber 28 projecting two in particular opposite ⁇ positioned bellows 14, 15 are arranged.
  • the mecanicsbalg 14 is fluidically connected via fluid lines 16 with at least one shareholdersbalg 9, 10th
  • the Verstellbalg 15 is via fluid conduits 16 fluidly with the adjustment ver ⁇ prevented.
  • the adjusting unit according to the invention comprises at least one Pum ⁇ pe 12, in particular a piezo pump 12 and a reservoir 11 in which a fluid, in particular a hydraulic fluid is vorhaltbar on.
  • the pressure in the positive receiving bellows 9 is increased and a hydraulic fluid located in the positive receiving bellows 9 is passed through the fluid line 16 into the transfer bellows 14 of the at least one gas spring 13.
  • the transfer bellows 14 strives to expan ⁇ NEN.
  • the torque required for the rotational movement in the positive direction of rotation 17 is according to the invention by the pressure in the gas pressure chamber 28 variably adjustable.
  • the pressure in the negative receiving bellows 10 is increased and a hydraulic fluid located in the negative receiving bellows 10 is passed through the fluid line 16 into the transfer bellows 14 of the at least one gas spring 13.
  • the transfer bellows 14 strives to expan ⁇ NEN.
  • the torque required for the rotational movement in the negative direction of rotation 18 is variably adjustable according to the invention by the pressure in the gas pressure chamber 28.
  • the pressure in the gas pressure chamber 28 of the gas spring 13 acts on the transfer bellows 14 and the adjustment bellows 15.
  • the verse ⁇ bellows 15 is designed in such a way that the gas volume in the gas spring 13 is compressible.
  • the gas in the gas pressure chamber 28 can have a high volume at a low level Take pressure.
  • the ellessbalg 14 can thus be extended, without the gas pressure in the pressure chamber 28 increases significantly, that is, the gas spring 13 has a low Steifig ⁇ speed in this setting.
  • the transfer bellows 14 transmits the pressure of the gas pressure chamber 28 of the gas spring 13 to the receiving bellows 9, 10, and there a moment is built, thus translates the variable ⁇ able stiffness of the gas spring 13 directly into a variable torsion spring characteristic.
  • the volume of the adjusting bellows 15 can be varied by means of the pump 12, and as a result the torsional rigidity of the torque transmission device 3 according to the invention can be adjusted. This is done within a few seconds or fractions of a second, depending on the design of the power of the pump 12th
  • the adjustment unit is controlled or regulated by a control unit, not shown here in detail, to which the adjustment unit is connected.
  • sensors may be arranged in the torque transmission device 3, which detect conditions such as the pressure in at least one of the bellows.
  • the torque transmission device 3 may additionally
  • the exemplary embodiment of the torque transmission device 3 according to the invention sketched in FIG. 3 has a single pair of receiving bellows 9, 10 and a Zige gas spring 13.
  • the adjustment unit has a single pump 12.
  • the receiving bellows 9, 19 are here each attached to the support 8 and are at the abutment 6 loose.
  • the exemplary embodiment of the torque transmission device 3 according to the invention sketched in FIG. 4 has two gas pressure springs 13 in relation to the variant shown in FIG. Each of the gas pressure springs is fluid-conductively connected to one of the receiving bellows 9, 10 of the only pair of receiving bellows here via fluid lines 16.
  • the number of gas ⁇ pressure springs 13 corresponds to the number of possible directions of rotation 17, 18.
  • the two gas springs 13 are separately controllable.
  • the adjusting unit comprises two pumps 12 for this purpose.
  • the receiving bellows 9, 10 can each be influenced not only in a pressure phase but also in a pulling phase. While one of the gas pressure springs 13 accompanies the pressure phase of one receiving bellows 9, 10, at the same time the other of the gas compression springs 13 influences the tension phase of the other receiving bellows 10, 9.
  • the receiving bellows 9, 10 have no stop 19 here.
  • the receiving bellows 9, 10 are each on both the support. 8 the inner ring 5 and attached to the abutment 6 of the outer ring 4.
  • the positive receiving bellows 9 has its largest Volu ⁇ men in the position of the inner ring 5, in which the Negativauf ⁇ bellows 10 has its smallest volume and vice versa.
  • both pumps 12 are operable in parallel in such a way that the gas pressure springs 13 each have the same internal rigidity.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Reciprocating Pumps (AREA)
  • Manipulator (AREA)
  • Vibration Prevention Devices (AREA)
  • Fluid-Damping Devices (AREA)

Abstract

L'invention concerne un dispositif de transmission de couple (3) présentant une résistance à réglage variable, un actionneur (1) pourvu de ce dispositif de transmission de couple (3), et un robot (26). Le dispositif de transmission de couple (3) selon l'invention est pourvu d'une bague intérieure (5), d'une bague extérieure (4) disposée par rapport à la bague intérieure (5) de manière à pouvoir tourner à partir d'une position neutre (25) dans un sens de rotation positif (17) ou dans un sens de rotation négatif (18), d'au moins une paire de soufflets de logement (9, 10), cette paire comprenant un soufflet de logement positif (9) et un soufflet de logement négatif (10), d'au moins un ressort à gaz (13) et d'une unité de réglage reliée au ou aux ressorts à gaz (13). Les soufflets de logement (9, 10) sont disposés entre la bague extérieure (4) et la bague intérieure (5), de telle manière que le soufflet de logement positif (9), lors d'une rotation de la bague intérieure (5), peut être comprimé dans le sens de rotation positif (17) et que le soufflet de logement négatif (10), lors d'une rotation de la bague intérieure (5), peut être comprimé dans le sens de rotation négatif (18). Les soufflets de logement (9, 10) sont en outre en liaison fluidique avec le ou les ressorts à gaz (13).
EP14700859.3A 2013-03-15 2014-01-15 Dispositif de transmission de couple, actionneur, robot Withdrawn EP2941577A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013204588.3A DE102013204588A1 (de) 2013-03-15 2013-03-15 Drehmomentübertragungsvorrichtung, Aktor, Roboter
PCT/EP2014/050710 WO2014139702A1 (fr) 2013-03-15 2014-01-15 Dispositif de transmission de couple, actionneur, robot

Publications (1)

Publication Number Publication Date
EP2941577A1 true EP2941577A1 (fr) 2015-11-11

Family

ID=49998256

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14700859.3A Withdrawn EP2941577A1 (fr) 2013-03-15 2014-01-15 Dispositif de transmission de couple, actionneur, robot

Country Status (7)

Country Link
US (1) US9841061B2 (fr)
EP (1) EP2941577A1 (fr)
JP (1) JP6395733B2 (fr)
KR (1) KR102151686B1 (fr)
CN (1) CN105051407B (fr)
DE (1) DE102013204588A1 (fr)
WO (1) WO2014139702A1 (fr)

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Also Published As

Publication number Publication date
JP6395733B2 (ja) 2018-09-26
JP2016510864A (ja) 2016-04-11
CN105051407B (zh) 2017-04-05
WO2014139702A1 (fr) 2014-09-18
DE102013204588A1 (de) 2014-09-18
KR102151686B1 (ko) 2020-09-03
US20160025150A1 (en) 2016-01-28
CN105051407A (zh) 2015-11-11
KR20150132509A (ko) 2015-11-25
US9841061B2 (en) 2017-12-12

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