Classifications

• • 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
  • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
  • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F3/00—Dredgers; Soil-shifting machines
  • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
  • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
• • 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
  • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
  • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
• • E—FIXED CONSTRUCTIONS
  • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
  • E02F—DREDGING; SOIL-SHIFTING
  • E02F3/00—Dredgers; Soil-shifting machines
  • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
  • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
  • E02F3/36—Component parts
  • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
  • E02F3/427—Drives for dippers, buckets, dipper-arms or bucket-arms with mechanical drives

Definitions

• the invention is in the field of motorization systems for construction equipment arms, for handling equipment, for industrial articulated arms, or for robotic arms.
• the invention also has applications in any other field requiring the setting in motion of a lever arm or the application of a traction force, for example in the field of civil engineering or in the field of exoskeletons. assistance in the effort and in the field of prostheses and orthotics.
• the prior art knows the use of a flexible cylinder whose shortening is obtained by combining a multidirectional expansion flask with a net of inextensible fibers diamond mesh.
• the pressure applied for the increase in pressure in the balloon causes the shortening of the jack.
• the use of this principle for the direct lifting of a load has the disadvantage of being able to lift a load on a restricted lifting length.
• a system for pulling a cable can be adapted to the motorization of a lever arm for the setting in motion of an articulated arm, by fixing the cable on two separate members hinged together.
• lever arms belong most often to the class of inter-motor levers which have the disadvantage of requiring the implementation of a torque greater than the load torque to mobilize the pivoting lever from the base of the mechanical system.
• the use in this case of the three types of systems mentioned above has limitations.
• a flexible cylinder whose shortening is obtained by combining a multidirectional expansion flask with a net of inextensible fibers diamond mesh can be used for the lifting of a load by an articulated arm.
• the diamond under the action of an increase in internal pressure, the diamond is deformed by shortening its length, which produces a longitudinal tensile force, and in reaction undergoes a multiple transverse compressive force of the force applied. Therefore, the flexible cylinder causes a nonlinear movement, very fast at startup and slow at the end, and the power of the cylinder decreases as it takes volume.
• An object of the invention is to overcome at least in part the aforementioned limitations of the prior art by providing a leverage lever of at least one hundred and thirty degrees of rotation from the pivot and requiring a low energy expenditure whatever the position of the base carrying the lever arm.
• a particularly advantageous embodiment of the invention relates to the lifting of a load by a lever arm.
• the invention relates to an articulated arm having a first member connected by a pivoting joint along an axis to a second member, the articulated arm is motorized by a motorization assembly comprising:
• each motor device comprising at least two pushing means configured to exert a transverse thrust on the traction strap
• control member adapted to operate the pusher means in a sequence comprising at least the application of a transverse pushing force on the traction strap causing a deformation and an increase in tension of said strap carried by the first device; motor and at least the application of a transverse thrust force causing a deformation and increase in tension of the inextensible strap carried by the second motor device, the deformations with successive increases in tension allowing the pivoting of the second member around the axis of the joint.
• the invention proposes a motorization which discharges itself from the recovery of the load on its internal resistance and only has to provide the positive acceleration of the load.
• At least one driving device implements a so-called pusher means which comprises a jack configured to exert a transverse force on a narrow portion of the inextensible traction strap so that the angle between the strap of inextensible traction at rest and the traction strap moved by the force push means can at least go from zero degrees to fifteen degrees.
• the force imposed by the pusher means forcibly on the inextensible traction strap is applied optimally to allow the pivoting of a lever arm.
• At least one motor device implements a so-called amplitude pushing means which comprises a plurality of jacks configured to exert a transverse thrust over a wide extent of the inextensible traction strap.
• the force imposed by the pusher means said amplitude on the inextensible traction strap is applied optimally to allow the deformation of the strap to keep in tension the inextensible traction strap after pivoting the lever arm . Subsequently the relaxation of the strap during the pivoting of the lever arm will be called "amplitude gain”.
• the invention corrects a difficulty related to the energy transformation of transverse force into longitudinal force.
• the point of attachment of the second limb is positioned at a distance from the joint less than 20% of the length of the second limb.
• At least one motor device comprises a tensioning system configured to tension the traction strap resting on a pusher means. Thanks to these provisions, the traction strap can be stiffened on a pusher means, in particular on the pusher said amplitude means, which optimizes the energy consumption of the mechanical assembly for the conservation of amplitude gain.
• the tensioning system comprises at least one strap connected to the pull strap by two sliding fasteners.
• the tensor system allows the tensioning of the traction strap to avoid oversizing the push means said amplitude.
• At least one motor device has at least one pulley or at least one metal bar arranged to fold the U-shaped pull strap over a portion of its length.
• the transverse thrust exerted by at least one of the pusher means is exerted by one or more jacks, the thrust of the jacks acting on a strap, the more the number of jacks is important, the greater the surface area. support is great. The pressure to be injected is therefore less strong to obtain the desired thrust. This applies particularly to the so-called amplitude pusher.
• the transverse thrust exerted by at least one of the pusher means is achieved by means of one or more hydraulic cylinders.
• a jack comprises a locking means of the rack, stop, brake, valve or valve type.
• the cylinders are locked to a desired position of extension of the piston, for example to maintain the tensile strap tension without additional energy expenditure.
• the articulated arm according to the invention comprises an additional motorization unit enabling the pivoting of the second member about the axis in the opposite direction of rotation.
• the articulated arm can be moved in one direction and the other on the same plane about an axis of rotation, without assistance of the force of gravity.
• the first and second members are articulated by a pivot connection and the articulated arm comprises at least three motorization assemblies arranged in a triangle around the first member, allowing pivoting of the second member in all directions.
• the articulated arm can be moved in all directions.
• the invention relates to a multi-articulated arm which comprises a plurality of articulated arms according to the invention, said articulated arms being connected together in series.
• the inextensible traction strap of at least one motor device is made integral with the inextensible traction strap of the motor device of the next articulated arm by a common point of contact.
• the webbing traction actuated by a motor assembly according to the invention is multiplied in series in order to produce a controlled load displacement at the end of the pull strap, or a cable carrying a load positioned at the end. of the last member, with a low energy expenditure.
• the invention relates to a method for lifting a load by an articulated arm, which comprises a first member articulated to a second member, by a motor assembly controlled by a control member and having a first motor device. and a second driving device, said lifting method comprising the following steps:
• a traction on a first inextensible traction strap connecting a point of attachment on the first member to a point of attachment on the second member
• a traction on a second inextensible traction strap connecting a point of attachment on the first member to a point of attachment on the second member
• a first motor device connected to a first traction strap and a second motor device connected to a second traction strap cooperate to exert a traction force in order to lift a load or load. put in motion a lever arm. Both motor devices operating in sequence. In the example below, the amplitude of deployment of an articulated arm is considered.
• the tension on the second strap is taken up by the application of a transverse force by the pusher means said amplitude on the second motor device.
• Balancing the tension of the inextensible webbing of the second motor device is effected by the low pressure of its tensioning system. Once the equilibrium of amplitude and forces reached, the position is imposed by the two systems indifferently.
• the low-pressure start of the pusher means said force of the second motor may produce the pulling force causing the expansion of the inextensible strap of the first motor device to allow the resetting of the said pushing means force and the tensor system.
• the transverse pusher system called amplitude can be operated at low pressure to resume successive gains amplitude.
• the transverse force pushing system can be operated under low pressure to impose a maximum force on the inextensible strap to produce the power of the engine torque.
• the tensor system can be operated under low pressure to impose a voltage equalization between the two inextensible straps of the two motors coupled to produce the charge transfer between the two motors without loss of force or amplitude.
• the method of the invention further comprises a tensioning by a tensioning system of the traction strap, resting on a pusher means.
• At least one pulling step comprises, in sequence, the following steps:
• the method which is the subject of the invention also comprises an initialization according to the following steps:
• the invention relates to a mobile construction machine which comprises at least one articulated arm according to the invention.
• the invention relates to a system for pulling a load comprising:
• each motor device being mounted on the first member and comprising an inextensible traction strap connecting a point of attachment on the first member to a point of attachment on the second member,
• each motor device comprising at least two pushing means configured to exert a transverse thrust on the traction strap
• a control member adapted to operate the pusher means of the motor devices in a predetermined sequence, the tension exerted on the straps for moving the load.
• FIG. 1 is a diagrammatic and three-quarter perspective view of a first embodiment of a motor device of an articulated arm according to the invention
• FIG. 2 schematically shows a rear three-quarter perspective view of the driving device of FIG. 1
• FIG. 3 is a diagrammatic and three-quarter perspective view of a first embodiment of an engine assembly comprising two motor devices;
• FIG. 4 represents, schematically and in a perspective view, a first particular embodiment of an articulated arm according to the invention which comprises two motor assemblies,
• FIG. 5 represents, schematically and in side view, a first particular embodiment of an articulated arm according to the invention
• FIG. 6 represents, in the form of a logic diagram, a particular method of implementing an articulated arm according to the invention
• FIG. 7 is a diagrammatic, three-quarter perspective view of a second embodiment of an articulated arm according to the invention.
• FIG. 8 is a diagrammatic, three-quarter perspective rear view in transparency of a second particular embodiment of an articulated arm according to the invention.
• FIG. 9 represents, schematically and in front view, a second particular embodiment of an articulated arm according to the invention.
• FIG. 10 represents, schematically and in longitudinal sectional view along the sectional plane A-A, a second particular embodiment of an articulated arm according to the invention
• FIG. 11 represents, schematically and in front view, a second particular embodiment of an articulated arm according to the invention.
• FIG. 12 represents, schematically and in longitudinal sectional view along the sectional plane B-B, a second particular embodiment of an articulated arm according to the invention
• FIGS. 13 and 14 show, schematically in a perspective view, a set of articulated arms mounted in series forming a multi-articulated arm
• FIG. 15 represents, schematically and in side view, a particular embodiment of a construction machine carrying an articulated arm according to the invention
• Figures 16 to 20 show, schematically, a second particular embodiment of a construction machine carrying an articulated arm according to the invention.
• FIGS. 21 to 25 show, schematically, a particular embodiment of an articulated arm according to the invention in which the pusher means of the articulated arm object of the invention are common to two sets of antagonistic motorizations.
• FIG. 5 shows an articulated arm 10 comprising a first member 103 connected by a pivoting joint along an axis 500 to a second member 104.
• the articulated arm 10 is motorized by a motorization assembly comprising two motor devices. Said motor devices are mounted on the first member 103 and each comprise an inextensible traction strap connecting the first member 103 to the second member 104, the tension exerted on the inextensible straps allows pivoting of the second member about the axis 500.
• the articulated arm 10 further comprises a control member (not shown) able to operate the motor devices in a predetermined sequence.
• motor device 101 can also describe other motor devices carried by the articulated arm 10, directly or by homothety, for example by axial symmetry or central symmetry.
• the motor device 101 comprises an inextensible traction strap 105 connecting an attachment point 108 to an attachment point 109.
• the strap 105 is a flexible and strong band, similar to a drive belt.
• the strap may be a cable, a rope, a chain, or any other similar known element.
• the pull strap 105 is attached to the point of attachment 108.
• the strap passes through a passer mounted on the support 163 carried by the second member
• the loops of the supports 161 and 163 may be constituted by a single through hole whose inner surface has a low coefficient of friction with the strap 105 or even comprise a ball bearing.
• the pull strap 105 continues to travel to the pulley 160.
• the length of the strap extending from the support loop 161 to the pulley 160 forms a first segment.
• a narrow portion of said first strap segment rests on the piston 1 1 1 (see Figure 1) of a pusher means 1 10 said force.
• the strap 105 is spirally wound several times around the pulley 160 so that the strap 105 shifts along the pulley at each turn.
• the strap then continues its course, following a second segment offset and parallel to the first to the pulley 170.
• the strap is thus disposed over part of its length, in the form of a "U". Between the pulley 160 and the pulley 170 the strap is passed through two loops formed by two lights made in the two slides 135 and 136.
• a wide portion of the second strap segment rests on a pushing means said amplitude 120.
• the strap 105 then continues its course so as to cross a second passer carried by the support 161, then a second passer carried by the support 163, the end of the strap 105 is finally attached to the attachment point 109.
• the strap 105 is cut short and finishes its course on an attachment point on the support 161.
• the pulley 160 is mounted on a pivot arm 171 itself mounted by a pivot connection in a base 172 shaped "V".
• At least one spring (not shown) connects each branch of the "V" of the base 172 to the pivoting arm 171 so that, in the absence of tension on the strap
• the pivot arm 171 occupies a rest position determined by the stiffness of said springs.
• the rest position of the pivoting arm 171 abuts, or is flush with, on an oblique surface 173 of the "V" base 172.
• FIGS. 1 and 2 show a particular embodiment of a motor device 101 of an articulated arm according to the invention.
• the motor device 101 comprises two pushing means 1 10 and 120 configured to exert a transverse thrust on the traction strap.
• the motor device 101 further comprises a tensor system.
• the forcing means 1 10 includes a single jack configured to exert a transverse force directed upward on a narrow portion of the strap 105.
• the strap being arranged so that the angle between the strap at rest and the strap moved. by the extension of the forced push means can at least go from zero to at least fifteen degrees.
• the pusher means 120 said amplitude comprises five cylinders 121, 122, 123, 124, 125 arranged in line.
• the piston of each of these five cylinders is supported on a block 127 of substantially rectangular shape on which the strap 105 rests.
• the block 127 has at its two ends 128 and 129 one or more projections cooperating with a rail formed in the slides 137 and 138 to allow sliding.
• the block 127 thus has a single degree of freedom in vertical translation.
• the pusher means 120 of amplitude is configured to exert a force by deploying the jacks 121, 122, 123, 124 and 125.
• the deformation of the pull strap 105 is done while maintaining a large central area, corresponding to the length of the block 127, parallel to the longitudinal axis of the pull strap 105 resting.
• the tensor system comprises two cylinders 131 and 132, two straps, two slides 135 and 136 and two slides 137 and 138.
• the slides 135 and 136 are supported on the upper face of the traction strap 105.
• the two slides 135 and 136 are respectively slidably mounted in the slides 137 and 138.
• Each end 129, 128 of the block 127 comprises an extension, respectively, 142, 144, in trapezoid whose base is mounted in the slides, respectively, 138 and 137, and extends towards outside orthogonal to block 127.
• the extension 142 is slidably mounted in the slideway 138. Equivalently by symmetry, the extension 144 is slidably mounted in the slideway 137.
• the extensions 142 and 144 form rod-shaped projections on one side of the block 127 (see FIG. 5).
• a narrow portion of the strap 133 is in contact on its upper surface with the piston of the cylinder 131.
• the cylinder 131 is configured to exert a force oriented perpendicularly to the strap 133 and directed downwards.
• the extensions 142 and 144 form projections in the form of rods.
• a narrow portion of said strap binds the slides reflecting on the rods 142 and 144 and is in contact on its upper surface with the piston of the cylinder 132.
• the cylinder 132 is configured to exert a force oriented perpendicular to the tensioning system strap. (not shown) and pointing down.
• the tensor system By deploying the cylinders 131 and 132 the tensor system applies a downward force transmitted to the pull strap 105 through the slides 135 and 136.
• the force applied by the tensor system contributes to the rigidity of the strap 105 at lower energy expenditure.
• the pressure force applied by the cylinders 131 and 132 is similar.
• an extension of the piston 123 through the lumen 139 aids the system by transverse deformation from zero to at least fifteen degrees of the strap 105.
• the force applied by the tensor system cylinders is controlled according to the information read by a sensor configured to measure a value representative of a state of the pull strap, for example the tension force which it is applied to him.
• the force applied by the tensor system jacks is controlled as a function of the information read by a sensor configured to measure a state of the pusher means 120 called amplitude.
• a spring connects the slide 136 to one end of the slide 138.
• a spring connects the slide 135 to one end of the slide 137. In the absence of significant constraints on the slides the springs allow a passive return of the slides to their initial positions.
• a light 139 is made in the block 127 so as to allow the cylinder 123 to pass through the block.
• This embodiment is the implementation of a simplified alternative tensor system, it can also be used in combination with the tensor system.
• the piston of the jack 123 may either remain at the same height as the pistons of the cylinders 121, 122, 124, 125 or be used as a secondary tensioning system by exerting a solitary thrust after the amplitude thrust. Its action will then deform the inextensible strap to ensure the necessary rigidity of the inextensible strap.
• the cylinders 110, 121, 122, 123, 124, 125, 131 and 132 can be of any kind.
• it may be a jack of hydraulic type, screw-nut or electric.
• Pneumatic-type cylinders can also be implemented, they are particularly suitable for applications requiring low load and fast execution.
• a jack comprises a locking means of the rack, stop or brake type. Blocking a jack using a fluid is inherent in stopping the injection of liquid.
• each cylinder is associated with a springback system comprising for example a spiral spring or a rapid suction of the fluid in the case of a hydraulic cylinder.
• FIG. 3 shows a motor assembly 100 comprising two motor devices 101 and 102 previously described.
• FIGS. 7 and 8 show a second embodiment of an articulated arm 30 according to the invention.
• the articulated arm 30 comprises a first member 303 of substantially parallelepiped shape.
• a second member 304 is connected to the first member 303 by a pivoting joint 381 about an axis 504.
• the second member 304 comprises a rod 380 adapted to be mounted in a housing 382 arranged in another articulated arm of the same type. This mode of implementation will be easily understood with regard to FIGS. 13 and 14.
• a construction site tool such as drill, sander, riveter, hammer drill can be mounted on the rod 380.
• a construction equipment tool such as a bucket, a shovel or a hydraulic hammer can be mounted on the rod 380.
• This implementation mode will be easily understood with regard to Figure 15.
• Two motorization assemblies 300 and 400 are mounted on either side of a central plane of the first member 303.
• the motor assemblies 300 and 400 are configured to exert a traction force which results in a rotation of the second member 304 according to the invention.
• the traction force exerted by the motor assembly 300 causes a rotation in one direction
• the traction force exerted by the motor assembly 400 causes a rotation in the opposite direction.
• a controller (not shown) is configured to control the motor sets 300 and 400 that work together.
• a simplified version of the invention comprises a single motorization assembly that causes rotation in one direction, the rotation in the opposite direction being provided by a passive spring type return, or simply by the action of gravity.
• the motor assembly 300 comprises two motor devices
• the two motor devices 301 and 302 contribute to exert a tensile force which results in a rotation oriented in the same direction of the second member 304 according to the pivoting joint 381.
• the two motor devices 301 and 302 having the same technical characteristics, because being similar by symmetry, only the motor device 300 is described in more detail below.
• the traction force exerted by the motor device 301 on the pivoting joint 381 is exerted by two cables 306 and 307 parallel to each other.
• the cables 306 and 307 are inextensible.
• a first end of each of the cables 306 and 307 is surrounded around the pivoting joint 381 and attached to the pivoting joint 381.
• the other end of each of the cables 306 and 307 is respectively attached to attachment points 316 and 317 positioned on the first member 303.
• the cable 306 extends from the pivoting joint 381 in a high horizontal plane to a first metal bar 365 which redirects the cable 306 along an inclined vertical plane.
• the cable 306 continues its path to a second metal bar 366 which redirects the cable 306 in a low horizontal plane.
• the cable 306 is fixed at the point of attachment 316.
• the metal bars 365 and 366 have a very low friction ratio with the cables 306 and 307.
• the metal bars can be replaced by pulleys which fulfill the same function.
• the cable 306 passes through several compartments including four functional compartments which house pushing means.
• the passage of the cable 306 from one compartment to the other is done through vertical holes drilled on the height of two walls of a compartment so as to allow a horizontal movement while allowing vertical movement.
• the path of the cable 307 is identical to a shift near the path of the cable 306 it is not described again here.
• FIG. 9 makes it possible to locate the plane A-A which passes through the motor device 301 vertically.
• Figure 11 allows to locate the plane B-B through the motor articulated arm 30 vertically.
• the motor device 301 is arranged in the upper left quarter of the articulated arm 30 illustrated in FIGS. 9 and 11.
• FIG. 10 shows a section of the articulated arm 30 along the sectional plane A-A and
• FIG. 11 shows a section of the articulated arm 30 along the sectional plane B-B.
• the motor device 301 comprises two pusher means configured to exert a transverse thrust on the inextensible traction cables 306: a pusher means 310 said force and push means said amplitude.
• the pusher means are nested in a compact manner in an enclosure formed around the articulated arm in order to minimize its bulk.
• the pushing means 310 comprises a jack configured to exert a force 390 of transverse thrust on a narrow portion of the cables 306 and 307.
• the transverse force 390 imposed by the pusher means 310 on the two cables 306 and 307 is applied optimally to allow the movement 399 of rotation of the second member 304 according to the pivoting joint 381 at the cost of a low energy expenditure incoming with respect to the work of the mobilized load.
• the compartment housing the pusher means 310 forcibly is disposed on the outer edge of the articulated arm 30.
• said compartment houses both the pusher means 310 said force of the motor device 301 and a pusher means 410 said to force him faces.
• a thrust plate 350 formed by a plate pierced with two through holes through which the cables 306 and 307 pass transmits the force applied by the pusher means 310 forcibly to the cables 306 and 307.
• the thrust is provided by a hydraulic cylinder system comprising at least one pump, a flexible bag contained in a rigid compartment, and at least one solenoid valve.
• the controlled injection of a fluid into the flexible envelope causes an increase in volume which results in a force 390 of transverse thrust pointing downwards.
• the hydraulic jack comprises a flexible bag of incompressible fluid contained in a rigid compartment. whose wall is movable in vertical translation. The movable wall is formed by the thrust plate 350.
• the hydraulic jack actuated by swelling of a sealed bag in a rigid compartment with a single moving wall associated with at least one inlet valve of an incompressible fluid at the end of said upstream circuit at a relative overpressure and at least one outlet valve of an incompressible fluid at the end of the downstream circuit in relative depression.
• the inlet of the pressurized fluid pre-valve allows the volume increase of the sealed pocket causing the rise of the free wall.
• a control member (not shown) is implemented to control the openings and closures of the solenoid valves of injections and aspirations related to each of the pusher means of the motor devices.
• the basic assembly formed by the pocket and the rigid compartment with a free wall is also associated with a return spring system which allows the free wall to move at the most just the volume of the pocket regardless of the tension of the two parallel cables 306 and 307 which pass through the thrust plate 350.
• the pusher means said amplitude, visible in Figure 12, comprises three cylinders 321, 323 and 325, including two cylinders 321 and 325 at the limits of the extended thrust zone and a cylinder 323 in the center.
• the cylinders are configured to respectively exert a force 391, 393 and 395 of transverse thrust over a wide extent of the two cables 306 and 307.
• the transverse force imposed by the pusher means said amplitude on the two cables 306 and 307 is applied optimally to allow the deformation of said parallel cables to remain in tension after pivoting of the lever arm.
• thrust plates formed by a plate pierced with two through holes through which the cables 306 and 307 pass allow the force applied by the jacks 321, 323 and 325 to be transmitted to the cables 306 and 307.
• the compartments housing the cylinders 321, 323 and 325 of the amplitude said pusher means are disposed on the inner portion of the articulated arm 30.
• the said compartments are of suitable height to leave a central space to accommodate a housing 382.
• the thrust is provided by at least one jack of the thrust means said amplitude. This thrust is provided by a hydraulic system comparable to that described above.
• each cylinder 320, 321, 323 and 325 is associated with an elastic return system comprising for example a spiral spring (not shown) or a rapid suction of the fluid in the case of a hydraulic cylinder.
• the tensor system is integrated in the pusher system called amplitude.
• the jack 323 may either exert a force 393 similar to the force 391 and 395 exerted by the cylinders 321 and 323 or be used as tensioning system by exerting an additional solitary thrust after the amplitude thrust. This action will deform the inextensible cables to ensure increased rigidity of the cables 306 and 307.
• the tensioning system allows the overvoltage of the two traction cables 306 and 307 without over-dimensioning and / or complicating the so-called amplitude pushing means. .
• each jack comprises a locking means which may consist of a rack, a stop, a brake, a valve or preferably an incompressible water column controlled by solenoid valve.
• FIG. 13 shows a multi-articulated arm 51 comprising a plurality of articulated arms 30, 52, 53 mounted in series.
• the multi-articulated arm 51 may also be referred to as a poly-articulated arm.
• the characteristics of the articulated arm 30 being those previously described they are not recalled here in detail.
• the characteristics of the articulated arms 52 and 53 are similar to the characteristics of the articulated arm 30.
• the articulated arms 30, 52, 53 each comprise a first member 303, 523, 533 and a second member 304, 524, 534.
• the first member 303 of the articulated arm 30 is articulated with the second member 304 by a pivoting joint 381.
• the second member 304 comprises a rod adapted to be inserted and fixedly mounted in a housing provided for this purpose in the articulated arm 523.
• the second member 304 of the arm articulated 30 is fixed to the first member 523 of the articulated arm 52 so as to form a unitary assembly which constitutes a link of the multi-articulated arm 51.
• first member 523 of the articulated arm 52 is articulated with the second member 524 by a pivoting joint 582.
• the second member 524 comprises a rod adapted to be inserted and fixed in a housing formed in the first member 533 of the articulated arm 523.
• FIG. 14 shows the multi-articulated arm 51 at the joint 582 between the two articulated arms 52 and 53.
• the articulated arms 52 and 52 are connected in series, the non-extensible traction straps of the motor devices of the articulated arm 52 being secured to the non-extensible traction straps of the driving devices of the articulated arm 53 by a point of rotation.
• common contact is for example a bar 570 positioned in a horizontal slide 571. The bar 570 forms a point of contact, crossing two sets of traction straps of two successive articulated arms.
• the strap 569 of one of the motor devices of the articulated arm 52 is wound around the pivoting joint 582 and then passed around the bar 570 so that a traction force exerted by said motor device on the strap 569 exerts a force on the bar 570 whose movement is constrained by the shape of the slide 571.
• the path of the strap 573 of one of the motor devices of the articulated arm 53 is constrained by the metal bars 565 and 566 which are arranged on either side of the bar 570.
• a force exerted by the motor device of the arm articulated 52 on the strap 569 is applied to the bar 570, this force is in turn reflected on the strap 573 of the motor device of the articulated arm 53.
• the path of the strap 570 is similar to that described for the articulated arm described in Figures 7 to 12, so it is not recalled here in detail.
• each articulated arm carrying two sets of motorization each comprising two motor devices each connected to its counterpart of the articulated arm that follows it.
• This connection is identical, directly or by symmetry, for each strap.
• This assembly by contact support interposed between the straps of two successive motor devices can accumulate the power provided by each engine device and chained.
• FIG. 6 shows a logic diagram illustrating an example of a method of lifting a load by an articulated arm, which comprises a first member articulated to a second member. Lifting is performed by a motor assembly controlled by a control member and comprising a first motor device and a second motor device.
• the lifting method 40 comprises the following steps:
• a pull 50 on a first inextensible traction strap connecting a point of attachment on the first member to a point of attachment on the second member
• a pull 60 on a second inextensible traction strap connecting a point of attachment on the first member to a point of attachment on the second member
• At least one of the pulling steps 50, 60 implementing a transverse thrust on a pull strap and the pulling steps 50, 60 being repeated until the second limb is raised to a desired height.
• the method of lifting a load by an articulated arm according to the invention further comprises a tensioning step by a tensioning system of the traction strap, resting on a pusher means.
• At least one pulling step 50, 60 comprises, in sequence, the following steps: a release 505, 605 of the tension exerted on the traction strap by a so-called pusher means and a release 510, 610 of the tension exerted by the tensor system,
• the method of lifting a load by an articulated arm according to the invention further comprises a preliminary step comprising the following steps:
• the articulated arm 30 comprises a first member 303 articulated to a second member, by a motor assembly 300 controlled by a control member (not shown) and comprising a first motor device 301 and a second motor device 302.
• the two devices motors 301 and 302 operate in sequence. In the example below, the amplitude of deployment of an articulated arm is considered.
• the voltage balancing of the two cables 318 and 319 of the second motor device 302 is ensured by their deformation by the resulting additional rise by at least the pressure equilibrium of the central ram of the amplitude said pusher means that plays the role here. of tensor system.
• the low pressure start-up of the pusher means said force of the second motor device 302 may produce the pulling force causing the expansion of the two inextensible parallel cables of the first motor device 301 and thus allow the reset pusher means said of force and tensor system.
• the articulated arm comprises a second motor assembly 400.
• the second motorization assembly allows the application of a force transversely on the cables 406, 407, 418 and 419 so as to exert a tension on these cables and to move the rod 380 of the second member 304 about the axis 504 in the opposite direction to the movement motorized by the assembly 300 .
• the motor assemblies 300 and 400 cooperate to exert an opposite torque of tension force in order to mobilize at least 160 degrees a lever arm accurately and independently of the load variation exerted on the lever arm.
• the transverse thrust amplitude gain on the pairs of two parallel cables by the motor assembly 300 according to the sequences already described above and an equivalent amplitude loss by releasing the transverse thrust on the pairs of two parallel cables by opposite motor assembly 400 according to the inverse sequences of that described above allows a change of position of the rod 380 of the second member 304 while maintaining the rigidity of the second member relative to the first member,
• the two sets of motors 300 and 400 cooperate to mobilize the second member 304 relative to the first member 303 while maintaining rigidity at all times between the two members.
• the strap 105 includes an elastic band (not shown) attached at two points along its length so that the strap folds on itself accordion at rest. On the other hand, when the strap is in tension, the elastic band is stretched without hindering the role of the inextensible strap.
• FIG. 4 shows an embodiment in which the articulated arm 10 comprises an additional motor assembly 200 mounted in mirror with the motor assembly 100 on the member 103 so as to motorize the pivoting of the second member around the axis 500 in both directions of rotation.
• three motorization assemblies 100 are arranged in a triangle around the first member. This embodiment allows pivoting of the second member in all directions. In this embodiment a ball joint allowing three degrees of freedom in rotation binds the first and the second member.
• six motorization assemblies 100 are arranged in hex around the first member. This embodiment allows pivoting of the second member in all directions with finer control than the previous embodiment. In this embodiment a ball joint allowing three degrees of freedom in rotation binds first and second member.
• a plurality of motor devices are connected in series, the traction strap of each motor device being secured to the traction strap of the next motor device by a common point of contact. More specifically, if reference is made to FIG. 5, two motor assemblies can be interconnected.
• the downstream engine assembly then has its rear pulley mounted on a pivot arm, end point of the strap of the upstream engine assembly.
• the strap of the upstream system can be fixed to the pivot arm 171 in a manner similar to the attachment of the strap 105 to the points of attachment 108 and 109.
• the pivot arm 171 can move back under the action of the upstream engine assembly and therefore tender the strap of the downstream engine assembly.
• At least one pusher means of the articulated arm object of the invention is common to two sets of antagonistic motorizations.
• the straps of traction of two motor devices belonging to two sets of antagonistic motorists are supported on both sides on said pusher means so that the movement of the piston of said pusher means causes a simultaneous action on said two straps.
• Said pusher means causes a transverse deformation on one of the two straps which results in an increased tension on said strap and simultaneously said pusher means lessens the transverse deformation of the other strap resulting in a reduced tension on said other strap.
• This embodiment has the advantage of reducing the number of pushing means whose implementation is necessary for the operation of an articulated arm according to the invention comprising two sets of motorization.
• This mode of implementation with pusher means common to two sets of antagonistic motorization may relate to so-called push means of force as it may relate to so-called push means of amplitude.
• FIGS. 21 to 25 show a particular implementation of the articulated arm object of the invention in which the pushing means 710, 721 and 725 are common to two sets of antagonistic motorizations.
• FIGS. 21, 22 and 23 illustrate according to a sectional plane AA, by analogy with the sectional plane AA of Figures 9 and 10, different positions of the pusher means 710 called force.
• the pusher means 710 is attached on both sides to the straps 706 and 806.
• the thrust exerted by the pusher means 710 causes the deformation of the strap 706 by transverse traction and simultaneously causes the relaxation of the other strap 806, or conversely .
• the pusher means 710 is illustrated in the high position, it exerts an upward thrust on the strap 806 which results in a tensioning of said strap and does not exert tension on the strap 706.
• the opposite case is illustrated in FIG. 23, and an intermediate case is illustrated in FIG. FIGS.
• FIGS. 24 and 25 illustrate, according to a sectional plane BB, by analogy with the section plane BB of FIGS. 11 and 12, different positions of the so-called amplitude pushing means 721 and 725.
• the so-called amplitude pushing means 721 and 725 are here traversing cylinders having a central portion capable of expressing a pushing force upwardly or downwardly.
• the so-called pushing means of amplitude 721 and 725 work in concert.
• the traction straps 706 and 806 of two motor devices belonging to two antagonistic motorization assemblies bear on either side of the central portions of the said amplitude pushing means 721 and 725.
• the so-called amplitude pushing means 721 and 725 are interconnected by a rigid horizontal bar which makes them mechanically integral.
• the pusher means 721 and 725 are in the up position and exert an upwardly directed transverse pushing force on the pull strap 706 while releasing the transverse pushing force exerted on the pull strap 806.
• the pusher means 721 and 725 are in the down position and exert a downwardly directed transverse thrust force on the pull strap 806 while releasing the transverse thrust force exerted on the pull strap 706.
• FIG. 15 shows a construction machine 80 carrying an articulated arm which is the subject of the invention.
• the construction machine 80 carries and allows the actuation of heavy tools and difficult to handle for a construction worker or for any other worker likely to handle this kind of tools.
• the tool is fixed on the rod 880 of an articulated arm 870.
• the characteristics of the articulated arm 870 being similar to the characteristics of the articulated arm described in FIGS. 7 to 12, they are not recalled here.
• the construction machine 80 allows the use of a tool such as a concrete circular saw, a chisel-type perforator or a sander and scraper type.
• the construction machine 80 rests on a mobile platform 855 by means of wheels 856, 857 or tracks.
• the operation of the construction machine 80 may be automated or externally controlled, wired or remote.
• the articulated arm 870 is attached to the construction machine 80 at its proximal end by a link 810 of the pivot connection type or ball joint connection.
• the articulated arm 870 rests on two vertical pistons 820 with a lateral connection point of the ball-and-socket type and with independent actions.
• This embodiment allows in addition to the travel of 180 degrees articulated arm 870, a positive and negative travel around the horizontal axis and a clockwise and counterclockwise rotation.
• the tool therefore benefits from a vertical travel of more than one hundred and eighty degrees with right or left inclination in addition to the plane movements of rotation and advance / retreat.
• the construction machine 80 makes it possible to intervene with the tool from an elevation at ground level to an elevation of 3.5 meters in height.
• the construction machine 80 further comprises a suction means (not shown) passing through the articulated arm 870 to the end of the rod 880 allowing aspiration of the debris produced by the action of the worn tools.
• the suction means may consist of a vacuum cleaner and a storage bag that can be an integral part of the machine.
• the construction machine 80 further includes a water supply circuit (not shown) configured to replicate the tool.
• the construction machine 80 further comprises a water supply circuit (not shown) and a water circuit. water recovery configured to spray the work area continuously to clear debris.
• the characteristics of the articulated arm object of the invention allow a geometric deformation unrelated to the resistance encountered, it is therefore possible to accurately program the three-dimensional displacement of the tool carried.
• the construction machine 80 may further comprise an anti-return system comprising two pistons or four pistons positioned at least at the rear corners and / or front of the platform 855 to ensure the stability of the machine 80 when using the device. 'tools.
• the lever arm may consist of two or more sliding sleeves forming a telescopic rod to change the length of the arm according to the desired length.
• Figures 16 to 20 show various views of a construction machine 90 having a multi-articulated arm.
• the multi-articulated arm has two joints.
• the first joint is a pivot link 981 between the first member 903 and the second member 904.
• the second joint is a pivot link 983 between the second member 904 and the third member 913.
• the third member carries a tool 985, also called effector.
• the effector is a tool such as a concrete circular saw, chisel-type perforator or sander and scraper, for example.
• the movement of the second member 904 around the pivot link 981 is powered by two motorization assemblies housed in the first member 903. Said motorization assemblies being similar to those previously described, they are not described again here.
• the movement of the third member 913 around the pivot link 983 is powered by two motorization assemblies housed in the second member 904. Said motorization assemblies being similar to those previously described, they are not described again here.
• the construction machine 90 is based on a mobile platform 955 by means of caterpillars 957, 858.
• the operation of the construction machine 90 can be automated or externally controlled, wired or remote.
• the construction machine 90 is a remote-controlled or autonomous machine.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Civil Engineering (AREA)
• General Engineering & Computer Science (AREA)
• Structural Engineering (AREA)
• Mining & Mineral Resources (AREA)
• Health & Medical Sciences (AREA)
• General Health & Medical Sciences (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Manipulator (AREA)
• Orthopedics, Nursing, And Contraception (AREA)
• Basic Packing Technique (AREA)
• Jib Cranes (AREA)

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• 2016
  • 2016-12-28 FR FR1663448A patent/FR3061057B1/fr not_active Expired - Fee Related
• 2017
  • 2017-12-21 US US16/470,601 patent/US20190321968A1/en not_active Abandoned
  • 2017-12-21 WO PCT/FR2017/053789 patent/WO2018122513A1/fr unknown
  • 2017-12-21 EP EP17832530.4A patent/EP3563002A1/de not_active Withdrawn
  • 2017-12-21 CN CN201780085032.8A patent/CN110234814B/zh not_active Expired - Fee Related

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