FR2756025A1 - Cardan structure for articulated joining of hexapod - Google Patents

Cardan structure for articulated joining of hexapod Download PDF

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Publication number
FR2756025A1
FR2756025A1 FR9614112A FR9614112A FR2756025A1 FR 2756025 A1 FR2756025 A1 FR 2756025A1 FR 9614112 A FR9614112 A FR 9614112A FR 9614112 A FR9614112 A FR 9614112A FR 2756025 A1 FR2756025 A1 FR 2756025A1
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FR
France
Prior art keywords
plates
plate
cardan
hexapod
legs
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.)
Granted
Application number
FR9614112A
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French (fr)
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FR2756025B1 (en
Inventor
Francois Wildenberg
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Constructions Mecaniques des Vosges
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Constructions Mecaniques des Vosges
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Publication date
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Priority to FR9614112A priority Critical patent/FR2756025B1/en
Publication of FR2756025A1 publication Critical patent/FR2756025A1/en
Application granted granted Critical
Publication of FR2756025B1 publication Critical patent/FR2756025B1/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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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
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • F16D3/40—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another with intermediate member provided with two pairs of outwardly-directed trunnions on intersecting axes
    • 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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A cardan structure for use in the articulated joining by connecting feet of two plates, one serving as a base plate the other as a support plate. Specifically it is employed as a familiar hexapod, the legs containing at each of its ends a cardan joint of which one fork is anchored onto the corresponding plate, the plates having different anchorage radii. Certain cardan joints (5) are anchored on the corresponding plates (2,3) in a single pre-inclined position.

Description

La présente invention a pour objet une nouvelle structure de cardan utilisable en particulier pour la liaison articulée au moyen de jambes des deux plateaux, I'un servant de socle l'autre de plateau support, en particulier d'un hexapode de type en lui-même connu, lesdites jambes comportant à chacune de leurs extrémités un cardan dont l'une des chapes est ancrée sur le plateau correspondant, lesdits plateaux ayant des rayons d'ancrage différents. The present invention relates to a new gimbal structure usable in particular for the articulated connection by means of legs of the two plates, one serving as a base the other as a support plate, in particular of a hexapod of the type in itself- even known, said legs comprising at each of their ends a gimbal of which one of the yokes is anchored on the corresponding plate, said plates having different anchoring radii.

Dans les hexapodes de l'art antérieur. on relie entre eux deux plateaux , I'un inférieur ayant fonction de socle l'autre supérieur ayant fonction de plateau support d'un moyen d'usinage ou d'une pièce à usiner, au moyen de six jambes ancrées respectivement aux deux plateaux. In the hexapods of the prior art. two plates are connected together, one lower having the function of a base, the other upper having the function of a support plate for a machining means or a workpiece, by means of six legs anchored respectively to the two plates.

Le déplacement des jambes respectivement en position d'extension ou de rétraction assure la variation du positionnement relatif du plateau par rapport au plateau sodé.  The displacement of the legs respectively in position of extension or retraction ensures the variation of the relative positioning of the plate relative to the soda plate.

Les extrémités des jambes de l'hexapode sont articulées sur chaque plateau au moyen de cardans dont l'une des chapes est solidaire de la jambe, la seconde chape étant ancrée sur le plateau. The ends of the legs of the hexapod are articulated on each plate by means of gimbals of which one of the yokes is integral with the leg, the second yoke being anchored on the plate.

Dans les hexapodes connus, la chape ancrée sur le plateau est une chape classique nécessitant un usinage des plateaux pour donner au cardan une inclinaison permettant le débattement de la jambe dans un cône angulaire donné, fonction des rayons d'ancrage des jambes sur chaque plateau. In known hexapods, the yoke anchored on the plate is a conventional yoke requiring machining of the plates to give the gimbal an inclination allowing the movement of the leg in a given angular cone, depending on the anchoring radii of the legs on each plate.

L'usinage des plateaux est une opération délicate et coûteuse. The machining of the plates is a delicate and expensive operation.

L'invention a pour objet de remédier à ces inconvénients. The object of the invention is to remedy these drawbacks.

Conformément à l'invention, on propose à cette fin une nouvelle structure de cardan utilisable en particulier pour la liaison articulée au moyen de jambes des deux plateaux, I'un servant de socle l'autre de plateau support, en particulier d'un hexapode de type en lui-même connu, lesdites jambes comportant à chacune de leurs extrémités un cardan dont l'une des chapes est ancrée sur le plateau correspondant, lesdits plateaux ayant des rayons d'ancrage différents, caractérisée en ce que certains cardans sont ancrés sur les plateaux correspondants en une position pré-inclinée. According to the invention, a new gimbal structure can be used for this purpose, usable in particular for the articulated connection by means of legs of the two plates, one serving as a base, the other as a support plate, in particular a hexapod. of a type known per se, said legs comprising at each of their ends a cardan joint, one of the yokes of which is anchored on the corresponding plate, said plates having different anchoring radii, characterized in that certain cardan joints are anchored on the corresponding trays in a pre-inclined position.

De manière avantageuse, tous les cardans de l'hexapode seront ancrés avec pré-inclinaison. Advantageously, all the cardan shafts of the hexapod will be anchored with pre-tilt.

Cette préinclinaison pourra être obtenue de deux manières: - soit par usinage de l'extrémité d'ancrage de la chape correspondante de chaque cardan, - soit en insérant entre l'extrémité d'ancrage de la chape du cardan et le plateau d'ancrage une cale pentée.This pre-tilt can be obtained in two ways: - either by machining the anchoring end of the corresponding yoke of each gimbal, - or by inserting between the anchoring end of the yoke of the gimbal and the anchor plate a sloping wedge.

On comprendra mieux l'invention à l'aide de la description faite ci-après d'un mode non limitatif de mise en oeuvre en référence aux dessins annexés dans lesquels: - la figure 1 est une vue schématique d'un hexapode, - la figure 2 est une vue schématique en élévation latérale d'un cardan habituellement utilisé dans un hexapode conforme à celui représenté à la figure 1; - la figure 3 est une vue schématique en élévation latérale d'un cardan modifié conformément à l'invention. The invention will be better understood using the description given below of a non-limiting mode of implementation with reference to the accompanying drawings in which: - Figure 1 is a schematic view of a hexapod, - the Figure 2 is a schematic side elevational view of a gimbal usually used in a hexapod conforming to that shown in Figure 1; - Figure 3 is a schematic side elevation view of a gimbal modified according to the invention.

L'invention s'applique aux hexapodes tels celui référencé (1) à la figure 1. The invention applies to hexapods such as that referenced (1) in Figure 1.

Celui-ci comporte un plateau socle (2) et un plateau de travail (3). This includes a base plate (2) and a work plate (3).

De manière générale le plateau de travail (3) sera plus petit que le plateau socle(2). Generally the work plate (3) will be smaller than the base plate (2).

Les deux plateaux sont reliés par six jambes (4) pouvant ou non être reliées entre elles par paire comme par exemple décrit dans le brevet européen 4489857.  The two plates are connected by six legs (4) which may or may not be connected together in pairs as for example described in European patent 4489857.

Les jambes (4) sont pilotées individuellement en rétraction et en extension pour faire varier la position relative des plateaux (2) et (3). The legs (4) are controlled individually in retraction and extension to vary the relative position of the plates (2) and (3).

Elles sont ancrées par des cardans (5), voir figure 2, à chacun des plateaux (2,3). They are anchored by universal joints (5), see Figure 2, to each of the plates (2,3).

Les rayons d'ancrage sur chaque plateau sont différents, ce qui impose que les jambes de liaison seront au repos et en fonctionnement inclinées. En outre, les jambes doivent pouvoir se déplacer dans un cône angulaire, déterminé par la construction de l'hexapode. The anchoring radii on each plate are different, which means that the connecting legs will be at rest and in inclined operation. In addition, the legs must be able to move in an angular cone, determined by the construction of the hexapod.

Dans les hexapodes connus, la chape d'ancrage (6) est reliée au plateau correspondant avec usinage dudit plateau. La chape de liaison (7) est reliée directement à l'une des extrémités de la jambe qui y est associée. In known hexapods, the anchor yoke (6) is connected to the corresponding plate with machining of said plate. The connecting yoke (7) is directly connected to one of the ends of the associated leg.

Conformément à l'invention on propose, comme représenté à la figure 3 selon une variante de mise en oeuvre, que la chape d'ancrage (6') des cardans (5') soit usurée en son extrémité (7'). According to the invention it is proposed, as shown in Figure 3 according to an alternative embodiment, that the anchor yoke (6 ') of the universal joints (5') is worn at its end (7 ').

En variante, le cardan (5) pourra être disposé sur le plateau correspondant en insérant entre son extrémité (7) et le plateau d'ancrage une cale d'épaisseur pentée non représentée. As a variant, the universal joint (5) may be placed on the corresponding plate by inserting between its end (7) and the anchoring plate a wedge of sloping thickness, not shown.

On simplifie ainsi les usinages des plateaux.  This simplifies the machining of the plates.

Claims (3)

REVENDICATIONS 1. Structure de cardan utlisable en particulier pour la liaison articulée au moyen de jambes des deux plateaux, I'un servant de socle l'autre de plateau support, en particulier d'un hexapode de type en luimême connu, lesdites jambes comportant à chacune de leurs extrémités un cardan dont l'une des chapes est ancrée sur le plateau correspondant, lesdits plateaux ayant des rayons d'ancrage différents caractérisée en ce que certains cardans (5) sont ancrés sur les plateaux (2,3) correspondants en uneposition pré-inclinée.1. Cardan structure usable in particular for the articulated connection by means of legs of the two plates, one serving as a base the other as a support plate, in particular of a hexapod of the type known per se, said legs comprising each from their ends a cardan joint, one of the yokes of which is anchored on the corresponding plate, said plates having different anchoring radii characterized in that certain cardan joints (5) are anchored on the corresponding plates (2,3) in a preposition - tilted. 2. Structure de cardan selon la revendication 1, caractérisée en ce que la pré-inclinaison est réalisée par usinage de l'extrémité d'ancrage de la chape (6) correspondante du cardan (5').2. Gimbal structure according to claim 1, characterized in that the pre-tilting is carried out by machining the anchoring end of the corresponding yoke (6) of the gimbal (5 '). 3. Structure de cardan selon la revendication 1, caractérisée en ce que la pré-inclinaison est réalisée en insérant une cale pentée entre l'extrémité (7) du cardan (5) et le plateau d'ancrage. 3. Cardan structure according to claim 1, characterized in that the pre-tilting is carried out by inserting a wedge wedge between the end (7) of the cardan joint (5) and the anchoring plate.
FR9614112A 1996-11-15 1996-11-15 CARDAN STRUCTURE FOR THE ARTICULATED CONNECTION OF A HEXAPODE Expired - Fee Related FR2756025B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR9614112A FR2756025B1 (en) 1996-11-15 1996-11-15 CARDAN STRUCTURE FOR THE ARTICULATED CONNECTION OF A HEXAPODE

Applications Claiming Priority (1)

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FR9614112A FR2756025B1 (en) 1996-11-15 1996-11-15 CARDAN STRUCTURE FOR THE ARTICULATED CONNECTION OF A HEXAPODE

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FR2756025A1 true FR2756025A1 (en) 1998-05-22
FR2756025B1 FR2756025B1 (en) 1998-12-24

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Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6030386A (en) * 1998-08-10 2000-02-29 Smith & Nephew, Inc. Six axis external fixator strut
WO2001015611A1 (en) * 1999-08-30 2001-03-08 Smith & Nephew, Inc. Six axis external fixator strut
USRE40914E1 (en) 1997-10-20 2009-09-08 Smith & Nephew, Inc. Orthopaedic fixation plate
US8057474B2 (en) 2008-02-01 2011-11-15 Stryker Trauma Sa Telescopic strut for an external fixator
US8062293B2 (en) 2008-02-01 2011-11-22 Stryker Trauma Sa Strut joint for an external fixator
US8114077B2 (en) 2008-02-01 2012-02-14 Stryker Trauma Sa Clamping pin
US8333766B2 (en) 2009-03-10 2012-12-18 Stryker Trauma Sa External fixation system
US8834467B2 (en) 2010-08-11 2014-09-16 Stryker Trauma Sa External fixator system
US8864763B2 (en) 2013-03-13 2014-10-21 DePuy Synthes Products, LLC External bone fixation device
US8945128B2 (en) 2010-08-11 2015-02-03 Stryker Trauma Sa External fixator system
US9039706B2 (en) 2013-03-13 2015-05-26 DePuy Synthes Products, Inc. External bone fixation device
US9101398B2 (en) 2012-08-23 2015-08-11 Stryker Trauma Sa Bone transport external fixation frame
US9642649B2 (en) 2010-05-19 2017-05-09 DePuy Synthes Products, Inc. Orthopedic fixation with imagery analysis
US9675382B2 (en) 2013-03-13 2017-06-13 DePuy Synthes Products, Inc. External bone fixation device
US10835318B2 (en) 2016-08-25 2020-11-17 DePuy Synthes Products, Inc. Orthopedic fixation control and manipulation
US11141196B2 (en) 2010-08-11 2021-10-12 Stryker European Operations Holdings Llc External fixator system
US11304757B2 (en) 2019-03-28 2022-04-19 Synthes Gmbh Orthopedic fixation control and visualization
US11334997B2 (en) 2020-04-03 2022-05-17 Synthes Gmbh Hinge detection for orthopedic fixation
US11439436B2 (en) 2019-03-18 2022-09-13 Synthes Gmbh Orthopedic fixation strut swapping

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2384154A1 (en) * 1977-03-17 1978-10-13 Elliss Barry Universal joint coupling member, esp. for washing machine drive - has two pairs of orthogonally arranged faces with same radius of curvature with at least two faces engaged by drive members
EP0099934A2 (en) * 1981-07-23 1984-02-08 MANNESMANN Aktiengesellschaft Hydraulically controlled device for the temporary establishment of a pluggable connection of a measuring element to a measuring circuit
DE3422855C1 (en) * 1984-06-20 1985-11-14 Gerhard 8221 Bergen Hoffmann Housing for a bendable articulated connection between two shaft ends
DE3536747A1 (en) * 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Joint mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2384154A1 (en) * 1977-03-17 1978-10-13 Elliss Barry Universal joint coupling member, esp. for washing machine drive - has two pairs of orthogonally arranged faces with same radius of curvature with at least two faces engaged by drive members
EP0099934A2 (en) * 1981-07-23 1984-02-08 MANNESMANN Aktiengesellschaft Hydraulically controlled device for the temporary establishment of a pluggable connection of a measuring element to a measuring circuit
DE3422855C1 (en) * 1984-06-20 1985-11-14 Gerhard 8221 Bergen Hoffmann Housing for a bendable articulated connection between two shaft ends
DE3536747A1 (en) * 1984-10-15 1986-04-24 Tokico Ltd., Kawasaki, Kanagawa Joint mechanism

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE40914E1 (en) 1997-10-20 2009-09-08 Smith & Nephew, Inc. Orthopaedic fixation plate
US6030386A (en) * 1998-08-10 2000-02-29 Smith & Nephew, Inc. Six axis external fixator strut
WO2001015611A1 (en) * 1999-08-30 2001-03-08 Smith & Nephew, Inc. Six axis external fixator strut
US8057474B2 (en) 2008-02-01 2011-11-15 Stryker Trauma Sa Telescopic strut for an external fixator
US8062293B2 (en) 2008-02-01 2011-11-22 Stryker Trauma Sa Strut joint for an external fixator
US8114077B2 (en) 2008-02-01 2012-02-14 Stryker Trauma Sa Clamping pin
US8641714B2 (en) 2008-02-01 2014-02-04 Stryker Trauma Sa Clamping pin
US9044271B2 (en) 2009-03-10 2015-06-02 Stryker Trauma Sa External fixation system
US8333766B2 (en) 2009-03-10 2012-12-18 Stryker Trauma Sa External fixation system
US11896313B2 (en) 2010-05-19 2024-02-13 DePuy Synthes Products, Inc. Orthopedic fixation with imagery analysis
US10932857B2 (en) 2010-05-19 2021-03-02 DePuy Synthes Products, Inc. Orthopedic fixation with imagery analysis
US9642649B2 (en) 2010-05-19 2017-05-09 DePuy Synthes Products, Inc. Orthopedic fixation with imagery analysis
US11141196B2 (en) 2010-08-11 2021-10-12 Stryker European Operations Holdings Llc External fixator system
US10080585B2 (en) 2010-08-11 2018-09-25 Stryker European Holdings I, Llc External fixator system
US9220533B2 (en) 2010-08-11 2015-12-29 Stryker Trauma Sa External fixator system
US12035944B2 (en) 2010-08-11 2024-07-16 Stryker European Operations Holdings Llc External fixator system
US8834467B2 (en) 2010-08-11 2014-09-16 Stryker Trauma Sa External fixator system
US9717527B2 (en) 2010-08-11 2017-08-01 Stryker European Holdings I, Llc External fixator system
US9730730B2 (en) 2010-08-11 2017-08-15 Stryker European Holdings I, Llc External fixator system
US10376285B2 (en) 2010-08-11 2019-08-13 Stryker European Holdings I, Llc External fixator system
US10285734B2 (en) 2010-08-11 2019-05-14 Stryker European Holdings I, Llc External fixator system
US9839445B2 (en) 2010-08-11 2017-12-12 Stryker European Holdings I, Llc External fixator system
US8945128B2 (en) 2010-08-11 2015-02-03 Stryker Trauma Sa External fixator system
US9820775B2 (en) 2012-08-23 2017-11-21 Styker European Holdings I, LLC Bone transport external fixation frame
US9101398B2 (en) 2012-08-23 2015-08-11 Stryker Trauma Sa Bone transport external fixation frame
US10405888B2 (en) 2012-08-23 2019-09-10 Stryker European Holdings I, Llc Bone transport external fixation frame
US11744616B2 (en) 2012-08-23 2023-09-05 Stryker European Operations Holdings Llc Bone transport external fixation frame
US11090086B2 (en) 2012-08-23 2021-08-17 Stryker European Operations Holdings Llc Bone transport external fixation frame
US9788861B2 (en) 2013-03-13 2017-10-17 DePuy Synthes Products, Inc. External bone fixation device
US8864763B2 (en) 2013-03-13 2014-10-21 DePuy Synthes Products, LLC External bone fixation device
US10470800B2 (en) 2013-03-13 2019-11-12 DePuy Synthes Products, Inc. External bone fixation device
US9675382B2 (en) 2013-03-13 2017-06-13 DePuy Synthes Products, Inc. External bone fixation device
US9039706B2 (en) 2013-03-13 2015-05-26 DePuy Synthes Products, Inc. External bone fixation device
US10835318B2 (en) 2016-08-25 2020-11-17 DePuy Synthes Products, Inc. Orthopedic fixation control and manipulation
US11918292B2 (en) 2016-08-25 2024-03-05 DePuy Synthes Products, Inc. Orthopedic fixation control and manipulation
US11439436B2 (en) 2019-03-18 2022-09-13 Synthes Gmbh Orthopedic fixation strut swapping
US11648035B2 (en) 2019-03-18 2023-05-16 Synthes Gmbh Orthopedic fixation strut swapping
US11304757B2 (en) 2019-03-28 2022-04-19 Synthes Gmbh Orthopedic fixation control and visualization
US11334997B2 (en) 2020-04-03 2022-05-17 Synthes Gmbh Hinge detection for orthopedic fixation
US11893737B2 (en) 2020-04-03 2024-02-06 Synthes Gmbh Hinge detection for orthopedic fixation

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