FR3098432B1 - ROBOTIC TRACTION MODULE - Google Patents
ROBOTIC TRACTION MODULE Download PDFInfo
- Publication number
- FR3098432B1 FR3098432B1 FR1907643A FR1907643A FR3098432B1 FR 3098432 B1 FR3098432 B1 FR 3098432B1 FR 1907643 A FR1907643 A FR 1907643A FR 1907643 A FR1907643 A FR 1907643A FR 3098432 B1 FR3098432 B1 FR 3098432B1
- Authority
- FR
- France
- Prior art keywords
- cable
- module
- outside
- torus
- tensile force
- 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.)
- Expired - Fee Related
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Electric Cable Arrangement Between Relatively Moving Parts (AREA)
- Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
Abstract
La présente invention concerne un module robotique de traction (1), caractérisé en ce qu’il comprend : a) un moteur rotatif (5) d’axe longitudinal entraînant en rotation un tambour d’enroulement (6) coaxial au moteur (5) et sur lequel est enroulé un câble de traction (3), b) un système de guidage radial du câble vers l’extérieur du module (1), le système de guidage étant d’orientation radiale et comprenant successivement, en direction de l’extérieur du module, un manchon de guidage et un tore muni d’une surface interne courbe, de manière à ce que le câble (3) issu du manchon de guidage puisse s’appuyer sur le tore, le manchon de guidage et le tore étant coaxiaux et montés radialement à rotation sur un roulement, c) une source d’énergie électrique, d) des capteurs, dont un capteur de la longueur de câble déroulé et un capteur de commande de l’effort de traction du câble (3), e) un système de commande de l’effort de traction à appliquer au câble (3), et f) un système de communication apte à échanger avec l’extérieur du module (1) des données issus des capteurs et à recevoir de l’extérieur du module une commande de l’effort de traction à appliquer au câble (3) par le système de commande. Figure pour l’abrégé : Fig. 1The present invention relates to a robotic traction module (1), characterized in that it comprises: a) a rotary motor (5) with a longitudinal axis rotating a winding drum (6) coaxial with the motor (5) and on which is wound a traction cable (3), b) a radial guide system for the cable towards the outside of the module (1), the guide system being radially oriented and comprising successively, in the direction of the outside the module, a guide sleeve and a torus provided with a curved internal surface, so that the cable (3) coming from the guide sleeve can rest on the torus, the guide sleeve and the torus being coaxial and mounted to rotate radially on a bearing, c) a source of electrical energy, d) sensors, including a sensor for the length of the unwound cable and a sensor for controlling the tensile force of the cable (3), e) a system for controlling the tensile force to be applied to the cable (3), and f) an apt communication system e to exchange data from the sensors with the outside of the module (1) and to receive from the outside of the module a command of the tensile force to be applied to the cable (3) by the control system. Figure for the abstract: Fig. 1
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1907643A FR3098432B1 (en) | 2019-07-08 | 2019-07-08 | ROBOTIC TRACTION MODULE |
PCT/FR2020/051141 WO2021005284A1 (en) | 2019-07-08 | 2020-06-30 | Robotic traction module |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1907643 | 2019-07-08 | ||
FR1907643A FR3098432B1 (en) | 2019-07-08 | 2019-07-08 | ROBOTIC TRACTION MODULE |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3098432A1 FR3098432A1 (en) | 2021-01-15 |
FR3098432B1 true FR3098432B1 (en) | 2021-06-11 |
Family
ID=68654639
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1907643A Expired - Fee Related FR3098432B1 (en) | 2019-07-08 | 2019-07-08 | ROBOTIC TRACTION MODULE |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR3098432B1 (en) |
WO (1) | WO2021005284A1 (en) |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4666362A (en) * | 1985-05-07 | 1987-05-19 | Massachusetts Institute Of Technology | Parallel link manipulators |
US5585707A (en) * | 1994-02-28 | 1996-12-17 | Mcdonnell Douglas Corporation | Tendon suspended platform robot |
JP3404651B2 (en) * | 2000-03-30 | 2003-05-12 | 財団法人理工学振興会 | 3D input device |
FR2910833B1 (en) * | 2006-12-27 | 2009-07-31 | Commissariat Energie Atomique | STRUCTURE WITH TENSILE CABLES FOR HAPTIC INTERFACE OR ROBOT WITH A WIDE ANGLE OF MANEUVER |
FR2913625B1 (en) * | 2007-03-12 | 2009-08-21 | Haption Sa Sa | HINGE INTERFACE WITH TENSILE CABLES IN WHICH THE MOBILE ELEMENT COMPRISES A CENTRAL MEMBER ON WHICH A GRIPPING MEMBER IS REVERSIBLELY COUPLED. |
WO2011148004A1 (en) * | 2010-05-27 | 2011-12-01 | Fundacion Fatronik | Positioning device controlled by cables |
CN102114632B (en) * | 2011-01-25 | 2012-05-09 | 北京航空航天大学 | Rope-driven parallel robot capable of realizing rapid reconfiguration |
DE102016107514A1 (en) * | 2016-04-22 | 2017-10-26 | Airbus Operations Gmbh | Processing apparatus and method for operating a processing apparatus |
GB2566032B (en) * | 2017-08-30 | 2022-03-09 | Mamou Mani Ltd | Cable robot and method of large scale production of articles |
-
2019
- 2019-07-08 FR FR1907643A patent/FR3098432B1/en not_active Expired - Fee Related
-
2020
- 2020-06-30 WO PCT/FR2020/051141 patent/WO2021005284A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2021005284A1 (en) | 2021-01-14 |
FR3098432A1 (en) | 2021-01-15 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PLFP | Fee payment |
Year of fee payment: 2 |
|
PLSC | Publication of the preliminary search report |
Effective date: 20210115 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
|
ST | Notification of lapse |
Effective date: 20230305 |