FR3110947B1 - Force sensor for cable actuator - Google Patents

Force sensor for cable actuator Download PDF

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Publication number
FR3110947B1
FR3110947B1 FR2005780A FR2005780A FR3110947B1 FR 3110947 B1 FR3110947 B1 FR 3110947B1 FR 2005780 A FR2005780 A FR 2005780A FR 2005780 A FR2005780 A FR 2005780A FR 3110947 B1 FR3110947 B1 FR 3110947B1
Authority
FR
France
Prior art keywords
cable actuator
force sensor
nut
screw
frame
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.)
Active
Application number
FR2005780A
Other languages
French (fr)
Other versions
FR3110947A1 (en
Inventor
Philippe Garrec
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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 Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Priority to FR2005780A priority Critical patent/FR3110947B1/en
Priority to PCT/EP2021/063067 priority patent/WO2021244843A1/en
Publication of FR3110947A1 publication Critical patent/FR3110947A1/en
Application granted granted Critical
Publication of FR3110947B1 publication Critical patent/FR3110947B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0622—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
    • 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
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Flexible Shafts (AREA)

Abstract

Actionneur à câble (100) comprenant : - un châssis (10) ; - une vis (2) montée à rotation sur le châssis (10) et s’étendant selon un premier axe (Ox) ; - un écrou (4) coopérant avec la vis (2) ; - des moyens de déterminer (93) un effort appliqué sur la sortie (22.4) de l’actionneur à câble (100) en fonction d’un déplacement angulaire (α) de l’écrou (4). FIGURE DE L’ABREGE : Fig. 1Cable actuator (100) comprising: - a frame (10); - a screw (2) rotatably mounted on the frame (10) and extending along a first axis (Ox); - a nut (4) cooperating with the screw (2); - means of determining (93) a force applied to the output (22.4) of the cable actuator (100) as a function of an angular displacement (α) of the nut (4). FIGURE OF THE ABRIDGE: Fig. 1

FR2005780A 2020-06-02 2020-06-02 Force sensor for cable actuator Active FR3110947B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2005780A FR3110947B1 (en) 2020-06-02 2020-06-02 Force sensor for cable actuator
PCT/EP2021/063067 WO2021244843A1 (en) 2020-06-02 2021-05-18 Force sensor for cable actuator

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2005780 2020-06-02
FR2005780A FR3110947B1 (en) 2020-06-02 2020-06-02 Force sensor for cable actuator

Publications (2)

Publication Number Publication Date
FR3110947A1 FR3110947A1 (en) 2021-12-03
FR3110947B1 true FR3110947B1 (en) 2022-09-09

Family

ID=72356143

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2005780A Active FR3110947B1 (en) 2020-06-02 2020-06-02 Force sensor for cable actuator

Country Status (2)

Country Link
FR (1) FR3110947B1 (en)
WO (1) WO2021244843A1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5950716B2 (en) * 2012-06-25 2016-07-13 キヤノン株式会社 Robot and robot control method
US10702441B2 (en) * 2016-05-04 2020-07-07 Ekso Bionics, Inc. Ball screw and tensile member exoskeleton joint actuation device
FR3070062B1 (en) * 2017-08-09 2019-08-23 Commissariat A L`Energie Atomique Et Aux Energies Alternatives ANTI-ROTATION WITH CABLES

Also Published As

Publication number Publication date
WO2021244843A1 (en) 2021-12-09
FR3110947A1 (en) 2021-12-03

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