FR3112712B1 - Articulation instrumentée pour bras robotisé - Google Patents

Articulation instrumentée pour bras robotisé Download PDF

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Publication number
FR3112712B1
FR3112712B1 FR2007739A FR2007739A FR3112712B1 FR 3112712 B1 FR3112712 B1 FR 3112712B1 FR 2007739 A FR2007739 A FR 2007739A FR 2007739 A FR2007739 A FR 2007739A FR 3112712 B1 FR3112712 B1 FR 3112712B1
Authority
FR
France
Prior art keywords
robotic arm
respect
joint
rotation
coupled
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
FR2007739A
Other languages
English (en)
Other versions
FR3112712A1 (fr
Inventor
Jean-Paul Coron
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to FR2007739A priority Critical patent/FR3112712B1/fr
Priority to PCT/EP2021/069861 priority patent/WO2022017932A1/fr
Publication of FR3112712A1 publication Critical patent/FR3112712A1/fr
Application granted granted Critical
Publication of FR3112712B1 publication Critical patent/FR3112712B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B25J9/12—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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/14—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load
    • F16C19/18—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls
    • F16C19/181—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact
    • F16C19/183—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact with two rows at opposite angles
    • F16C19/184—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for both radial and axial load with two or more rows of balls with angular contact with two rows at opposite angles in O-arrangement
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/10—Casings or enclosures characterised by the shape, form or construction thereof with arrangements for protection from ingress, e.g. water or fingers
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/08—Structural association with bearings
    • H02K7/083—Structural association with bearings radially supporting the rotary shaft at both ends of the rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
    • 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
    • F16C2380/00—Electrical apparatus
    • F16C2380/26—Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L’invention est une articulation pour bras robotisé comprenant : une première partie (1) du bras robotisé et une seconde partie (2) du bras robotisé, la première partie (1) de l'articulation étant prolongée de manière monobloc, en son centre, par une forme cylindrique creuse (5a) traversant, en son centre, la deuxième partie (2), la première partie (1) est guidée en rotation autour d'un axe (5) général de révolution de l’articulation par rapport à la deuxième partie (2) grâce à un premier système de guidage (6) ; un moteur (4) et un réducteur (3) destinés à entrainer en rotation relative la deuxième partie (2) par rapport à la première partie (1) ; le moteur (4) comprenant un stator (8) accouplé à la première partie (1), et un rotor (7) accouplé à un arbre central creux du réducteur (26). Selon l’invention, l’articulation comprend : un deuxième système de guidage (9) hyperstatique et rotulant par rapport au premier système de guidage (6), et guidant au moins la rotation des première et deuxième parties (1, 2) autour de l’axe (5) ; au moins une jauge de déformation (10) montée sur une zone de déformation de la première partie (1) ou de la deuxième partie (2), et reliée à une carte électronique (15). Figure de l’abrégé : Fig. 1
FR2007739A 2020-07-23 2020-07-23 Articulation instrumentée pour bras robotisé Active FR3112712B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2007739A FR3112712B1 (fr) 2020-07-23 2020-07-23 Articulation instrumentée pour bras robotisé
PCT/EP2021/069861 WO2022017932A1 (fr) 2020-07-23 2021-07-15 Articulation instrumentee pour bras robotise

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2007739 2020-07-23
FR2007739A FR3112712B1 (fr) 2020-07-23 2020-07-23 Articulation instrumentée pour bras robotisé

Publications (2)

Publication Number Publication Date
FR3112712A1 FR3112712A1 (fr) 2022-01-28
FR3112712B1 true FR3112712B1 (fr) 2022-08-05

Family

ID=72885771

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2007739A Active FR3112712B1 (fr) 2020-07-23 2020-07-23 Articulation instrumentée pour bras robotisé

Country Status (2)

Country Link
FR (1) FR3112712B1 (fr)
WO (1) WO2022017932A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114918921B (zh) * 2022-06-08 2024-01-26 苏州艾利特机器人有限公司 一种冗余检测的力传感器及机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5327790A (en) * 1992-06-19 1994-07-12 Massachusetts Institute Of Technology Reaction sensing torque actuator
JP2009138803A (ja) * 2007-12-04 2009-06-25 Hiihaisuto Seiko Kk 球面軸受および球状小球保持器
JP2011209099A (ja) * 2010-03-30 2011-10-20 Sony Corp トルクセンサおよびロボット装置
KR101194313B1 (ko) * 2012-03-30 2012-10-26 한국기계연구원 중공구동모듈
CA2940490C (fr) 2014-03-04 2022-07-12 Universal Robots A/S Systeme de securite pour robot industriel
DE102016107542A1 (de) * 2016-04-22 2017-10-26 Revobotik Gmbh Gleitlageranordnung mit Festkörperschmierstoff
FR3065898B1 (fr) 2017-05-05 2020-11-13 Axwellrobotik Articulation pour bras robotise
US20200108514A1 (en) * 2018-10-09 2020-04-09 Flexiv Ltd. Actuator and robot with reliable torque sensor arrangement

Also Published As

Publication number Publication date
FR3112712A1 (fr) 2022-01-28
WO2022017932A1 (fr) 2022-01-27

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