JPS6165955A - Extensible majority joint device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a telescoping multi-joint device.

This connector forms a connecting structure between the two final end members, and the more specific fields of application to which this connecting structure is applied are as shown in the following sections, but are not limited thereto. do not have.

a. The field of various manipulators such as robot arms and wrists; b. The field of lifting platforms whose direction and position can be set such as welding position setting devices; the field of C1 weapons, reflectors, and swivel towers for supporting antennas; d. Field of telescopic connection joints; Field of C0 various access anchorage devices; f. Field of rigid or deformable tilting structures such as masts and floating barriers; g. Field of cleaning equipment; h. , the field of multi-purpose vehicles capable of long dynamic walking movements or turning movements.

PRIOR ART In all of the above fields, it is clear that a large number of multi-jointed devices already exist that form more or less complex connecting structures between two terminal ends. .

Although most of these mechanisms use a combination of elementary connections, primarily in the form of polyhedrons or rotors, each component generally requires only one and only one assembly of the preceding part to the succeeding part. It will be done.

Its components, coupling members, actuators and their control devices are always of very different types.

Each mechanism currently in industrial use has a number of mobilities that are generally limited by strict motion conditions that must be met. In practice, the mechanics of structures with high degrees of mobility pose a variety of theoretical, practical, and economic challenges.

(Object of the Invention) The object of the present invention is to provide a telescopic multi-joint device in which the movable part is formed by at least one basic mechanism provided between two final end members connected at three points. Its mobility then consists of a translational movement and two rotational movements about an axis orthogonal to the axis of this translational movement.

Another result, when the objects of the invention are achieved, is to align each final end member relative to the two tangents to the main axis of the structure without causing relative rotation of the respective parts. There is such a mechanism to make it happen.

To this end, the invention proposes a mechanism of the type described above which is connected to each other by at least three legs lying in separate planes and from two final end members, one of which provides a reference member. each leg is formed from two parts each assembled on the one hand by a spherical connection to another part forming the same leg; On the other hand, the other parts are assembled to a final end member different from the final end member to which they are combined by the rotating body connecting portion.

BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood from the following description, which will now be explained by way of non-limiting example only, in conjunction with the accompanying drawings.

First, centering on FIG. 1 (and referring to each drawing), the wire drawing multiple IA knot device 1 shown in FIG. 2 forms a connection structure between the two final end members 2 and 3. but one of the parts 2 is taken as a reference (this assembly consists of a single basic mechanism 4 or directly facing each other or with at least one insert element (Fig. (not shown)
Each final screw member facing each other via 5. It is constituted by several basic a-4s which are conveniently juxtaposed by B.

The basic mechanism 4 (FIGS. 1, 2 and 3) therefore consists of two final end members 5, 6 with reference to one of them 5.
and at least three legs 7, 8 . which interconnect each member.
? however, each leg 7, 8.9 not only lies in a separate plane and is each formed from two parts 10 and 11, or 12 and 13, or 14 and 15, but also On the other hand, the spherical connection 16.17. and 18 are combined to other parts forming the same leg by means of connections at least similar to those of 18, but on the other hand, these other parts are connected by rotor connections, namely 19 or 20, 21 . or 22. One final end member (5 or 6) is combined by a connection at least similar to 23 or 24 to another final end member (6 or 5).

Each elementary mechanism 4 is virtually divided into two alternating half-elements 4a, 4 by means of its spherical connections 16, 17 and 18.
b (Figure 3).

Each rotating body connecting portion 20, 22, 24. Alternatively, the alignment of the axes 19, 21, 23 for each final end member 5 and 6 can be freely chosen.

However, if each final end member 5 or at least each similar rotating body connection 20 , 22 , 24 or 19° 21
, 23 lie on the same plane, all five @ lines cannot be parallel to each other.

According to a characteristic embodiment of the invention, each of these axes is arranged in a rotating body symmetrical with respect to the axis belonging to each final end member 5 or B. .

Theoretically speaking, each basic mechanism 4 (FIG. 2) includes each part 1 forming each final end member 5.6 as well as each leg 7-9.
0 to 15 can also all be formed by a telescoping structure (FIG. 4) having the form of a triangular structure.

Three bars 25, 26 of each triangular structure forming each final end member 5.6. and 27. or 28.29. and 50 are each three bars 25.31 and 52. of each triangular structure forming each part 10-15 forming each leg 7-9, respectively. or 26,55. and 34° or 27,35
．． and 36. or 2B, 37. and 38. Or 29,59. and 40. or finally 1.41° and 4
Combine with one of each of 2.

Each of the basic mechanisms so formed in theory advantageously has symmetrical properties and can be concretely formed by a very wide variety of structural arrangements.

Each basic mechanism has each member 5.6 and each part 10 considered to be rigid against various forces applied during its operation.
By using .about.15, it is possible to concretely have a shape close to the theoretical prototype i defined in FIG.

In particular, if the various forces exerted on each part 10-15 forming each leg 7-9 are based solely on interlocking effects of an internal kind (ignoring appropriate weights), these Each part of is only rigid in each of its planes.

The basic mechanism can be modified by using components (not shown) that are comparable in operation to each rod 25-40, even though the length of each component is constant, or Although it can be modified by adjustment or controlled deformation, it can specifically have a shape close to the theoretical prototype defined in FIG.

The basic mechanism consists of the two theoretical prototypes mentioned above, for example each part 10-15 is formed wholly or partially by each rod 31-36 and 37-42 (FIG. 5). It can concretely have a compound form.

Depending on the required range of mobility and precision, each connection, such as each rotating body connection 19 to 24 or each spherical connection 16, 17 and 18, may be replaced by a conventional connection element (bushing, bearing 1).
It may be in the form of an articulated mechanism using smooth ball and socket type joints, etc.) or a variety of flexible connections with responsive flexibility may be used.

There is a considerable angular movement between each final end member 5 and 6.
Each part 10 and 11, 12 and 13 forming a respective leg to each spherical connection 16, 17 and 18, as required by the perpendicular horizontal axis X@Il and the Y axis; and 14
The shape of each dynamic coupling joint can be given only by means of members 43 (FIG. 6) and 44 (FIG. 7) inserted between and 15, respectively, which are made equivalent to respective spherical couplings.

For example, in the case of the connecting part 45 (FIG. 6), this member is connected to one of the above-mentioned parts by a rotating body connecting part, and is a smooth spherical body whose center is on the axis of this rotating body connecting part. and to the other part by a socket-type joint, providing a wide range of angular movement of the ball-and-socket joint milled into the axis of the revolute joint. The additional movement compensated for in the axis of the rotor joint, which constitutes an independent rotation of the inserted coupling lug 43, has no effect on the overall dynamic behavior of the mechanism.

Connecting parts 44 and 45 in another embodiment shown in FIG.
In the case of , each member is inserted between each part in each leg, so that the three consecutive connections (between the first leg part and the first part on each of these connections) are inserted between each part in each leg. the first joint of all the joints and then the two joint members 44
and 45 and finally the connection between the second connecting member and the second part 11 of the leg) are of the rotary type (universal joint fitting) and these three It is desirable that the respective axes of the connecting portions intersect at the same point as much as possible, even if this is not always necessary.

The basic mechanism also includes each part 10-15 of each leg 7-9.
First, by using a bendable member with accommodative flexibility, the bending of which depends, in whole or in part, on only a single variable, such as an inflatable or resilient vane structure. It is also possible to specifically give a shape (FIG. 8) derived from the defined prototype.

Each part 10, 12 . forming each leg 7 - 9 . and 14,
Or 11.1! , and 15 are all in the form of compliantly flexible members, the articulation of each corresponding final end member 5 or 6 changes its position relative to this same final end member number. Each virtual axis 19° (21, 23) or 20°, depending on the deformation of the associated parts. (22,2
4) (Figures 8 and 9) (21, 25 and 22.2
4 can be considered to occur around the same effect).

As mentioned above, a multi-articulated device is formed by juxtaposing, via its respective final end member 5, 6, an arbitrary number of elementary mechanisms, preferably geometrically identical and even of the same dimensions. Ru.

In the case of each mechanism 4 having three movable parts, the connection structure (Fig. 2) formed from rNJ basic mechanisms 4 in order to connect each final end member 2, 3 is "N". 5
It is clear that it has a mobility equal to twice that of the previous one.

If a multi-jointed device results from the face-to-face juxtaposition of several elementary mechanisms 4 by their respective final end members 5, 6, the mechanisms have variable radii with common respective tangents at each connection point. can be formed by the succession of each arc of a circle at the level of its mean axis (see FIG. 10 for assembly of the two parts).

Since the dynamic action of each elementary mechanism may be independent or dependent on that of the adjacent mechanism, the plane of one end member 5 or 6 and each component articulated to this end member The angle rAJ between the plane of the other end member 6 or 5 juxtaposed with the plane of each associated part 10 to 15 articulated to this other end member 6 or 5 is depends on the angle rBJ between
Figures 11 and 12).

To facilitate this dynamic coupling, each end member 5.6 juxtaposing the two elementary mechanisms 4 is advantageously mutually aligned with respect to the other, so that each rotating body Two axes of each of the joints 9 to 24 are parallel to each other. In this case, the dynamic coupling of two mutually juxtaposed basic mechanisms can be provided by a conventional flat mechanism.

Each part of at least two basic mechanisms adjacent to each other 10~
It is clear that at least some such dynamic couplings of 15 reduce the degree of mobility of the entire mechanism.

Further dynamic coupling parts added to the dynamic coupling of each side-by-side mechanism are combined into the same basic mechanism structure, for example by means of a plurality of bevel gears (FIG. 13).

The determination of each variable defining the geometric state of the overall mechanism can be based on mechanical effects acting from inside and/or outside the mechanism.

The mechanical forces that define the overall geometrical state of the structure act from inside the long-wearing mechanism, and the mechanical effects are determined by Actuated by mechanical actuators (not shown) acting directly on each component of the Tokujuku or indirectly through transmission devices (different machine channels, linkages, tensioned flexible non-extensible links, etc.) be done.

These actuators can use any energy source and can be of any known type (linear, rotary, or expandable structure actuators) operated by any laws of motion. .

A special case is provided by an actuator such that the law of motion of the actuator during a predetermined period lies in its rest state.

At level i of a mechanism, such as basic mechanism 4, the three moving parts are conveniently fixed by three identical actuators whose function is, for example, to directly or indirectly control: be able to. That is, a, the distance between any two points belonging to each final end member 5, 6, or the same leg 7.8. and C1 the distance between any two points belonging to the two parts of each different leg; 61 the respective corresponding final ends of the parts 10 to 15 of the leg; Rotation relative to member 5 or 6.

In the above-described case where the leg part 11 is formed in the form of an accommodatively flexible structure, such as an inflatable or resilient vane structure, such final end member is capable of controlling its controlled deformation. The pedestal of the physicochemical phenomena that cause this may be destroyed.

In this case, such a component 11 may itself be considered an actuator.

Each actuator in the bottle at a given time can be controlled one at a time or a limited number of times.

Each actuator can conveniently be driven by servo control means l.

In place of or in combination with these actuators, the assembly may conveniently be provided with respective interlocking sensors (not shown), such as potentiometers or optical encoders; The control of each sensor by articulation on the associated end member 5 or 6 of the parts 10 to 15 is compared and/or simply recorded with a previous signal or with a reference value for driving the respective driver. This is to improve signal characteristics.

If a mechanical action that defines the geometrical state of the overall mechanism acts from outside the mechanism, then, as mentioned above, that mechanical action causes a controlled deformation of some of the components of the mechanism. . The same situation occurs for each mechanical actuator or its respective transmission.

Thanks to such deformability in at least one of these parts and each actuator (and thus each element formed), the deformation of the assembly to be formed can be controlled.

(Effects of the Invention) The resulting assembly has a number of advantages, such as the following. That is, a, it is stretchable.

b. It can be curved in all planes containing tangents to the mean axis without a dead center at any point or even anywhere on the mean axis.

The degree of curvature of C1 can be increased arbitrarily by juxtaposing each basic mechanism.

d, each of its basic mechanisms can be connected by a conventional flat mechanism.

e, each symmetry is the number of types of each part, the number of each assembly,
The number of actuators and the number of sensors are both reduced.

f. The internal symmetry of each elementary mechanism and the juxtaposition of such mechanisms makes the control of highly mobile structures relatively simple through the use of transmissive motion.

g, it can form a structure comparable to a reticulated structure, which is superior in terms of stiffness and strength against reduced mass and inertia, and furthermore, it can virtually double the number of actuators of each actuator that can be combined with this structure. A preferred reduction factor from the three dimensions of the structure J is provided.

h, even if we consider the geometrically pressed mean axis with the possibility of somehow providing a seal without rotational sealing and the possibility of transmitting torque between each final end member.
Not only does it not tolerate any relative rotation of the parts tangential to its mean axis, but it also does not tolerate any relative rotation of the parts tangential to its mean axis; In this case, the motion mechanism is the same.

! , whose seal provides a central hollow web through which cables or pipes can be passed, but for large dimensions the central space can even form an intervening compartment.

Because of the numerous advantages mentioned above, this assembly can be used in a wide variety of applications, such as those listed below. (1) Since the mechanism is telescoping and has a wide range of conformability and volume of the intervening compartment between each of its final end members, - a curved surface containing a small-sized window in the intervening compartment described from the axis; or as a robot torso or torso and arms used in surface-formed robotic operations; (2) as an adaptable coupling without rotational joints; (3) as a telescoping co-movement coupling with an advantageous reduction factor. (4) as a controlled deformable passive or active access or closure device; (5) the proposed mechanism
Not only from a control point of view (symmetry of motion, similarity of each component, configurable morphology, reduction of energy consumption) but also from a control point of view (reduction of the variables that are manipulated at any time, each element inside each basic mechanism). As a multi-purpose vehicle with a proposed mechanism for tumultuous strides or flip-flop movements, which forms an ideal solution from the viewpoint of the permutability of the order of commands given to the actuator and the communicative movement. , (6) the geometry of a mechanism having one final end member serving as a reference member and the other final end member capable of gripping an object by a suitable instrument, and connecting the object to the reference member; as an underwater or spatial manipulator where the motion is easily determined and the motion is easily transmitted to the object while taking into account certain motion constraints. More particularly, the space occupied by this structure can be extracted by cleaning the tunnel. Transmissive performance handling can be provided from its central web (turbulence) or from outside the structure.

(7) As a river crossing device or life saving device. A non-sinking inflatable structure is necessarily capable of accommodating a person within its central web.

(8) The proposed mechanism allows each component to expand all at the same time or sequentially starting from the lower element with the heaviest load without relative rotation between surfaces. (9) as an erectable mast that can be extended in any direction; (9) as an object supporter, in particular in the field of locator handling equipment for assembly, explosive welding and finishing operations, etc., or where precise close-in operations are carried out; As an alignable lifting platform, such as a support for a conversion movement device (welded column support) for use in a vertical line 1, a turning tower (which does not require a fixed angular alignment of the final end face) (as cannons, missiles, cameras, projectors, reflectors, antennas, radiation detectors, laser devices, fluid injection or suction cylinder support swivels, etc.).

For such applications, the ability to continuously roll without requiring rotational sealing at the base level simplifies electrical, electromagnetic, optical, and fluidic connections and seals in hazardous environments. can do. The absence of dead centers (possibility of continuous sweeping in two mutually orthogonal vertical planes) and the reduced inertia (favorable reduction factor) are also great advantages.

This translation movement can be used to withdraw the device or perhaps neutralized, for example by an additional rod interconnecting the centers of each final end member.

[Brief explanation of drawings]

FIG. 1 is a prototype of the basic mechanism formed by parts of a single piece. FIG. 2 is a multi-joint device formed from several juxtaposed basic mechanisms. FIG. 5 is a layout diagram of the basic mechanism. FIG. 4 is a prototype of the basic mechanism formed by the network structure. FIG. 5 is a prototype of the basic mechanism in the combination format. Figures 6 and 7 show different modifications of a composite joint which is generally equivalent to a spherical joint. FIG. 8 shows a modified structure with legs using progressively flexible parts. FIG. 9 is a drawing showing the substantial articulation provided by the leg l shown in FIG. 8; FIG. 10 is a prototype of the multi-jointed mechanism at the level of its mean axis. 11 to 15 are views showing different dynamic coupling devices. 1... Telescopic multi-joint device 2.3... Also, each final end member of fL1 4... Basic mechanism 5.6..."A AN 4 each final end member 7.8.9
... Each leg part 10-15 of the mechanism 4... Parts 16-18 of each leg part... Spherical connection part 19-24... Rotating body connection part (joint part) 25-42.
...Connecting rods 43 to 45...insertion section side

Claims (13)

[Claims] (1) Two final end members, one of which is used as a reference member (
2, 3), wherein the device has at least three legs (7, 8, 9) lying in separate planes on either side; consisting of at least one elementary mechanism (4) formed from each of the latter end members (5, 6) for connection to the two end members (5, 6), which serve as reference members; Furthermore, each of the above-mentioned legs consists of two parts (10 and 11, or 12 and 13, or 14 and 15), and each of the above-mentioned parts further includes a spherical connecting part (16, 17, and 18) on one side. is assembled to another part formed on the same leg by means of a similar connection, and on the other hand, the other part is connected to a rotor connection (19 or 20, or 21 or 22, or finally 23 or 24). A telescoping multi-joint device characterized in that it is combined with the other final end member different from one of the final end members (5, 6) which are combined by a connecting portion similar to any one of the final end members (5, 6). (2) In the telescopic multi-joint device according to claim 1, each of the parts (10 to 15) forming each of the final end members (5, 6) and each of the legs (7 to 9) ), each element formed by A telescoping multi-joint device characterized by having. (3) In the telescopic multi-joint device according to claim 1 or 2, each of the final end members (5, 6) forming each of the legs (7 to 9) and each of the parts At least one of said elements formed by (10 to 15) is characterized in that each component thereof has a triangular telescoping form consisting of means (25 to 42) which become rod-like in operation. A telescopic multi-joint device. (4) In the telescopic multi-joint device according to any one of claims 1 to 3, each of the legs (7 to 9
), at least one of the elements formed by the final end members (5, 6) and the parts (10 to 15) is a bendable structure having unidirectional flexibility. A telescoping multi-joint device characterized in that the degree of curvature depends on only one variable. (5) A telescoping multi-joint device according to any one of claims 1 to 4, in which the device comprises several bases juxtaposed by said respective final end members (5, 6) thereof. A telescoping multi-joint device characterized by comprising a mechanical mechanism (4). (6) The telescopic multi-joint device according to claim 5, characterized in that at least one insertion element of a different structure is inserted between at least a plurality of the basic mechanisms. Expandable multi-joint device. (7) The telescopic multi-joint device according to claim 5, wherein the respective final end members (5, 6) face each other. (8) A telescoping multi-joint device according to claim 5 or 7, wherein the device has at least one dynamic connection between at least a plurality of each of said basic mechanisms (4). A telescoping multi-joint device, characterized in that it has a means. (9) In the telescopic multi-joint device according to claim 7 or 8, the two basic mechanisms (4
) for juxtaposing said respective final end members (5, 6) are aligned with respect to each other such that their respective relative rotary joints (19-24) are parallel for each pair. A telescopic multi-joint device characterized by: (10) In the telescopic multi-joint device according to any one of claims 1 to 9, at least one of the basic mechanisms (4) includes the A telescoping multi-joint device, characterized in that it has at least one dynamic coupling means between each element. (11) In the telescopic multi-joint device according to any one of claims 1 to 10, the device comprises the respective final end members (5, 6) and the basic mechanisms ( 4
) of each of the above-mentioned parts (10-15) of each of the above-mentioned legs (7-9)
A telescoping multi-joint device characterized by having a plurality of actuators that determine the relative positions of the respective elements formed by the above-mentioned elements. (12) In the telescopic multi-joint device according to any one of claims 1 to 11, the device comprises the respective final end members (5, 6) and the basic mechanisms ( 4
) of each of the above-mentioned parts (10-15) of each of the above-mentioned legs (7-9)
A telescoping multi-joint device characterized by having a plurality of sensors for sensing the relative positions of the respective elements formed by the above elements. (13) In the telescopic multi-joint device according to claim 11 or 12, at least a plurality of the components formed by the actuators and the sensors are connected to servo control means. A telescoping multi-joint device characterized by being connected.