WO2001081791A1 - Actuator designed for articulated structures, such as walking robot limbs - Google Patents

Actuator designed for articulated structures, such as walking robot limbs Download PDF

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Publication number
WO2001081791A1
WO2001081791A1 PCT/FR2001/001211 FR0101211W WO0181791A1 WO 2001081791 A1 WO2001081791 A1 WO 2001081791A1 FR 0101211 W FR0101211 W FR 0101211W WO 0181791 A1 WO0181791 A1 WO 0181791A1
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WO
WIPO (PCT)
Prior art keywords
screw
carriage
slide
actuators
actuator
Prior art date
Application number
PCT/FR2001/001211
Other languages
French (fr)
Inventor
Philippe Sardain
Original Assignee
Centre National De La Recherche Scientifique
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Publication date
Application filed by Centre National De La Recherche Scientifique filed Critical Centre National De La Recherche Scientifique
Publication of WO2001081791A1 publication Critical patent/WO2001081791A1/en

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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
    • F16H2025/2445—Supports or other means for compensating misalignment or offset between screw and nut

Definitions

  • the subject of this invention is first of all an actuator system designed for articulated structures, then articulated structures, such as members of walking robots, equipped with these actuators.
  • Mobile robots can be divided into families of very different aspects. Among those which deserve particular attention, we must mention the humanoid robots which are designed to move while walking, because they are well suited to move on natural ground or in common buildings including obstacles such as stairs, sudden drops or narrow, winding passages.
  • the development of these walking robots comes up against difficulties arising from the mechanical complexity of the human leg and the control of the gait.
  • the legs of the man indeed have enough joints to allow him to move on irregular or uneven ground without losing balance, which requires coordination of movements, long enough to acquire, to maintain a dynamic balance.
  • the problem of maintaining balance is further complicated if the robot has to carry a heavy load on an upper portion, located at the equivalent of the trunk or the rib cage of the man.
  • a patent describing a typical biped robot is the American patent 5 159 988, where the artificial legs are composed of segments and articulations joining them, and particularly of a foot, a cardan ankle, a leg (proper) , a knee with simple articulation, a thigh and a hip with cardan, which is connected to a trunk, or main body, of the robot.
  • the ankle, knee and hip joints are particularly bulky, in particular •• double joints equipped with a cardan joint.
  • the control of each axis of the joints is made by a motor fitted with a reduction gear which rotates this axis.
  • An object of the invention is to provide a simple, convenient and light actuator, suitable for equipping joints located between two structural elements such as the segments of a biped robot or of a similar machine, even as significant efforts are required.
  • Another object of the invention is to provide a universal actuator, that is to say one which is suitable for all the joints of the leg of a mobile robot and which is always substantially placed in the same way with respect to the joint.
  • the leg actuators are preferably identical in their constitution, notwithstanding possible variations in dimensions.
  • the actuator is characterized firstly by a combination of a screw and nut system and a rod and crank system; the. motor turns the screw and the crank turns the hinge pin.
  • These two mechanisms have been known separately for a very long time to perform movement conversions, and the screw and nut mechanism has already attracted attention in robotics because of its great reduction in speed, its precision and its nominal resistance to forces. ; and the crank forms a robust and convenient way to convert the thrusts of the connecting rods into rotations of the joint.
  • the screw like the connecting rods, are not very rigid parts and capable of being easily deformed by buckling; and the uncertainties in dimensions and in the mounting position of the parts of these mechanisms reveal clearances or prestresses, eccentricities, overhangs, etc. which generate considerable additional service constraints.
  • the actuator acting on a joint between a first element
  • structural and a second structural element includes a motor fixed to the first element, a screw that the motor turns, a nut engaged on the screw, and it is original in that it comprises a carriage subject to the nut in the direction of the screw, a slide substantially parallel to the screw, fixed to the first element and on which the carriage is mounted, a pair of parallel rods, extending symmetrically to the screw and articulated to the carriage by one end and to a pivot axis of the articulation secured to the second element by the other end, the pivot axis being substantially perpendicular to the screw, the carriage being subject to the nut with a freedom of translation perpendicular to the screw and the axis being subject to the joint with a freedom of rotation.
  • a motor fixed to the first element a screw that the motor turns, a nut engaged on the screw, and it is original in that it comprises a carriage subject to the nut in the direction of the screw, a slide substantially parallel to the screw, fixed to the first element and on which the carriage is mounted, a
  • the slide is fixed to the first element by a link allowing an adjustment of position of the slide on the first element; in particular, it is recommended that the slide is flat and carried on a flat surface of the first element, the connection comprises a pair of fixing screws with flat head engaged in tapped holes of the first element through notches of the slide in which they play, and the carriage is secured to the nut with freedom of translation perpendicular to the flat surface.
  • the axis be subject to articulation by a pivot around which the axis is articulated.
  • FIG. 1 is a general view of an actuator
  • FIGS. 2 and 3 show two details of the actuator
  • FIG. 4 is a view of a double actuator
  • FIG. 5 illustrates a robot equipped with the preceding actuators
  • Figures 1 to 3 a simple actuator according to the invention. It is driven by a motor 1 which rotates, beyond a transmission 2, an endless screw 3 on which a nut 4 is engaged.
  • a ring 5 is integral with the nut 4, and they retain between them a hoop 6 united to a carriage 7; the arch 6 is provided with two lugs 8 which penetrate into two grooves 9, operated through two opposite portions of the periphery of the nut 4 in the direction of the screw 3.
  • the carriage 7 carries two pairs of rollers 10 which make it possible to guide it on a rail 11 placed on a flat surface 12 of a segment 13 of structure (here, an artificial member of robot) formed for the most part of a flat plate; the rail 11 acting as a slide is fixed to the segment 13 by a pair of flat-head screws 14 engaged in threads of the segment 13 and playing in notches 56 of the rail 11, through which they are engaged.
  • a segment 13 of structure here, an artificial member of robot
  • the hoop 6 further comprises two opposite side pins 15 and in extension to which are articulated two rods 16 (only one being shown in Figure 1) whose direction of extension is close to that of the worm 3 and the rail 11; the ends of the rods 16 which are opposite the crank pins 15 are articulated at the two ends of an axis 17 engaged through an oblong hole 18 of a second segment 19 of the structure, retained at the first segment 13 by an articulation 20.
  • a pivot 21 is engaged in the second segment 19 and passes through the oblong hole 18 as well as the axis 17 allowing it to pivot in the oblong hole 18.
  • the second segment 19 is of angled shape between the axis 17 and the articulation 20 and constitutes there a crank.
  • FIG. 4 shows the combined use of a pair of these actuators (31 and 32) between two doubly articulated structural elements, such as a robot foot 30 and a leg structure plate 33 which a gimbal 57 connects together .
  • the actuators are mounted behind the plate 33, side by side to the left and to the right of the leg structure on both sides of a sagittal plane passing through the gimbal 57; they are parallel to each other.
  • Their motors 1 are at the top, under the knee joint, and their screws 3 and links 16 extend downward, up to two joints 35 and 36 in which the axes 17 of the links are retained; the joints 35 and 36 consist of yokes 37 fixed to the foot 30 and bearings 38 articulated on the yokes 37 by pivots 39 directed towards the front.
  • the yokes 37 play the same role as the oblong holes 18 and the pivots 39 ensuring the same function as the pivots 21.
  • This structure lends itself to two preferred operating modes: if the actuators 31 and 32 are actuated in the same way, the 'front of foot 30 rises or falls; and if they are moved to different quantities, notably opposite, or if only one is ripe, the foot 30 tilts to the side. The inclination is made possible by the rotation of the bearings 38 on the yokes 37. An easy control of the orientation of the foot 30 is thus accomplished, and it is noted that even the presence of a second actuator does not make the structure very bulky .
  • a bipedal and anthropomorphic robot " is represented in FIG.
  • the leg 43 and 44 also include thigh structure plates 46 which extend from the hip joints 45 to the knee joints 34, where they are combined with the elements already described in FIG. 4.
  • Actuators similar to those which have been described are the only ones used to control the movements of the robot, as it appears better from FIGS. 6 and 7.
  • the lumbar articulation 42 is double, it is controlled by two parallel actuators 47 and 48 and symmetrical, like the actuators 31 and 32 of the ankle joints.
  • Their motors 1 are fixed to the trunk structure 41, and their worm screws 3 and links 16 extend downwards, at the back of the robot, to free ends of the arms 49 of a bifurcating lever 50 which is fixed to the pelvis structure 55.
  • the gimbal of the lumbar articulation 42 extends between the node of the bifurcating lever 50 and the trunk structure 41.
  • the arms 49 will remain at the same level and the payload 40 will switch between the front and the rear; otherwise, it will topple over.
  • the arms 49 are articulated to the rods 16 and to their axes 17 by means of clevis 37 articulated at bearings. 38 similar to those in FIG. 4.
  • the thigh structure plate 46 carries two actuators 52 and 53 to control the knee joints 34 and hip joints 45 respectively. Unlike the previous situations, they are asymmetrical and at different levels, which is not a problem since they work independently on respective single joints. Their description is strictly in accordance with that of Figures 1 to 3.
  • transmissions 2 of different kinds can be chosen to couple the worm screws 3 to the output shafts of the motors 1, but it will have been observed that toothed belt systems stretched between two pulleys have generally been adopted.
  • Such transmissions make it possible to offset the axes of the output shaft and of the worm and offer great latitude for arranging the parts of the actuator.
  • Corner drives can be introduced, as seen in FIG. 6, where the output shafts of the motors 1 are oriented upwards but the worms 3 extend downwards, next to the motors 1.
  • This arrangement reduces the longitudinal dimensions of the actuator and is suitable for short and wide structural elements, such as the trunk structure 41; but since the legs are made up of rather long and thin elements, it is generally advantageous for the motors 1 and the worms 3 to be in extension, as in FIG. 1.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

The invention concerns an actuator which consists of a combination of a pin-and-nut system (3, 4) and rod-and-crank system (16, 19) completed by fittings for correcting defects in the mounting or parts and prevent the occurrence of internal stresses: a rail (11) whereon slides a carriage (7) associated with the pin is laterally mobile, and the carriage is mobile on the pin in the other transverse direction; and the hinge pin (17) of the rods (16) connected to the crank (19) can rotate about a pivot pin (21). Said light actuator is particularly suited for the legs of a two-legged robot.

Description

ACTIONNEUR CONÇU POUR DES STRUCTURES ARTICULÉES, TELLES QUE DES MEMBRES DE ROBOT MARCHEURACTUATOR DESIGNED FOR ARTICULATED STRUCTURES, SUCH AS WALKING ROBOT MEMBERS
DESCRIPTIONDESCRIPTION
Le sujet de cette invention est d'abord un système actionneur conçu pour des structures articulées, puis des structures articulées, comme des membres de robots marcheurs, équipées de ces actionneurs .The subject of this invention is first of all an actuator system designed for articulated structures, then articulated structures, such as members of walking robots, equipped with these actuators.
Les robots mobiles peuvent être répartis en familles d'aspects très différents. Parmi celles qui méritent plus particulièrement l'attention, on doit mentionner les robots humanoïdes qui sont conçus pour se déplacer en marchant, car ils conviennent bien pour se déplacer sur le sol naturel ou dans des bâtiments usuels comprenant des obstacles tels que des escaliers, des dénivellations brusques ou des passages étroits et sinueux. Le développement de ces robots marcheurs se heurte toutefois à des difficultés provenant de la complexité mécanique de la jambe humaine et de la commande de la démarche. Les jambes de l'homme présentent en effet des articulations assez nombreuses pour lui permettre de se déplacer sur des terrains irréguliers ou inégaux sans perdre l'équilibre, ce qui impose une coordination des mouvements, assez longue à acquérir, pour maintenir un équilibre dynamique. Le problème du maintien de l'équilibre est encore compliqué si le robot doit porter une charge lourde à une portion supérieure, située à l'équivalent du tronc ou de la cage thoracique de l'homme. Un brevet décrivant un robot bipède typique est le brevet américain 5 159 988, où les jambes artificielles sont composés de segments et d'articulations les joignant, et particulièrement d'un pied, d'une cheville à cardan, d'une jambe (proprement dite) , d'un genou à articulation simple, d'une cuisse et d'une hanche à cardan, qui est reliée à un tronc, ou corps principal, du robot. Si on examine plus particulièrement le contenu de ce document, on voit que les articulations de cheville, de genou et de hanche sont particulièrement volumineuses, notamment •• aux articulations doubles équipées d'un cardan. La commande de chaque axe des articulations est faite par un moteur équipé d'un réducteur qui fait tourner cet axe. Dans le cas d'un cardan, un des moteurs est situé devant un des axes du cardan et l'entraîne directement, alors que l'autre moteur est situé sur le segment adjacent de la jambe et entraîne l'autre axe par l'intermédiaire d'une courroie. Ces systèmes d'entraînement demandent des couples importants et des moteurs de puissance conséquente et donc volumineux. Le moteur placé à côté du cardan rend l'articulation particulièrement encombrante. Enfin, la disposition dissymétrique des moteurs est peu harmonieuse. Un objet de l'invention est de proposer un actionneur simple, commode et léger, convenant pour équiper des articulations situées entre deux éléments de structure tels que les segments d'un robot bipède ou d'un engin du même genre, alors même que des efforts importants sont à fournir. Un autre objet de l'invention est de fournir un actionneur universel, c'est-à-dire qui convienne pour toutes les articulations de la jambe d'un robot mobile et qui soit toujours sensiblement placé de la même façon par rapport à l'articulation. Les actionneurs de la jambe sont de préférence identiques par leur constitution, nonobstant des variations éventuelles de dimensions.Mobile robots can be divided into families of very different aspects. Among those which deserve particular attention, we must mention the humanoid robots which are designed to move while walking, because they are well suited to move on natural ground or in common buildings including obstacles such as stairs, sudden drops or narrow, winding passages. The development of these walking robots, however, comes up against difficulties arising from the mechanical complexity of the human leg and the control of the gait. The legs of the man indeed have enough joints to allow him to move on irregular or uneven ground without losing balance, which requires coordination of movements, long enough to acquire, to maintain a dynamic balance. The problem of maintaining balance is further complicated if the robot has to carry a heavy load on an upper portion, located at the equivalent of the trunk or the rib cage of the man. A patent describing a typical biped robot is the American patent 5 159 988, where the artificial legs are composed of segments and articulations joining them, and particularly of a foot, a cardan ankle, a leg (proper) , a knee with simple articulation, a thigh and a hip with cardan, which is connected to a trunk, or main body, of the robot. If we examine more particularly the content of this document, we see that the ankle, knee and hip joints are particularly bulky, in particular •• double joints equipped with a cardan joint. The control of each axis of the joints is made by a motor fitted with a reduction gear which rotates this axis. In the case of a universal joint, one of the motors is located in front of one of the axes of the universal joint and drives it directly, while the other motor is located on the adjacent segment of the leg and drives the other axis via a strap. These drive systems require significant torques and motors of substantial and therefore bulky power. The motor placed next to the universal joint makes the joint particularly cumbersome. Finally, the asymmetrical arrangement of the engines is not very harmonious. An object of the invention is to provide a simple, convenient and light actuator, suitable for equipping joints located between two structural elements such as the segments of a biped robot or of a similar machine, even as significant efforts are required. Another object of the invention is to provide a universal actuator, that is to say one which is suitable for all the joints of the leg of a mobile robot and which is always substantially placed in the same way with respect to the joint. The leg actuators are preferably identical in their constitution, notwithstanding possible variations in dimensions.
L' actionneur est caractérisé d'abord par une combinaison d'un système à vis et écrou et d'un système à bielle et manivelle ; le. moteur fait tourner la vis et la manivelle fait tourner l'axe d'articulation. Ces deux mécanismes sont connus séparément depuis très longtemps pour effectuer des conversions de mouvements, et le mécanisme à vis et écrou a déjà retenu l'attention en robotique en raison de sa grande réduction de vitesse, de sa précision et de sa résistance nominale aux efforts ; et la manivelle forme un moyen robuste et commode de convertir les poussées des bielles en rotations de l'articulation. Mais la vis comme les bielles sont des pièces peu rigides et aptes à se déformer facilement par flambage ; et les incertitudes de dimensions et de position de montage des pièces de ces mécanismes font apparaître des jeux ou des précontraintes, des excentrements, des porte-à-faux, etc. qui engendrent des contraintes supplémentaires considérables en service. Ces facteurs défavorables conduisent les fabricants de systèmes de transmission à vis et écrou à admettre que leurs produits ne résistent, dans des conditions réelles d'utilisation, qu'à une fraction de leur résistance nominale, obtenue par calcul ou mesurée dans des bonnes conditions d'essai. Tout cela explique pourquoi de tels mécanismes n'ont pas connu le succès auquel on aurait pu s'attendre et que les actionneurs 5 volumineux du brevet 5 159 988 n'ont pas véritablement été supplantés .The actuator is characterized firstly by a combination of a screw and nut system and a rod and crank system; the. motor turns the screw and the crank turns the hinge pin. These two mechanisms have been known separately for a very long time to perform movement conversions, and the screw and nut mechanism has already attracted attention in robotics because of its great reduction in speed, its precision and its nominal resistance to forces. ; and the crank forms a robust and convenient way to convert the thrusts of the connecting rods into rotations of the joint. However, the screw, like the connecting rods, are not very rigid parts and capable of being easily deformed by buckling; and the uncertainties in dimensions and in the mounting position of the parts of these mechanisms reveal clearances or prestresses, eccentricities, overhangs, etc. which generate considerable additional service constraints. These unfavorable factors lead the manufacturers of screw and nut transmission systems to admit that their products withstand, under real conditions of use, only a fraction of their nominal resistance, obtained by calculation or measured under good test conditions. All of this explains why such mechanisms have not been as successful as one might expect and that the large actuators of patent 5,159,988 have not really been superseded.
La combinaison des mécanismes à vis et écrou et à bielle et manivelle est faite, d'après l'invention, en les montant sur les éléments deAccording to the invention, the combination of screw and nut and connecting rod and crank mechanisms is made by mounting them on the elements of
10 structure reliés par l'articulation de façon que les défauts de montage se corrigent d'eux-mêmes, ce qui fait. disparaître les efforts supplémentaires imprévisibles et surtout les efforts dissymétriques responsables du flambement . Les pièces de l' actionneur10 structure connected by the joint so that the assembly faults correct themselves, which does. disappear the unpredictable additional efforts and especially the asymmetrical efforts responsible for the buckling. Parts of the actuator
15 ne sont guère soumises qu'aux efforts prévus par calcul pour commander les mouvements d'articulation et peuvent donc être prévues assez fines .15 are hardly subject to the forces provided by calculation to control the articulation movements and can therefore be provided fairly fine.
Ces avantages ne dépendent pas des structures articulées reliées par 1 ' actionneur, etThese advantages do not depend on the articulated structures connected by the actuator, and
20 c'est pourquoi l'invention est relative d'abord à un actionneur en tant que tel. Toutefois, il est certain que cet actionneur sera particulièrement avantageux sur les membres de robot et particulièrement les jambes de robots marcheurs, qui seront simplifiées, allégées etThis is why the invention relates first of all to an actuator as such. However, it is certain that this actuator will be particularly advantageous on the members of robot and particularly the legs of walking robots, which will be simplified, lightened and
25 auront un aspect plus agréable. L'application de l' actionneur à ces robots est donc un autre sujet de 1 ' invention.25 will have a more pleasant appearance. The application of the actuator to these robots is therefore another subject of one invention.
De façon plus explicite, 1 ' actionneur, agissant sur une articulation entre un premier élémentMore explicitly, the actuator, acting on a joint between a first element
3.0 , de structure et un second élément de structure, comprend un moteur fixé au premier élément, une vis que le moteur fait tourner, un écrou engagé sur la vis, et il est original en ce qu'il comprend un chariot assujetti à l'écrou en direction de la vis, une glissière sensiblement parallèle à la vis, fixée au premier élément et sur laquelle le chariot est monté, une paire de biellettes parallèles, s ' étendant symétriquement à la vis et articulées au chariot par une extrémité et à un axe de basculement de l'articulation assujetti au second élément par l'autre extrémité, l'axe de basculement étant sensiblement perpendiculaire à la vis, le chariot étant assujetti à l'écrou avec une liberté de translation perpendiculairement à la vis et l'axe étant assujetti à l'articulation avec une liberté de rotation. Sous une forme particulière de3.0, structural and a second structural element, includes a motor fixed to the first element, a screw that the motor turns, a nut engaged on the screw, and it is original in that it comprises a carriage subject to the nut in the direction of the screw, a slide substantially parallel to the screw, fixed to the first element and on which the carriage is mounted, a pair of parallel rods, extending symmetrically to the screw and articulated to the carriage by one end and to a pivot axis of the articulation secured to the second element by the other end, the pivot axis being substantially perpendicular to the screw, the carriage being subject to the nut with a freedom of translation perpendicular to the screw and the axis being subject to the joint with a freedom of rotation. In a particular form of
1' actionneur, la glissière est fixée au premier élément par une liaison permettant un réglage de position de la glissière sur le premier élément ; notamment, il est préconisé que la glissière soit plate et portée sur une surface plate du premier élément, la liaison comprenne une paire de vis de fixation à tête plate engagées dans des trous taraudés du premier élément à travers des encoches de la glissière dans lesquelles elles jouent, et le chariot soit assujetti à l'écrou avec une liberté de translation perpendiculairement à la surface plate. Par ailleurs, on conseille que l'axe soit assujetti à l'articulation par un pivot autour duquel l'axe est articulé.1 actuator, the slide is fixed to the first element by a link allowing an adjustment of position of the slide on the first element; in particular, it is recommended that the slide is flat and carried on a flat surface of the first element, the connection comprises a pair of fixing screws with flat head engaged in tapped holes of the first element through notches of the slide in which they play, and the carriage is secured to the nut with freedom of translation perpendicular to the flat surface. In addition, it is recommended that the axis be subject to articulation by a pivot around which the axis is articulated.
Les divers aspects d'une réalisation particulière de l'invention et de certaines de ses applications préférées seront maintenant décrits au moyen des figures que voici :The various aspects of a particular embodiment of the invention and of some of its preferred applications will now be described by means of the following figures:
• la figure 1 est une vue générale d'un actionneur,FIG. 1 is a general view of an actuator,
• les figures 2 et 3 représentent deux détails de 1 ' actionneur,FIGS. 2 and 3 show two details of the actuator,
• la figure 4 est une vue d'un actionneur double,FIG. 4 is a view of a double actuator,
• la figure 5 illustre un robot équipé des actionneurs précédents ,FIG. 5 illustrates a robot equipped with the preceding actuators,
• et les figures 6 et 7 représentent deux portions de ce robot.• and Figures 6 and 7 show two portions of this robot.
Sur les figures 1 à 3 est représenté un actionneur simple conforme à l'invention. Il est entraîné par un moteur 1 qui meut en rotation, au-delà d'une transmission 2, une vis sans fin 3 sur laquelle un écrou 4 est engagé. Une bague 5 est solidaire de l'écrou 4, et ils retiennent entre eux un arceau 6 uni à un chariot 7 ; l'arceau 6 est muni de deux ergots 8 qui pénètrent dans deux rainures 9 , opérées à travers deux portions opposées de la périphérie de l'écrou 4 en direction de la vis 3. Le chariot 7 porte deux paires de galets 10 qui permettent de le guider sur un rail 11 posé sur une surface plate 12 d'un segment 13 de structure (ici, un membre artificiel de robot) formé pour la plus grande partie d'une plaque plane ; le rail 11 faisant office de glissière est fixé au segment 13 par une paire de vis à tête plate 14 engagées dans des taraudages du segment 13 et jouant dans des encoches 56 du rail 11, à travers lesquelles elles sont engagées.In Figures 1 to 3 is shown a simple actuator according to the invention. It is driven by a motor 1 which rotates, beyond a transmission 2, an endless screw 3 on which a nut 4 is engaged. A ring 5 is integral with the nut 4, and they retain between them a hoop 6 united to a carriage 7; the arch 6 is provided with two lugs 8 which penetrate into two grooves 9, operated through two opposite portions of the periphery of the nut 4 in the direction of the screw 3. The carriage 7 carries two pairs of rollers 10 which make it possible to guide it on a rail 11 placed on a flat surface 12 of a segment 13 of structure (here, an artificial member of robot) formed for the most part of a flat plate; the rail 11 acting as a slide is fixed to the segment 13 by a pair of flat-head screws 14 engaged in threads of the segment 13 and playing in notches 56 of the rail 11, through which they are engaged.
L'arceau 6 comprend encore deux manetons 15 latéraux opposés et en prolongement auxquels sont articulées deux biellettes 16 (une seule étant représentée à la figure 1) dont la direction d'extension est voisine de celle de la vis sans fin 3 et du rail 11 ; les extrémités des biellettes 16 qui sont opposées aux manetons 15 sont articulées aux deux bouts d'un axe 17 engagé à travers un trou oblong 18 d'un second segment 19 de la structure, retenu au premier segment 13 par une articulation 20. De plus, un pivot 21 est engagé dans le second segment 19 et traverse le trou oblong 18 ainsi que l'axe 17 en lui permettant de pivoter dans le trou oblong 18. Le second segment 19 est de forme coudée entre l'axe 17 et l'articulation 20 et constitue là une manivelle.The hoop 6 further comprises two opposite side pins 15 and in extension to which are articulated two rods 16 (only one being shown in Figure 1) whose direction of extension is close to that of the worm 3 and the rail 11; the ends of the rods 16 which are opposite the crank pins 15 are articulated at the two ends of an axis 17 engaged through an oblong hole 18 of a second segment 19 of the structure, retained at the first segment 13 by an articulation 20. In addition , a pivot 21 is engaged in the second segment 19 and passes through the oblong hole 18 as well as the axis 17 allowing it to pivot in the oblong hole 18. The second segment 19 is of angled shape between the axis 17 and the articulation 20 and constitutes there a crank.
Quand le moteur 1 tourne, la rotation de la vis 3 élève ou abaisse l'écrou 4 et concomitamment le chariot 7, ce qui déplace encore les biellettes 16 et fait tourner le second segment 19 par rapport au premier 13. Le fonctionnement convenable de 1' actionneur, sans hyperstaticité et donc sans contraintes internes superflues, est toutefois garanti par d'autres moyens précédemment décrits. Le rail 11 est ainsi mobile en direction latérale si les vis à tête plate 14 sont desserrées. Au cours d'un réglage préliminaire, on fait parcourir une grande partie de sa course totale au chariot 7, de manière que les galets 10 orientent le rail 11 parallèlement à la vis sans fin 3, après quoi les vis à tête plate 14 sont serrées, et 1' actionneur devient apte à assurer sa fonction sans qu'on craigne que des contraintes ne soient produites dans l'écrou 4 ou le chariot 7 à cause d'un décalage latéral entre la vis sans fin 3 et le rail 11. Le mouvement correcteur d'orientation du rail 11 est possible puisqu'il est posé sur la surface plate 12 du premier segment 13 et que les vis à tête plate 14 n'exercent pas de centrage et peuvent donc être serrées sur tout endroit du rail 11, dont la face apparente est aussi plate.When the motor 1 rotates, the rotation of the screw 3 raises or lowers the nut 4 and concomitantly the carriage 7, which again displaces the rods 16 and causes the second segment 19 to rotate relative to the first 13. The proper functioning of 1 'actuator, without hyperstaticity and therefore without unnecessary internal constraints, is however guaranteed by other means previously described. The rail 11 is thus movable in the lateral direction if the flat head screws 14 are loose. During a preliminary adjustment, a large part of its total travel is made to run on the carriage 7, so that the rollers 10 orient the rail 11 parallel to the worm screw 3, after which the flat head screws 14 are tightened , and the actuator becomes able to perform its function without fear that stresses will be produced in the nut 4 or the carriage 7 because of a lateral offset between the worm 3 and the rail 11. The orientation correction movement of rail 11 is possible since it is placed on the flat surface 12 of the first segment 13 and the flat head screws 14 do not exert centering and can therefore be tightened on any location of the rail 11, the visible face of which is also flat.
Un autre mouvement correcteur est offert par la liaison particulière entre l'écrou 4 et l'arceau 6 : les ergots 8, n'entrant pas jusqu'au fond des rainures 9, permettent à l'arceau 6 de se déplacer par rapport à l'écrou 4 si la vis sans fin 3 est orientée obliquement, en s ' approchant ou' s 'éloignant de la surf ce plate 12 du segment 13. Enfin, le pivotement libre de l'axe 17 autour du pivot 21, oblique à la vis sans fin 3, permet de corriger une inclinaison éventuelle du chariot 7 et de ses manetons 15, ou une différence de longueur des biellettes 16.Another corrective movement is offered by the particular connection between the nut 4 and the hoop 6: the lugs 8, not entering to the bottom of the grooves 9, allow the hoop 6 to move relative to the 'nut 4 if the worm 3 is oriented obliquely, approaching or ' moving away from the surf this flat 12 of the segment 13. Finally, the free pivoting of the axis 17 around the pivot 21, oblique to the worm 3, corrects any inclination of the carriage 7 and its crank pins 15, or a difference in length of the rods 16.
Ces trois raffinements permettent d'éliminer respectivement les efforts internes latéraux, frontaux et axiaux tout en éliminant les différences de chargement des biellettes 16. La précision du guidage est cependant maintenue puisque le jeu dans l' actionneur en direction de la vis 3 est très faible ; en particulier, l'arceau 6 est retenu sans jeu entre la bague 5 et l'écrou 4. L' actionneur est alors parfaitement isostatique, si bien qu'aucun effort interne provenant d'erreurs ou d'imprécisions de montage n'y est développé et qu'il peut être construit plus légèrement pour un effort nominal égal à transmettre. D'autres systèmes existent pour garantirThese three refinements make it possible to eliminate respectively the lateral, frontal and axial internal forces while eliminating the differences in loading of the rods 16. The precision of the guidance is however maintained since the clearance in the actuator in the direction of the screw 3 is very small. ; in particular, the arch 6 is retained without play between the ring 5 and the nut 4. The actuator is then perfectly isostatic, so that no internal force originating from errors or inaccuracies in assembly is there developed and that it can be built more lightly for a nominal force equal to transmit. Other systems exist to guarantee
1' isostaticité de la transmission, notamment si l'arceau 6 est mobile par rapport à l'écrou dans" les directions latérale et frontale à la fois.Transmission isostaticity, especially if the arch 6 is movable relative to the nut in " the lateral and frontal directions at the same time.
La figure 4 montre l'emploi combiné d'une paire de ces actionneurs (31 et 32) entre deux éléments de structure doublement articulés, comme un pied 30 de robot et une plaque 33 de structure de jambe qu'un cardan 57 relie entre eux. Les actionneurs sont montés derrière la plaque 33, côte à côte à gauche et à droite de la structure de jambe des deux côtés d'un plan sagittal passant par le cardan 57 ; ils sont parallèles entre eux. Leurs moteurs 1 sont en haut, sous l'articulation de genou, et leurs vis 3 et biellettes 16 s'étendent vers le bas, jusqu'à deux articulations 35 et 36 dans lesquelles les axes 17 des biellettes sont retenus ; les articulations 35 et 36 se composent de chapes 37 fixées au pied 30 et de paliers 38 articulés aux chapes 37 par des pivots 39 dirigés vers l'avant. Les chapes 37 jouent le même rôle que les trous oblongs 18 et les pivots 39 assurant la même fonction que les pivots 21. Cette structure se prête à deux modes de fonctionnement préférés : si les actionneurs 31 et 32 sont mus de la même manière, l'avant du pied 30 s'élève ou s'abaisse ; et s'ils sont mus de quantités différentes, notamment opposées, ou si un seul est mû, le pied 30 s'incline sur le côté. L'inclinaison est rendue possible par la rotation des paliers 38 sur les chapes 37. Une commande facile de l'orientation du pied 30 est ainsi accomplie, et on remarque que même la présence d'un deuxième actionneur ne rend pas la structure très volumineuse. Un robot bipède et anthropomorphe " est représenté à la figure 5 ; il comprend une charge utile 40, une structure de tronc 41 portant la charge utile 40, une structure de bassin 55 soutenant la structure de tronc 41 par un cardan d'articulation lombaire 42, et deux jambes 43 et 44 soutenant la structure de bassin 55 par des articulations de hanche 45 ; les jambes 43 et 44 comprennent encore des plaques 46 de structure de cuisse qui s'étendent des articulations de hanche 45 aux articulations de genou 34, où elles sont unies aux éléments déjà décrits de la figure 4.FIG. 4 shows the combined use of a pair of these actuators (31 and 32) between two doubly articulated structural elements, such as a robot foot 30 and a leg structure plate 33 which a gimbal 57 connects together . The actuators are mounted behind the plate 33, side by side to the left and to the right of the leg structure on both sides of a sagittal plane passing through the gimbal 57; they are parallel to each other. Their motors 1 are at the top, under the knee joint, and their screws 3 and links 16 extend downward, up to two joints 35 and 36 in which the axes 17 of the links are retained; the joints 35 and 36 consist of yokes 37 fixed to the foot 30 and bearings 38 articulated on the yokes 37 by pivots 39 directed towards the front. The yokes 37 play the same role as the oblong holes 18 and the pivots 39 ensuring the same function as the pivots 21. This structure lends itself to two preferred operating modes: if the actuators 31 and 32 are actuated in the same way, the 'front of foot 30 rises or falls; and if they are moved to different quantities, notably opposite, or if only one is ripe, the foot 30 tilts to the side. The inclination is made possible by the rotation of the bearings 38 on the yokes 37. An easy control of the orientation of the foot 30 is thus accomplished, and it is noted that even the presence of a second actuator does not make the structure very bulky . A bipedal and anthropomorphic robot " is represented in FIG. 5; it comprises a payload 40, a trunk structure 41 carrying the payload 40, a pelvis structure 55 supporting the trunk structure 41 by a lumbar articulation gimbal 42 , and two legs 43 and 44 supporting the pelvis structure 55 by hip joints 45; the legs 43 and 44 also include thigh structure plates 46 which extend from the hip joints 45 to the knee joints 34, where they are combined with the elements already described in FIG. 4.
Des actionneurs semblables à ceux qui ont été décrits sont seuls utilisés pour commander les mouvements du robot, ainsi qu'il appert mieux des figures 6 et 7. Comme l'articulation lombaire 42 est double, elle est commandée par deux actionneurs 47 et 48 parallèles et symétriques, à la façon des actionneurs 31 et 32 des articulations de cheville. Leurs moteurs 1 sont fixés à la structure de tronc 41, et leurs vis sans fin 3 et biellettes 16 s'étendent vers le bas, au dos du robot, jusqu'à des extrémités libres de bras 49 d'un levier bifurquant 50 qui est fixé à la structure de bassin 55. Le cardan de l'articulation lombaire 42 s'étend entre le nœud du levier bifurquant 50 et la structure de tronc 41. Si les actionneurs 47 et 48 sont mus de la même façon, les bras 49 resteront à un même niveau et la charge utile 40 basculera entre l'avant et l'arrière ; sinon, elle basculera de côté. Les bras 49 sont articulés aux biellettes 16 et à leurs axes 17 par des dispositif à chapes 37 articulées à des paliers.38 semblables à ceux de la figure 4.Actuators similar to those which have been described are the only ones used to control the movements of the robot, as it appears better from FIGS. 6 and 7. As the lumbar articulation 42 is double, it is controlled by two parallel actuators 47 and 48 and symmetrical, like the actuators 31 and 32 of the ankle joints. Their motors 1 are fixed to the trunk structure 41, and their worm screws 3 and links 16 extend downwards, at the back of the robot, to free ends of the arms 49 of a bifurcating lever 50 which is fixed to the pelvis structure 55. The gimbal of the lumbar articulation 42 extends between the node of the bifurcating lever 50 and the trunk structure 41. If the actuators 47 and 48 are actuated in the same way, the arms 49 will remain at the same level and the payload 40 will switch between the front and the rear; otherwise, it will topple over. The arms 49 are articulated to the rods 16 and to their axes 17 by means of clevis 37 articulated at bearings. 38 similar to those in FIG. 4.
La plaque 46 de structure de cuisse porte deux actionneurs 52 et 53 pour commander respectivement les articulations de genou 34 et de hanche 45. Contrairement aux situations précédentes, ils sont dissymétriques et à des niveaux différents, ce qui n'est pas gênant puisqu'ils travaillent indépendemment sur des articulations simples respectives. Leur description est strictement conforme à celle des figures 1 à 3.The thigh structure plate 46 carries two actuators 52 and 53 to control the knee joints 34 and hip joints 45 respectively. Unlike the previous situations, they are asymmetrical and at different levels, which is not a problem since they work independently on respective single joints. Their description is strictly in accordance with that of Figures 1 to 3.
Dans toutes ces réalisations, des transmissions 2 de genres différents peuvent être choisies pour coupler les vis sans fin 3 aux arbres de sortie des moteurs 1, mais on aura constaté que des systèmes à courroie crantée tendue entre deux poulies ont en général été adoptés . De telles transmissions permettent de décaler les axes de l'arbre de sortie et de la vis sans fin et offrent une grande latitude pour disposer les parties de 1 ' actionneur . Des renvois d'angle peuvent être introduits, comme on le voit à la figure 6, où les arbres de sortie des moteurs 1 sont orientés vers le haut mais les vis sans fin 3 s'étendent vers le bas, à côté des moteurs 1. Cette disposition réduit l'encombrement longitudinal de 1' actionneur et convient aux éléments de structure courts et larges, comme la structure de tronc 41 ; mais comme les jambes sont formées d'éléments plutôt longs et fins, il est en général avantageux que les moteurs 1 et les vis sans fin 3 soient en prolongement, comme à la figure 1. In all these embodiments, transmissions 2 of different kinds can be chosen to couple the worm screws 3 to the output shafts of the motors 1, but it will have been observed that toothed belt systems stretched between two pulleys have generally been adopted. Such transmissions make it possible to offset the axes of the output shaft and of the worm and offer great latitude for arranging the parts of the actuator. Corner drives can be introduced, as seen in FIG. 6, where the output shafts of the motors 1 are oriented upwards but the worms 3 extend downwards, next to the motors 1. This arrangement reduces the longitudinal dimensions of the actuator and is suitable for short and wide structural elements, such as the trunk structure 41; but since the legs are made up of rather long and thin elements, it is generally advantageous for the motors 1 and the worms 3 to be in extension, as in FIG. 1.

Claims

REVENDICATIONS
1. Actionneur d'une articulation entre un premier élément de structure et un second élément de structure, comprenant un moteur fixé au premier élément, une vis (3) que le moteur (1) fait tourner, un écrou (4) engagé sur la vis, caractérisé en ce qu'il comprend un chariot (6, 7) assujetti à l'écrou en direction de la vis, une glissière (11) sensiblement parallèle à la vis, fixée au premier élément et sur laquelle le chariot est monté, une paire de biellettes1. Actuator of a joint between a first structural element and a second structural element, comprising a motor fixed to the first element, a screw (3) that the motor (1) rotates, a nut (4) engaged on the screw, characterized in that it comprises a carriage (6, 7) secured to the nut in the direction of the screw, a slide (11) substantially parallel to the screw, fixed to the first element and on which the carriage is mounted, a pair of rods
(16) parallèles, s ' étendant symétriquement à la vis et articulées au chariot par une extrémité et à un axe de basculement (17) de l'articulation assujetti au second élément (19) par l'autre extrémité, l'axe de basculement étant sensiblement perpendiculaire à la vis, le chariot étant assujetti à l'écrou avec une liberté de translation perpendiculaire à la vis et l'axe étant assujetti à l'articulation avec une liberté de rotation. (16) parallel, extending symmetrically to the screw and articulated to the carriage by one end and to a pivot axis (17) of the articulation secured to the second element (19) by the other end, the pivot axis being substantially perpendicular to the screw, the carriage being subject to the nut with a freedom of translation perpendicular to the screw and the axis being subject to the joint with a freedom of rotation.
2. Actionneur selon la revendication 1, caractérisé en ce que la glissière (11) est fixée au premier élément par une liaison (14) permettant un réglage de position de la glissière sur le premier élément . 2. Actuator according to claim 1, characterized in that the slide (11) is fixed to the first element by a link (14) allowing an adjustment of the position of the slide on the first element.
3. Actionneur selon la revendication 2, caractérisé en ce que la glissière est plate et portée sur une surface plate (12) du premier élément (13), en ce que la liaison comprend une paire de vis de fixation à tête plate (14) engagées dans des trous taraudés du premier élément à travers des encoches (56) de la glissière (11) dans lesquelles elles jouent, et le chariot (6, 7) est assujetti à l'écrou avec une liberté simple de translation perpendiculairement à la surface plate.3. Actuator according to claim 2, characterized in that the slide is flat and carried on a flat surface (12) of the first element (13), in that the connection comprises a pair of fixing screws with flat head (14) engaged in tapped holes of the first element through notches (56) of the slide (11) in which they play, and the carriage (6, 7) is secured to the nut with simple freedom of translation perpendicular to the flat surface.
4. Actionneur selon la revendication 2 ou 3, caractérisé en ce que le chariot est relié à la glissière par deux paires de galets (10) de part et d'autre de la glissière.4. Actuator according to claim 2 or 3, characterized in that the carriage is connected to the slide by two pairs of rollers (10) on either side of the slide.
5. Actionneur selon l'une quelconque des revendications précédentes, caractérisé en ce que l'axe de basculement (17) est assujetti au second élément par un pivot (21) autour duquel ledit axe est articule.5. Actuator according to any one of the preceding claims, characterized in that the tilting axis (17) is subject to the second element by a pivot (21) around which said axis is articulated.
6. Membre de robot, caractérisé en ce qu'il comprend un actionneur selon l'une quelconque des revendications précédentes entre deux segments articulés entre eux dudit membre, lesdits segments correspondant auxdits éléments de structure.6. Robot member, characterized in that it comprises an actuator according to any one of the preceding claims between two segments hinged together of said member, said segments corresponding to said structural elements.
7. Membre de robot, caractérisé en ce qu'il comprend une paire d' actionneurs (31, 32) selon l'une quelconque des revendications 1 à 5 entre deux segments (30, 33) dudit membre reliés par un joint de cardan7. robot member, characterized in that it comprises a pair of actuators (31, 32) according to any one of claims 1 to 5 between two segments (30, 33) of said member connected by a universal joint
(57) , lesdits segments correspondant auxdits éléments de structure .et lesdits actionneurs étant disposés parallèlement et de part et d'autre d'un plan passant par le cardan. (57), said segments corresponding to said structural elements .and said actuators being arranged in parallel and on either side of a plane passing through the gimbal.
8. Membre de robot comprenant un pied (30), une jambe (33) articulée au pied par un joint de cardan8. Robot member comprising a foot (30), a leg (33) articulated at the foot by a universal joint
(57) , une cuisse (46) articulée à la jambe et à un bassin (55) par des articulations simples (45) , caractérisé en ce qu'il comprend une paire d' actionneurs selon la revendication 7 entre la jambe et le pied et deux actionneurs selon l'une quelconque des revendications 1 à 5 entre la cuisse et la jambe et entre la cuisse et le bassin, lesdits deux actionneurs ayant des moteurs (1) montés sur la cuisse.(57), a thigh (46) articulated to the leg and to a pelvis (55) by simple articulations (45), characterized in that it comprises a pair of actuators according to claim 7 between the leg and the foot and two actuators according to any one of claims 1 to 5 between the thigh and the leg and between the thigh and the pelvis, said two actuators having motors (1) mounted on the thigh.
9. Robot bipède comprenant un tronc, un bassin et deux membres inférieurs, caractérisé en ce que les membres inférieurs sont conformes à la revendication 8 et en ce qu'une paire d' actionneurs selon la revendication 7 est disposée entre le bassin et un tronc (41), qui sont reliés par un joint de cardan (42) . 9. biped robot comprising a trunk, a pelvis and two lower limbs, characterized in that the lower limbs conform to claim 8 and in that a pair of actuators according to claim 7 is disposed between the pelvis and a trunk (41), which are connected by a universal joint (42).
PCT/FR2001/001211 2000-04-21 2001-04-19 Actuator designed for articulated structures, such as walking robot limbs WO2001081791A1 (en)

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FR0005169A FR2807959B1 (en) 2000-04-21 2000-04-21 ACTUATOR DESIGNED FOR ARTICULATED STRUCTURES, SUCH AS WALKING ROBOT MEMBERS
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FR2807959A1 (en) 2001-10-26

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