WO2004082901A1 - Segment intermediaire de bras articule contenant une transmission a vis et ecrou - Google Patents
Segment intermediaire de bras articule contenant une transmission a vis et ecrou Download PDFInfo
- Publication number
- WO2004082901A1 WO2004082901A1 PCT/FR2004/050102 FR2004050102W WO2004082901A1 WO 2004082901 A1 WO2004082901 A1 WO 2004082901A1 FR 2004050102 W FR2004050102 W FR 2004050102W WO 2004082901 A1 WO2004082901 A1 WO 2004082901A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- segment
- motor
- screw
- transmission
- nut
- Prior art date
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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18664—Shaft moves through rotary drive means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Definitions
- the subject of this invention is an intermediate segment of articulated arm, comprising a screw and nut transmission, and also an arm in which such an intermediate segment finds use.
- the articulated arms used as a control arm or as a working arm most often comprise several segments articulated together and supported by motorized transmissions comprising so-called force feedback motors which retain the joints and the segments by preventing them from falling as soon as possible. that they are no longer displaced.
- some include a screw and nut system in order to convert the rotation of a drive shaft into translation of a slender member such as a cable which drives the next segment of the arm.
- Such transmissions have several advantages including simplicity, ease of adaptation to segments of different shapes or lengths, precision of movement due to the smallness of the games, and a certain lightness.
- French patent 2,809,464 illustrates such a transmission.
- the motor is very often near the nut or integrated into the screw-nut cylinder.
- the often preponderant mass of the engine induces a significant tilting moment and inertia with respect to the articulation axes of the segment.
- the invention here proposes a modification of this usual design, in which, by an added transmission, the motor is brought closer to the axis of articulation of the preceding segment so as to reduce the inertia and exert a clean tilting moment, the intensity is low or even participate in the balance of the rest of the transmission or segment. It then becomes very easy to hold or move the segment, even with a low power motor.
- one aspect of the invention is therefore an intermediate segment of articulated arm, mounted on a preceding segment by a rotary articulation and on which is mounted a following segment, comprising a support transmission of the following segment comprising a motor, a nut rotating with the motor, a screw engaged in the nut, and a connecting member extending between the screw and the following segment, characterized in that the motor is linked to the nut by an elongated motor shaft so that the motor is in position close to the rotary articulation axis.
- the motor shaft is precisely elongated so that the motor is closer to the axis of the joint than the screw and the nut. The motor can thus be placed in front of the joint, or beyond it, on the other side of the arm.
- FIG. 1 shows an embodiment of the invention
- FIG. 2 a slightly different embodiment
- - And Figures 3 and 4 two embodiments of a control arm.
- I for the purposes of the general explanation comprises an intermediate segment 1, held by its ends opposite to a preceding segment 2 and to a following segment 3.
- the preceding segment 2 is closer to a base 4, here attached to it. It is connected to the intermediate segment 1 by a first articulation 5, and the following segment 3 is connected to the intermediate segment 1 by another articulation 6.
- the following segment 3, further from the base 4 than the intermediate segment 1, can or not understand the end of the arm.
- the joints 5 and 6 are rotational joints as is usual in this technique, but other connections between the segments 1, 2 and 3 would be possible. This is how the articulation 6 is controlled or kept in a stopped position.
- a transmission 7 is housed in the intermediate segment 1.
- It comprises a looped cable 8, stretched between two pulleys 9 and 10, the second of which materializes the articulation 6, a screw 11 to which the cable 8 is attached, a nut 12 in which the screw 11 is engaged, and a motor 13.
- the rotation of the motor 13 rotates the nut 12 and advances the screw 11 and the cable 8, by rotating the pulley 10.
- the cable 8 passes through the screw 11 which is hollow, is attached to it by a point, is also attached to the pulley 10, and rotation of the screw 11 is prohibited, for example, by a roller trolley 14 mounted on the screw
- the engine which is usually the heaviest part of the transmission 7 no longer exerts a significant tilting moment; it can even, if it is beyond the first articulation 5, exert a tilting moment balancing that of the rest of the transmission 7 or of the intermediate segment 1.
- the transmission still referenced by 7, controls a second articulation 18 called roll rolling the following segment 3, instead of a pitch articulation as in FIG. 1.
- the cable 8 is then stretched a little more complicated on a set of pulleys 19 so as to wind its end around the next segment 3.
- the pulleys 19-1 and 19-2 are concentric with the articulation axis of the next segment.
- Pulleys 19-3 and 19-4 are deviating or constraining.
- the movement of the transmission 7 is here also accompanied by a movement of the cable 8 and rotates the following segments 3 on itself. All of the above considerations on transmission 7 remain valid.
- FIG. 3 illustrates a control arm equipped with the invention. It comprises a base 20, a first segment 21, a second segment 22, a third segment 23 and a handle 24.
- the first segment 21 is linked to the base 20 by a first articulation (of roll) 25, the second segment 22 to the first segment 21 by a second articulation
- the second articulation 26 is double, the structure of the second segment 22 being in parallelogram: a first degree of freedom switches the parallelogram, straightening the second segment 22, while another degree of freedom changes the height of the parallelogram and switches the third segment 23 around the second pitch joint 27.
- a force feedback motor associated with the third articulation 27 can be placed in the first segment 21, that is to say at a position where it does not exert a moment.
- This six degree of freedom arm also includes six force feedback transmissions to stop possible movements.
- the invention there is no need to apply the invention to the first three transmissions 29, 30 and 31, the first of which is placed in the fixed base 20 and the other two in the first segment 21 which is vertical and pivoting, so that 'they do not exercise any tilting moment.
- the invention equips the other three transmissions 32, 33 and 34: the motor 13 of the fourth transmission 32 is placed at the rear of the second segment 22, beyond the second articulation 26 and the motors 13 of the fifth and sixth transmissions 33 and 34 are similarly placed at the rear of the third segment 23 and of the third articulation 27, not far from the second segment 22.
- the transmission shafts 16 and the mechanisms 17 for transmitting the movement to the nuts 12 also have been represented.
- the first transmission 29 could also be placed in the first segment 21. More significant changes can be described with reference to FIG. 4. They bear, in an arm which is otherwise little different from that of FIG. 3, on the second segment, now referenced by 22 ', and on the third transmission 31' responsible for applying a pitch rotation to the third segment 23.
- This third transmission 31 ' is now placed in the second segment 22', which no longer has a parallelogram structure but a conventional linear (tubular) structure.
- the third transmission 31 ' is constructed like the fourth 32, its neighbor, with the motor 13 offset towards the rear of the second segment 22', beyond the second articulation 26.
- the arm enjoys a slight moment of failover.
- a balancing of the third segment 23 can be completed with a counterweight mass or a spring 36.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/549,049 US7574939B2 (en) | 2003-03-14 | 2004-03-11 | Intermediate segment of an articulated arm comprising a screw and nut transmission |
EP04719503A EP1603713A1 (fr) | 2003-03-14 | 2004-03-11 | Segment intermediaire de bras articule contenant une transmission a vis et ecrou |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0350047 | 2003-03-14 | ||
FR0350047A FR2852265B1 (fr) | 2003-03-14 | 2003-03-14 | Segment intermediaire de bras articule contenant une transmission a vis et ecrou |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004082901A1 true WO2004082901A1 (fr) | 2004-09-30 |
Family
ID=32893401
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/050102 WO2004082901A1 (fr) | 2003-03-14 | 2004-03-11 | Segment intermediaire de bras articule contenant une transmission a vis et ecrou |
Country Status (4)
Country | Link |
---|---|
US (1) | US7574939B2 (fr) |
EP (1) | EP1603713A1 (fr) |
FR (1) | FR2852265B1 (fr) |
WO (1) | WO2004082901A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140245846A1 (en) * | 2011-10-17 | 2014-09-04 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Asymmetrical anti-rotation device and screw jack comprising such a device |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ITPI20080037A1 (it) * | 2008-04-30 | 2009-11-01 | Scuola Superiore Di Studi Universitari S Anna | Attuatore compatto e leggero a escursione angolare limitata e elevata coppia |
KR20090128878A (ko) * | 2008-06-11 | 2009-12-16 | 삼성전자주식회사 | 로봇용 관절구동장치 및 이를 구비한 로봇 |
IT1392212B1 (it) * | 2008-11-25 | 2012-02-22 | Bossan | Dispositivo per la movimentazione automatica di nodi di macchine ad assi controllati |
KR20100077504A (ko) * | 2008-12-29 | 2010-07-08 | 삼성전자주식회사 | 로봇용 관절구동장치 및 이를 구비한 로봇 |
KR20100082225A (ko) * | 2009-01-08 | 2010-07-16 | 삼성전자주식회사 | 로봇용 관절구동장치 및 이를 구비한 로봇 |
FR2941760A1 (fr) * | 2009-02-04 | 2010-08-06 | Commissariat Energie Atomique | Verin a cable monopalier |
FR2945232B1 (fr) * | 2009-05-06 | 2011-04-22 | Commissariat Energie Atomique | Procede de compensation de frottements dans un dispositif a retour d'effort equipe d'une transmission a cable |
FR2949451B1 (fr) * | 2009-09-02 | 2011-08-26 | Commissariat Energie Atomique | Verin a cable et dispositif d'assistance aux personnes integrant un tel verin |
KR20110026935A (ko) * | 2009-09-09 | 2011-03-16 | 삼성전자주식회사 | 로봇 관절 구동장치 및 이를 포함하는 로봇 |
US20110137423A1 (en) * | 2009-12-04 | 2011-06-09 | Hsiang Ouyang | Mechanical joint imitating creatures' joints |
KR101706094B1 (ko) * | 2010-01-14 | 2017-02-14 | 삼성전자주식회사 | 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법 |
CN102229144A (zh) * | 2011-06-15 | 2011-11-02 | 哈尔滨工程大学 | 具有可伸缩变形性能的自锁机械手 |
FR2990485B1 (fr) * | 2012-05-09 | 2021-04-23 | Commissariat Energie Atomique | Arbre de transmission flexible, et verin a cable a moteur deporte utilisant un tel arbre |
JP2014073222A (ja) * | 2012-10-04 | 2014-04-24 | Sony Corp | 運動補助装置及び運動補助方法 |
FR3008916B1 (fr) | 2013-07-26 | 2015-08-07 | Commissariat Energie Atomique | Procede de commande d'un segment de bras de comanipulateur |
US9475191B1 (en) * | 2014-09-03 | 2016-10-25 | Google Inc. | Robotic leg parallel to a ball screw |
KR102346226B1 (ko) * | 2015-01-22 | 2022-01-03 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
JP2017104968A (ja) * | 2015-12-03 | 2017-06-15 | 並木精密宝石株式会社 | マニピュレーターおよび多指ハンド装置 |
US10673303B2 (en) | 2017-12-28 | 2020-06-02 | Aeolus Robotics Corporation Limited | Robotic arm |
FR3086361B1 (fr) * | 2018-09-25 | 2021-07-23 | Commissariat Energie Atomique | Transmission hybride a raideur augmentee pour verin a cable |
FR3091325B1 (fr) * | 2018-12-27 | 2021-03-05 | Commissariat Energie Atomique | Transmission pour vérin à câble à ancrage d’écrou décalés |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61192486A (ja) * | 1985-02-19 | 1986-08-27 | 株式会社神戸製鋼所 | 多関節型ア−ム装置 |
JPS62157788A (ja) * | 1985-12-27 | 1987-07-13 | 松下電器産業株式会社 | 工業用ロボツト |
JPS62188690A (ja) * | 1986-02-14 | 1987-08-18 | 三菱重工業株式会社 | 作業ロボツトの駆動系揺動抑制装置 |
US4697472A (en) * | 1982-09-25 | 1987-10-06 | Fujitsu Limited | Multi-articulated robot |
FR2807959A1 (fr) * | 2000-04-21 | 2001-10-26 | Centre Nat Rech Scient | Actionneur concu pour des structures articulees, telles que des membres de robot marcheur |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61236485A (ja) * | 1985-04-12 | 1986-10-21 | 株式会社日立製作所 | ロボツトの手首駆動装置 |
JPS62192486A (ja) | 1986-02-18 | 1987-08-24 | Kobe Steel Ltd | 乾燥、予熱炭の製造方法 |
FR2640607B1 (fr) | 1988-12-19 | 1991-05-17 | Cga Hbs | Dispositif de levage de charges |
JP2826556B2 (ja) * | 1990-11-28 | 1998-11-18 | キヤノン株式会社 | 工業用ロボツト |
JPH06280935A (ja) * | 1993-03-30 | 1994-10-07 | Nippon Seiko Kk | 制振ユニット |
US5692412A (en) * | 1993-11-15 | 1997-12-02 | Ross-Hime Designs, Incorporated | Robotic manipulator |
FR2724208B1 (fr) * | 1994-09-07 | 1996-10-18 | Commissariat Energie Atomique | Systeme telescopique |
FR2809464B1 (fr) | 2000-05-26 | 2002-10-11 | Commissariat Energie Atomique | Transmission a vis, ecrou et cable attache a la vis |
DE20202440U1 (de) | 2002-02-18 | 2002-07-04 | Kroell Johannes | Bier mit Mineralwasser gebraut |
-
2003
- 2003-03-14 FR FR0350047A patent/FR2852265B1/fr not_active Expired - Fee Related
-
2004
- 2004-03-11 EP EP04719503A patent/EP1603713A1/fr not_active Withdrawn
- 2004-03-11 WO PCT/FR2004/050102 patent/WO2004082901A1/fr active Search and Examination
- 2004-03-11 US US10/549,049 patent/US7574939B2/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4697472A (en) * | 1982-09-25 | 1987-10-06 | Fujitsu Limited | Multi-articulated robot |
JPS61192486A (ja) * | 1985-02-19 | 1986-08-27 | 株式会社神戸製鋼所 | 多関節型ア−ム装置 |
JPS62157788A (ja) * | 1985-12-27 | 1987-07-13 | 松下電器産業株式会社 | 工業用ロボツト |
JPS62188690A (ja) * | 1986-02-14 | 1987-08-18 | 三菱重工業株式会社 | 作業ロボツトの駆動系揺動抑制装置 |
FR2807959A1 (fr) * | 2000-04-21 | 2001-10-26 | Centre Nat Rech Scient | Actionneur concu pour des structures articulees, telles que des membres de robot marcheur |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140245846A1 (en) * | 2011-10-17 | 2014-09-04 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Asymmetrical anti-rotation device and screw jack comprising such a device |
US9169908B2 (en) * | 2011-10-17 | 2015-10-27 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Asymmetrical anti-rotation device and screw jack comprising such a device |
Also Published As
Publication number | Publication date |
---|---|
FR2852265A1 (fr) | 2004-09-17 |
US20060169086A1 (en) | 2006-08-03 |
US7574939B2 (en) | 2009-08-18 |
EP1603713A1 (fr) | 2005-12-14 |
FR2852265B1 (fr) | 2006-02-24 |
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