WO2016198411A1 - Long-reach arm element and robotic arm comprising such an element - Google Patents

Long-reach arm element and robotic arm comprising such an element Download PDF

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Publication number
WO2016198411A1
WO2016198411A1 PCT/EP2016/062916 EP2016062916W WO2016198411A1 WO 2016198411 A1 WO2016198411 A1 WO 2016198411A1 EP 2016062916 W EP2016062916 W EP 2016062916W WO 2016198411 A1 WO2016198411 A1 WO 2016198411A1
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WO
Grant status
Application
Patent type
Prior art keywords
element
connecting
arm
actuator
end
Prior art date
Application number
PCT/EP2016/062916
Other languages
French (fr)
Inventor
Nolwenn KAMMERER
Yann Perrot
Dominique Ponsort
Original Assignee
Commissariat A L`Energie Atomique Et Aux Energies Alternatives
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually

Abstract

Arm element (10) comprising: - a first and a second, substantially parallel upright (20, 30); - a driving rod (40) having ends (43) hinged to the first and the second upright (20, 30); - a first and a second connection element (50, 60) which extend substantially parallel to the driving rod (40) and which are coupled to the first upright (20) and the second upright (30); - a controllable-length linear actuator (70) coupled between one of the uprights (20, 30) and the other upright (20, 30) or the driving rod (40); the first and second connecting elements (50, 60) being provided with counterbalancing means (55, 57, 65, 67) such that, when one of the connecting elements (50, 60) is kept under tension under the effect of the actuator (70), the other of the connecting elements (50, 60) is counterbalanced.

Description

Element arm high slenderness and robot arm comprising such element

FIELD OF INVENTION

The present invention relates to the field of robotic arms and especially the robotic arms high slenderness. An element is said high slenderness when it is very long for low weight.

BACKGROUND OF THE INVENTION

Discloses articulated arms comprising a plurality of longitudinal elements articulated together and joints which comprise the actuators. These arms are extensively used for handling tasks, for the realization of automated tasks or for remote operation. The disadvantage of such arms remains within reach. Indeed, the increase in the length of the longitudinal members causes an increase in their weight, inertia and then forces to size accordingly the actuators and the fixed point of the articulated arm base floor or wall installation. It was envisaged to use longitudinal elements whose sections decrease as and when that they move away from the fixed point of the arm, as is common practice in the field of telescopic cranes. This solution does not allow a standardized manufacture of longitudinal elements or modular design of the arm.

It is known to handle a load using a deformable parallelogram system. Such a system generally comprises a first fixed amount on which are articulated the first ends of two parallel rods. The second ends of the connecting rods are articulated on a second parallel to the first amount. An actuator extending between the first end of a first link and the second end of the other link. The de- deployment or retraction of the cylinder allows to modify the shape of the deformable parallelogram and so change the position of a second amount related to load. In the case of a deformable parallelogram system wherein the connecting rods extend in a substantially horizontal direction, and the end of which a heavy load (due to the weight force directed substantially vertically downwardly) is fixed, the lower link is stressed in compression and the upper rod is stressed in tension. When the direction of the force is reversed, that is to say it is directed essentially vertically upwards, the upper rod is stressed in compression and the lower link is subjected to tensile stress. Thus, it is necessary to size each connecting rod so that it can withstand forces in tension and compression. This design results in massive rods which does not offer a solution to obtain significant ranges for reduced weight.

OBJECT OF THE INVENTION

An object of the invention is to improve the potée an arm member while minimizing its weight.

SUMMARY OF THE INVENTION

For this purpose there is provided according to the invention an arm member comprising:

a first amount and a second amount substantially parallel;

a steering connecting rod having a first end and a second end articulated respectively on the first amount and the second amount by a first articulation and a second articulation;

a first link member and a second connecting member which extend substantially parallel to the principal rod and which each comprise a first end and a second end respectively coupled ment on the first amount and second amounts on either side of joints of the steering rod;

a linear actuator controllable length coupled between one of the uprights and the other leg or the crank guideline.

The first connection and the second connecting element elements are provided with means for neutralization so that, when one of the connecting members is held in traction under the effect of the actuator and forms with the link manager and the two uprights a deformable quadrilateral stiffened by the actuator, the other of the connecting elements is neutralized and does not transmit any force between the first amount and the second amount.

Thus, the design of connecting elements takes into account that the tensile stresses resulting in lighter elements for dimensioning considering efforts in tension and compression. This particular design leads to optimization of the mass of connecting elements which can significantly increase the reach of an arm member with respect to an arm member of the prior art of the same mass.

According to a particular embodiment, the director rod is tubular and has a wall extending around the connecting elements and one actuator. The wall of the steering rod then provides a physical protection of the connecting elements and the actuator against shocks.

Advantageously, the neutralizing means comprise at least one oblong slot. Such a construction is reliable and economical to produce.

The invention also relates to a robotic arm comprising at least one robot arm ment previously defined.

Other features and advantages of the invention appear in the light of the following description of a nonlimiting embodiment 1 of the invention.

BRIEF DESCRIPTION OF DRAWINGS

It will be made reference to the appended figures in which:

- Figure 1 is a perspective view of a robotic arm according to the invention;

- Figure 2 is a perspective view of an element of Figure 1 arm;

- Figure 3 is a detail view of a robotic arm member of Figure 2;

- Figure 4 is a partial perspective view of an exploded view of the arm member of FIG 2;

- Figure 5 is a schematic view of the arm member of figure 2.

DETAILED DESCRIPTION OF THE INVENTION Referring to Figures 1 to 5, a robotic arm 100 includes a first arm member 10, a second arm member 11 and a third arm member 12 hinged to each other along substantially vertical axes. Each leg member 10, 11, 12 comprises a linear actuator connected to a control unit 101. The third arm member 12 includes at its end 12.1 a support 80 of a feeler 81.

The arm members 10, 11 and 12 are identical, only the first member 10 will be described below.

The first arm member 10 is fixed to the wall bracket 1 and comprises:

- a first upright 20 and second upright 30 substantially parallel;

- a link manager 40 of tubular cylindrical wall 41 and having a first end 42 and a second end 43 hinged respectively to the first upright 20 and second upright 30 by a first hinge 44 and second hinge 45;

- a first connecting element 50 and a second 60 link element extending substantially parallel to the link manager 40.

The first connecting element 50 is a square section 51 of rod which is located above (according to the representation of Figure 1) of a plane P including the axes of the joints 44 and 45 of the connecting rod 40. The first director member link 50 includes a first end 52 and second end 53 respectively coupled to the first upright 20 and the second leg 30. as particularly visible in Figure 4, the first end 52 of the first link 50 comprises a clevis member 54 wherein breakthrough is an oblong aperture 55 whose largest dimension extends in the longitudinal direction of first connecting member 50. This elongated slot 55 receives a pin 21 pivot rotatably mounted in a bearing 22 integral with the first leg 20. the second end 53 of the first connecting element 50 is connected in an identical manner to the second upright 30 by means of a yoke 56 provided with a slot oblong 57 and wherein axis 31 extends a hinge rotatably mounted in a bearing 32 integral with the second upright 30.

The second connecting element 60 is identical to the first connecting element 50 and 61 comprises a square bar which is located below (according to the representation of Figure 1) of the plane P. The second connecting element 60 comprises a first end 62 and a second end 63 coupled respectively to the first upright 20 and the second leg 30. the first end 62 of the second connecting element 60 comprises a yoke 64 in which is bored an elongated slot 65 whose largest dimension s' extends in the longitudinal direction of the second connecting member 60. This elongated slot 65 receives a pin 23 pivot rotatably mounted in a bearing 24 integral with the first leg 20. the second end 63 of the second connecting element 60 is connected so identical to the second upright 30 by means of a yoke 66 provided with an elongated slot 67 and into which extends a pin 33 of arti culation rotatably mounted in a bearing 34 integral with the second upright 30.

An electric actuator 70 is coupled at a first end 71 of the shaft 21 and a second end 72 of the joint 45.

As visible in Figures 1 and 2, the wall 41 of the tubular rod 40 extends around the first and second connecting elements 50 and 60 and the electric cylinder 70. The wall 41 also comprises two longitudinal windows 46 and 47.

The first leg 20 comprises, at its end opposite to that receiving the pins 21 and 23, a yoke 25 whose sides 25.1 and 25.2 extend perpendicular to a plane including the axes 21 and 23. The fork 25 is integral in rotation a shaft 26 pivotally mounted in the sides 2 and 3 projecting from the wall holder 1. the shaft 26 is integral in rotation with a geared electric motor 27 not shown. The sidewalls 25.1 and 25.2 as well as the shaft 26 carry an articulation of the arm member 10 connected to the wall holder 1. The rotation control of the electric geared motor 27 makes it possible to control the rotation of the arm member 10 with respect to wall mount 1.

The second upright 30 comprises at its end opposed to that receiving the shafts 31 and 33, a yoke 35 whose sidewalls 35.1 and 35.2 extend perpendicular to a plane including the axes 31 and 33. The yoke 35 is integral in rotation with a shaft 36 on which is rotatably mounted the first amount 20.11 of the second arm member 11.

The clevis 35 includes a bore in which is mounted an electric actuator 37 (not shown) of which the rod 38 extends to a pin 39 projecting laterally from the first amount 20.11. The deployment or retraction of the rod 38 allows to control the relative rotation of the second arm member 11 relative to the first arm member 10.

Referring to Figure 5, the arm member 10 therefore comprises a first deformable quadrilateral 13 comprising the first and second posts 20 and 30, the first link member 50 and the link manager 40. The arm member 10 includes also a second deformable quadrilateral 14 comprising the first and second posts 20 and 30, the second link member 60 and the link manager 40. the electric actuator 70 is used to control the simultaneous deformations of deformable quadrilaterals 13 and 14 so as to move the amount 30 -and therefore the first amount of 20.11 11- second arm member along a circular path 90 shown in dashed lines in Figure 5 and centered on the articulation 44.

The operation of the robot arm member 10 will be described in connection with Figure 5. When a heavy load P, the vertical component is directed downward is applied to the second post 30, the internal forces to arm member 10 are as follows:

- the electric actuator 70 exerts a tensile force between the axis 21 and the articulation 45 to ri- gidifier the deformable quadrilateral 13. The force exerted allows balance or movement of the second amount 30 subjected to heavy load P; - the first link member 50 is maintained in tension;

- the director rod 40 is subjected to a compressive force;

- the second connecting member 60 does not transmit any force between the first upright 20 and second upright 30 as the oblong slots 65 and 67 neutralize the second connecting element 60 ensuring that the first 50 link member comes into tension before the least one of the axes 23ou33 abuts against one end of the oblong apertures 65 or 67.

When a load F, the vertical component is upward, is applied to the upright 30, the internal forces to the arm member 10 are as follows:

- the electric actuator 70 exerts a compressive force between the pin 21 and the articulation 45 to ri- gidifier the deformable quadrilateral 14. The force exerted allows balance or movement of the second amount 30 under load F ;

- the second connecting element 60 is maintained in tension;

- the director rod 40 is subjected to a compressive force;

- the first 50 link member does not transmit any force between the first upright 20 and second upright 30 as the oblong slots 55 and 57 neutralize the first connecting element 50 ensuring that the second connecting member 60 comes into tension before that at least one of the axes 21 or 31 abuts against one of the ends of the oblong slots 55 or 57.

Thus, one obtains a robotic arm member 10 can withstand loads with a vertical component can be directed upwards or downwards and whose 50 connecting elements 60 destined to work in tension are not subjected to any compressive force . This design allows the implementation of light connecting elements -for not have to withstand the stresses and compression-contributing to obtaining an arm member 10 with high slenderness.

The robotic arm 100 consisting of the first arm member 10, the second arm member 11 and third arm member 12 therefore allows a large working range for mass reduced cantilever. Drives for each joint as well as the electric actuators 70, 70.11 and 70.12 respectively of the first, second and third arm members 10, 11 and 12 being connected to a control unit 101, the robotic arm 100 may be controlled to almost reach all point within a hemisphere having a radius substantially equal to the maximum range of the robot arm 100.

Of course, the invention is not limited to the described embodiment but encompasses any variant within the scope of the invention as defined by the claims.

In particular,

- although here the robot arm comprises three arm members, the invention also applies to a robotic arm comprising a different number of arm members such as a single member, two or more than three arm members;

- well that here the arm members are hinged together according to substantially vertical axes, the invention also applies to different orientations of the axes of the joints such as horizontal axes, or oriented in any manner the axes of each joint can be oriented differently with respect to each other; - although here the joint of the third arm is connected to a sensor, the invention also applies to other types of control device such as a camera, a camera, a sensor trasonique or radiographic ul- or a three-dimensional scanner;

- well that here the first arm member is secured to a wall bracket, the invention also applies to an arm member connected to other types of external device such as a support fixed to the ground or mobile;

- well that by the first and the second amount are substantially parallel, the invention also applies to different orientations of the first and second amount such as not coplanar or intersecting directions;

- well that here the first and second members both have a square cross section, the invention also applies to the first and second elements can adopt different sections on the surface and shape such as tubular sections, circular, rectangular, triangular, ellipsoid or one;

- well that here the first connecting element is located above a plane P containing the axes of the joints of the steering link and the second link member is located below said plane, the invention s' also applies to other arrangements in which the first connecting member and the second connecting element are located on either side of the articulations of the link manager;

- well that here the joints of the connecting elements on the uprights are made with shafts mounted in bearings, the invention also applies to other types of joints such as joints using work rolls, or giving free mounting kits rotation around the axis of the joint;

- well that here both ends of the connecting elements comprise an oblong slot, the invention also applies to other neutralizing means such as a single elongated slot positioned at one of the ends of each connecting element, an elongated slot located between the two ends of the connecting elements which are connected by two connecting semi-member, the flexible connecting members such as cables, chains or the connecting elements provided with a deformable member in compression but not in tension;

- although here an electric actuator extends between a hinge axis of the first connecting element connected to the first leg and a joint of the link manager connected to the second amount, the invention is also applicable to other type of linear actuators controllable length, such as a hydraulic or pneumatic cylinder, can also be coupled between one of the uprights and the principal rod either on one of its ends or at a point of the connecting rod between its two director ends;

- although here the joint of the first arm member on the wall bracket is controlled in rotation by a geared motor, the invention also applies to other types of control means for the rotation of the arm member such as an electric actuator, a pneumatic or hydraulic motor;

- well that by the first amount of the first arm member comprises a hinge connected to a wall bracket and the second amount of the first arm member comprises a hinge connected to another arm member, the invention also applies to joints to be connected to other types of external device such as tools or handling hook;

- well that here the link manager comprises a tubular wall extending around the connecting elements, the electric actuator and also comprising two longitudinal windows, the invention is also applicable to a link manager whose wall is devoid of longitudinal windows or which involve one or more than two. The invention also applies to a solid rod (not tube) and / or any section.

Claims

1. arm element (10) comprising:
- a first post (20) and a second amount
(30) substantially parallel;
a guiding rod (40) having a first end (42) and a second end (43) articulated respectively on the first leg (20) and the second post (30) by a first joint (44) and a second joint ( 45);
- a first connecting element (50) and a second connecting element (60) which extend substantially parallel to the link manager (40) and which each NEET compren- a first end (52, 62) and a second end ( 53, 63) respectively coupled to the first upright (20) and the second post (30) on either side of the joints (44, 45) of the link manager (40);
- an actuator (70) of linear length comman- dable coupled between one of the uprights (20, 30) and the other upright (20, 30) or the link manager (40);
the first connecting element (20) and second connecting element (30) being provided with means of neutralization (55, 57, 65, 67) so that, when one of the connecting elements (50, 60) is maintained in traction under the effect of the actuator (70) and forms with the link manager (40) and two uprights (20, 30) a deformable quadrilateral (13, 14) rigidified by the actuator (70), the other of the connecting elements (50, 60) is neutralized and does not transmit any force between the first leg (20) and the second post (30).
2. Item robot arm (10) of claim 1, wherein the link manager (40) is tu- lary and has a wall (41) extending around the connecting elements (50, 60) and the actuator (70).
3. element robotic arm (10) of claim 1, wherein the neutralizing means of each connecting member (50, 60) comprise at least one oblong aperture (55, 57, 65, 67) slidably receiving a pin (21, 23, 31, 33), the length of the slot being such that one of the connecting elements (50, 60) engages before the traction axis (21, 23, 31, 33) means for neutralization of the other element of its liai- (50, 60) abuts against one end of the oblong slot (55, 57, 65, 67) in which it is received.
4. element robotic arm (10) of claim 3, wherein the oblong slot (55, 57, 65, 67) is located in one of the ends 52, 53, 62, 63) of the connecting elements (50 , 60).
5. element robotic arm (10) of claim 1, wherein the actuator (70) is an electric actuator.
6. Robotic Arm (100) comprising at least one robotic arm member (10, 11, 12) according to any preceding claim.
PCT/EP2016/062916 2015-06-11 2016-06-07 Long-reach arm element and robotic arm comprising such an element WO2016198411A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1555311A FR3037270B1 (en) 2015-06-11 2015-06-11 arm member has high degree of slenderness and robot arm comprising such element
FR1555311 2015-06-11

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20160732471 EP3307492A1 (en) 2015-06-11 2016-06-07 Long-reach arm element and robotic arm comprising such an element

Publications (1)

Publication Number Publication Date
WO2016198411A1 true true WO2016198411A1 (en) 2016-12-15

Family

ID=54066036

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/062916 WO2016198411A1 (en) 2015-06-11 2016-06-07 Long-reach arm element and robotic arm comprising such an element

Country Status (3)

Country Link
EP (1) EP3307492A1 (en)
FR (1) FR3037270B1 (en)
WO (1) WO2016198411A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3262593A (en) * 1963-07-10 1966-07-26 Gen Mills Inc Wall-mounted support structure
DE2719313A1 (en) * 1977-04-29 1978-11-09 Fuchs Fa Johannes Mechanical handling arm with elbow joint cantilevers - projects from post and has upper arm of pinned parallelogram with jack as bracing stay
JPH07112377A (en) * 1993-10-15 1995-05-02 Komatsu Ltd Operating device in bilateral master slave operation system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3262593A (en) * 1963-07-10 1966-07-26 Gen Mills Inc Wall-mounted support structure
DE2719313A1 (en) * 1977-04-29 1978-11-09 Fuchs Fa Johannes Mechanical handling arm with elbow joint cantilevers - projects from post and has upper arm of pinned parallelogram with jack as bracing stay
JPH07112377A (en) * 1993-10-15 1995-05-02 Komatsu Ltd Operating device in bilateral master slave operation system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None

Also Published As

Publication number Publication date Type
FR3037270B1 (en) 2017-06-02 grant
EP3307492A1 (en) 2018-04-18 application
FR3037270A1 (en) 2016-12-16 application

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