WO2017098472A1 - Raccord mécanique avec mode de transmission pouvant être sélectionné - Google Patents

Raccord mécanique avec mode de transmission pouvant être sélectionné Download PDF

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Publication number
WO2017098472A1
WO2017098472A1 PCT/IB2016/057506 IB2016057506W WO2017098472A1 WO 2017098472 A1 WO2017098472 A1 WO 2017098472A1 IB 2016057506 W IB2016057506 W IB 2016057506W WO 2017098472 A1 WO2017098472 A1 WO 2017098472A1
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WO
WIPO (PCT)
Prior art keywords
additional
selectors
acceleration
outlet
rotation
Prior art date
Application number
PCT/IB2016/057506
Other languages
English (en)
Inventor
Lorenzo BASSI LUCIANI
Marco Controzzi
Federico MONTAGNANI
Christian Cipriani
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority to EP16843271.4A priority Critical patent/EP3387282A1/fr
Publication of WO2017098472A1 publication Critical patent/WO2017098472A1/fr

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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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D47/00—Systems of clutches, or clutches and couplings, comprising devices of types grouped under at least two of the preceding guide headings
    • F16D47/04—Systems of clutches, or clutches and couplings, comprising devices of types grouped under at least two of the preceding guide headings of which at least one is a freewheel
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D41/00—Freewheels or freewheel clutches
    • F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
    • F16D41/08—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D41/00—Freewheels or freewheel clutches
    • F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
    • F16D41/08—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action
    • F16D41/086—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action the intermediate members being of circular cross-section and wedging by rolling
    • F16D41/088—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action the intermediate members being of circular cross-section and wedging by rolling the intermediate members being of only one size and wedging by a movement not having an axial component, between inner and outer races, one of which is cylindrical

Definitions

  • the present invention relates to a mechanical joint wherein different transmission modes can be selected.
  • the invention relates to a mechanical joint which can be fixed to robotic systems, orthosis, prosthesis and exoskeletons .
  • SEA Series Elastic Actuator
  • VSA VSA
  • ⁇ Variable Stiffness Actuator have been introduced, which have an elastic element of variable stiffness interposed between the motor and the load.
  • the stiffness is made variable by a secondary actuating mechanism that change the configuration of the elastic element changing for example the preload or the shape (and then its stiffness) .
  • this element is crucial since it affects the statistics of acceptance of the prosthetic limb by the amputee.
  • JP2013047563 is described a friction for switching between two transmission modes by means of a cam mechanism easy to carry out.
  • the mechanism allows to switch between a constrained position, in which a worm screw is connected to a rotating shaft, and a released position, in which the two elements do not rotate together .
  • a rotational joint arranged to operate selectively at least two modes of transmission of a rotational movement between an input, arranged to carry out a rotation having angular acceleration ⁇ about a longitudinal axis y , and an outlet, arranged to carry out a rotation having angular acceleration ⁇ about the same longitudinal axis y , said rotational joint comprising :
  • a driving plate integrally connected to the inlet and arranged to carry out a rotation having angular acceleration ⁇ about longitudinal axis y , said driving plate comprising a plurality of radial housings;
  • a transmission ring connected to the outlet and co-axial to the driving plate, said transmission ring arranged to carry out a rotation having angular acceleration ⁇ about the longitudinal axis y ;
  • selectors arranged to slide radially in the radial housings between a free position, where the selectors are adapted to counteract the resilient force and to remove the connection elements by the slots, and a constrained position, where the connection elements are located in the slots;
  • selectors comprising a plurality of maneuvering portions constrained to slide in the plurality of elongated holes
  • the rotational joint according to the present invention allows therefore to switch between two or more transmission modes by simply rotating the cam. Such transition needs therefore of very low power with respect to the prior art, since it is enough to exceed the resilient force of the springs that push the selectors.
  • the joint connects two arms of the robot, and the joint can be active and/or passive;
  • the joint is located between the arm structure and the forearm structure, and it is an active joint;
  • the joint is located between the arm structure and the forearm structure, and it is a passive joint;
  • the joint replaces the anatomical joint and connects the prosthetic arm to the socket or to the plant integrated to the bones, and the joint can be active and/or passive.
  • the driving plate comprises a plurality of additional radial housings and the rotational joint comprises furthermore:
  • cam being equipped with a plurality of additional elongated holes and said additional selectors comprising a plurality of additional maneuvering portions constrained to slide in the plurality of additional elongated holes,
  • the joint allows, with very low power, to switch between a "free” transmission mode, an "elastic” transmission mode and a “rigid” transmission mode. It is therefore clear that the present invention provides a rotational joint that can change its own stiffness, switching between different transmission modes ("free”, “elastic” and “rigid") needing an operating power much less than the prior art devices ⁇ Variable Stiffness Actuator) . While the present joint, in fact, needs simply a power sufficient to exceed the resilient force of the springs 141 and 142, in prior art this power must be able to exceed the preloading of the main spring, i.e. that one that confers yieldability to the joint itself. Such spring has a stiffness obviously much higher and therefore the power that must exceed its preloading must be very high.
  • the power necessary for changing the stiffness of a VSA of the prior art is dependent from the relative position between inlet and outlet, since the stiffness of the spring changes during the rotation.
  • the mechanical joint provided by the present invention instead, needs an operating power constant and independent from the relative position between inlet and outlet or by the load applied to the outlet, leading to relevant advantages, especially in case of automation of the rotation of the cam.
  • the elastic constraint comprises:
  • said flat spring comprising:
  • Such exemplary embodiment of the elastic constraint is extremely advantageous since the flat spring used occupies a very reduced volume and you have the possibility, simply varying the geometric shape, to modify the elastic constant which gives yielding to the joint.
  • the cam comprises at least one area of selection comprising an elongated hole and an additional elongated hole, each area of selection comprising:
  • first angular sector associated with the "free" transmission mode, in said first angular sector being placed a first portion of elongated hole arranged to cause the movement of a selector in the free position and a first portion of additional elongated hole arranged to cause the movement of an additional selector in the free position;
  • a third angular sector associated with the "elastic" transmission mode in said third angular sector arranged a third portion of elongated hole arranged to cause the movement of the selector in the constrained position and a third portion of additional elongated hole arranged to cause the movement of the additional selector in the constrained position.
  • the cam allows to displace in a synchronized way the selectors and the additional selectors, in order to associate a transmission mode to each sector.
  • the inlet comprises an actuator arranged to transmit the acceleration ⁇ to the driving plate.
  • the actuator is adapted to transmit the acceleration ⁇ to the driving plate by a transmission system comprising two pulleys and a belt.
  • control unit arranged to operate the auxiliary actuator .
  • At least one torque sensor is also provided configured to measure the torque acting on the outlet and to send a torque signal to the control unit, in such a way that the control unit can operate the rotation of the cam.
  • the control unit it is possible to program the control unit in such a way that it controls the switch to a different transmission mode as a function of the loads acting on the joint.
  • the control unit it is possible to program the control unit in such a way that, in the event of a collision, it controls the switch to the "elastic" mode or "free” mode, reducing the force of impact and the damages to the machine or to external users.
  • At least one proximity sensor is also provided configured to measure the presence of an obstacle closed to the rotational joint and to send a signal of proximity to the control unit, in such a way that the control unit can operate the rotation of the cam.
  • control unit in such a way that it controls the switch to a different transmission mode as a function of the proximity of an object or an external user.
  • control unit in such a way that, in case of presence of an operator, it controls the precautionary switch to the "elastic" mode or "free” mode, reducing the force of a possible impact.
  • FIG. 1 shows an exploded perspective of a first exemplary embodiment of the rotational joint, according to the present invention
  • FIG. 2 shows an exploded perspective of a second exemplary embodiment of the rotational joint, according to the present invention
  • FIG. 3 shows an exploded perspective of a third exemplary embodiment of the rotational joint, according to the present invention, provided by the union of the first two exemplary embodiments;
  • FIG. 4 shows in a top plan view some components of the first exemplary embodiment
  • Fig. 4A shows a detail of Fig. 4
  • FIG. 5 shows in a top plan view some components of the second exemplary embodiment
  • Fig. 5A shows a detail of Fig. 5;
  • FIG. 6A shows an exploded perspective of the pin present in the elastic constraint
  • FIG. 6B shows in detail one of the selectors present in the first exemplary embodiment
  • FIG. 6C shows in detail one of the additional selectors present in the second exemplary embodiment ;
  • FIG. 7 shows in a top plan view the cam of the third exemplary embodiment, equipped with elongated holes and additional elongated holes;
  • - Fig. 8 shows in a top plan view the flat spring present in the elastic constraint
  • - Fig. 8A shows in a top plan view the flat spring of Fig. 8, during the deformation
  • FIG. 9 shows a possible exemplary embodiment of the rotational joint where the inlet comprises a actuator . Description of a preferred exemplary embodiment
  • a first exemplary embodiment is shown of the rotational joint 100, according to the present invention, arranged to operate two modes of transmission of the movement between an input, arranged to carry out a rotation having angular acceleration ⁇ about a longitudinal axis y, and an outlet 190, arranged to carry out a rotation having angular acceleration ⁇ about the same axis.
  • the joint can select the "free" transmission mode and the "elastic" transmission mode.
  • the rotational joint 100 comprises a driving plate 110, integrally connected to the inlet and comprising a plurality of radial housings 111, and a transmission ring 121 connected to the outlet 190 and co-axial to the driving plate 110.
  • the transmission ring 121 is adapted to carry out a rotation having angular acceleration ⁇ about longitudinal axis y .
  • the transmission ring 121 is also constrained in an axial direction by the bearing 180.
  • connection elements 131 is then provided subjected to the resilient force of a plurality of springs 141, in such a way that the connection elements 131 are pushed towards a plurality of slots Al located between the driving plate 110 and the transmission ring 121.
  • a plurality of selectors 151 is also provided arranged to slide radially in the radial housings 111 between a free position, where the selectors 151 are adapted to counteract the resilient force and to remove the connection elements 131 by the slots Al, and a constrained position, where the connection elements 131 are located in the slots Al and said constraint of fixed joint is obtained.
  • the rotational joint 100 comprises then a cam 160 equipped with a plurality of elongated holes 161 in which the maneuvering portions 151' of the selectors 151 are constrained to slide when the cam 160 carries out a rotation, with respect to the driving plate 110, about longitudinal axis y .
  • the rotational joint 100 shown in Fig. 1 allows therefore to pass between a "free" transmission mode or neutral and an “elastic" transmission mode simply rotating the cam 160. For this reason it is possible to adapt the rotational joint 100 to different loads, needing very low power, since it is enough that they exceed the resilient force of the springs 141.
  • the elastic constraint comprises a flat spring 170 co-axial with respect to transmission ring 121 and two pins 125 connected to transmission ring 121 and off- center with respect to the longitudinal axis y.
  • Each pin 125 has a rotation axis x and comprises a fixed portion 125a integral to the transmission ring 121 and a movable portion 125b arranged to rotate about its rotation axis x with respect to the fixed portion 125a.
  • the flat spring 170 comprises a stiff portion 175 integrally connected to the outlet 190 and arranged to carry out a rotation having angular acceleration ⁇ about longitudinal axis y.
  • the flat spring 170 also comprises 4 resilient branches 176, each of which comprises a root end 176a, integrally connected to said stiff portion 175, an elastic end 176b, which can be resiliently deformed, and an inner wall 176c, on which the movable portion 125b is adapted to slide due to the acceleration cp.
  • a second exemplary embodiment of the rotational joint 100 is shown, in which it is possible to switch between a "free” transmission mode, as in an exemplary embodiment previous, and a "rigid" transmission mode, where the inlet is integral to the outlet.
  • the rotational joint 100 comprises a driving plate 110, integrally connected to the inlet and comprising a plurality of radial housings 112, and a transmission ring 122 connected to the outlet 190 and co-axial to the driving plate 110.
  • the transmission ring 122 is adapted to carry out a rotation having angular acceleration ⁇ ' about longitudinal axis y.
  • connection elements 132 is then provided subjected to the resilient force of a plurality of springs 142, in such a way that the connection elements 132 are pushed towards a plurality of slots A2 located between the driving plate 110 and the transmission ring 122.
  • a plurality of selectors 152 is also provided arranged to slide radially in the radial housings 112 between a free position, where the selectors 152 are adapted to counteract the resilient force and to remove the connection elements 132 by the slots A2, and a constrained position, where the connection elements 132 are located in the slots A2 and said constraint of fixed joint is obtained.
  • the rotational joint 100 comprises then a cam 160 equipped with a plurality of elongated holes 162 in which the maneuvering portions 152' of the selectors 152 are constrained to slide when the cam 160 rotates about longitudinal axis y.
  • the acceleration ⁇ is independent from the acceleration ⁇ and the outlet 190 can rotate freely with respect to said inlet.
  • a third exemplary embodiment is shown of the rotational joint 100, wherein the first two exemplary embodiments of the rotational joint 100 are substantially combined.
  • cam 160 comprises a plurality of areas of selection R, for example 6, each of which comprises an elongated hole 161 and an additional elongated hole 162.
  • angular fields SI, S2, S3 are provided in each area of selection R 3 .
  • the first angular sector SI is associated with the "free" transmission mode.
  • a first portion of elongated hole 161a causes the movement of a selector 151 in the free position and a first portion of additional elongated hole 162a causes the movement of an additional selector 152 which are also in the free position.
  • the acceleration ⁇ is independent from the acceleration ⁇ and the outlet 190 can rotate freely with respect to the input.
  • the second angular sector S2 is associated with the "rigid" transmission mode.
  • a second portion of elongated hole 161b causes the movement of a selector 151 in the free position and a second portion of additional elongated hole 162b causes the movement of an additional selector 152 in the constrained position.
  • the third angular sector S3 is associated with the "elastic" transmission mode.
  • a third portion of elongated hole 161c causes the movement of a selector 151 in the constrained position and a third portion of additional elongated hole 162c causes the movement of an additional selector 152 in the free position.
  • the elastic constraint can be implemented by the flat spring 170, like what said for an exemplary embodiment of Fig. 1.
  • This third exemplary embodiment, shown in Fig. 3, allows therefore to switch between three transmission mode: “free”, “stiff” and “elastic”, by an easy rotation of the cam 160.
  • the present invention provides a rotational joint that can change its own stiffness, switching between different transmission modes, needing a power of operation much lower than the prior art devices ⁇ Variable Stiffness Actuator) . While the present joint, in fact, needs simply a power sufficient to exceed the resilient force of the springs 141 and 142, in prior art this power must exceed the preloading of the main spring, i.e. the spring which gives yielding to the joint itself. Such spring has a stiffness obviously much higher and therefore the power needed to overcome its preloading has to be very high.
  • the inlet comprises an actuator 200 arranged to transmit the acceleration ⁇ to the driving plate 110 by a transmission system comprising two pulleys 310,330 and a belt 320.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Lock And Its Accessories (AREA)

Abstract

L'invention concerne un raccord rotatif (100), lequel raccord est agencé de façon à actionner de façon sélective au moins deux modes de transmission d'un mouvement rotatif entre une entrée, agencée pour effectuer une rotation ayant une accélération angulaire ω autour d'un axe longitudinal y, et une sortie (190), agencée pour effectuer une rotation ayant une accélération angulaire ϑ autour de l'axe longitudinal y. Le raccord rotatif (100) comprend une plaque d'entraînement (110) reliée d'un seul tenant à l'entrée et agencée de façon à effectuer une rotation ayant une accélération angulaire ω autour de l'axe longitudinal y, ladite plaque d'entraînement (110) comprenant une pluralité de logements radiaux (111, 112). Le raccord rotatif (100) comprend également une bague de transmission (121, 122) reliée à la sortie (190) et coaxiale par rapport à la plaque d'entraînement (110), ladite bague de transmission (121, 122) étant agencée de façon à effectuer une rotation ayant une accélération angulaire φ autour de l'axe longitudinal y. Le raccord rotatif (100) comprend également une pluralité d'éléments de liaison (131, 132) soumis à la force élastique d'une pluralité de ressorts (141, 142), ladite force élastique étant configurée de façon à pousser les éléments de liaison (131, 132) vers une pluralité de fentes (A1, A2) situées entre la plaque d'entraînement (110) et la bague de transmission (121 122), lesdits éléments de liaison (131, 132) étant configurés, quand ils sont disposés dans les fentes (A1, A2), de façon à venir en contact simultané avec la plaque d'entraînement (110) et la bague de transmission (121, 122), générant par frottement une contrainte de raccord fixe apte à produire la condition ω = φ. Le raccord rotatif (100) comprend également une pluralité de sélecteurs (151, 152) agencés de façon à coulisser radialement dans les logements radiaux (111, 112) entre une position libre, dans laquelle les sélecteurs (151, 152) sont conçus pour contrecarrer la force élastique et retirer les éléments de liaison (131, 132) par les fentes (A1, A2) et une position contrainte, dans laquelle les éléments de liaison (131, 132) sont disposés dans les fentes (A1, A2). L'invention concerne également une came (160) comportant une pluralité de trous allongés (161, 162). Les sélecteurs (151, 152) comprennent plusieurs parties de manœuvre (151', 152') contraintes de coulisser dans la pluralité de trous allongés (161, 162). La came (160) est conçue pour effectuer une rotation, par rapport à la plaque d'entraînement (110), autour de l'axe longitudinal y, ladite rotation générant un coulissement des parties de manœuvre (151', 152') dans les trous allongés (161, 162), provoquant le déplacement des sélecteurs (151, 152) entre la position libre, dans laquelle l'accélération φ est indépendante de l'accélération ω, et la position contrainte, dans laquelle ω = φ.
PCT/IB2016/057506 2015-12-10 2016-12-09 Raccord mécanique avec mode de transmission pouvant être sélectionné WO2017098472A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP16843271.4A EP3387282A1 (fr) 2015-12-10 2016-12-09 Raccord mécanique avec mode de transmission pouvant être sélectionné

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102015000081958 2015-12-10
ITUB2015A006881A ITUB20156881A1 (it) 2015-12-10 2015-12-10 Giunto meccanico a modalita di trasmissione selezionabile

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WO2017098472A1 true WO2017098472A1 (fr) 2017-06-15

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IT (1) ITUB20156881A1 (fr)
WO (1) WO2017098472A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107582334A (zh) * 2017-08-29 2018-01-16 中国科学院深圳先进技术研究院 一种外骨骼机器人及其膝关节部件

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1358971A1 (fr) * 2000-11-17 2003-11-05 Honda Giken Kogyo Kabushiki Kaisha Robot a pattes
US20100145510A1 (en) * 2008-12-10 2010-06-10 Gm Global Technology Operations, Inc Planar torsion spring
JP2013047563A (ja) * 2011-04-22 2013-03-07 Asmo Co Ltd クラッチ、モータ及び車両用ドア開閉装置
US20150330458A1 (en) * 2014-05-19 2015-11-19 Yaskawa America, Inc. Variable spring constant torque coupler

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1358971A1 (fr) * 2000-11-17 2003-11-05 Honda Giken Kogyo Kabushiki Kaisha Robot a pattes
US20100145510A1 (en) * 2008-12-10 2010-06-10 Gm Global Technology Operations, Inc Planar torsion spring
JP2013047563A (ja) * 2011-04-22 2013-03-07 Asmo Co Ltd クラッチ、モータ及び車両用ドア開閉装置
US20150330458A1 (en) * 2014-05-19 2015-11-19 Yaskawa America, Inc. Variable spring constant torque coupler

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107582334A (zh) * 2017-08-29 2018-01-16 中国科学院深圳先进技术研究院 一种外骨骼机器人及其膝关节部件
CN107582334B (zh) * 2017-08-29 2023-04-18 中国科学院深圳先进技术研究院 一种外骨骼机器人及其膝关节部件

Also Published As

Publication number Publication date
ITUB20156881A1 (it) 2017-06-10
EP3387282A1 (fr) 2018-10-17

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