WO2018158388A2

WO2018158388A2 - Device having a plurality of joint bodies which are arranged next to one another

Info

Publication number: WO2018158388A2
Application number: PCT/EP2018/055090
Authority: WO
Inventors: Matthias Hiegl
Original assignee: SAMA GmbH
Priority date: 2017-03-01
Filing date: 2018-03-01
Publication date: 2018-09-07
Also published as: DE102017002000A1; WO2018158388A3

Abstract

The invention relates to a device having a plurality of joint bodies (10a - 10e), which are arranged next to one another, and at least one tension rope (12) that connects the joint bodies (10a - 10e) in a chain-like manner, wherein in each case two adjacent joint bodies (10a - 10e) are pivotally connected to one another via mating joint surfaces (16a, 16b; 18a, 18b), and wherein a friction moment acting between the joint surfaces (16a, 16b; 18a, 18b) can be adjusted by a change in tension of the tension rope (12). According to the invention, it is proposed to equip the device with at least one electrically actuatable actuator (14), which is integrated into the device, for tightening and loosening the tension rope (12).

Description

- -

DEVICE WITH A MULTIPLE OF MULTILINGERS

JOINT BODIES

The invention relates to a device with a plurality of juxtaposed articulated bodies, which can be reversibly converted from a movable state to a rigid state.

From WO 2009/152633 AI a generic device for external fixation of bone fractures is known. A number of hinged on a tensioning cable joint elements is connected to each other via ball joints with spherical cap and socket. By applying a tensile force to a central tensioning cable, a frictional force in the ball joints can be increased in such a way that the device in the joints becomes practically immobile and solidifies in the previously set configuration. For tensioning the traction cable, a motorized torque wrench is attached to a screw which is connected to the tensioning cable via an abutment on a housing provided at the end of the chain-like device in such a way that the tension of the tensioning cable can be increased or reduced by turning the screw.

The invention is in particular the object of increasing the ease of use of such a device and to develop new uses.

The object is achieved in particular by a device having the features of claim 1. Further advantageous embodiments emerge from the subclaims.

The invention relates to a device with a plurality of juxtaposed articulated bodies and at least one tensioning cable, which connects the articulated body like a chain. Two adjacent joint bodies are above each other _ -

matching joint surfaces pivotally connected to each other, wherein a force acting between the joint surfaces frictional torque by a change of a voltage Ve tension of the tensioning cable is ^¬ adjustable. In particular, it is proposed to provide an actuator integrated into the body for clamping and releasing the tensioning cable.

In the context of the invention, the term "tensioning cable" is to be understood broadly, and in general it includes any elongate element which is suitable for transmitting tensile forces. In particular, besides. Ropes in the narrower sense, too

Chains or wires are used.

Articulated surfaces are compatible with each other if they have at least substantially opposite curvatures. Depending on the application, the joints may be pivotable in two directions as ball joints with joint sockets and joint caps, or as hinge joints in only one direction, the joint surfaces then preferably substantially as sections of the outer or inner surface of a Zyl ir.der- mantels with in Essentially the same radius are configured. Small deviations of the radii of curvature in the range of 10% must not interfere with the joint function, in particular as far as the concave joint surface of the two to each other ^¬ matching Gelenkfiächen has a larger radius of curvature than the associated convex joint surface. to

Guide the tensioning cable, the joint surfaces include suitable openings, which are preferably sufficiently large to allow a desired movement of the joint.

In a preferred embodiment of the invention, the tensioning cable is guided so that even at maximum deflection of the GeJenks a generated when tightening the tensioning cable

Torque is smaller than the frictional torque acting between the joint surfaces, so that the relative position of the - -

steering body when tensioning the tensioning cable changes at most insignificantly. The tribologi see properties of the joint ^¬ surfaces and the angle of the tensioning cable are chosen so that there is a self-locking. As an actuator in particular are electric motors, example ^¬ as stepper motors into account. However, it would also be at ^¬ applications conceivable, for example in scaffolding for work platforms, floating platforms or the like, in which internal combustion engines can be used. The actuator is to apply an integrated actuator as it is an integral part of the device and a determ ^¬ approved use of the device with attached Ak ^¬ tuator is possible. Preferably, the actuator is permanently installed and can not be manually disconnected from the device. However, it would also be embodiments of the invention conceivable in soft the actuator can be infected with a suitable locking connection and, if necessary, can be solved again, with a use of the device, however, is also possible with a fixed actuator. In a preferred embodiment of the invention, the tensioning cable runs in the center of the Geienkkörper. As far as the self-locking features described above are not impaired, deviations from the center positi on ^¬ are tolerable, particularly where these are necessary due to the einge- set angle between adjacent link bodies. The tensioning cable is preferably tightly guided in a central region of the joint body, but has at least in the region of the joint surfaces a certain amount of space to allow movements of the joint. The joint surfaces are preferably designed, in particular with regard to their tribological properties and their shape, such that the joint bodies are pivotable relative to one another at least at low tension of the tensioning cable and at high voltage frictionally or non-positively fixed to each other, so that the device solidifies in shape. Here, the terms "pivot" and "fixed" in relation to the typical, acting in accordance with intended ^¬ KISSING use powers to interpret, and in particular a abzustützendes from the device weight in the fixed state and the pivoting of the joint elements by hand in the released state of the tensioning cable ,

It is further proposed that the device comprises a control element for operating the actuator. The operating element may be a simple push-button or toggle switch, de switching between two voltage values of the

Tensioning allows, which correspond to the pivotable and fixed state of the device, or a step ^¬ wise or continuous adjustment of the voltage made possible ^¬ union, if required by the application.

In the case of the possibility of adjustment between at least one fixed and at least one movable state be ^¬ carries the friction torque between adjacent Geienkkörpern in the movable state is preferably 2-30 Newtonme ^¬ ter and is in the fixed state 15 Newton meters or more, at least j edoch more than in movable condition.

According to one aspect of the invention, the device is designed as an adjustable armrest, in particular for the arrangement next to a seat or Sesse 1., possibly j edoch also to be placed on a workstation for standing or lying work. An adjustment of the armrest is then carried out by pivoting the joint body against each other and then fixing using the rope tension generated by the actuator.

In a preferred embodiment of such an adjustable ^¬ cash Ärmauflage it comprises a distal to an end of Ärmauflage, preferably of up to one of the hand - -

laid arm easily accessible area attached control ^¬ element for a machine, in particular a joystick or the like. Such armrests with operating elements can be provided, for example, in driver's cabs of construction machines, in particular excavators. Furthermore, the application as an armrest on a Roilstuhl or other workstations with joystick, trackball or mousepad is conceivable.

Another aspect of the invention relates to the use of the device according to the invention for guiding a flexible shaft for transmitting torques. For this purpose, the hinge elements preferably comprise a channel for guiding ei ^¬ ner such wave, which is then rotatable within the channel, while the hinge elements remain rigid. For example, such a device can be used as an attachment for a power wrench or torque wrench to facilitate working with screws in hard to reach places or even to allow.

Another aspect of the invention relates to the use of a device according to the invention as an exoskeleton. For example, the chains can be fixed in the device on the foot or on the hip of a patient, who can then perform movements practically unhindered when the tensioning cable is loosened, by increasing the tension of the patient

But tensioning cables can be partially or completely fixed. In such application examples, embodiments of the invention could be useful in which the pivotal position when tightening the pull rope is not fixed due to the self-locking of the system, but the joint body are aligned by tightening the pull rope in a given configuration, so as to align a patient to help his limbs or getting up or the like.

An operating element for actuating the actuator may be fixed to one of the articulated bodies, for example one at the end of the Chain arranged joint body, be connected or be designed as a remote control for wireless actuation of the actuator, which can be arranged or supported at a position largely independent of the device. Furthermore, in a preferred embodiment of the invention, the device comprises a brake or locking device for locking the device, so that the actuator does not exert any force to maintain a certain voltage. For this purpose, the actuator may be connected, for example via a self-locking mechanism with the tension cable.

Another aspect of the invention relates to the use of the device for attaching a user interface and / or a screen to a fixed base, for example on a machine. The user may then dissolved in the tensioning cable Benut ^¬ cut point and / or the screen freely positioned and fixed in the desired position by the tension of the tensioning cable is increased. The frictional forces in the released position are preference chosen such that they are greater than the forces acting through the Gravi ^¬ tationskraft on the held subject forces, j edoch can be readily overcome by hand when moving the device.

Further features and advantages of the present invention will become apparent from the following description of the figures. The description, the claims and the figures contain numerous features in specific combinations. The skilled person will consider these features for adapting the invention to a desired application individually and in other combinations and sub-combinations, without the

To leave the scope of the invention as defined by the claims.

Showing: 1 shows a generic device according to the invention with three articulated bodies, a tensioning cable and an integrated actuator.

Fig. 2 is a schematic sectional view of

Device according to Fig. 1;

3 shows an adjustable armrest with a device according to the invention;

4 shows a user interface for a machine with a device according to the invention; Fig. 5 shows an exoskeleton with an inventive

Contraption; and

6 shows a device according to the invention according to a further embodiment of the invention, in which joint bodies form a channel for guiding a flexible shaft.

1 and 2 show, to illustrate the principle of operation of the invention, a generic device according to the invention with three articulated bodies 10a, 10b, 10c, a tensioning cable 12 and an integrated actuator 14. The device may in other embodiments not only three but any Number of juxtaposed articulated bodies 10a, 10b, 10c include. Further exporting ^¬ stanchions are conceivable me more tension cables, which connect the hinge body 10a, 10b, 10c like a chain. In each case two adjacent joint bodies 10a, 10b, 10c are pivotally connected to one another via mating joint surfaces 16a, 16b, 18a, 18b. Depending on the field of application, the joints can be designed as joints having one degree of freedom and cylinder-jacket-shaped joint surfaces 16a, 16b, 18a, 18b or as gels with two degrees of freedom with calotte support. Migen or spherical joint surfaces 16a, 16b, 18a, 18b be ^¬ designed. Various possible configurations of the device with different positions of the joints are indicated by dashed lines in Fig. 1. At one end of the chain-like configured device, this includes the integrated actuator 14 for clamping and releasing the tensioning cable 12. The actuator 14, which is shown in dashed lines in Fig. 1, is completely hidden in one of the joint body 10a and not visible from the outside. The hinge body 10a must be screwed on with screwing tools to access the actuator 14 and remove or replace it, if necessary.

The tensioning cable 12 is, depending on the field of application of the invention, a braided wire rope, a synthetic fiber rope or a combination of these.

By changing a tension of the tensioning cable 12, a friction torque acting between the joint surfaces 16a, 16b, 18a, 18b can be changed. A large voltage leads to a large friction torque and a low voltage corresponds to a low friction torque.

By a suitable choice of the shape and the tribological properties of the joint surfaces 16a, 16b, 18a, 18b, these are designed so that the joint body 10a, 10b, 10c at least at low tension of the tensioning cable 12 by hand are mutually pivotable and frictionally or at high voltage non-positively fixed to one another, ie the user can no longer be pivoted against each other by hand. Suitable friction moments depend on the application. The manual pivoting on the one hand and the fixing on the other hand can be sufficiently ensured for a wide range of applications Spekt ^¬ rum who, ^¬ if the first value of the voltage of the tensioning cable 12 a moment of friction between adjacent link bodies 10a, 10b, _ _

10c, which is between 2 and 30 Newton meters, and the second value of the tension of the tensioning cable 12 generates a friction torque between adjacent joint bodies 10a, 10b, 10c, which is higher than the friction torque corresponding to the first value and greater than 15 Newton meters.

The frictional torque in the low-voltage state is different from zero before ^¬ teilhaf, in particular chosen so that the device under the action of gravitational ^¬ forces not folded by itself, but still can be moved by hand.

FIG. 2 shows a schematic sectional illustration of the ^device according to FIG. 1.

The joint bodies 10a, 10b, 10c each comprise in their center a channel 20a, 20b, 20c for guiding the tensioning cable 12, which opens into at least one of the joint surfaces 16a, 16b, 18a, 18b. At least one of the channels 20a, 20b, 20c of two adjacent joint surfaces 16a, 16b, 18a, 18b widens in a funnel shape towards the corresponding joint surface in order to enable a pivoting movement. The angle of the expansion (s) of the two abutting ^¬ the articular surfaces 16a, 16b, 18a, 18b corresponds in wesent ^¬ union of the maximum amplitude of the pivoting movement in ent ^¬ speaking joint.

The joint body 10a, 10b, 10c and channels may be formed depending on the forces acting from suitable materials, preferably as a plastic hollow body, which are reinforced in areas where the tensioning cable 12 rests with large forces, with metal inserts. In other embodiments of the invention, the joint body 10a, 10b, 10c to be com- pletely, formed of metal or plastic, if necessary fiber-reinforced plastic can ^¬.

The actuator 14 is in the embodiment of FIGS. 1 and 2 in a Geienkkörper 10 a, 10 b, 10 c at the end of the chain arranged by joint bodies 10a, 10b, 10c. The actuator 14 comprises an electric stepping motor 14a, which drives a spindle 14e, which is moved axially by this rotary drive, via a spindle gear 14b with a spindle nut 14d supported in an abutment 14c. The spindle 14e is then connected to the tensioning cable 12, so that an axial displacement of the spindle 14e leads to a tensioning or release of the tensioning cable 12. The spindle gear 14b is designed to be self-locking, so that rotational movements of the spindle nut 14d can indeed be converted into tensile forces, but not tensile forces in rotational movements of the spindle nut 14d. In alternative embodiments of the invention, in addition to or as an alternative to the self-locking of the spindle gear, the device may comprise a locking device 14f (shown in FIG. 2 as a dashed option) for locking the device, for example a pin or a latching tongue for fixing the spindle nut 14d, which is or which is automatically released upon actuation of the actuator 14 and brought back into engagement upon completion of the operation. Depending on the field of application, the person skilled in the art may optionally use another suitable linear drive and / or another suitable locking device 14 i instead of the spindle gear 14 ^b .

On the equipped with the actuator 14, the joint body 10a designed as a switching knob control element 22 for operating the actuator 14 is arranged. The switch button 22 has two positions corresponding to the two states of the device explained above, that is, a fixed state and a movable state. The actuator 14 may be controlled by a microcontroller and powered by batteries or a power connector (not shown).

At the two ends of the chain-like device of Figs. 1 and 2, in particular at their end faces 28a, 28b, any obj ekte can be attached, which are relative to each other _. _

should be positioned. Thus, one end of the device can be connected to a wall and the other end to a wall-mounted object, such as a monitor. The end faces 28a, 28b of the device may for this purpose comprise fastening structures, pedestals or plates, which can then be screwed or otherwise connected to the objects. Furthermore, in the tensioning cable 12 or parallel thereto, a power supply line and / or data line can be performed, which supplies the ect to be fastened at the end with power and data. The end faces 28a, 28b or other surfaces of the device may for this purpose comprise connections for inserting corresponding lines.

The device according to the invention enables the setting of a plurality of degrees of freedom of movement by a single operation. Devices with multiple joints, which would otherwise have to have a screw or other locking device per joint, so that multiple user interventions for fixing a set configuration would be necessary, can be fixed by a single user intervention, which causes the tensioning cable 12 to be tightened.

Fig. 3 shows a further embodiment or use of the invention as an adjustable armrest, in particular to the arrangement next to a seat or armchair. It comprises a pre ^¬ direction of the type described above, with an adjustment of the armrest by pivoting the joint body 10a, 10b, 10c against each other. A first end face 28a on a joint body 10c of the device is fastened to a sole 24 or a frame of a sizer, and a control element 30 designed as a joystick for a machine is provided on the opposite hinge body 10a arranged at the distal end of the arm rest. A middle joint element 10 b is equipped with an arm pad 26. Other elements such as drinks - -

Mounts, desk pads, mouse pads, etc. can be added at will.

The operating element 22 for fixing and releasing the armrest is arranged in the embodiment shown in FIG. 3 in the vicinity of the joystick 30 on a side surface of one of the hinge elements 10a. Depending on the expected frequency of use, it may also be integrated into the joystick, located at the proximal end and / or at any other surface of the device. The sleeve pad according to the invention can, for example, in

Trucks, aircraft cockpits, platoon seats, construction machinery, especially excavators, wheelchairs or any other areas are used.

Fig. 4 shows a further embodiment of the invention, in which a device of the type described above for buildin term ^¬ a user interface 38 is used for operating a machine. The console interface user interface 38 is movably attached to a fixed pedestal 24 or to a wall by means of the device and can be adjusted in position and orientation to the user's wishes.

Fig. 5 shows a further embodiment of the invention, in which two devices of the type described above are used in an exoskeleton. The hinge bodies 10a, 10b, 10c of each of the devices comprise a middle one in the

In length and function of a thigh of a human ent ^¬ speaking Geienkkörper 10b and a lower, corresponding in length and function of a lower leg of a human joint body 10c and a view of the hip of the quantitative arranged third joint body 10a via a belt 38 to the hip the carrier is attached. The lower joint body 10c is attached via cuffs 40 to the ankles of the wearer. - -

The exoskeleton includes a remote control 36 for wirelessly actuating the actuators (not shown) of the two devices. The wearer can freely move the exoskeleton by loosening the tensioning cables (not shown) and then, when the leg strength subsides, solidifying the exoskeleton. For specifically controllable training suitable friction moments can be generated by setting intermediate values for the rope tension.

The exoskeleton shown schematically in Fig. 5 is just one of many conceivable embodiments of the exoskeleton, which also on individual legs, to an arm, foot or for supporting only a knee or the spine or to

Relieving a specific area or bone can be adjusted and interpreted. When using the device in machinery, vehicles or

Aircraft or as an exoskeleton, the actuator 14 can also be operated independently of an operation by the user of the machine control, for example, such that the device automatically fixed in certain operating conditions of the machine or the vehicle or the tensioning cable 12 is tensioned, for example in aircraft during take-off and / or landing or when turbulence or during the flight occurs. Furthermore, it is conceivable that the control excludes an actuation of the actuator by the user in certain operating states.

FIG. 6 shows a further embodiment of the invention in which the joint bodies 10a-10e form, in addition to the channel 20a-20e, a further channel 32a-32e for guiding a flexible shaft 34. The channels 20a-20e, 32a-32e may also be combined into a single channel.

The device can be fitted with one of its articulated bodies 10a on the housing of a screwdriver 40 or a drilling machine. - -

be strengthened, in the chuck 44, the flexible shaft 34 is clamped. The other end of the flexible shaft 34 is connected to an attachment 42 for attaching a screwdriver ^¬ attachment, for example, a Steckschlüssei insert, a bit for Allen, slot, Torx or Phillips screws in different versions or a drill or adapter for other tools , The the Ma ^¬ schinenansch1uss opposite end of the flexible shaft 34 may also be equipped with a chuck. The device according to the embodiment of the invention shown in FIG. 6 enables a torque transmission around the corner, ie along a by adjustment of the joint body 10 a - ICe largely freely configurable way, so screw or Borharbei th also to seh hard to reach places to allow.

Bezagszeichenliste

10a joint body

10b joint body

10c joint body

12 tensioning rope

14 actuator

14a electric stepper motor

14b spindle gear

14c counter bearing

14d spindle nut

14e spindle

14f Arret iereinric ^'nt clothes

16a articular surface

16b articular surface

18a articular surface

18b articular surfaces

20a channel

20b channel

20c channel _

Operating element base

Armpolster

a end surface

b end face

Operating elementa channel

b channel

c channel

wave

Remote control user interface parts screwdrivers

connection

chuck

Claims

1. Device having a plurality of juxtaposed articulated bodies (10a-10e) and at least one tensioning cable (12), which connects the Celenkkörpor (10a-10c) in a chain-like manner, wherein each two adjacent articulated bodies (10a-10e) have matching joint surfaces ( 16a, 16b; 18a, 18b) are pivotally interconnected, wherein a Zvi ^¬ rule (the joint surfaces 16a, 16b; 18a, 18b) acting frictional torque of the by a change of a voltage

Tensioning cable (12) is adjustable, characterized by we ^¬ least one integrated into the device, electrically actuated actuator (14) for clamping and releasing the tensioning cable (12).

2. Apparatus according to claim 1, characterized in that the tensioning cable (12) in the center of the joint body (10 a - lOe) extends.

3. Device according to one of the preceding claims, characterized in that the joint surfaces (16a, 16b, 18a, 18b) are designed such that the joint body (10a - loO) are at least at low voltage against each other and pivotable at high voltage frictionally o which are fixed non-positively to each other.

4. Device according to one of the preceding claims, characterized by an operating element (22) for operating the actuator (14).

5. Device according to one of the preceding claims, characterized in that the actuator (14) is adapted to adjust the tension of the tensioning cable (12) to one of at least two predetermined values, wherein the values are selected such that the joint body (10a - lOe) are mutually pivotable against each other when a first, low value is set and the joint body (10a - loe) are fixed against each other and not manually against each other nander are pivotable when a second, higher value is set.

6. The device according to claim 5, characterized in that the first value of the tension of the tensioning cable (12) generates a friction torque between adjacent joint bodies (10a - 10e) which is between 2 and 30 Newton meters and the second value of the tension of the tensioning cable (12 ) generates a friction torque between adjacent joint bodies (10a-10e) which is higher than the friction torque corresponding to the first value and greater than 15 Newton meters,

7. Device according to one of the preceding claims, characterized in that the mating hinge surfaces (16a, 16b, 18a, 18b) each comprise a ball joint head and a ball joint socket.

8. Device according to one of the preceding claims, characterized by a fixed to one of the joint body (10a - loe) connected control element (22) for Actu ^¬ conditions of the actuator (14).

9. Device according to one of the preceding claims, characterized by a locking device (14 f) for locking the device.

10. Device according to one of the preceding claims, characterized by a remote control (36) for wireless actuation of the actuator (14).

11. Vorichtung Device according to one of the preceding claims, characterized in that the actuator (14) via a self-locking mechanism with the tensioning cable (12) is connected.

12. user interface parts (38) for operating a machine, comprising a device according to one of claims 1 11 to 11, wherein the device is adapted to movably attach the user interface (38) to a fixed pedestal (24).

13. Adjustable armrest, in particular for arrangement next to a seat or armchair, comprising a device according to one of the preceding claims, wherein an adjustment of the armrest by pivoting the joint body (10a - loe) takes place against each other.

14. Armrest according to claim 13, characterized by a fixed to a distal end of the armrest control element (30) for a machine.

15. Armrest according to claim 14, characterized in that the operating element (30) comprises a joystick.

16. Device according to one of claims 1 to 11, characterized in that the joint body (10a - loe) form a channel for guiding a flexible shaft (34).

17. Exoskeleton with a device according to one of claims 1 to 12.