WO2020106134A1 - Extrémité robotique, maillon d'une extrémité robotique et procédé pour fournir un support à une extrémité robotique, avec mouvement anthropomorphe ajustable - Google Patents

Extrémité robotique, maillon d'une extrémité robotique et procédé pour fournir un support à une extrémité robotique, avec mouvement anthropomorphe ajustable

Info

Publication number
WO2020106134A1
WO2020106134A1 PCT/MX2019/050025 MX2019050025W WO2020106134A1 WO 2020106134 A1 WO2020106134 A1 WO 2020106134A1 MX 2019050025 W MX2019050025 W MX 2019050025W WO 2020106134 A1 WO2020106134 A1 WO 2020106134A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
tensioner
robotic
point
joint
Prior art date
Application number
PCT/MX2019/050025
Other languages
English (en)
Spanish (es)
Inventor
Hernando Ortega Carrillo
Jose Francisco NERI GONZALEZ
Magno Alcantara Talavera
Original Assignee
Hernando Ortega Carrillo
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 Hernando Ortega Carrillo filed Critical Hernando Ortega Carrillo
Publication of WO2020106134A1 publication Critical patent/WO2020106134A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible

Definitions

  • ROBGTIC EXTREMITY LINK OF A ROBOTIC EXTREMITY AND METHOD TO PROVIDE SUPPORT TO A ROBOTIC EXTREMITY, WITH MOVEMENT
  • the present invention relates to the field of robotics, but more particularly, to the field of joints and links including tensile tensioners coupled thereto to provide tensile force in a plurality of dimensions, including location and / or configuration. adjustable from the same turnbuckles in order to provide a substantially anthropomorphic behavior.
  • Robotics has had many advances in recent years, where it is now possible to apply it to practically any industrial activity.
  • robotic limbs0 such as a programmable robotic arm
  • robotic limbs include a plurality of degrees of freedom and are also designed and programmed to carry out said specific activity.
  • a strong field of one of the branches of robotics is that of prostheses and orthoses, where an attempt is normally made to replace or improve the movement of one or more joints of a patient through electromechanical means that replace or provide 5 support and help the movement of some limb.
  • a robotic limb is made up of links and joints, where each joint serves as a link between at least two links, also providing degrees of freedom of one link with respect to the other.
  • each link includes at least one actuator that provides movement at least in one degree of freedom.
  • each actuator is normally defined by an electric motor that includes an axis of rotation thus defining said degree of rotational freedom, where the speed, acceleration, and / or angle of rotation i.e. displacement, are electronically controlled.
  • servo motors and / or stepper motors that can be controlled programmatically and thus provide the required degrees of freedom, speed, force, etc.
  • this technique is characterized by maintaining a “robotic” movement, that is, 5 the movement is not similar to the movement of the limbs of a human being. anthropomorphous.
  • robotic limbs are comprised of at least two links, either fixed or mobile, and by at least one link connecting the links to one another and electronically controlled, where each link has at least one degree of freedom, the which is defined by an actuator and its corresponding configuration-location.
  • United States Patent US 9,737,199 B2 discloses methods for articulating a plurality of links to provide an elongated joint or an elongated snake-like robotic instrument, where tendons-actuators are used in embodiments of the invention to execute movement of the joints. .
  • the tendons-actuators used are to transmit movement from one point to another.
  • US Patents 4,393,728 uses an arrangement of rattles in a particular link-joint-clip relationship to generate movement in an elongated robotic limb.
  • US Patent 5,317,952 uses cables and motors that tension said cables to generate movement in a tentacle type manipulator.
  • the links used between joints are normally rigid elements with a design that allows or avoids hindering the movement of the same link when the joint performs any movement.
  • said links include dimensions and a particular length so that the sum of all the lengths of all the links define the maximum reach that the robotic limb will have.
  • said links maintain a design that allows them to either hide wiring, protect internal elements, provide aesthetics, etc. so that the links could be defined as hollow or solid connecting means between joints.
  • robotic limb designs that try to imitate a human limb, such as in prostheses or orthoses, where it is intended to provide support by means of an external device applied to! body to modify the functional or structural aspects of the neuro-skeletal system.
  • robotic limbs defined by a system that includes at least one joint corresponding to the shoulder, one link corresponding to the arm, subsequently at least one joint corresponding to the elbow, one link corresponding to the forearm, at least one joint corresponding to the wrist, and subsequently a joint-link arrangement corresponding to the hand.
  • the hand is replaced by an arrangement of pliers or calipers to reduce the complexity of controlling the entire system.
  • one of the great challenges in robotics is to ensure that an entire limb or a whole system of limbs, anthropomorphic or not, move or travel by themselves from one point to another, that is, without the need for human assistance. , since this noticeably increases the complexity of the robot by having to identify in real time the environment in which you are moving. In this sense, it is desirable to provide a technique that allows a robot to have the ability to move from one point to another in a friendly and modular way.
  • the present invention relates to robotic limb systems, methods, apparatus, and / or devices for providing mechanical support while energized or not, and further providing forces other than movement corresponding to the joints that further help to provide substantially anthropomorphic motion in said joints and / or robotic joint systems, either in new designs or in designs already known in the art.
  • substantially anthropomorphic movements are performed from the use of flexible elastic turnbuckles that alter either the linear and / or angular displacement of the actuators commonly used in the robotics technique, in addition to providing traction, support and / or elasticity in the robotic system, as the use of a plurality of turnbuckles is permitted in an adjustable plurality of locations and configurations, including link ends and intermediate parts. Also, a displacement system for a robotic trunk is provided.
  • an articulated robot arm includes at least one articulation and at least two links, wherein at least one tensioner or external adjustable support is detachably coupled either in location and / or trajectory facilitating and / or blocking, at least partially, the movement of said articulation, where the at least one support is an elastic and / or damping support.
  • the elastic support is defined by an elastic band with predefined mechanical properties corresponding to the torque of each actuator of each joint either for angular and / or linear movement or displacement.
  • the at least one tensioner is defined by an elastic band whose ends include hooking or anchoring means already known in the art.
  • the at least one support is defined by flexible linear actuator type turnbuckles that, upon particular excitation, contract and / or expand.
  • a robotic joint system is provided from at least two links and a joint that joins said at least two links, where at least one actuator coupled to the joint rotates said joint, and wherein the links include anchoring means for at least one tensioner, wherein when the tensioner is coupled it stretches an elastic link with another link, either during movement or not, where said links are immediate or not.
  • the tensioner anchoring means in an embodiment of the invention there are included means of changing the direction of the tensioner (modifying the original tension path of the tensioner) and / or retention means of the tensioner (keeping the tensioner close to the link during the movement of the joint), and / or tensioner locking means (securing a section of the tensioner in order to generate two independent sub-tensioners).
  • the direction change means are defined by projections in the links that serve as a pivot where a tensioner would change its original tension path.
  • the anchoring means, as well as the direction change, retention and / or tensioner locking means may vary, in quantity, location and / or configuration, without affecting the subject matter of the present invention.
  • said anchoring means, as well as the direction change, retention and / or tensioner locking means are defined by a plurality of holes in each link and / or by a plurality of protrusions in each link and / or by a plurality of projections with at least one hole each.
  • each hole or projection includes at least one mechanical and / or electromechanical locking means defined as turnbuckle locks to lock or lock the turnbuckle so that at that point where the turnbuckle locks, said turnbuckle is divided in two subtensioners that lie along at least one robotic joint.
  • a plurality of tensioner blockers are located in the link, at least, along the tension path of at least one tensioner in order to generate a plurality of sub-tensioners from said tensioner, modifying the force of tension and / or the direction of the tensioning force of the original tensioner.
  • turnbuckle locks are defined by microprocessor controlled and controllable actuators.
  • the protrusions are separable protrusions.
  • the projections include a triangular threaded shank and / or the holes include a threaded hole, so that the projections are detachably coupled to the link holes through a male-female screw ratio known in The technique.
  • the turnbuckles are elastic ties with a coefficient of elasticity corresponding to the force required in at least one joint.
  • the material, coefficient of elasticity, length, thickness, coefficient of friction of the material, etc., of each tensioner can vary without affecting the matter of the present invention and will depend on the dimensions and mechanical properties of the limb. robotics.
  • the final configuration of turnbuckles on the links around at least one joint may or may not be empirical.
  • said turnbuckles are allowed to interlock with one another by braiding to create different braided turnbuckle configurations.
  • said braided turnbuckles anchored to different links providing tension forces around at least one joint related to said links, and the location, force and / or tension path of the braided tensioners varies dynamically according to the movement of said at least one joint, where said tension forces can be in one, two and / or three dimensions.
  • the plurality of turnbuckles surrounding at least one link in different ways also provides support by reducing overheating of actuators or motors, and further provides damping from vibrations generated during movement.
  • the type of link can be mobile or fixed without affecting the subject matter of the present invention.
  • the turnbuckles include a coefficient of friction on their surface such that, when one turnbuckle is interwoven with each other, there is no shift between turnbuckles, that is, shift of one turnbuckle with respect to the other with which it is found. braided.
  • the tensioners include a coefficient of friction on their surface such that, when some tensioners are intertwined with each other, there is a shift between the turnbuckles, that is, a shift of one turnbuckle with respect to another with which it is found. braided.
  • interlocking tensioner arrangements with different coefficients of friction on their surface are used.
  • an anthropomorphic robotic arm articulation system includes, for the articulation corresponding to the shoulder, at least three actuators configured first with an actuator that provides a lateral rotation, second an actuator that provides a rotation. longitudinal and third an actuator that provides a vertical turn and; furthermore, for the joint corresponding to the elbow, at least one actuator that provides a lateral rotation; and in addition a joint corresponding to the wrist that includes at least one actuator that provides longitudinal rotation and at least one actuator that provides lateral rotation, where the actuator that controls the wrist is substantially attached to the joint corresponding to the elbow.
  • a robotic limb can represent different parts of the human body, such as arms, forearms, chest, legs, knees, wrists, etc.
  • a sleeve-like housing or additional housing is provided to the robotic link, wherein said housing includes a plurality of holes or tensioner anchoring means, and / or a plurality of projections or protrusions.
  • the turnbuckles can be attached inside or outside the corresponding link or links, as well as inside or outside the jacket or additional housing.
  • turnbuckle configurations are included, with springs and / or dampers.
  • particular designs are included that channel or confine said tensioners, springs and / or dampers to a certain location.
  • the anchoring means as well as the direction change, retention and / or tensioner locking means, are coupled to a sleeve whose shape allows to be detachably coupled to any link of those already known in The technique.
  • the shirt is a rigid shirt.
  • the shirt is a flexible shirt.
  • the shirt is an elastic flexible shirt.
  • an elastic flexible fabric is used to manufacture said shirt.
  • At least one actuator is included for each hole through which a tensioner passes so that when actuating said actuator it is held and locked to the tensioner thus adjusting the tension force by reducing the original length of said tensioner in time real, or in accordance with a type of movement performed by the corresponding joint or joints.
  • the location of said actuator that locks the tensioner tension can vary without affecting the matter, so that it can be located within the length of the tensioner, at one end of the tensioner or at the other end of the tensioner. , or at least one actuator for each tensioner end.
  • the adjustment in the tension of the tensioners that the at least one actuator will make for each tensioner is defined either by the required force, location of the links, required speed and / or with the scope of the interface with the exterior previously preconfigured .
  • tension sensors are included to determine the tensioning force of the tensioners in real time.
  • Elastic turnbuckles are normally defined by elastics or elastic bands that at their ends include anchoring means such as hooks, locks, snaps and / or some other mechanical means to be anchored, detachably or not, in at least one link location . Also included is a method for coupling turnbuckles that provide support and / or substantially anthropomorphic motion in a robotic joint, where at least two turnbuckles are used, thus defining a first turnbuckle and a second turnbuckle.
  • the method includes the steps of: anchoring one end of the first tensioner at a point A of a first link, anchoring one end of the second tensioner at a point A 'of the first link, braiding the tensioners relative to each other to thereby form a twisted pair with at least one braid, anchor the other end of the first tensioner at a point B of a second link, and anchor the other end of the second tensioner at a point B 'of either the second, third, or another link.
  • point A and point A ' are the same point.
  • the number of braided turnbuckles, as well as the location where each turnbuckle end is anchored may vary without affecting the subject matter of the present invention.
  • a robotic trunk transfer system is included from a motorized wheel system defined by a motorized skate known in the art, which includes an intelligent balance system that when modifying the inclination / balance of said system the skate forwards, stops, turns left / right, etc. corresponding to said change of inclination / balance; a robotic trunk; a link structure that includes a counterweight on a mobile base or platform; and a battery.
  • the robotic trunk coupled to the link structure so that said trunk is supported at the top.
  • the link structure is coupled to the skate by mechanical means already known in the art. In this sense, the counterweight is placed on a displacement mechanism around an XY plane i.e.
  • the link structure includes an electromechanical elevator already known in the art that allows the robotic trunk to increase or decrease its height until said trunk has contact with the floor.
  • the type of elevator can vary without affecting the subject matter of the present invention, so that it can be of the hydraulic, worm gear, electromechanical actuator, telescopic mechanism, etc. type.
  • the displacement mechanism of the link structure includes a receptacle to house a counterweight, where the receptacle includes a base with electromechanical means to move along a plane, so that said counterweight moves together with the base, thus generating a change in the balance / inclination that is detected by the skate so that move the robotic trunk corresponding to said balance / tilt modification.
  • the movement generated by the electromechanical means are movements forwards, backwards, left, right and / or combinations of these.
  • the battery used is a battery whose weight is proportional to the dimensions of the anthropomorphic trunk.
  • the battery is a sealed lead-acid battery, however one skilled in the art will note that the type of battery can vary without affecting the subject matter of the present invention.
  • the counterweight is defined by said battery.
  • said electromechanical means used to move the base, and thereby the counterweight can vary without affecting the subject matter of the present invention.
  • said mechanical means are defined by at least two actuators or motors, at least one for movement in the X axis and at least one for movement in Y, in addition to a transmission or coupled mechanism. to said motors to convert the movement of the at least two actuators into movement of the base along a plane.
  • Fig. 1 shows a perspective view of an arm illustrating the degrees of freedom that includes the shoulder and elbow.
  • Fig. 2 shows a side view of a robotic limb including a plurality of differently arranged links and a plurality of joints, in addition to a pliers mechanism.
  • Fig. 3 shows a side view of the robotic limb of Fig. 2, in an embodiment of the invention where elastic tensioners coupled to the links around a joint are included to provide tension force opposed to the same movement of the joint and support. to the same link-joint arrangement, and where said tensile force dynamically varies according to the movement of the robotic limb
  • Fig. 4 shows a perspective view of a link in accordance with an embodiment of the present invention, where a plurality of anchoring means are included, which are located along the length and width of the entire surface of the link.
  • Fig. 5A shows a side view of a two link robotic link and one link in accordance with an embodiment of the present invention, where turnbuckles are detachably coupled to said links.
  • Fig. 5B shows a side view of a two link robotic joint and one joint in accordance with an embodiment of the present invention, where the turnbuckles are interlocked with each other thus allowing to modify the tension path of each turnbuckle and providing arrangement of tensile forces resulting from said interlocking, which dynamically varies with the movement of the joint.
  • Fig. 6 shows a perspective view of a link in accordance with an embodiment of the present invention, where a plurality of projections are included, which are located along the length and width of the entire surface of the link, either for modify the tension path of any tensioner, and to retain and maintain any tensioner in direct or close contact with the surface of the link.
  • Fig. 7 shows a side view of a robotic joint with two links and a joint that includes a projection that modifies the tension path of a tensioner in both directions of rotation of the joint as the opening angle is modified.
  • Fig. 8 shows a perspective view of the design of a projection in accordance with an embodiment of the present invention.
  • Fig. 9 shows a perspective view of the design of a projection according to an embodiment of the present invention, where at least one hole is included in the lateral and / or longitudinal direction of said projection.
  • Fig. 10 shows a perspective view of the design of a projection according to an embodiment of the present invention, wherein at least one hole is included in the lateral and / or longitudinal direction of said projection, and in addition a hole in the vertical direction. .
  • Fig. 1 1 shows a side view of an embodiment of the present invention at two different moments, where the locking actuators that lock the tensioner at some point along its length can be seen to temporarily create subtensioners with a different tension force. to the original tensioner.
  • Fig. 12 shows a perspective view of an example of an anthropomorphic robotic arm and the location of the actuators according to the technique.
  • Fig. 13 shows a perspective view of an anthropomorphic robotic arm in accordance with an embodiment of the present invention, wherein the location of the actuators is adjusted such that the weight of the actuators is close to the center of mass and / or balance point of the system.
  • Fig. 14 shows a front view of a robotic trunk transfer system in accordance with an embodiment of the present invention.
  • Fig. 15 shows a side view of a motorized skate known in the art and its method of operation.
  • Fig. 16 shows a rear and side view in accordance with the embodiment shown in Fig. 14.
  • Computer readable storage media includes, without limitation, volatile memory, nonvolatile memory, magnetic and optical storage devices such as disk drives, magnetic tapes, CDs (compact discs), DVDs (digital versatile discs or digital video discs) ) or other means capable of storing codes and / or data previously known or subsequently developed.
  • the methods and processes described in the detailed description section can be incorporated as codes and / or data, which can be stored on a computer-readable storage medium as described above.
  • modules or appliances may include, without limitation, an Application Specific Integrated Circuit (ASIC) chip, a Field Programmable Gate Array (FPGA), a dedicated or shared processor running a particular software module, or a piece of code at any given time and / or other programmable logic devices known so far or developed later and which will be named programmable elements in this document.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • hardware modules or appliances When activated, they perform the methods and processes included in themselves.
  • Fig. 1 shows a perspective view of a representation of the degrees of freedom in each joint that the human arm 500 has, including the shoulder 501 and elbow 502.
  • shoulder 501 shows an X axis or longitudinal axis of shoulder, a Y axis or lateral or transverse axis of shoulder, and a Z axis or vertical axis of shoulder, so that the turn or degree of freedom around the X axis is defined as the longitudinal turn, the turn or degree of freedom around the Y axis is defined as lateral turn, and the turn or degree of freedom around the Z axis is defined as vertical rotation.
  • elbow 502 also includes an X 'axis or elbow longitudinal axis, a Y axis. 'or lateral or transverse elbow axis, and a Z axis or vertical elbow axis. It is also appreciated that the vertical axis of the shoulder is linked to the vertical axis of the elbow through a link.
  • each turn is defined by an actuator that occupies a physical space within the robotic structure, in such a way that the arrangement, order and location of said actuators is directly related to an anthropomorphic or substantially anthropomorphic movement.
  • an anthropomorphic robotic shoulder joint is provided, wherein at least three actuators are used in a specific order of engagement providing the three degrees of freedom of the shoulder and further allowing the joint to reflect shoulder movements in a manner anthropomorphic.
  • the actuators arranged in the order of: firstly with an actuator that provides a lateral turn, later an actuator that provides a longitudinal turn and finally an actuator that provides a vertical turn, where the axis of the vertical turn is linked to the axis of rotation vertical of the corresponding elbow.
  • Fig. 2 shows a perspective view of a robotic arm 200 as is customary in the art.
  • Said arm 200 includes a fixed link 201, links 202-204, a pincer or clamping mechanism 205, in addition to joints 206-209.
  • the fixed link 201 being the first link
  • the pincer mechanism 205 the last element of the robotic arm 200.
  • the first fixed link 201 is joined to the next link through a joint 206 that in this case has a single degree of freedom defined by a vertical turn, so that the second link 202 has the ability to turn vertically.
  • the third link 203 is joined to the second link 202 through the link 207 and to a fourth link 204 through the link 208.
  • each link being a hollow or non-hollow rigid piece, with particular dimensions .
  • each degree of freedom of each joint is defined by an electromechanical actuator controlled from a programmable element such as a microcontroller or microprocessor, and this in turn controlled either by means of instructions programmed in it and / or through a user input, either manual or automated.
  • the pincer mechanism 205 has a range of reach which is three-dimensional thanks to the degrees of freedom that each link possesses with respect to its respective previous link.
  • Fig. 3 shows an embodiment of the present invention, where elastic tensioners are included that provide tension to the movements generated by the joints.
  • the robotic arm 200 can be seen where a pair of tensioners 31 and 32 are coupled, which provide tension in both directions of the movement to be performed by the joint 208, that is, on the one hand they oppose the movement of the joint 208, and on the other hand promote said movement of joint 208, in both directions of joint turn 208.
  • Tensioner 32 which provides tension to the joint turn like clockwise (in accordance with Fig. 3), is coupled from the proximal end of link 203 or point A to the distal end of the link 204 or point B, so the path from point A to point B is defining a stress path.
  • tensioner clips 30 are placed, which allow the tensioner to be stretched in accordance with the movement of the joint 208, preventing the tensioner from no longer have contact with the links as with the tensioner 31 of Fig. 3.
  • the tensioner 31 coupled from the proximal end of link 203 or point A 'to the distal end of link 204 or point B' is coupled similar in shape to turnbuckle 32, to provide tension to the counterclockwise rotation of joint 208.
  • turnbuckle fasteners 30 were not included for turnbuckle 31 to show how said turnbuckle 31 is no longer in contact with the robotic arm 200, which is undesired as it can cause shocks to other joints.
  • a person skilled in the art will note that the application of the turnbuckles and joint movement can vary without affecting the subject matter of the present invention.
  • Fig. 4 shows a perspective view of a link 40 in accordance with an embodiment of the present invention, wherein link 40 includes a plurality of tensioner anchoring means 41.
  • the anchoring means are defined by holes 41 along the surface of link 40, so that each hole allows at least one tensioner, at its ends, to be anchored to the link and in addition said holes reduce substantially the weight of said link.
  • at least one turnbuckle can be anchored anywhere on the surface and / or below the surface of the link, in both cases at least partially.
  • the anchoring means are removably anchoring means.
  • the links include rounded edges to avoid tearing the turnbuckles that pass through said edges.
  • Fig. 4 shows a link whose surface is completely covered with holes, however, the holes can be located in one or more particular areas of each link and / or in different configurations.
  • the means for anchoring the turnbuckle can vary in design, shape and / or arrangement without affecting the subject matter of the present invention.
  • Fig. 5A shows a side view of a two-link arrangement with a side-turn joint in accordance with an embodiment of the present invention, wherein each link includes a plurality of anchoring means around and / or below its surface.
  • a tensioner 51 is coupled from point A to point B, where said points A and B can be located at any point around the surface of the first link and / or the second link; and a turnbuckle 52 is coupled from point C to point D where said points C and D can be located at any point around the surface (or below the surface) of the first link and / or the second link.
  • the user of this two-link arrangement with a joint can adjust the anchor location of each tensioner at any time.
  • each tensioner is defined by a straight line, that is, the arrangement of the tensioner 51 from point A to point B reflects a straight tension path, similarly with the tensioner 52.
  • Fig. 5B shows a side view of a two link arrangement with a side turn link 50 with two turnbuckles in accordance with an embodiment of the present invention, where the original stress path has been modified by braiding between tensioners or interlocking tensioner arrangement 53.
  • the tensioner 51 anchored from point A to point D defines a non-straight tension path that is variable and / or in more than one dimension during the movement of the joint, that is to say , the tension vector is dynamically modified, either in magnitude, direction, direction and / or application point, according to the movement of the same joint 50, independently of the direction of rotation of said joint 50.
  • the vector dynamically modifies its properties in accordance with the movement of the at least one joint around which at least one braiding of at least two tensioners is performed.
  • the quantity, configuration and / or mechanical properties, such as Young's modulus, of said tensors affect the dynamic behavior of the vector representing an oriented physical magnitude.
  • Young's modulus Young's modulus
  • the way in which the vector is dynamically modified varies, among other factors, according to the anchorage of each tensioner end, that is, according to the anchorage location of each tensioner end, of at least one braided.
  • the tensioner 52 anchored from the Point C to Point B includes a non-straight and variable tension path during joint movement.
  • each turnbuckle end can vary from Cartesian plane, thus providing interlocking turnbuckle arrangements 53 in two or more dimensions, without affecting the subject matter of the present invention.
  • an array of 3D interlocking tensors (three dimensions) provides tension strength and support on the X axis, Y axis, and Z axis (linear and angular) in complex robotic limbs with a plurality of degrees of freedom, throughout the spectrum of movement of said limb, regardless of the acceleration, speed and / or torque applied to it, including whether or not said limb is energized.
  • the interlocking tensioner arrangement 53 maintains a tension force on the joint, and furthermore said arrangement 53 moves in accordance with the movement of the joint 50, including other degrees of freedom than the one shown in the figure. Said displacement of the arrangement 53 occurs by a winding-unwinding effect of one tensioner with respect to the other, as the movement of the joint 50 develops in one direction and as a tensioner becomes substantially collinear with the other tensioner.
  • the amount of interlocking turnbuckles can vary without affecting the subject matter of the present invention.
  • a method of coupling at least two turnbuckles into a robotic arm whose turnbuckle tensioning path is non-straight includes the steps of: anchoring one end of a first turnbuckle to an anchor point of a first link, anchor a first end of at least a second tensioner at an anchor point of the first or a second link, braid the first tensioner at least once with the at least one second tensioner winding them relative to each other, anchor the other end of the first tensioner at an anchor point of a second link or a third link, anchor the other end of the second tensioner at an anchor point of any link.
  • the anchor points of each tensioner end may or may not be the same.
  • the links are immediate.
  • the links are non-immediate.
  • the amount of turns or degrees of freedom the joint has and the location and configuration of the one, two and / or three dimensional interlocking tensioner arrangement can vary without affecting the subject matter of the present invention.
  • the step of winding or interlacing the tensioner one with the at least one other tensioner in accordance with the desired friction force between tensioners that is to say, a greater number of turns, greater contact surface between interlocking tensioners and therefore greater friction.
  • Fig. 6 shows a perspective view of a link 40B in accordance with an embodiment of the present invention, wherein the link includes a plurality of projections 42. Said projections 42 allow when the turnbuckles (not shown in Fig. 6 ) are placed, they maintain and / or change their tension path.
  • Fig. 6 shows link 40B with protrusions 42 in a plurality of arrangements, where some protrusions meet at the ends, other protrusions around the central portion of the link, and other protrusions a along the middle of the longitudinal axis of the link.
  • protrusions 42 can vary and / or be combined without limiting the scope of the present invention. Also, in an embodiment of the invention, the projections 42 are combined with the anchoring means 41 in the same link.
  • Fig. 7 shows a side view of a two-link arrangement with a side-pivot linkage in accordance with an embodiment of the present invention, where each link includes a plurality of projections (only projection 70 is shown in the figures and 70B).
  • one end of tensioner 51 is anchored at point A of a link, which also includes a plurality of tensioner anchoring means, and the other end of tensioner 51 is anchored at point D.
  • tensioner 51 it is coupled to the projection 70 so that the tension path is modified, that is, the tensioner's path will be defined by an opening angle Q that varies according to the movement of the joint shown in Fig. 7.
  • Fig. 8 shows a perspective view of a protrusion design 80 in accordance with an embodiment of the invention, where it can be seen that this protrusion design 80 allows the tensioner to modify its tension path without the tensioner coming out from the side. top of the ledge.
  • Fig. 9 shows a perspective view of a projection design 81 in an embodiment, where it is shown that the same projection 81 includes tensioner holding means defined by at least one hole in said projection 82, where the hole can be oriented longitudinally and / or laterally.
  • the at least one hole in addition to allowing the tensioner to maintain its tension path, also allows said trajectory to be modified.
  • Fig. 10 shows a perspective view of a projection design 82 in an embodiment, where it is shown that the projection 82 itself includes tensioner holding means defined by at least one hole in said projection 82, where the Orifice can be oriented longitudinally and / or laterally, and another hole, at least partially, vertically oriented (in direct contact and penetrating the link).
  • this projection design 82 in addition to allowing the tensioner to maintain its tension path, also allows said trajectory to be modified and / or the tensioner to be anchored to the corresponding link. Also, this projection design 82 allows the tensioner to have direct contact with the interior of the link where said projection is located.
  • Fig. 1 1 shows a side view of an embodiment of the present invention, where actuators 1, 12, and 13 are coupled in the holes so that said actuators, when actuated, lock the tensioner 51 having a length Original L.
  • actuators 1, 12, and 13 are coupled in the holes so that said actuators, when actuated, lock the tensioner 51 having a length Original L.
  • the tension of the tensioners is adjusted in real time, or during the operation of the joints.
  • the technique for locking the tensioner can vary without affecting the subject matter of the present invention.
  • actuators 16 and / or 17 which adjust the length of the tensioner 51, either at one end through the actuator 16 and / or at the other end by means of the actuator 17, and with them the adjustment force is adjusted. original tension of the tensioners when winding the tensioner from its corresponding end around the same actuator 16 and / or 17.
  • Fig. 12 shows a perspective view of the location of the actuators to provide anthropomorphic degrees of freedom in a robotic arm as is customary in the art, where the actuators that generate wrist movement are located precisely at the location wrist.
  • a lever arm is generated by the same weight of the actuators which causes the actuators of the arm joints to be constantly consuming energy to compensate for said lever arm, regardless of whether the arm have some external charge or not.
  • Fig. 13 shows a perspective view of the location of the actuators to provide the anthropomorphic degrees of freedom in a robotic arm in accordance with an embodiment of the present invention, where the actuators that generate the movement corresponding to the wrist are located close to the elbow allowing that when said arm is fully extended, the lever arm generated by the weight of said wrist actuators is less than the lever arm generated when the Actuators are located at the location corresponding to the wrist.
  • the transmission of movement from the elbow to the wrist is generated by means of whiskers, already known in the art.
  • Fig. 14 shows a front view of a system 101 for the transfer of an anthropomorphic robotic trunk in accordance with an embodiment of the present invention, system 101 including an anthropomorphic robotic trunk 120, a link structure 130 and a skid.
  • Transfer 1 10 is one of those already known in the art.
  • Link structure 130 includes a displacement mechanism 131 defined by a movable base with a receptacle, where a counterweight 135 is positioned.
  • the displacement mechanism 131 moves the counterweight 135 so that the system 101 tilts in accordance with the displacement and thus the skate 1 10 reacts accordingly to said inclination and with it the system 101 moves.
  • the link structure 130 includes a lift that allows the trunk 120 to decrease and increase its height, either to adjust the height-weight ratio and / or so that the trunk can reach higher heights and / or or so that it has contact with the floor.
  • Fig. 15 shows a side view of a motorized transfer skate 1 10 already known in the art, where it can be seen that when there is a change in its inclination with respect to the vertical defined by any line perpendicular to the XY plane, skate 1 10 it detects said change in inclination and consequently rotates its wheels to move in the direction of said inclination and with a speed corresponding to the degree of inclination of said inclination.
  • FIG. 16 shows a side and rear view of system 101 shown in FIG. 14, illustrating link structure 130 including a displacement mechanism 131 that travels along the XY plane, within defined limits. along the edges of said displacement mechanism 131.
  • the link structure 130 includes an electromechanical elevator that allows modifying the final height of the trunk 120 from a height that allows said trunk 120 to have contact with the floor at a height that allows said trunk 120 to be coupled to the skate 1 10 in a stable way.
  • the height of said trunk 120 can vary without affecting the matter of the present invention.
  • said height can be adjusted in accordance with the robotic trunk, which can vary in its dimensions and configuration without affecting the subject matter of the present invention.
  • the present invention may include links with combinations of either anchoring means and / or fastening and / or protrusion means, without affecting the subject matter of the present invention.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une extrémité robotique, un maillon d'une extrémité robotique et un procédé pour fournir un support à une extrémité robotique, les éléments étant ou non alimentés, au moyen d'une conception qui permet l'application séparée d'au moins un agencement de tendeurs élastiques dans au moins un emplacement parmi une pluralité d'emplacements disponibles en tant que partie desdits maillons. Ainsi, l'invention propose un système robotique qui amortit les vibrations et qui génère un effet de support dynamique ajustable pouvant être représenté par des vecteurs en fonction des besoins de l'utilisateur, et qui peut être appliqué à des extrémités robotiques, des prothèses, des orthèses et/ou des exosquelettes.
PCT/MX2019/050025 2018-11-23 2019-11-18 Extrémité robotique, maillon d'une extrémité robotique et procédé pour fournir un support à une extrémité robotique, avec mouvement anthropomorphe ajustable WO2020106134A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MXMX/A/2018/014462 2018-11-23
MX2018014462 2018-11-23

Publications (1)

Publication Number Publication Date
WO2020106134A1 true WO2020106134A1 (fr) 2020-05-28

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130285404A1 (en) * 2012-04-30 2013-10-31 Precision Machinery Research & Development Center Finger-gesticulation hand device
JP2014004653A (ja) * 2012-06-25 2014-01-16 Canon Inc ロボット及びロボット制御方法
JP2017525577A (ja) * 2014-08-25 2017-09-07 ポール・エカス マニピュレータ構造のためのリンク構造およびアセンブリ
MX2016012378A (es) * 2016-09-23 2018-03-22 Univ Mexico Nac Autonoma Manipulador robotico configurable accionado por medio de actuadores y tendones.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130285404A1 (en) * 2012-04-30 2013-10-31 Precision Machinery Research & Development Center Finger-gesticulation hand device
JP2014004653A (ja) * 2012-06-25 2014-01-16 Canon Inc ロボット及びロボット制御方法
JP2017525577A (ja) * 2014-08-25 2017-09-07 ポール・エカス マニピュレータ構造のためのリンク構造およびアセンブリ
MX2016012378A (es) * 2016-09-23 2018-03-22 Univ Mexico Nac Autonoma Manipulador robotico configurable accionado por medio de actuadores y tendones.

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CHAN, II PARK: "Optimization of Tendon-Driven Robot Joint Stiffness using GA-based Learning", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN (JRSJ, vol. 24, no. 4, May 2006 (2006-05-01), pages 482 - 488, Retrieved from the Internet <URL:https://www.jstage.jst.go.jp/article/jrsj1983/24/4/24_4_482/_pdf/-char/en> [retrieved on 20200128] *

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