EP3117124A2 - Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted - Google Patents
Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twistedInfo
- Publication number
- EP3117124A2 EP3117124A2 EP15705840.5A EP15705840A EP3117124A2 EP 3117124 A2 EP3117124 A2 EP 3117124A2 EP 15705840 A EP15705840 A EP 15705840A EP 3117124 A2 EP3117124 A2 EP 3117124A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- rotation
- cable
- sliding element
- axis
- elongate
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
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
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H2019/0681—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member the flexible member forming a closed loop
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
Definitions
- Cable cylinder equipped with an anti-rotation device with an elongate element that is flexible but rigid in torsion
- the invention relates to an anti-rotation device for the sliding part of a jack which is actuated by a rotary part by means of a helical connection, and a cable jack equipped with such an anti-rotation device.
- the invention is particularly applicable to grippers comprising phalanges equipping prostheses or prostheses.
- Cylinders are known used in particular to operate robot arms. These cylinders comprise a screw-nut assembly, one of the elements is rotated by a motor, and the other of the elements is constrained by an anti-rotation device to move slidably during a rotation of the engine.
- the sliding element is coupled to a cable to exert on the latter traction in one direction or another.
- the cable is wrapped around a drive pulley which is associated with a rotating pivot adapted to rotate an arm segment or any other element to be rotated.
- the cylinder can be unilateral (open cable whose one end is connected to the sliding element, the other end being associated with a tension spring), or bilateral (the cable forms a loop between the drive pulley and a pulley of return).
- the motor drives the rotating element by any suitable device, such as a belt or gearbox.
- the cable can be simple, or double. In the latter case, it is advantageously coupled to the sliding element by means of an anchoring member secured to the sliding member but movable relative thereto, the mobile anchoring member then serving to balance the pulls between the two cables.
- the control of multiple phalanges requires the grouping of a large number of actuators (typically 3 phalanx actuators) in the equivalent volume of the palm.
- the volume of the electric motors constitutes at this point a significant constraint (in thickness or in length). For example, a palm that is too long causes the knuckles to lengthen in order to preserve the possibility of palm grip and this tends to decrease the clamping force for an actuator.
- the invention more specifically relates to the anti-rotation device which allows this sliding by preventing the sliding element from rotating about the axis of rotation of the rotary element.
- Several devices are known to those skilled in the art. In particular, it is known from document FR 2 981 420 to equip the sliding element of a Holdam-shaped mount having diametrically opposed rollers constrained to slide in grooves parallel to the direction of sliding of the sliding element and preventing any rotation of the sliding element around the axis of rotation of the rotary element.
- the object of the invention is to propose a particularly simple and compact anti-rotation device which can advantageously be used in cable jacks of phalanges of gripper hands.
- a cable jack comprising a screw-nut device, one of the elements of which is rotated about one axis of rotation by a motor and the other of the elements is constrained to slide without rotating about the axis of rotation by means of an anti-rotation device, the sliding element being coupled to a cable wound around a drive pulley so that a rotation of the motor causes the linear displacement of the sliding element, which pulls on the cable and thus rotates the drive pulley.
- the anti-rotation device comprises at least one flexible but torsionally rigid elongated element whose first end is fixed to the sliding element and a second end is fixed on a fixed part of the vane. rin, so that the elongate element is curved substantially in a plane parallel to the axis of rotation.
- the elongated member prevents rotation of the sliding member due to its torsional rigidity, but follows the longitudinal movements of the sliding member bending due to its flexibility.
- This anti-rotation device is very simple to implement, only the attachment of the ends of the elongate element to be expected.
- the first end and the second end of the elongate element are respectively fixed to the sliding element and the fixed part of the cylinder on either side of the axis of rotation.
- the curve of the elongate element is formed in front thereof, and the size of the cylinder is reduced.
- the anti-rotation device comprises two elongate elements whose first ends are fixed diametrically opposite on the sliding element, so that the curved elongated elements extend in parallel planes.
- the elongate element is a flexible transmission shaft.
- the flexible transmission shaft is not used at all for its usual function which is the transmission of a torque between a motor and an actuated part.
- the high torsional rigidity of the flexible transmission shafts is used to ensure the anti-rotation of the sliding element of the hydraulic cylinder.
- FIG. 1 is a schematic diagram of a cable jack according to the invention, the sliding element here being the screw;
- FIGS. 2a to 2c illustrate the longitudinal displacement of the screw of the jack of FIG. 1;
- FIGS. 3a to 3c are figures similar to FIGS. 2a to 2c, illustrating a jack whose sliding element is the nut;
- FIGS. 4a to 4c are figures similar to FIGS. 2a to 2c, illustrating a jack with two elongate elements
- FIGS. 5 to 5c are figures similar to FIGS. 4a to 4c, illustrating a jack with two elongate elements
- FIGS. 6a and 6b are diagrammatic side and front views of a set of jacks according to FIGS. 4a to 4c;
- FIGS. 7a and 7b are diagrammatic side and front views of a set of jacks according to FIGS. 4a to 4c;
- FIGS. 8a and 8b are diagrammatic side and front views of a set of jacks according to FIGS. 5a to 5c;
- the jack cable comprises a motor 1 adapted to drive in rotation a nut 2 which cooperates with a screw 3 which moves longitudinally along an axis X of rotation of the nut 2 in response to a rotation of the motor 1.
- the motor 1 drives the nut 2 by means of a belt connection, the pulleys 4 and 5 of which are shown schematically.
- a cable 6 is stretched between a drive pulley 7 and a return pulley 8.
- the cable 6 passes inside the screw 3 (which is hollow) and is coupled thereto so that a displacement of the screw 3 causes a running of the cable 6 and thus a rotation of the drive pulley 7.
- the cylinder may have a remote motor by means of a flexible transmission shaft, the cable may be wound only around the single drive pulley, a spring now held taut.
- the cylinder may have two cables ...
- the screw 7 is prevented from rotating about the axis X by means of an anti-rotation device here comprising a flexible elongated element 10 but having a high torsional stiffness, having a first end 11 fixed to the screw 3 and a second end 12 fixed to a frame of the cable jack.
- the elongated element 10 is curved and extends substantially in a plane parallel to the axis X.
- FIGS. 2a to 2c illustrate the behavior of the elongate element 10 when the screw 3 moves under the action of the motor 1. It can be seen that the second end 12 remains of course immobile, but that the instantaneous center of curvature ⁇ of the curved portion of the elongate element 10 advances with the screw 3, the elongate element 10 being extending substantially in the same plane.
- the elongated element 10 prevents the screw 3 from rotating and therefore constitutes a device for anti-rotation of the latter. It will be noted that the plane in which the elongated element 10 extends may slightly rotate during the displacement of the screw 3, which does not interfere with the operation of the cylinder.
- the stresses of the elongate element are important, it can deform non-flat, which does not interfere with the operation of the cylinder. However, it is important to ensure that the elongated element 10 remains stable under gravity or under effort, which limits its length and therefore the stroke of the cylinder.
- FIGS. 3a to 3c illustrate a variant of the jack of FIG. 1 in which the motor 1 is adapted to drive the screw 3 in rotation. It is then the nut 2 which moves longitudinally under the effect of the rotation of the motor , the cable then being coupled to the nut 2. Of course, the elongate element 10 is now coupled to the nut 2. It can be seen that the second end 12 remains of course immobile, but that the instantaneous center of curvature ⁇ advances with the nut 2, the elongated element extending substantially in the same plane P, small twist deformation near.
- Figures 4a to 4c relate to a cable jack similar to that of Figures 2a to 2c, except that it is equipped with two elongate elements 10 and 10 ' which are fixed to the screw 3 by means of an anchoring member 13 having the form of a bar attached to the end of the screw 3.
- the first ends 11 and 11 ' are fixed to the ends of the bar 13 diametrically opposite on either side of the X axis.
- the two elongate elements 10, 10' extend in two planes parallel to each other. Ensure that the planes are sufficiently far away from the two elongated elements to avoid any interference between them in case of non-planar deformation.
- FIGS. 5a to 5c show the use of two elongate elements 10 and 10 'in the context of a cable jack whose sliding element is the nut 2.
- the anchoring member 13 is now fixed on the nut 2.
- Figures 6a and 6b show how such cylinders can be associated in a compact assembly for example to ensure 1 actuation of finger phalanges of a robotic hand.
- the axes of rotation of the screw / nut devices are here all parallel to each other and extend in the same plane.
- All the elongated elements 10, 10 'of said cylinders extend in planes parallel to each other.
- the anchoring members 13 are also parallel to each other. As is more particularly visible in FIG.
- the planes of the elongated elements are nested inside one another, so that an elongated element of a jack is flanked by the two elongated elements of an adjacent cylinder (except of course for the end cylinders).
- This arrangement is very flat. It will be noted in FIG. 6a that, at least for the intermediate cylinders, the plane of one of the elongate elements converges towards the axis of the adjacent screw, so that the end 12 of an elongate element which is hitched to a fixed part of the cylinder does not extend beyond the screw of the adjacent cylinder.
- Figures 7a and 7b show an arrangement even more compact in height, at the price however of increased width.
- the arrangement still concerns cylinders whose screw is the sliding element.
- the elongated elements 10 and 10 'always extend in parallel planes.
- the anchoring members 13 which are always coupled to the screw, are now Z-shaped.
- the anchoring members 13 ' are connected to the screw 3 by the middle of their central branch. This arrangement makes it possible to ensure that the planes of the elongate elements extend on the sides of the screws, which allows their more compact nesting.
- FIGS. 8a and 8b show an arrangement similar to that of FIGS. 7a and 7b, for jacks whose sliding element is now the nut 2.
- each elongated member 10 is constituted by a flexible transmission shaft of the type used in the cable jacks for driving the rotating member by means of a de-energized motor.
- This type of elongated element is flexible while having a high torsional rigidity.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1451962A FR3018327B1 (en) | 2014-03-10 | 2014-03-10 | CABLE CYLINDER EQUIPPED WITH ANTI-ROTATION DEVICE WITH A FLEXIBLE, BUT RIGID, FLEXIBLE ELEMENT |
PCT/EP2015/053836 WO2015135747A2 (en) | 2014-03-10 | 2015-02-24 | Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3117124A2 true EP3117124A2 (en) | 2017-01-18 |
Family
ID=50976842
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15705840.5A Withdrawn EP3117124A2 (en) | 2014-03-10 | 2015-02-24 | Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted |
Country Status (4)
Country | Link |
---|---|
US (1) | US20170009857A1 (en) |
EP (1) | EP3117124A2 (en) |
FR (1) | FR3018327B1 (en) |
WO (1) | WO2015135747A2 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3063788B1 (en) * | 2017-03-07 | 2019-03-15 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | PSEUDO GUIDING DEVICE FLEXIBLE PARALLELOGRAMS WITH HIGH FATIGUE RESISTANCE |
FR3070062B1 (en) * | 2017-08-09 | 2019-08-23 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | ANTI-ROTATION WITH CABLES |
US10673303B2 (en) * | 2017-12-28 | 2020-06-02 | Aeolus Robotics Corporation Limited | Robotic arm |
CN109613824A (en) * | 2018-12-13 | 2019-04-12 | 广东工业大学 | A kind of the Rigid-flexible Coupled Motion platform and control method of ball-screw driving |
FR3091325B1 (en) * | 2018-12-27 | 2021-03-05 | Commissariat Energie Atomique | Transmission for cable ram with offset nut anchoring |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2003223900A1 (en) * | 2002-04-06 | 2003-10-20 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Clutch actuating means |
FR2941760A1 (en) * | 2009-02-04 | 2010-08-06 | Commissariat Energie Atomique | Cable cylinder, has cable extended into socketed screw and integrated to socketed screw, so that translation of socketed screw causes displacement of cable, and belt extended at level that is same as level of bearing |
KR101631538B1 (en) * | 2009-09-18 | 2016-06-21 | 삼성전자 주식회사 | Actuator for robot and Humanoid robot comprising thereof |
JP5545052B2 (en) * | 2010-06-10 | 2014-07-09 | セイコーエプソン株式会社 | Electric actuator |
-
2014
- 2014-03-10 FR FR1451962A patent/FR3018327B1/en active Active
-
2015
- 2015-02-24 US US15/115,108 patent/US20170009857A1/en not_active Abandoned
- 2015-02-24 EP EP15705840.5A patent/EP3117124A2/en not_active Withdrawn
- 2015-02-24 WO PCT/EP2015/053836 patent/WO2015135747A2/en active Application Filing
Non-Patent Citations (1)
Title |
---|
None * |
Also Published As
Publication number | Publication date |
---|---|
US20170009857A1 (en) | 2017-01-12 |
FR3018327A1 (en) | 2015-09-11 |
FR3018327B1 (en) | 2016-03-25 |
WO2015135747A2 (en) | 2015-09-17 |
WO2015135747A3 (en) | 2016-05-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2855103B1 (en) | Exoskeleton actuator arm | |
EP3117124A2 (en) | Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted | |
EP2981739A1 (en) | Cable actuator allowing increased joint clearance | |
EP2847475B1 (en) | Robotic arm using an actuator having an offset motor using a flexible transmission | |
EP2021647B1 (en) | Under travel actuator, particularly for an automobile clutch | |
EP2582494A1 (en) | Reducing device having a high reduction ratio, robot and haptic interface comprising at least one such reducing device | |
EP2485876B1 (en) | Motor-driven self-locking articulation for a robot arm | |
EP2872299A1 (en) | Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm | |
EP0317381A1 (en) | Screw and nut type telescopic cylinder for adjusting an element such as a vehicle seat | |
EP1620664B1 (en) | Screw, nut and cable transmission | |
EP2756923A1 (en) | Clamp meter, in particular for an earth loop, including a jaw secured to a stationary mounting and a jaw pivotably mounted on the mounting | |
FR2940773A1 (en) | Transmission device for self-propelled rolling machine i.e. mowing tractor, has output semi-shafts braked by controlled braking device assembled on forward gear/reverse gear intermediate shaft | |
EP3676062B1 (en) | Mechanical device with passive compliance for transmitting rotational movement | |
EP1319479B1 (en) | Device for transferring industrial objects between two positions | |
EP3524380A1 (en) | Welding gun comprising a rotary arm with limited wear and rapid disassembly | |
WO2011026621A1 (en) | Cable cylinder, and device for aiding persons, comprising such a cylinder built therein | |
EP1286085B1 (en) | Device for converting a reciprocating motion into an oscillating motion | |
FR2853273A1 (en) | ACTUATING DEVICE, IN PARTICULAR FOR AN ARTICULATED ARM | |
WO2013087790A1 (en) | Articulated mechanical assembly and mechanical hand comprising such an assembly | |
EP2008957B1 (en) | Device for braking flat products and corresponding folding machine | |
FR2863534A1 (en) | Mechanical arm with articulated joint, e.g. for robot or manipulator, has pulley and cable system with driving pulley in plane intersecting that of receiving pulley | |
FR3135768A1 (en) | Asymmetrical loop cable jack | |
FR2618202A1 (en) | DEVICE FOR TRANSMITTING A MOTION AT TWO LEVELS OF SPEED AND MAINTAINING A DETERMINED STRESS AFTER THE MOTION STOPPED. | |
WO2021043579A1 (en) | Robotic hand | |
FR2932901A1 (en) | DEVICE FOR TRANSMITTING A ROTATION MOVEMENT AND TRANSMISSION MECHANISM COMPRISING SUCH A DEVICE |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20160905 |
|
AK | Designated contracting states |
Kind code of ref document: A2 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
AX | Request for extension of the european patent |
Extension state: BA ME |
|
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: GRANT OF PATENT IS INTENDED |
|
INTG | Intention to grant announced |
Effective date: 20171219 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20180501 |