EP3507524A1 - Mechanical transmision device and system comprising such a device - Google Patents

Mechanical transmision device and system comprising such a device

Info

Publication number
EP3507524A1
EP3507524A1 EP17761072.2A EP17761072A EP3507524A1 EP 3507524 A1 EP3507524 A1 EP 3507524A1 EP 17761072 A EP17761072 A EP 17761072A EP 3507524 A1 EP3507524 A1 EP 3507524A1
Authority
EP
European Patent Office
Prior art keywords
main axis
support
axis
members
output member
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Withdrawn
Application number
EP17761072.2A
Other languages
German (de)
French (fr)
Inventor
Belhassan Chedli BOUZGARROU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Universite Clermont Auvergne
Sigma Clermont
Original Assignee
Centre National de la Recherche Scientifique CNRS
Universite Clermont Auvergne
Sigma Clermont
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 Centre National de la Recherche Scientifique CNRS, Universite Clermont Auvergne, Sigma Clermont filed Critical Centre National de la Recherche Scientifique CNRS
Publication of EP3507524A1 publication Critical patent/EP3507524A1/en
Withdrawn legal-status Critical Current

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
    • F16H25/2018—Screw mechanisms with both screw and nut being driven, i.e. screw and nut are both rotating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • 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
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
    • F16H37/16—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types with a driving or driven member which both rotates or oscillates on its axis and reciprocates
    • 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
    • F16H2025/2053—Screws in parallel arrangement driven simultaneously with an output member moved by the screws

Definitions

  • the invention relates to a mechanical transmission device, and a system comprising such a mechanical transmission device.
  • FR-A-2,957,005 and FR-A-2,957,014 disclose parallel robots comprising more than two input members and multiple output members animated with multiple movements.
  • FR-A-2 892 789 describes a gearbox actuation system, an output member of which is driven by a translation and rotation movement. The axes of movement of the input members are not symmetrical with respect to the main axis of the output member and the actuators for obtaining these movements are decoupled.
  • DE-U-298 20 787 and DE-U-201 01 545 describe robots combining two rotary input members driven by motors, and an articulated arm driven by a translation and a rotation. The actuators making it possible to obtain these movements define different kinematic chains.
  • the invention intends to remedy more particularly by proposing a new device for transmitting movements, making it possible to obtain, on an output member, two movements according to two degrees of freedom thanks to a structure that does not imply no decoupled actuators.
  • the invention relates to a mechanical transmission device having a main axis.
  • the transmission device comprises a support; first and second input members, independent of each other, arranged in parallel, and intended to be actuated by associated motors, the first and second members having, relative to the support, a single degree of freedom in rotation or translation along a first axis, respectively a second axis, the first and second axes being parallel to the main axis and arranged symmetrically on either side of the main axis.
  • the transmission device further comprises an output member having, with respect to the support, a single degree of freedom of rotation along the main axis or along an axis orthogonal to the main axis and a single degree of freedom of translation along the main axis; and means for coupling the input members to the output member.
  • the output member is driven by a rotational movement and a translational movement obtained by means of two independent actuators operating in a coupled and preferably symmetrical manner, and the device does not comprise integrated actuators. on moving output elements.
  • such a device may incorporate one or more of the following features, taken in any technically permissible combination:
  • the first and second input members are identical or symmetrical with respect to the main axis.
  • the coupling means define a first and a second kinematic chain respectively connecting the first and second input members to the output member and whose components are identical or symmetrical with respect to the main axis.
  • the first and second kinematic chains have kinematic symmetry.
  • the first and second input members are formed by screws with not reversed, while the coupling means is formed by two nuts mounted on the screws and on which are mounted rotating drive members of the body exit around the main axis.
  • the nuts and the output member are rotatably mounted in a carriage driven in translation along the main axis by the nuts.
  • the driving elements are belts or chains.
  • the drive elements are formed by a gear train.
  • the first and second input members are each formed by a carriage movable in translation, the coupling means being formed by two connecting rods each mounted on one of the carriages and each connected to one of two branches of the carrier member. output, which is rotatably mounted along the axis orthogonal to the main axis on a carriage movable in translation relative to the support along the main axis.
  • the invention also relates to a system comprising a support and a movable element connected to the support by three motorized legs.
  • the legs are connected to the support by mechanical transmission devices such as that defined above, the first and second input members are motorized.
  • a system may incorporate one or more of the following features, taken in any technically permissible combination:
  • the legs are connected to the movable member by links, each forming either a ball joint or a set of three pivot links whose axes are concurrent with each other.
  • the legs are connected to the transmission devices by pivot links centered on axes of rotation, the axis of rotation of each transmission device being either orthogonal and concurrent with the main axis of this transmission device, or orthogonal and concurrent with the axis orthogonal to the main axis of this transmission device.
  • the invention also relates to a system comprising a support, a movable element and three mechanical transmission devices, such as the one defined above, connecting the movable element and the support, the movable element being connected to the output members of the devices.
  • mechanical transmission by gimbals the supports of the mechanical transmission devices being connected to the support of the system by gimbals.
  • the gimbals connecting the movable element to the output members have connection centers merged at one and the same point.
  • FIG. 1 is a schematic view of a mechanical transmission device according to a first embodiment of the invention
  • FIG. 2 is a perspective view of a variant of the mechanical transmission system of FIG. 1;
  • FIG. 3 is a schematic view of a mechanical transmission device according to a second embodiment of the invention.
  • FIG. 4 is a perspective view of the mechanical transmission device of FIG. 3;
  • FIG. 5 is a perspective view of a system equipped with the mechanical transmission devices of FIG. 2,
  • FIG. 6 is a perspective view of a second system equipped with the mechanical transmission devices of FIG. 2;
  • FIG. 7 illustrates a detail according to a frame C7 of FIG. 6, and FIG. 8 is a perspective view of a system equipped with the mechanical transmission devices represented in FIG. 4.
  • Figure 1 shows a mechanical transmission device 1, which has a main axis X1.
  • the device 1 comprises a support 3, and first and second input members 5 and 6.
  • the input members 5 and 6 are independent of each other, arranged in parallel and intended to be actuated by motors 51 and 61 shown in Figure 2.
  • the first and second members 5 and 6 are similar to each other and have, relative to the support 3, a single degree of freedom in rotation along respective axes X5 and X6 which are parallel to the main axis X1.
  • the axes X5 and X6 are also arranged on either side of the main axis X1, preferably symmetrically.
  • the device 1 also comprises an output member 8 which has, relative to the support 3, a single degree of freedom in rotation about the main axis X1 and a single degree of freedom of translation along the main axis X1. Between the input members 5 and 6 and the output member 8, the device 1 comprises means for coupling the input members 5 and 6 to the output member 8.
  • the first and second input members 5 and 6 are formed by screws, driven in rotation about axes X5 and X6 by motors 51 and 61. The pitch of the screw 5 is reversed relative to that of the screw 6, as illustrated in FIG.
  • Two nuts 9 and 10 are mounted on the input members 5 and 6. On the nuts 9 and 10 are mounted rotating elements of the output member 8 about the main axis X1. In FIG. 1, these driving elements are formed by two belts 91 and 101.
  • the nuts 9 and 10 are themselves mounted free to rotate about the axes X5 and X6 in a carriage 12 driven in translation along the main axis X1 by the cooperation between the nuts 9 and 10 and the screws 5 and 6.
  • the nuts 9 and 10, and the output member 8 are rotatably supported relative to the carriage 12 by bearings 13, which may be ball bearings, or of any other suitable type.
  • balls are incorporated in the threads of the screws 5 and 6.
  • the nuts 9 and 10 and the screws 5 and 6 respectively form two screw-nuts ball.
  • the device 1 makes it possible to obtain, with input, two rotations of parallel axes, a rotational movement along the main axis X1 conjugated to a translation movement along the same principal axis X1, which are transmitted to the 8.
  • the rotation of the screws 5 and 6 in the nuts 9 and 10 induces their translation along the axes X5 and X6, and the freedom in rotation of the nuts 9 and 10 relative to the carriage 12 allows their rotation around the axes.
  • X5 and X6 The nuts 9 and 10 are integral in translation with the carriage 12 and thus transmit to the output member 8 a translation along the main axis X1, while the coupling in rotation between the nuts 9 and 10 and the output member 8 allows the drive in rotation about the axis X1 of the output member 8.
  • the elements for rotating the output member 8 around the main axis X1 by the nuts 9 and 10 may be formed by a gear train, including a first wheel. toothed 52 integral with the screw 5, a second toothed wheel 62 secured to the screw 6, and a third gear 82 integral with the output member 8.
  • a gear train including a first wheel. toothed 52 integral with the screw 5, a second toothed wheel 62 secured to the screw 6, and a third gear 82 integral with the output member 8.
  • an assembly comprising parts 3A, 3B and 3C forms the support 3, in which are guided in rotation the input members 5 and 6, respectively about an axis X5 and an axis X6.
  • the output member 8 is guided in rotation about the axis X1, parallel to the axes X5 and X6, relative to the carriage 12.
  • the output member 8 is in cylindrical connection with respect to the axis member 3A X1.
  • the driving elements 5 and 6 can also be formed by chains.
  • FIG. 3 and 4 A second embodiment of the invention is shown in Figures 3 and 4.
  • a device 15 is shown.
  • This device 15 has a main axis X15, and comprises a support 17.
  • the device 15 has first and second input members 19 and 20, independent of one another, arranged in parallel and intended to be actuated by associated engines. These motors may be, for example, linear motors or cylinders.
  • the input members 19 and 20 are similar to one another and have, relative to the support 17, a single degree of freedom in translation along respective axes X 19 and X 20 which are parallel to the main axis X 15 and arranged, preferably, symmetrically by relative to the main axis X15.
  • the device 15 also comprises an output member 22, having, relative to the support 17, a single degree of freedom in rotation about an axis Y22 orthogonal to the main axis X15 and a single degree of freedom of translation according to the invention.
  • main axis X15 Between the output member 22 and the input members 19 and 20, the device 15 comprises means for coupling the input members 19 and 20 to the output member 22.
  • This coupling means includes two connecting rods 24 and 25, each mounted on one of the input members 19 and 20 which are formed by carriages movable in translation on the rails 170 and 171 of the support 17 aligned with the axes X19 and X20.
  • the connecting rods 24 and 25 are articulated on the input members 19 and 20, and at their other end, the rods 24 and 25 are each connected to a branch 221 and 222 of the output member 22, which is itself rotatably mounted about the axis Y22 on a carriage 27 movable in translation relative to the support 17 along the main axis X15.
  • the support 17 comprises a slideway 172 aligned with the axis X15 and on which the carriage 27 is mounted.
  • the device 15 thus makes it possible, from two inputs formed by two parallel translations, to transmit a simultaneous translation movement along the main axis X15 and rotation about the axis Y22 orthogonal to the main axis X15.
  • FIG. 5 shows a system 30 comprising a support 300 forming a plate extending parallel to a plane P30.
  • the system 30 also comprises a mobile element, formed by a mobile platform 305, connected to the support by three motorized legs 307.
  • the legs 307 are themselves connected to the support by transmission devices 1 which are fixed to the support 300. and second respective input members of the transmission devices 1 equipping the system 30 are motorized and controlled to obtain displacements of the mobile platform 305.
  • the legs 307 are hinged relative to the platform 305 by ball joints which bear the reference 308.
  • the legs 307 are articulated to the transmission devices 1 by pivot links defining axes of rotation A7.
  • Each of these axes A7 is orthogonal and contributes to the axis X1 of the transmission device 1 associated with it.
  • the axis A7 pivot links are rotated about the axis X1, and in translation parallel to the axis X1, of their respective transmission device 1, by rotation and translation of the device output member. transmission 1 concerned.
  • the axes A7 are found parallel to the plane P30, but rotate around the axis X1 together with the output member of the device 1 concerned.
  • the system 30 makes it possible to confer on the mobile platform 305, that is to say to exert on the mobile platform 305, movements with six degrees of mobility, useful in the context of robots or industrial production machines.
  • each connection between the legs 307 and the movable platform 305 can be achieved by a set of three pivotal links axes intersecting.
  • the point of competition of the three axes is located at the location of the center of the ball joint 308 replaced.
  • one of the three axes preferably corresponds to the longitudinal axis of the legs 307.
  • the mechanical transmission devices 1 may also be used in the context of a second system 40 shown in FIGS. 6 and 7.
  • the system 40 comprises a support of parallelepipedal shape, shaped in a square in this example, and comprising structural bars 401 .
  • the system 40 also comprises a mobile element 403.
  • a system 40 also comprises three mechanical transmission devices 1 A, 1 B and 1 C identical to the mechanical transmission device 1, and which connect the movable member 403 to the bars 401.
  • the respective output members 1A8, 1B8 and 1C8 of the devices 1A, 1B and 1C respectively form shafts articulated on the movable member 403 by universal joints 405A, 405B and 405C.
  • each cardan 405A, 405B and 405C defines two axes of rotation concurrent and, in this example, orthogonal to each other. More specifically, each gimbal 405A, 405B and 405C comprises an intermediate member 406A, 406B and 406C, connected to one of the output members 1A8, 1B8 and 1C8 by a primary pivot link 408A, 408B and 408C, and linked to the movable member 403 by a secondary pivot link 409A, 409B and 409C.
  • the primary pivot links 408A, 408B and 408C are respectively centered on pivot axes X403B, X403C and X403A.
  • the secondary pivot links 409A, 409B and 409C are respectively centered on the X403C, X403A and X403B axes.
  • the rotation of the output shafts 1A8, 1B8 and 1C8 is performed respectively about axes coaxial with the axes X403A, X403B and X403C, so that the intermediate members 406A, 406B and 406C are respectively rotated around these same axes.
  • each gimbal 405A, 405B and 405C therefore define a connecting center of the concerned gimbal, the three connecting centers being merged at the point of concurrence of the three axes X403A, X403B and X403C.
  • the supports 3 of the devices 1A, 1B and 1C are connected to the bars 401 by cardans 407.
  • the system 40 comprises transmission devices 1 equipped with gear trains.
  • the movable member 403 comprises six degrees of mobility relative to the support.
  • the system 40 of FIGS. 6 and 7 makes it possible to control, in a decoupled manner, the translation movements and the rotational movements of the mobile platform 403 as a function of the output movements of the mechanical transmission devices 1A, 1B and 1C.
  • the system 40 corresponding to the preferred embodiment of FIGS. 6 and 7, presents a unique solution of a parallel mechanism with six degrees of mobility, where the translational and rotational movements are decoupled.
  • This invention can be used in applications or processes requiring the generation of complex high dynamic motions with high precision and rigidity while having simple control.
  • the mechanical transmission device 15 can also be used in the context of a system 30 'shown in FIG. 8, similar to the system 30, and in which the devices 1 are replaced by the devices 15 for connecting the mobile platform 305 to the support .
  • the devices 15 are mounted on pairs of branches 301, 302 and 303 defining a plane P30 '.
  • the pivot connections connecting the legs 307 to the mechanical transmission devices 15 are centered on axes of rotation A7, so that each of the three axes of rotation A7 is orthogonal and concurrent with the axis Y22 of the device. mechanical transmission concerned.
  • the axes X15 and A7 are parallel to the plane P30'.
  • Devices 1 and 15 and systems 30, 30 'and 40 provide improvements in efficiency, simplicity and modularity for designing complex machines.
  • Devices 1 and 15 make it possible to use standard components symmetrically.
  • the systems 30, 30 'and 40 make it possible to manufacture robot architectures with six degrees of mobility with only three legs, without integrating a motorized link in series in the legs or non-symmetrical transmissions.
  • the device 1 makes it possible to obtain rotational movements whose amplitude is unlimited and translation movements limited only by the dimensions of the device.
  • the device 15 makes it possible to generate very high output torques that can be used to orient objects accurately, particularly in the case where the linear movements of the input members are obtained by the ball screw systems.
  • the movements of the output member are in a two-dimensional space including a translation coordinate and a coordinate in angular orientation, which is suitable for working in an environment where the tasks and movements desired are defined in cylindrical coordinates.
  • the invention makes it possible to improve the modularity of the actuators referred to in mechanisms with several degrees of mobility while reducing the kinematic complexity and the control, compared with robots having a single actuator per leg or several actuators in series per leg.
  • the invention notably offers the possibility of actuating a translation with two identical motors without generating internal mechanical stresses due to the lack of synchronization of the speeds of the two motors that can be found on the gantry type architecture machines (usually called "gantry").
  • the powers of the two motors add up to generate the translation output, even if their angular velocities are not exactly identical.
  • the devices 1 and 15 average the speeds of the two motors.
  • the differential speed of the motors is absorbed by the unused rotational movement for power transmission.
  • the systems 30 and 40 may especially be used for industrial production, in the context of machine tools, production robotics and processes requiring the displacement or positioning of objects, tools, or other devices with precision and a controlled speed.
  • the input members 5 and 6 of the device 1 and the input members 19 and 20 of the device 15 are symmetrical with respect to the main axis X1 or X15 or the same.
  • the screws 5 and 6 are symmetrical with respect to the main axis because they are screws of the same diameter, pitch length and thread depth, the only difference being the inversion of their pitch.
  • Carriages 19 and 20 are identical in that they are formed by identical mechanical parts, functioning in the same way.
  • the mechanical parts forming the carriages 19 and 20 may in particular be interchangeable.
  • the mechanical parts forming the input members can be manufactured using the same methods in series. This results in great ease of manufacture and assembly.
  • the coupling means of the input members 5 and 6 of the device 1 and 19 and 20 of the device 15 to the output members 8 and 22 define a first and second kinematic chain.
  • the first kinematic chain connects the first input member 5 to the output member 8 and comprises components formed by the nut 9 and the belt 91 or the toothed wheel 52.
  • the second kinematic chain connects the second input member 6 to the output member 8 via the nut 10 and the belt 101 or the gear wheel 62.
  • these two kinematic chains respectively connecting the first and second input members 19 and 20 to the output member 22 comprise components respectively formed by the rods 24 and 25.
  • the components of the two kinematic chains are identical, in that they are formed by the same parts, which can be mounted indifferently after the first or second input member, or symmetrical with respect to the main axis in the case of the device 1.
  • kinematic chains also have on both sides the output member a kinematic symmetry, in that they have the same sequence of kinematic links.
  • these are pivot links in the input each followed by a helical link and then a pivot connection, in the device 15 there are two slide links each followed by two successive pivot links.
  • the kinematic chains are interchangeable, can be assembled beforehand, it results in a great ease of assembly and manufacture.
  • the symmetry of the axes of the input members with respect to the main axes facilitates the modularity and control of the devices and systems in which they are used. This also allows a better distribution of efforts and wear, and a better compactness.
  • the invention can also be used in the context of medical robotic applications, and services, including haptic interfaces, motion assistance, the positioning of optical systems, and motion simulators.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)

Abstract

Mechanical transmission device and system comprising such a device. This mechanical transmission device (1) has a main axis (X1), characterized in that it comprises: – a support (3); – first (5) and second (6) input members, independent of one another and arranged in parallel, and intended to be operated by associated engines, the first and second members having, with respect to the support, a single degree of freedom in rotation or in translation about or along a first axis (X5) and a second axis (X6) which are parallel to the main axis and arranged symmetrically on each side of the main axis (X1); - an output member (8) having, with respect to the support, a single degree of freedom in rotation about the main axis (X1) or about an axis orthogonal to the main axis (X1) and a single degree of freedom in translation along the main axis (X1); and, – a coupling means (9, 10, 91, 101) for coupling the input members to the output member.

Description

Dispositif de transmission mécanique et système comprenant un tel dispositif  Mechanical transmission device and system comprising such a device
L'invention concerne un dispositif de transmission mécanique, ainsi qu'un système comprenant un tel dispositif de transmission mécanique. The invention relates to a mechanical transmission device, and a system comprising such a mechanical transmission device.
Dans le domaine des dispositifs de transmission mécanique, il est connu de fabriquer des dispositifs à deux entrées, permettant d'obtenir deux mouvements en sortie. Toutefois, la plupart des dispositifs connus mettent en œuvre des techniques non symétriques et découplées, par exemple utilisant un vérin ou un moteur linéaire pour obtenir une translation, et un moteur rotatif pour obtenir une rotation. De tels systèmes ne sont pas satisfaisants car ils impliquent généralement que l'un des moteurs est placé sur une pièce mobile, ce qui réduit les performances du dispositif. En outre, les systèmes utilisant de tel dispositif ont également des possibilités d'action limitée du fait de l'inconvénient précité. De tels dispositifs sont notamment connus de EP 2 699 071 ou de JP H01 228 792, qui implique des chaînes cinématiques différentes et non symétriques.  In the field of mechanical transmission devices, it is known to manufacture devices with two inputs, to obtain two movements at the output. However, most of the known devices implement unsymmetrical and decoupled techniques, for example using a jack or a linear motor to obtain a translation, and a rotary motor to obtain a rotation. Such systems are unsatisfactory because they generally imply that one of the motors is placed on a moving part, which reduces the performance of the device. In addition, the systems using such a device also have limited possibilities of action because of the aforementioned drawback. Such devices are in particular known from EP 2 699 071 or JP H01 228 792, which involves different and non-symmetrical kinematic chains.
FR-A-2 957 005 et FR-A-2 957 014 divulguent des robots parallèles comprenant de plus de deux organes d'entrée et de multiples organes de sortie animés de multiples mouvements. FR-A-2 892 789 décrit un système d'actionnement de boite de vitesse, dont un organe de sortie est animé d'un mouvement de translation et de rotation. Les axes de mouvement des organes d'entrée ne sont pas symétriques par rapport à l'axe principal de l'organe de sortie et les actionneurs permettant d'obtenir ces mouvements sont découplés. DE-U-298 20 787 et DE-U-201 01 545 décrivent des robots combinant deux organes d'entrée rotatifs entraînés par des moteurs, et un bras articulé animé d'une translation et d'une rotation. Les actionneurs permettant d'obtenir ces mouvements définissent des chaînes cinématiques différentes.  FR-A-2,957,005 and FR-A-2,957,014 disclose parallel robots comprising more than two input members and multiple output members animated with multiple movements. FR-A-2 892 789 describes a gearbox actuation system, an output member of which is driven by a translation and rotation movement. The axes of movement of the input members are not symmetrical with respect to the main axis of the output member and the actuators for obtaining these movements are decoupled. DE-U-298 20 787 and DE-U-201 01 545 describe robots combining two rotary input members driven by motors, and an articulated arm driven by a translation and a rotation. The actuators making it possible to obtain these movements define different kinematic chains.
C'est à ces inconvénients qu'entend plus particulièrement remédier l'invention en proposant un nouveau dispositif de transmission de mouvements, permettant d'obtenir, sur un organe de sortie, deux mouvements selon deux degrés de liberté grâce à une structure n'impliquant pas d'actionneurs découplés.  It is these drawbacks that the invention intends to remedy more particularly by proposing a new device for transmitting movements, making it possible to obtain, on an output member, two movements according to two degrees of freedom thanks to a structure that does not imply no decoupled actuators.
A cet effet, l'invention concerne un dispositif de transmission mécanique présentant un axe principal. Selon l'invention, le dispositif de transmission comporte un support; des premier et second organes d'entrée, indépendants l'un de l'autre, disposés en parallèle, et destinés à être actionnés par des moteurs associés, les premier et second organes possédant, par rapport au support, un unique degré de liberté en rotation ou en translation selon un premier axe, respectivement un second axe, les premier et second axes étant parallèles à l'axe principal et disposés de façon symétrique de part et d'autre de l'axe principal. Le dispositif de transmission comporte en outre un organe de sortie possédant, par rapport au support, un unique degré de liberté de rotation selon l'axe principal ou selon un axe orthogonal à l'axe principal et un unique degré de liberté de translation selon l'axe principal; et un moyen de couplage des organes d'entrée à l'organe de sortie. For this purpose, the invention relates to a mechanical transmission device having a main axis. According to the invention, the transmission device comprises a support; first and second input members, independent of each other, arranged in parallel, and intended to be actuated by associated motors, the first and second members having, relative to the support, a single degree of freedom in rotation or translation along a first axis, respectively a second axis, the first and second axes being parallel to the main axis and arranged symmetrically on either side of the main axis. The transmission device further comprises an output member having, with respect to the support, a single degree of freedom of rotation along the main axis or along an axis orthogonal to the main axis and a single degree of freedom of translation along the main axis; and means for coupling the input members to the output member.
Grâce à l'invention, l'organe de sortie est animé d'un mouvement de rotation et d'un mouvement de translation obtenus grâce à deux actionneurs indépendants fonctionnant de façon couplée et préférentiellement symétrique, et le dispositif ne comprend pas d'actionneurs intégrés sur des éléments mobiles de sortie.  Thanks to the invention, the output member is driven by a rotational movement and a translational movement obtained by means of two independent actuators operating in a coupled and preferably symmetrical manner, and the device does not comprise integrated actuators. on moving output elements.
Selon des aspects avantageux mais non obligatoires de l'invention, un tel dispositif peut incorporer une ou plusieurs des caractéristiques suivantes, prises selon toute combinaison techniquement admissible :  According to advantageous but non-mandatory aspects of the invention, such a device may incorporate one or more of the following features, taken in any technically permissible combination:
Les premier et second organes d'entrée sont identiques ou symétriques par rapport à l'axe principal.  The first and second input members are identical or symmetrical with respect to the main axis.
- Les moyens de couplage définissent une première et une seconde chaîne cinématique reliant respectivement les premier et second organes d'entrée à l'organe de sortie et dont les composants sont identiques ou symétriques par rapport à l'axe principal.  - The coupling means define a first and a second kinematic chain respectively connecting the first and second input members to the output member and whose components are identical or symmetrical with respect to the main axis.
Les première et seconde chaînes cinématiques présentent une symétrie cinématique.  The first and second kinematic chains have kinematic symmetry.
- Les premier et second organes d'entrée sont formés par des vis à pas inversés, alors que le moyen de couplage est formé par deux écrous montés sur les vis et sur lesquels sont montés des éléments d'entraînement en rotation de l'organe de sortie autour de l'axe principal.  - The first and second input members are formed by screws with not reversed, while the coupling means is formed by two nuts mounted on the screws and on which are mounted rotating drive members of the body exit around the main axis.
- Les écrous et l'organe de sortie sont montés rotatifs dans un chariot entraîné en translation selon l'axe principal par les écrous.  - The nuts and the output member are rotatably mounted in a carriage driven in translation along the main axis by the nuts.
Les éléments d'entraînement sont des courroies ou des chaînes.  The driving elements are belts or chains.
Les éléments d'entraînement sont formés par un train d'engrenages.  The drive elements are formed by a gear train.
Les premier et second organes d'entrée sont chacun formés par un chariot mobile en translation, le moyen de couplage étant formé par deux bielles montées chacune sur l'un des chariots et reliées chacune à l'une de deux branches de l'organe de sortie, qui est monté mobile en rotation selon l'axe orthogonal à l'axe principal sur un chariot mobile en translation par rapport au support selon l'axe principal.  The first and second input members are each formed by a carriage movable in translation, the coupling means being formed by two connecting rods each mounted on one of the carriages and each connected to one of two branches of the carrier member. output, which is rotatably mounted along the axis orthogonal to the main axis on a carriage movable in translation relative to the support along the main axis.
L'invention concerne également un système comprenant un support et un élément mobile relié au support par trois jambes motorisées. Selon l'invention, les jambes sont reliées au support par des dispositifs de transmission mécanique tels que celui défini ci- avant, dont les premier et second organes d'entrée sont motorisés. Selon des aspects avantageux mais non obligatoires de l'invention, un tel système peut incorporer une ou plusieurs des caractéristiques suivantes, prises selon toute combinaison techniquement admissible : The invention also relates to a system comprising a support and a movable element connected to the support by three motorized legs. According to the invention, the legs are connected to the support by mechanical transmission devices such as that defined above, the first and second input members are motorized. According to advantageous but non-mandatory aspects of the invention, such a system may incorporate one or more of the following features, taken in any technically permissible combination:
Les jambes sont reliées à l'élément mobile par des liaisons, formant chacune soit une liaison rotule soit un ensemble de trois liaisons pivots dont les axes sont concourants entre eux.  The legs are connected to the movable member by links, each forming either a ball joint or a set of three pivot links whose axes are concurrent with each other.
Les jambes sont reliées aux dispositifs de transmission par des liaisons pivot centrées sur des axes de rotation, l'axe de rotation de chaque dispositif de transmission étant soit orthogonal et concourant avec l'axe principal de ce dispositif de transmission, soit orthogonal et concourant avec l'axe orthogonal à l'axe principal de ce dispositif de transmission.  The legs are connected to the transmission devices by pivot links centered on axes of rotation, the axis of rotation of each transmission device being either orthogonal and concurrent with the main axis of this transmission device, or orthogonal and concurrent with the axis orthogonal to the main axis of this transmission device.
L'invention concerne également un système comprenant un support, un élément mobile et trois dispositifs de transmission mécanique, tels que celui défini ci-avant, reliant l'élément mobile et le support, l'élément mobile étant relié aux organes de sortie des dispositifs de transmission mécanique par des cardans, les supports des dispositifs de transmission mécanique étant reliés au support du système par des cardans.  The invention also relates to a system comprising a support, a movable element and three mechanical transmission devices, such as the one defined above, connecting the movable element and the support, the movable element being connected to the output members of the devices. mechanical transmission by gimbals, the supports of the mechanical transmission devices being connected to the support of the system by gimbals.
De préférence, les cardans reliant l'élément mobile aux organes de sortie présentent des centres de liaison confondus en un même point.  Preferably, the gimbals connecting the movable element to the output members have connection centers merged at one and the same point.
L'invention sera mieux comprise et d'autres avantages de celle-ci apparaîtront plus clairement à la lumière de la description qui va suivre de deux modes de réalisation d'un dispositif de transmission mécanique conforme à l'invention, et de trois systèmes comprenant des dispositifs de transmission conformes à l'invention, faite à titre d'exemple non limitatif en référence aux dessins annexés dans lesquels :  The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of two embodiments of a mechanical transmission device according to the invention, and three systems comprising transmission devices according to the invention, given by way of non-limiting example with reference to the accompanying drawings, in which:
- la figure 1 est une vue schématique d'un dispositif de transmission mécanique conforme à un premier mode de réalisation de l'invention,  FIG. 1 is a schematic view of a mechanical transmission device according to a first embodiment of the invention,
- la figure 2 est une vue en perspective d'une variante du système de transmission mécanique de la figure 1 ,  FIG. 2 is a perspective view of a variant of the mechanical transmission system of FIG. 1;
- la figure 3 est une vue schématique d'un dispositif de transmission mécanique conforme à un second mode de réalisation de l'invention,  FIG. 3 is a schematic view of a mechanical transmission device according to a second embodiment of the invention,
- la figure 4 est une vue en perspective du dispositif de transmission mécanique de la figure 3,  FIG. 4 is a perspective view of the mechanical transmission device of FIG. 3;
- la figure 5 est une vue en perspective d'un système équipé des dispositifs de transmission mécanique de la figure 2,  FIG. 5 is a perspective view of a system equipped with the mechanical transmission devices of FIG. 2,
- la figure 6 est une vue en perspective d'un second système équipé des dispositifs de transmission mécanique de la figure 2,  FIG. 6 is a perspective view of a second system equipped with the mechanical transmission devices of FIG. 2;
- la figure 7 illustre un détail selon un cadre C7 de la figure 6, et - la figure 8 est une vue en perspective d'un système équipé des dispositifs de transmission mécanique représentés à la figure 4. FIG. 7 illustrates a detail according to a frame C7 of FIG. 6, and FIG. 8 is a perspective view of a system equipped with the mechanical transmission devices represented in FIG. 4.
La figure 1 représente un dispositif 1 de transmission mécanique, qui présente un axe principal X1 . Le dispositif 1 comporte un support 3, et des premier et second organes d'entrée 5 et 6. Les organes d'entrée 5 et 6 sont indépendants l'un de l'autre, disposés en parallèle et destinés à être actionnés par des moteurs associés 51 et 61 représentés à la figure 2. Les premier et second organes 5 et 6 sont similaires entre eux et possèdent, par rapport au support 3, un unique degré de liberté en rotation selon des axes respectifs X5 et X6 qui sont parallèles à l'axe principal X1 . Les axes X5 et X6 sont également disposés de part et d'autre de l'axe principal X1 , de préférence de façon symétrique. Le dispositif 1 comprend également un organe de sortie 8 qui possède, par rapport au support 3, un unique degré de liberté en rotation autour de l'axe principal X1 et un unique degré de liberté de translation selon l'axe principal X1 . Entre les organes d'entrée 5 et 6 et l'organe de sortie 8, le dispositif 1 comprend des moyens de couplage des organes d'entrée 5 et 6 à l'organe de sortie 8. Les premier et second organes d'entrée 5 et 6 sont formés par des vis, entraînées en rotation autour des axes X5 et X6 par les moteurs 51 et 61 . Le pas de la vis 5 est inversé par rapport à celui de la vis 6, comme illustré sur la figure 1 .  Figure 1 shows a mechanical transmission device 1, which has a main axis X1. The device 1 comprises a support 3, and first and second input members 5 and 6. The input members 5 and 6 are independent of each other, arranged in parallel and intended to be actuated by motors 51 and 61 shown in Figure 2. The first and second members 5 and 6 are similar to each other and have, relative to the support 3, a single degree of freedom in rotation along respective axes X5 and X6 which are parallel to the main axis X1. The axes X5 and X6 are also arranged on either side of the main axis X1, preferably symmetrically. The device 1 also comprises an output member 8 which has, relative to the support 3, a single degree of freedom in rotation about the main axis X1 and a single degree of freedom of translation along the main axis X1. Between the input members 5 and 6 and the output member 8, the device 1 comprises means for coupling the input members 5 and 6 to the output member 8. The first and second input members 5 and 6 are formed by screws, driven in rotation about axes X5 and X6 by motors 51 and 61. The pitch of the screw 5 is reversed relative to that of the screw 6, as illustrated in FIG.
Deux écrous 9 et 10 sont montés sur les organes d'entrée 5 et 6. Sur les écrous 9 et 10 sont montés des éléments d'entraînement en rotation de l'organe de sortie 8 autour de l'axe principal X1 . Sur la figure 1 , ces éléments d'entraînement sont formés par deux courroies 91 et 101 .  Two nuts 9 and 10 are mounted on the input members 5 and 6. On the nuts 9 and 10 are mounted rotating elements of the output member 8 about the main axis X1. In FIG. 1, these driving elements are formed by two belts 91 and 101.
Les écrous 9 et 10 sont eux-mêmes montés libres en rotation autour des axes X5 et X6 dans un chariot 12 entraîné en translation selon l'axe principal X1 par la coopération entre les écrous 9 et 10 et les vis 5 et 6. Les écrous 9 et 10, et l'organe de sortie 8 sont supportés en rotation par rapport au chariot 12 par des paliers 13, qui peuvent être des roulements à billes, ou bien de tout autre type adapté.  The nuts 9 and 10 are themselves mounted free to rotate about the axes X5 and X6 in a carriage 12 driven in translation along the main axis X1 by the cooperation between the nuts 9 and 10 and the screws 5 and 6. The nuts 9 and 10, and the output member 8 are rotatably supported relative to the carriage 12 by bearings 13, which may be ball bearings, or of any other suitable type.
Pour réduire le frottement entre les écrous 9 et 10 et les vis 5 et 6, des billes sont incorporées dans les filetages des vis 5 et 6. De préférence, les écrous 9 et 10 et les vis 5 et 6 forment respectivement deux vis-écrous à billes.  To reduce the friction between the nuts 9 and 10 and the screws 5 and 6, balls are incorporated in the threads of the screws 5 and 6. Preferably, the nuts 9 and 10 and the screws 5 and 6 respectively form two screw-nuts ball.
Le dispositif 1 permet d'obtenir avec, en entrée, deux rotations d'axes parallèles, un mouvement de rotation suivant l'axe principal X1 conjugué à un mouvement de translation selon ce même axe principal X1 , qui sont transmis à l'organe de sortie 8. En effet, la rotation des vis 5 et 6 dans les écrous 9 et 10 induit leur translation selon les axes X5 et X6, et la liberté en rotation des écrous 9 et 10 par rapport au chariot 12 permet leur rotation autour des axes X5 et X6. Les écrous 9 et 10 sont solidaires en translation du chariot 12 et transmettent donc à l'organe de sortie 8 une translation selon l'axe principal X1 , tandis que le couplage en rotation entre les écrous 9 et 10 et l'organe de sortie 8 permet l'entraînement en rotation autour de l'axe X1 de l'organe de sortie 8. The device 1 makes it possible to obtain, with input, two rotations of parallel axes, a rotational movement along the main axis X1 conjugated to a translation movement along the same principal axis X1, which are transmitted to the 8. Indeed, the rotation of the screws 5 and 6 in the nuts 9 and 10 induces their translation along the axes X5 and X6, and the freedom in rotation of the nuts 9 and 10 relative to the carriage 12 allows their rotation around the axes. X5 and X6. The nuts 9 and 10 are integral in translation with the carriage 12 and thus transmit to the output member 8 a translation along the main axis X1, while the coupling in rotation between the nuts 9 and 10 and the output member 8 allows the drive in rotation about the axis X1 of the output member 8.
Selon une variante représentée sur la figure 2, les éléments d'entraînement en rotation de l'organe de sortie 8 autour de l'axe principal X1 par les écrous 9 et 10 peuvent être formés par un train d'engrenage, incluant une première roue dentée 52 solidaire de la vis 5, une second roue dentée 62 solidaire de la vis 6, et une troisième roue dentée 82 solidaire de l'organe de sortie 8. Sur la figure 2, un ensemble comprenant des pièces 3A, 3B et 3C forme le support 3, dans lequel sont guidées en rotation les organes d'entrée 5 et 6, respectivement autour d'un axe X5 et d'un axe X6. L'organe de sortie 8 est guidé en rotation autour de l'axe X1 , parallèle aux axes X5 et X6, par rapport au chariot 12. L'organe de sortie 8 est en liaison cylindrique par rapport à l'organe 3A d'axe X1 . Cette liaison n'est pas obligatoire pour le fonctionnement du système mais elle permet de le rigidifier. La transmission des couples des moteurs 51 et 61 respectivement aux vis 5 et 6 est assurée par des organes d'accouplement, par obstacles ou par adhérence, non visibles sur la figure 2. Ces organes d'accouplement sont configurés pour assurer le mieux possible une transmission rigide et sans jeu.  According to a variant shown in FIG. 2, the elements for rotating the output member 8 around the main axis X1 by the nuts 9 and 10 may be formed by a gear train, including a first wheel. toothed 52 integral with the screw 5, a second toothed wheel 62 secured to the screw 6, and a third gear 82 integral with the output member 8. In FIG. 2, an assembly comprising parts 3A, 3B and 3C forms the support 3, in which are guided in rotation the input members 5 and 6, respectively about an axis X5 and an axis X6. The output member 8 is guided in rotation about the axis X1, parallel to the axes X5 and X6, relative to the carriage 12. The output member 8 is in cylindrical connection with respect to the axis member 3A X1. This connection is not mandatory for the operation of the system but it allows to stiffen it. The transmission of the couples of the motors 51 and 61 respectively to the screws 5 and 6 is ensured by coupling members, obstacles or adhesion, not visible in Figure 2. These coupling members are configured to ensure the best possible rigid transmission and no play.
Selon une variante non représentée, les éléments d'entraînement 5 et 6 peuvent également être formés par des chaînes.  According to a variant not shown, the driving elements 5 and 6 can also be formed by chains.
Un second mode de réalisation de l'invention est représenté sur les figures 3 et 4. Dans ce mode de réalisation, un dispositif 15 est représenté. Ce dispositif 15 présente un axe principal X15, et comporte un support 17. Le dispositif 15 présente des premier et second organes d'entrée 19 et 20, indépendant l'un de l'autre, disposés en parallèle et destinés à être actionnés par des moteurs associés. Ces moteurs peuvent être, par exemple, des moteurs linéaires ou bien des vérins. Les organes d'entrée 19 et 20 sont similaires entre eux et possèdent par rapport au support 17 un unique degré de liberté en translation selon des axes respectifs X19 et X20 qui sont parallèles à l'axe principal X15 et disposés, de préférence, symétriquement par rapport à l'axe principal X15.  A second embodiment of the invention is shown in Figures 3 and 4. In this embodiment, a device 15 is shown. This device 15 has a main axis X15, and comprises a support 17. The device 15 has first and second input members 19 and 20, independent of one another, arranged in parallel and intended to be actuated by associated engines. These motors may be, for example, linear motors or cylinders. The input members 19 and 20 are similar to one another and have, relative to the support 17, a single degree of freedom in translation along respective axes X 19 and X 20 which are parallel to the main axis X 15 and arranged, preferably, symmetrically by relative to the main axis X15.
Le dispositif 15 comprend également un organe de sortie 22, possédant, par rapport au support 17, un unique degré de liberté en rotation autour d'un axe Y22 orthogonal à l'axe principal X15 et un unique degré de liberté de translation selon l'axe principal X15. Entre l'organe de sortie 22 et les organes d'entrée 19 et 20, le dispositif 15 comprend un moyen de couplage des organes d'entrée 19 et 20 à l'organe de sortie 22. Ce moyen de couplage inclut deux bielles 24 et 25, montées chacune sur l'un des organes d'entrée 19 et 20 qui sont formés par des chariots mobiles en translation sur des glissières 170 et 171 du support 17 alignées avec les axes X19 et X20. A l'une de leurs extrémités respectives, les bielles 24 et 25 sont articulées sur les organes d'entrée 19 et 20, et à leur autre extrémité, les bielles 24 et 25 sont reliées chacune à une branche 221 et 222 de l'organe de sortie 22, qui est lui-même monté mobile en rotation autour de l'axe Y22 sur un chariot 27 mobile en translation par rapport au support 17 selon l'axe principal X15. Le support 17 comprend une glissière 172 alignée avec l'axe X15 et sur laquelle le chariot 27 est monté. Ainsi, lors de la translation des organes d'entrée 19 et 20 selon les axes X19 et X20, la liaison formée par les bielles 24 et 25 actionne simultanément la translation de l'organe de sortie 22 permise par la liberté en translation du chariot 27 selon l'axe principal X15, ainsi que la rotation de l'organe de sortie 22 autour de l'axe Y22. Le dispositif 15 permet donc, à partir de deux entrées formées par deux translations parallèles, de transmettre un mouvement simultané de translation selon l'axe principal X15 et de rotation autour de l'axe Y22 orthogonal à l'axe principal X15. The device 15 also comprises an output member 22, having, relative to the support 17, a single degree of freedom in rotation about an axis Y22 orthogonal to the main axis X15 and a single degree of freedom of translation according to the invention. main axis X15. Between the output member 22 and the input members 19 and 20, the device 15 comprises means for coupling the input members 19 and 20 to the output member 22. This coupling means includes two connecting rods 24 and 25, each mounted on one of the input members 19 and 20 which are formed by carriages movable in translation on the rails 170 and 171 of the support 17 aligned with the axes X19 and X20. At one of their respective ends, the connecting rods 24 and 25 are articulated on the input members 19 and 20, and at their other end, the rods 24 and 25 are each connected to a branch 221 and 222 of the output member 22, which is itself rotatably mounted about the axis Y22 on a carriage 27 movable in translation relative to the support 17 along the main axis X15. The support 17 comprises a slideway 172 aligned with the axis X15 and on which the carriage 27 is mounted. Thus, during the translation of the input members 19 and 20 along the axes X 19 and X 20, the link formed by the connecting rods 24 and 25 simultaneously actuates the translation of the output member 22 enabled by the translational freedom of the carriage 27. along the main axis X15, as well as the rotation of the output member 22 around the axis Y22. The device 15 thus makes it possible, from two inputs formed by two parallel translations, to transmit a simultaneous translation movement along the main axis X15 and rotation about the axis Y22 orthogonal to the main axis X15.
La figure 5 représente un système 30 comprenant un support 300, formant un plateau s'étendant parallèlement à un plan P30. Le système 30 comprend également un élément mobile, formé par une plateforme mobile 305, reliée au support par trois jambes motorisées 307. Les jambes 307 sont elles-mêmes reliées au support par des dispositifs de transmission 1 qui sont fixés au support 300. Les premier et second organes d'entrée respectifs des dispositifs de transmission 1 équipant le système 30 sont motorisés et contrôlés pour obtenir des déplacements de la plateforme mobile 305.  FIG. 5 shows a system 30 comprising a support 300 forming a plate extending parallel to a plane P30. The system 30 also comprises a mobile element, formed by a mobile platform 305, connected to the support by three motorized legs 307. The legs 307 are themselves connected to the support by transmission devices 1 which are fixed to the support 300. and second respective input members of the transmission devices 1 equipping the system 30 are motorized and controlled to obtain displacements of the mobile platform 305.
Les jambes 307 sont articulées par rapport à la plateforme 305 par des liaisons rotules qui portent la référence 308. Les jambes 307 sont articulées aux dispositifs de transmission 1 par des liaisons pivot définissant des axes de rotation A7. Chacun de ces axes A7 est orthogonal et concourant à l'axe X1 du dispositif de transmission 1 qui lui est associé. Les liaisons pivots d'axe A7 sont entraînées en rotation autour de l'axe X1 , ainsi qu'en translation parallèlement à l'axe X1 , de leur dispositif de transmission 1 respectif, par rotation et translation de l'organe de sortie du dispositif de transmission 1 concerné. Dans le cas particulier de la figure 5, les axes A7 se retrouvent parallèles au plan P30, mais tournent autour de l'axe X1 en même temps que l'organe de sortie du dispositif 1 concerné.  The legs 307 are hinged relative to the platform 305 by ball joints which bear the reference 308. The legs 307 are articulated to the transmission devices 1 by pivot links defining axes of rotation A7. Each of these axes A7 is orthogonal and contributes to the axis X1 of the transmission device 1 associated with it. The axis A7 pivot links are rotated about the axis X1, and in translation parallel to the axis X1, of their respective transmission device 1, by rotation and translation of the device output member. transmission 1 concerned. In the particular case of Figure 5, the axes A7 are found parallel to the plane P30, but rotate around the axis X1 together with the output member of the device 1 concerned.
Le système 30 permet de conférer à la plateforme mobile 305, c'est-à-dire d'exercer sur la plateforme mobile 305, des mouvements à six degrés de mobilité, utiles dans le cadre de robots ou de machines de production industrielle.  The system 30 makes it possible to confer on the mobile platform 305, that is to say to exert on the mobile platform 305, movements with six degrees of mobility, useful in the context of robots or industrial production machines.
Selon une variante non représentée, en remplacement des liaisons rotules 308, chaque liaison entre les jambes 307 et la plateforme mobile 305 peut être réalisée par un ensemble de trois liaisons pivots d'axes concourants. Dans ce cas, le point de concours des trois axes est situé à l'emplacement du centre de la liaison rotule 308 remplacée. Pour chaque ensemble de trois axes, l'un des trois axes correspond préférentiellement à l'axe longitudinal des jambes 307. According to a variant not shown, replacing the ball joints 308, each connection between the legs 307 and the movable platform 305 can be achieved by a set of three pivotal links axes intersecting. In this case, the point of competition of the three axes is located at the location of the center of the ball joint 308 replaced. For each set of three axes, one of the three axes preferably corresponds to the longitudinal axis of the legs 307.
Les dispositifs de transmission mécanique 1 peuvent être également utilisés dans le cadre d'un second système 40 représenté aux figures 6 et 7. Le système 40 comprend un support de forme parallélépipédique, conformé en carré dans cet exemple, et comprenant des barres de structure 401 . Le système 40 comprend également un élément mobile 403. Un système 40 comprend également trois dispositifs de transmission mécanique 1 A, 1 B et 1 C identiques au dispositif de transmission mécanique 1 , et qui relient l'élément mobile 403 aux barres 401 . Les organes de sortie 1 A8, 1 B8 et 1 C8 respectifs des dispositifs 1 A, 1 B et 1 C forment respectivement des arbres articulés sur l'élément mobile 403 par des cardans 405A, 405B et 405C.  The mechanical transmission devices 1 may also be used in the context of a second system 40 shown in FIGS. 6 and 7. The system 40 comprises a support of parallelepipedal shape, shaped in a square in this example, and comprising structural bars 401 . The system 40 also comprises a mobile element 403. A system 40 also comprises three mechanical transmission devices 1 A, 1 B and 1 C identical to the mechanical transmission device 1, and which connect the movable member 403 to the bars 401. The respective output members 1A8, 1B8 and 1C8 of the devices 1A, 1B and 1C respectively form shafts articulated on the movable member 403 by universal joints 405A, 405B and 405C.
Selon un mode de réalisation préférentiel, non obligatoire, chaque cardan 405A, 405B et 405C définit deux axes de rotation concourants et, dans cet exemple, orthogonaux entre eux. Plus précisément, chaque cardan 405A, 405B et 405C comprend un organe intermédiaire 406A, 406B et 406C, lié à l'un des organes de sortie 1 A8, 1 B8 et 1 C8 par une liaison pivot primaire 408A, 408B et 408C, et lié à l'élément mobile 403 par une liaison pivot secondaire 409A, 409B et 409C. Les liaisons pivot primaires 408A, 408B et 408C sont centrées respectivement sur des axes de pivotement X403B, X403C et X403A. Les liaisons pivot secondaires 409A, 409B et 409C sont centrées respectivement sur les axes X403C, X403A et X403B. La rotation des arbres de sortie 1 A8, 1 B8 et 1 C8 est effectuée respectivement autour d'axes coaxiaux avec les axes X403A, X403B et X403C, de sorte que les organes intermédiaires 406A, 406B et 406C sont respectivement entraînés en rotation autour de ces mêmes axes.  According to a preferred embodiment, not mandatory, each cardan 405A, 405B and 405C defines two axes of rotation concurrent and, in this example, orthogonal to each other. More specifically, each gimbal 405A, 405B and 405C comprises an intermediate member 406A, 406B and 406C, connected to one of the output members 1A8, 1B8 and 1C8 by a primary pivot link 408A, 408B and 408C, and linked to the movable member 403 by a secondary pivot link 409A, 409B and 409C. The primary pivot links 408A, 408B and 408C are respectively centered on pivot axes X403B, X403C and X403A. The secondary pivot links 409A, 409B and 409C are respectively centered on the X403C, X403A and X403B axes. The rotation of the output shafts 1A8, 1B8 and 1C8 is performed respectively about axes coaxial with the axes X403A, X403B and X403C, so that the intermediate members 406A, 406B and 406C are respectively rotated around these same axes.
Les deux axes de pivotement X403A, X403B et/ou X403C de chaque cardan 405A, 405B et 405C définissent donc un centre de liaison du cardan concerné, les trois centres de liaison étant confondus au point de concours des trois axes X403A, X403B et X403C.  The two pivot axes X403A, X403B and / or X403C of each gimbal 405A, 405B and 405C therefore define a connecting center of the concerned gimbal, the three connecting centers being merged at the point of concurrence of the three axes X403A, X403B and X403C.
Les supports 3 des dispositifs 1 A, 1 B et 1 C sont reliés aux barres 401 par des cardans 407. Dans cet exemple, le système 40 comprend des dispositifs de transmission 1 équipés de trains d'engrenages.  The supports 3 of the devices 1A, 1B and 1C are connected to the bars 401 by cardans 407. In this example, the system 40 comprises transmission devices 1 equipped with gear trains.
L'élément mobile 403 comprend six degrés de mobilité par rapport au support. Le système 40 des figures 6 et 7 permet de commander d'une manière découplée les mouvements de translation et les mouvements de rotation de la plateforme mobile 403 en fonction des mouvements de sortie des dispositifs de transmission mécanique 1 A, 1 B et 1 C. Le système 40, correspondant au mode de réalisation préférentiel des figures 6 et 7, présente une solution unique de mécanisme parallèle à six degrés de mobilité, où les mouvements de translation et de rotations sont découplés. Cette invention peut être utilisée dans des applications ou procédés nécessitant la génération de mouvements complexes à haute dynamique avec une grande précision ainsi qu'une forte rigidité tout en ayant une commande simple. The movable member 403 comprises six degrees of mobility relative to the support. The system 40 of FIGS. 6 and 7 makes it possible to control, in a decoupled manner, the translation movements and the rotational movements of the mobile platform 403 as a function of the output movements of the mechanical transmission devices 1A, 1B and 1C. The system 40, corresponding to the preferred embodiment of FIGS. 6 and 7, presents a unique solution of a parallel mechanism with six degrees of mobility, where the translational and rotational movements are decoupled. This invention can be used in applications or processes requiring the generation of complex high dynamic motions with high precision and rigidity while having simple control.
Le dispositif de transmission mécanique 15 peut également être utilisé dans le cadre d'un système 30' représenté à la figure 8, similaire au système 30, et dans lequel les dispositifs 1 sont remplacés par les dispositifs 15 pour relier la plateforme mobile 305 au support. Les dispositifs 15 sont montés sur des paires de branches 301 , 302 et 303 définissant un plan P30'. Pour le système 30', les liaisons pivot reliant les jambes 307 aux dispositifs de transmission mécanique 15 sont centrées sur des axes de rotation A7, de sorte que chacun des trois axes de rotation A7 est orthogonal et concourant avec l'axe Y22 du dispositif de transmission mécanique 15 concerné. Dans le cas du système 30', les axes X15 et A7 sont parallèles au plan P30'.  The mechanical transmission device 15 can also be used in the context of a system 30 'shown in FIG. 8, similar to the system 30, and in which the devices 1 are replaced by the devices 15 for connecting the mobile platform 305 to the support . The devices 15 are mounted on pairs of branches 301, 302 and 303 defining a plane P30 '. For the system 30 ', the pivot connections connecting the legs 307 to the mechanical transmission devices 15 are centered on axes of rotation A7, so that each of the three axes of rotation A7 is orthogonal and concurrent with the axis Y22 of the device. mechanical transmission concerned. In the case of the system 30 ', the axes X15 and A7 are parallel to the plane P30'.
Les dispositifs 1 et 15 et les systèmes 30, 30' et 40 permettent des améliorations en termes d'efficacité, de simplicité et de modularité pour la conception de machines complexes. Les dispositifs 1 et 15 permettent d'utiliser des composants standards de façon symétrique. Les systèmes 30, 30' et 40 permettent de fabriquer des architectures de robot à six degrés de mobilité avec trois jambes seulement, sans intégrer de liaison motorisée en série dans les jambes où des transmissions non symétriques.  Devices 1 and 15 and systems 30, 30 'and 40 provide improvements in efficiency, simplicity and modularity for designing complex machines. Devices 1 and 15 make it possible to use standard components symmetrically. The systems 30, 30 'and 40 make it possible to manufacture robot architectures with six degrees of mobility with only three legs, without integrating a motorized link in series in the legs or non-symmetrical transmissions.
Le dispositif 1 permet d'obtenir des mouvements de rotation dont l'amplitude est illimitée et des mouvements de translation limités uniquement par les dimensions du dispositif. Le dispositif 15 permet de générer des couples de sortie très élevés, pouvant être utilisés pour orienter des objets avec précision, notamment dans le cas où les mouvements linaires des organes d'entrée sont obtenus par les systèmes de vis à bille. Pour les deux dispositifs 1 et 15, les mouvements de l'organe de sortie sont dans un espace à deux dimensions incluant une coordonnée en translation et une coordonnée en orientation angulaire, ce qui est adapté pour travailler dans un environnement où les tâches et les mouvements souhaités sont définis en coordonnées cylindriques. L'invention permet d'améliorer la modularité des actionneurs visés dans des mécanismes à plusieurs degrés de mobilité tout en réduisant la complexité cinématique et la commande, en comparaison avec les robots ayant un seul actionneur par jambe ou plusieurs actionneurs en série par jambe. L'invention offre notamment la possibilité d'actionner une translation avec deux moteurs identiques sans générer de contraintes mécaniques internes dues au défaut de synchronisation des vitesses des deux moteurs que l'on peut trouver sur les machines à architecture de type portique (usuellement dénommées « gantry »). Les puissances des deux moteurs s'additionnent pour générer la translation en sortie, même si leurs vitesses angulaires ne sont pas exactement identiques. Les dispositifs 1 et 15 moyennent les vitesses des deux moteurs. Le différentiel des vitesses des moteurs est absorbé par le mouvement de rotation non utilisé pour la transmission de puissance. Les systèmes 30 et 40 peuvent notamment être utilisés pour la production industrielle, dans le cadre de machines-outils, de robotique de production et de procédés nécessitant le déplacement ou le positionnement d'objets, d'outils, ou d'autres dispositifs avec précision et une vitesse maîtrisée. The device 1 makes it possible to obtain rotational movements whose amplitude is unlimited and translation movements limited only by the dimensions of the device. The device 15 makes it possible to generate very high output torques that can be used to orient objects accurately, particularly in the case where the linear movements of the input members are obtained by the ball screw systems. For both devices 1 and 15, the movements of the output member are in a two-dimensional space including a translation coordinate and a coordinate in angular orientation, which is suitable for working in an environment where the tasks and movements desired are defined in cylindrical coordinates. The invention makes it possible to improve the modularity of the actuators referred to in mechanisms with several degrees of mobility while reducing the kinematic complexity and the control, compared with robots having a single actuator per leg or several actuators in series per leg. The invention notably offers the possibility of actuating a translation with two identical motors without generating internal mechanical stresses due to the lack of synchronization of the speeds of the two motors that can be found on the gantry type architecture machines (usually called "gantry"). The powers of the two motors add up to generate the translation output, even if their angular velocities are not exactly identical. The devices 1 and 15 average the speeds of the two motors. The differential speed of the motors is absorbed by the unused rotational movement for power transmission. The systems 30 and 40 may especially be used for industrial production, in the context of machine tools, production robotics and processes requiring the displacement or positioning of objects, tools, or other devices with precision and a controlled speed.
Comme cela ressort des descriptions ci-dessus des dispositifs 1 et 15 ainsi que des figures 1 à 4, les organes d'entrée 5 et 6 du dispositif 1 et les organes d'entrée 19 et 20 du dispositif 15 sont symétriques par rapport à l'axe principal X1 ou X15 ou identiques. Les vis 5 et 6 sont symétriques par rapport à l'axe principal, car il s'agit de vis de même diamètre, longueur de pas et profondeur de filetage, leur seule différence étant l'inversion de leur pas. Les chariots 19 et 20 sont identiques en ce qu'ils sont formés par des pièces mécaniques identiques, fonctionnant de la même manière. Les pièces mécaniques formant les chariots 19 et 20 peuvent notamment être interchangeables. Les pièces mécaniques formant les organes d'entrée peuvent être fabriquées selon les mêmes procédés en série. Il en résulte une grande facilité de fabrication et de montage.  As can be seen from the above descriptions of the devices 1 and 15 as well as from FIGS. 1 to 4, the input members 5 and 6 of the device 1 and the input members 19 and 20 of the device 15 are symmetrical with respect to the main axis X1 or X15 or the same. The screws 5 and 6 are symmetrical with respect to the main axis because they are screws of the same diameter, pitch length and thread depth, the only difference being the inversion of their pitch. Carriages 19 and 20 are identical in that they are formed by identical mechanical parts, functioning in the same way. The mechanical parts forming the carriages 19 and 20 may in particular be interchangeable. The mechanical parts forming the input members can be manufactured using the same methods in series. This results in great ease of manufacture and assembly.
Comme cela ressort également de la description des dispositifs 1 et 15 et des figures 1 à 4, les moyens de couplage des organes d'entrée 5 et 6 du dispositif 1 et 19 et 20 du dispositif 15 aux organes de sortie 8 et 22 définissent une première et une seconde chaîne cinématique. Dans le dispositif 1 , la première chaîne cinématique relie le premier organe d'entrée 5 à l'organe de sortie 8 et comprend des composants formés par l'écrou 9 et la courroie 91 ou bien la roue dentée 52. La seconde chaîne cinématique relie le second organe d'entrée 6 à l'organe de sortie 8 via le l'écrou 10 et la courroie 101 ou bien la roue dentée 62. Dans le dispositif 15, ces deux chaînes cinématiques reliant respectivement les premier et second organes d'entrée 19 et 20 à l'organe de sortie 22 comprennent des composants formés respectivement par les bielles 24 et 25. Les composants des deux chaînes cinématiques sont identiques, en ce qu'ils sont formés par les mêmes pièces, qui peuvent être montées indifféremment après le premier ou le second organe d'entrée, ou bien symétriques par rapport à l'axe principal dans le cas du dispositif 1 .  As also apparent from the description of the devices 1 and 15 and FIGS. 1 to 4, the coupling means of the input members 5 and 6 of the device 1 and 19 and 20 of the device 15 to the output members 8 and 22 define a first and second kinematic chain. In the device 1, the first kinematic chain connects the first input member 5 to the output member 8 and comprises components formed by the nut 9 and the belt 91 or the toothed wheel 52. The second kinematic chain connects the second input member 6 to the output member 8 via the nut 10 and the belt 101 or the gear wheel 62. In the device 15, these two kinematic chains respectively connecting the first and second input members 19 and 20 to the output member 22 comprise components respectively formed by the rods 24 and 25. The components of the two kinematic chains are identical, in that they are formed by the same parts, which can be mounted indifferently after the first or second input member, or symmetrical with respect to the main axis in the case of the device 1.
Ces chaînes cinématiques présentent également de part et d'autre l'organe de sortie une symétrie cinématique, en ce qu'elles présentent le même enchaînement de liaisons cinématiques. Dans le cas du dispositif 1 il s'agit de liaisons pivots en entrée suivie chacune d'une liaison hélicoïdale puis d'une liaison pivot, dans le dispositif 15 il s'agit de deux liaisons glissières suivies chacune de deux liaisons pivot successives. These kinematic chains also have on both sides the output member a kinematic symmetry, in that they have the same sequence of kinematic links. In the case of the device 1, these are pivot links in the input each followed by a helical link and then a pivot connection, in the device 15 there are two slide links each followed by two successive pivot links.
Les chaînes cinématiques sont interchangeables, peuvent être assemblées préalablement, il en résulte une grande facilité de montage et de fabrication.  The kinematic chains are interchangeable, can be assembled beforehand, it results in a great ease of assembly and manufacture.
Dans les dispositifs 1 et 2, la symétrie des axes des organes d'entrée par rapport aux axes principaux facilite la modularité et la commande des dispositifs et des systèmes dans lesquels ils sont utilisés. Cela autorise également une meilleure répartition des efforts et des usures, et une meilleure compacité.  In the devices 1 and 2, the symmetry of the axes of the input members with respect to the main axes facilitates the modularity and control of the devices and systems in which they are used. This also allows a better distribution of efforts and wear, and a better compactness.
L'invention peut également être utilisée dans le cadre d'applications robotiques médicales, et de services, notamment les interfaces haptiques, les assistances aux mouvements, le positionnement de systèmes d'optique, et les simulateurs de mouvement.  The invention can also be used in the context of medical robotic applications, and services, including haptic interfaces, motion assistance, the positioning of optical systems, and motion simulators.

Claims

REVENDICATIONS
1 . Dispositif (1 ; 15) de transmission mécanique présentant un axe principal (X1 ; X15), caractérisé en ce qu'il comporte : 1. Device (1; 15) for mechanical transmission having a main axis (X1; X15), characterized in that it comprises:
- un support (3; 17);  a support (3; 17);
- des premier (5; 19) et second (6; 20) organes d'entrée, indépendants l'un de l'autre, disposés en parallèle, et destinés à être actionnés par des moteurs associés (51 , 61 ), les premier et second organes possédant, par rapport au support, un unique degré de liberté en rotation ou en translation selon un premier axe (X5; X19), respectivement un second axe (X6; X20), les premier et second axes étant parallèles à l'axe principal et disposés de façon symétrique de part et d'autre de l'axe principal (X1 ; X15);  - first (5; 19) and second (6; 20) input members, independent of each other, arranged in parallel, and intended to be actuated by associated motors (51, 61), the first and second members having, relative to the support, a single degree of freedom in rotation or translation along a first axis (X5; X19), respectively a second axis (X6; X20), the first and second axes being parallel to the main axis and arranged symmetrically on either side of the main axis (X1; X15);
- un organe de sortie (8; 22) possédant, par rapport au support, un unique degré de liberté de rotation selon l'axe principal (X1 ; X15) ou selon un axe orthogonal (Y22) à l'axe principal (X1 ; X15) et un unique degré de liberté de translation selon l'axe principal (X1 ; X15); et,  - An output member (8; 22) having, relative to the support, a single degree of freedom of rotation along the main axis (X1; X15) or along an orthogonal axis (Y22) to the main axis (X1; X15) and a single degree of freedom of translation along the main axis (X1; X15); and,
- un moyen de couplage (9, 10, 91 , 101 ; 52, 62, 82; 24, 25) des organes d'entrée à l'organe de sortie.  - coupling means (9, 10, 91, 101, 52, 62, 82, 24, 25) of the input members to the output member.
2. Dispositif selon la revendication 1 , caractérisé en ce que les premier (5; 19) et second (6; 20) organes d'entrée sont identiques ou symétriques par rapport à l'axe principal (X1 ; X15). 2. Device according to claim 1, characterized in that the first (5; 19) and second (6; 20) input members are identical or symmetrical with respect to the main axis (X1; X15).
3. Dispositif selon l'une des revendications précédentes, caractérisé en ce que les moyens de couplage définissent une première (9, 91 ; 52; 24) et une seconde (10, 101 ; 62; 25) chaîne cinématique reliant respectivement les premier (5; 19) et second (6; 20) organes d'entrée à l'organe de sortie (8; 22) et dont les composants sont identiques ou symétriques par rapport à l'axe principal (X1 ; X15). 4. Dispositif selon la revendication 3, caractérisé en ce que les première (9, 91 ; 52;3. Device according to one of the preceding claims, characterized in that the coupling means define a first (9, 91; 52; 24) and a second (10, 101; 62; 25) kinematic chain respectively connecting the first ( 5; 19) and second (6; 20) input members to the output member (8; 22) and whose components are identical or symmetrical with respect to the main axis (X1; X15). 4. Device according to claim 3, characterized in that the first (9, 91; 52;
24) et seconde (10, 101 ; 62; 25) chaînes cinématiques présentent une symétrie cinématique. 24) and second (10, 101; 62; 25) kinematic chains have kinematic symmetry.
5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que les premiers et second organes d'entrée (5, 6) sont formés par des vis à pas inversés, en ce que le moyen de couplage est formé par deux écrous (9, 10) montés sur les vis et sur lesquels sont montés des éléments d'entrainement en rotation (91 , 101 ; 52, 62, 82) de l'organe de sortie (8) autour de l'axe principal (X1 ). 5. Device according to one of the preceding claims, characterized in that the first and second input members (5, 6) are formed by screws with reversed pitch, in that the coupling means is formed by two nuts ( 9, 10) mounted on the screws and on which rotational driving members (91, 101; 52, 62, 82) of the output member (8) are mounted about the main axis (X1).
6. Dispositif selon la revendication 5, caractérisé en ce que les écrous (9, 10) et l'organe de sortie (8) sont montés rotatifs dans un chariot (12) entraîné en translation selon l'axe principal (X1 ) par les écrous (9, 10). 6. Device according to claim 5, characterized in that the nuts (9, 10) and the output member (8) are rotatably mounted in a carriage (12) driven in translation along the main axis (X1) by the nuts (9, 10).
7. Dispositif selon l'une des revendications 5 et 6, caractérisé en ce que les éléments d'entrainement sont des courroies (91 , 101 ) ou des chaînes. 7. Device according to one of claims 5 and 6, characterized in that the drive elements are belts (91, 101) or chains.
8. Dispositif selon l'une des revendications 5 et 6, caractérisé en ce que les éléments d'entrainement sont formés par un train d'engrenages (52, 62, 82). 8. Device according to one of claims 5 and 6, characterized in that the drive elements are formed by a gear train (52, 62, 82).
9. Dispositif selon l'une des revendications 1 à 4, caractérisé en ce que les premier et second organes d'entrée (19, 20) sont chacun formés par un chariot mobile en translation, le moyen de couplage étant formé par deux bielles (24, 25) montées chacune sur l'un des chariots (19, 20) et reliées chacune à l'une de deux branches (221 , 222) de l'organe de sortie (22), qui est monté mobile en rotation selon l'axe orthogonal (Y22) à l'axe principal (X15) sur un chariot (27) mobile en translation par rapport au support (17) selon l'axe principal. 9. Device according to one of claims 1 to 4, characterized in that the first and second input members (19, 20) are each formed by a carriage movable in translation, the coupling means being formed by two connecting rods ( 24, 25) each mounted on one of the carriages (19, 20) and each connected to one of two branches (221, 222) of the output member (22), which is rotatably mounted in accordance with the orthogonal axis (Y22) to the main axis (X15) on a carriage (27) movable in translation relative to the support (17) along the main axis.
10. Système (30; 30') comprenant un support (300 ; 301 , 302, 303) et un élément mobile (305) relié au support par trois jambes (307) motorisées, caractérisé en ce que les jambes sont reliées au support par des dispositifs de transmission mécanique (1 ; 15) selon l'une des revendications 1 à 9, dont les premiers (5; 19) et second (6; 20) organes d'entrée sont motorisés. System (30; 30 ') comprising a support (300; 301; 302; 303); and a movable element (305) connected to the support by three motorized legs (307), characterized in that the legs are connected to the support by mechanical transmission devices (1; 15) according to one of claims 1 to 9, the first (5; 19) and second (6; 20) input members are motorized.
1 1 . Système selon la revendication 10, caractérisé en ce que les jambes (307) sont reliées à l'élément mobile (305) par des liaisons, formant chacune soit une liaison rotule (308) soit un ensemble de trois liaisons pivots dont les axes sont concourants entre eux. 1 1. System according to claim 10, characterized in that the legs (307) are connected to the movable member (305) by links, each forming either a ball joint (308) or a set of three pivotal links whose axes are concurrent between them.
12. Système selon la revendication 1 1 , caractérisé en ce que les jambes (307) sont reliées aux dispositifs de transmission (1 ; 15) par des liaisons pivot centrées sur des axes de rotation (A7), l'axe de rotation de chaque dispositif de transmission étant soit orthogonal et concourant avec l'axe principal (X1 ) de ce dispositif de transmission, soit orthogonal et concourant avec l'axe orthogonal (Y22) à l'axe principal de ce dispositif de transmission. 12. System according to claim 1 1, characterized in that the legs (307) are connected to the transmission devices (1; 15) by pivot links centered on axes of rotation (A7), the axis of rotation of each transmission device being either orthogonal and concurrent with the main axis (X1) of this transmission device, or orthogonal and concurrent with the orthogonal axis (Y22) to the main axis of this transmission device.
13. Système (40) comprenant un support (401 ), un élément mobile (403) et trois dispositifs de transmission mécanique (1 A, 1 B, 1 C) selon l'une des revendications 5 à 8 reliant l'élément mobile (403) et le support (401 ), l'élément mobile (403) étant relié aux organes de sortie (1 A8, 1 B8, 1 C8) des dispositifs de transmission mécanique par des cardans (405A, 405B, 405C), les supports (3) des dispositifs de transmission mécanique étant reliés au support (401 ) du système (40) par des cardans (407). 13. System (40) comprising a support (401), a movable element (403) and three mechanical transmission devices (1 A, 1 B, 1 C) according to one of claims 5 to 8 connecting the movable element ( 403) and the support (401), the movable element (403) being connected to the output members (1 A8, 1 B8, 1 C8) of the mechanical transmission devices by universal joints (405A, 405B, 405C), the supports (3) mechanical transmission devices being connected to the support (401) of the system (40) by gimbals (407).
14. Système selon la revendication 13, caractérisé en ce que les cardans (405A, 405B, 405C) reliant l'élément mobile (403) aux organes de sortie (1 A8, 1 B8, 1 C8) présentent des centres de liaison confondus en un même point. 14. System according to claim 13, characterized in that the universal joints (405A, 405B, 405C) connecting the movable element (403) to the output members (1 A8, 1 B8, 1 C8) have connection centers combined into the same point.
EP17761072.2A 2016-08-31 2017-08-31 Mechanical transmision device and system comprising such a device Withdrawn EP3507524A1 (en)

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PCT/EP2017/071899 WO2018041966A1 (en) 2016-08-31 2017-08-31 Mechanical transmision device and system comprising such a device

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WO2018041966A1 (en) 2018-03-08
FR3055383A1 (en) 2018-03-02

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