FR2847958A1 - Jointed robot arm comprises a hollow support column and arm pivoted on it, spring made from composite material containing stretchable fibers linking inner end of segment to fixing point at base of column - Google Patents
Jointed robot arm comprises a hollow support column and arm pivoted on it, spring made from composite material containing stretchable fibers linking inner end of segment to fixing point at base of column Download PDFInfo
- Publication number
- FR2847958A1 FR2847958A1 FR0215201A FR0215201A FR2847958A1 FR 2847958 A1 FR2847958 A1 FR 2847958A1 FR 0215201 A FR0215201 A FR 0215201A FR 0215201 A FR0215201 A FR 0215201A FR 2847958 A1 FR2847958 A1 FR 2847958A1
- Authority
- FR
- France
- Prior art keywords
- segment
- spring
- composite material
- column
- material containing
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
- F16F1/366—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers made of fibre-reinforced plastics, i.e. characterised by their special construction from such materials
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
- F16F1/42—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing
- F16F1/46—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by the mode of stressing loaded mainly in tension
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Child & Adolescent Psychology (AREA)
- Springs (AREA)
Abstract
Description
RESSORT D EQUILIBRAGE, POUR MECANISME ARTICULE, NOTAMMENT POUR BRAS DEBALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ARM OF
ROBOTROBOT
DESCRIPTIONDESCRIPTION
Les sujets de cette invention sont un mécanisme articulé, convenant notamment pour un bras de robot, dont le trait essentiel est un ressort d'équilibrage, et le ressort lui-même. The subjects of this invention are an articulated mechanism, particularly suitable for a robot arm whose essential feature is a balancing spring, and the spring itself.
Les bras de robot usuels sont composés d'un certain nombre de segments articulés entre eux en chaîne et qui se déplacent dans un volume de travail d'après les commandes. L'extrémité du bras exerce un moment mécanique parfois important si on le rapporte 15 aux capacités de résistance des segments et des mécanismes de retour d'effort disposés aux articulations pour maintenir le bras à la position commandée. On a donc conçu des ressorts d'équilibrage disposés entre des segments successifs pour réduire la 20 part du moment que les mécanismes de retour d'effort doivent reprendre. Les ressorts usuels pèchent en ce qu'ils sont généralement trop encombrants, et en même temps souvent trop souples, puisque dans cette application ils ne sont soumis qu'à de faibles 25 variations d'allongement mais parfois à des forces importantes. Un ressort d'un genre nouveau est proposé ici, qui satisfait à ces exigences de raideur importante et peut être installé dans des bras de robot 30 de faible section grâce à son encombrement réduit. The usual robot arms are composed of a number of segments articulated with each other in a chain and which move in a working volume according to the commands. The end of the arm exerts a sometimes significant mechanical moment if it is related to the resistance capabilities of the segments and force return mechanisms arranged at the joints to maintain the arm in the controlled position. Therefore, balancing springs arranged between successive segments have been designed to reduce the time that the force feedback mechanisms must resume. The usual springs are generally cumbersome and at the same time often too flexible, since in this application they are only subject to slight variations in elongation but sometimes to large forces. A spring of a new kind is proposed here, which satisfies these high stiffness requirements and can be installed in small section robot arms thanks to its reduced size.
B 14225.3/JCI Un aspect de l'invention est donc un mécanisme articulé comprenant un premier segment, creux, un second segment, une articulation des segments et un ressort d'équilibrage disposé entre un premier 5 point de fixation solidaire du premier segment et un second point de fixation solidaire du second segment, caractérisé en ce que le ressort est disposé dans le creux du premier segment et comprend une matière composite renfermant des fibres s'allongeant entre les 10 deux points de fixation et tendues, et des parties d'attache aux points de fixation; et un deuxième aspect est un ressort répondant à la définition précédente. D'autres aspects de l'invention apparaîtront encore à la description détaillée des figures suivantes: - la figure 1 est une vue générale du mécanisme de l'invention, - les figures 2, 3, 4, et 5 illustrent des 20 réalisations respectives du ressort. One aspect of the invention is therefore an articulated mechanism comprising a first hollow segment, a second segment, an articulation of the segments and a balancing spring disposed between a first attachment point integral with the first segment and a first segment. second securing point secured to the second segment, characterized in that the spring is disposed in the hollow of the first segment and comprises a composite material containing fibers elongated between the two attachment points and tensioned, and attachment portions at fixing points; and a second aspect is a spring as defined above. Other aspects of the invention will become apparent from the detailed description of the following figures: FIG. 1 is a general view of the mechanism of the invention, FIGS. 2, 3, 4 and 5 illustrate respective embodiments of FIG. spring.
La première figure représente un bras de robot 1 comprenant au moins trois segments 2, 3, 4, etc. successifs et reliés entre eux en chaîne par des 25 articulations 5, 6, etc. Des moteurs de retour d'effort et des codeurs de position angulaire sont placés aux articulations mais, étrangers à l'invention, n'ont pas été représentés. Le premier segment 2 est installé sur une embase 7 de façon fixe ou pivotante, ici encore 30 d'après des modalités connues. Si nous considérons particulièrement les deux premiers segments 2 et 3 et B 14225.3/JCI leur articulation 5 intermédiaire (mais l'invention peut être placée entre n'importe quel couple de segments), nous remarquons qu'un ressort 8 est placé entre un premier point de fixation 9, solidaire du 5 premier segment 2, et un deuxième point de fixation 10, solidaire du deuxième segment 3 et proche de l'articulation 5. Le ressort 8 est inclus dans la structure tubulaire du premier segment 2, ainsi qu'il est préconisé à la fois par souci d'esthétique et pour 10 réduire les risques d'accident. Il est tendu entre les points de fixation 9 et 10, dont le dernier est situé du côté opposé à l'extension du bras 1 par rapport à l'articulation 5, de sorte qu'il aide à maintenir le deuxième segment 3 (et les suivants) dressé. The first figure represents a robot arm 1 comprising at least three segments 2, 3, 4, etc. successive and interconnected in a chain by joints 5, 6, etc. Feedback motors and angular position encoders are placed at the joints but, alien to the invention, have not been shown. The first segment 2 is installed on a base 7 in a fixed or pivoting manner, again according to known methods. If we consider particularly the first two segments 2 and 3 and B 14225.3 / JCI their intermediate articulation (but the invention can be placed between any pair of segments), we notice that a spring 8 is placed between a first fixation point 9, secured to the first segment 2, and a second attachment point 10, integral with the second segment 3 and close to the joint 5. The spring 8 is included in the tubular structure of the first segment 2, as well as it is recommended both for the sake of aesthetics and to reduce the risk of accident. It is stretched between the attachment points 9 and 10, the last of which is located on the opposite side to the extension of the arm 1 relative to the hinge 5, so that it helps to maintain the second segment 3 (and the following).
Le ressort 8 caractérisant l'invention peut prendre plusieurs formes différentes possédant plusieurs caractéristiques communes. Comme on le découvre sur la figure 2, il se compose essentiellement d'une âme il disposée entre deux parties d'attache 12 20 et 13 aux extrémités, fixées aux points de fixation 9 et 10. The spring 8 characterizing the invention can take several different forms having several common characteristics. As can be seen in FIG. 2, it consists essentially of a core disposed between two fastening portions 12 and 13 at the ends, fastened to the fastening points 9 and 10.
Ces parties d'attache 12 et 13 peuvent consister en des anneaux qu'on glisse sur les points de fixation 9 et 10 s'ils sont matérialisés par des pions 25 cylindriques. D'autres formes de construction sont évidemment concevables. These attachment portions 12 and 13 may consist of rings that slide on the attachment points 9 and 10 if they are materialized by cylindrical pins 25. Other forms of construction are obviously conceivable.
L'âme 11 du ressort 8 est en matière composite et comprend des fibres s'allongeant d'une partie d'attache 12 à l'autre 13 de façon à reprendre 30 les efforts de traction exercés sur le ressort 8 par le deuxième tronçon 3. Les fibres 13 sont noyées dans une B 14225.3/JCI matrice durcie ainsi qu'il est usuel. Le ressort 8 ainsi construit présente une bonne raideur grâce à la direction favorable des fibres jointe à leur souplesse plutôt faible. Les parties d'attache 12 et 13, 5 essentielle à la résistance locale du ressort 8 sont avantageusement métalliques, en acier dans le cas présent, mais qui peuvent être aussi en aluminium par exemple. L'union de l'âme 11 et des parties d'attache 12 et 13 peut être réalisée de plusieurs façons. Dans 10 la réalisation de la figure 2, les fibres 14 sont des fibres pré-imprégnées qui forment une bande 15 qu'on enroule autour des parties d'attache 12 et 13 annulaires en formant là des chapes 16 et 17 et en refermant la bande 15 sur elle-même. L'âme Il comprend 15 encore un bloc 18 disposé entre les deux étendues parallèles de la bande 15 et collées à elle pour bien raidir l'âme 11, sans que ce bloc 18 participe beaucoup à la reprise de l'effort de traction. The web 11 of the spring 8 is made of composite material and comprises fibers extending from one attachment part 12 to the other 13 so as to take up the tensile forces exerted on the spring 8 by the second section 3. Fibers 13 are embedded in a hardened matrix as is usual. The spring 8 thus constructed has a good stiffness thanks to the favorable direction of the fibers joined to their rather low flexibility. The attachment portions 12 and 13, 5 essential to the local resistance of the spring 8 are advantageously metallic, steel in this case, but may also be aluminum for example. The union of the core 11 and the attachment portions 12 and 13 can be achieved in several ways. In the embodiment of FIG. 2, the fibers 14 are pre-impregnated fibers which form a strip 15 which is wrapped around the annular attachment portions 12 and 13, forming yokes 16 and 17 therein and closing the strip 15 on itself. The core 15 further comprises a block 18 disposed between the two parallel extents of the strip 15 and glued to it to stiffen the core 11, without this block 18 is very much involved in the recovery of the tensile force.
Un autre ressort 20 est représenté à la 20 figure 3 et comprend aussi une âme centrale 21 entre deux parties d'attache 22 et 23 comprenant chacune un anneau métallique 24 analogue à celui des parties d'attache précédentes, mais ici prolongée par une paire de languettes 25 au moins, entre lesquelles est retenue 25 l'extrémité d'une bande de tissu préimprégné 26 composée comme précédemment de fibres s'allongeant entre les parties d'attache 22 et 23 pour bien reprendre les efforts de traction s'exerçant entreelles, et d'une matrice englobante. Si plusieurs des 30 paires de languettes 25 existent, il est possible de B 14225.3/JCI loger autant de bandes 26 parallèles pour accroître la raideur et la capacité de résistance du ressort. Another spring 20 is shown in FIG. 3 and also comprises a central core 21 between two fastening portions 22 and 23 each comprising a metal ring 24 similar to that of the previous attachment portions, but here extended by a pair of at least 25 tongues, between which is retained the end of a web of prepreg fabric 26 composed as before fibers stretching between the fastening portions 22 and 23 to take up the tensile forces exerted between them, and a bounding matrix. If several of the 30 pairs of tabs 25 exist, it is possible to accommodate as many parallel strips 26 to increase the stiffness and resilience of the spring.
Dans plusieurs modes de réalisation de l'invention, il est possible de ne pas exploiter tout 5 de suite la grande raideur des fibres. Le ressort 28 de la figure 4 comprend deux parties d'attache 29 et 30 analogues à celles de la réalisation précédente et une âme intermédiaire 31 ici aussi formée d'une bande de tissu pré-imprégné mais munie d'une multitude 10 d'ondulations 32: l'allongement du ressort 28 commence par l'écrasement des ondulations 32 avec une raideur modérée, avant que les fibres de l'âme 31 ne travaillent pleinement en traction avec une raideur beaucoup plus importante. In several embodiments of the invention, it is possible not to immediately exploit the high stiffness of the fibers. The spring 28 of FIG. 4 comprises two attachment portions 29 and 30 similar to those of the previous embodiment and an intermediate core 31 also formed of a strip of pre-impregnated fabric but provided with a multitude of corrugations. 32: the elongation of the spring 28 begins with the crushing of the corrugations 32 with a moderate stiffness, before the fibers of the core 31 do not work fully in traction with a much greater stiffness.
Le ressort 34 de la figure 5 comprend, entre deux parties d'attache 35 et 36, une âme 37 composée de deux bandes 38 et 39 de tissu pré-imprégné se joignant aux extrémités et retenues toutes deux entre les paires de languettes des parties d'attache 35 20 et 36, mais qui s'écartent au centre et retiennent un noyau 40 entre elles: l'allongement du ressort 34 s'accompagne ici d'un écrasement des noyaux 40, dont la résistance conditionne ainsi la raideur initiale du ressort 34. Quand le noyau 40 est écrasé, la raideur du 25 ressort 34 dépend ici encore de celle des fibres des bandes 38 et 39. The spring 34 of FIG. 5 comprises, between two attachment parts 35 and 36, a core 37 composed of two strips 38 and 39 of pre-impregnated fabric joining at the ends and held together between the pairs of tongues of the parts d 20 and 36, but which deviate in the center and retain a core 40 between them: the elongation of the spring 34 is here accompanied by a crushing of the cores 40, the resistance and conditions the initial spring stiffness 34. When the core 40 is crushed, the stiffness of the spring 34 again depends on that of the fibers of the strips 38 and 39.
Les fibres peuvent être de verre, d'aramide ou de carbone en particulier, mais il n'y a pas de raison de restreindre par principe la liste des 30 matières usuellement employées pour les composites pour cette invention. The fibers may be glass, aramid or carbon in particular, but there is no reason to restrict in principle the list of materials usually used for the composites for this invention.
B 14225.3/JCIB 14225.3 / JCI
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0215201A FR2847958B1 (en) | 2002-12-03 | 2002-12-03 | BALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ROBOT ARMS. |
PCT/FR2003/050149 WO2004053470A2 (en) | 2002-12-03 | 2003-12-02 | Balancing spring for articulated mechanism, in particular for robot arm |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0215201A FR2847958B1 (en) | 2002-12-03 | 2002-12-03 | BALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ROBOT ARMS. |
Publications (2)
Publication Number | Publication Date |
---|---|
FR2847958A1 true FR2847958A1 (en) | 2004-06-04 |
FR2847958B1 FR2847958B1 (en) | 2005-08-05 |
Family
ID=32309955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR0215201A Expired - Fee Related FR2847958B1 (en) | 2002-12-03 | 2002-12-03 | BALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ROBOT ARMS. |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR2847958B1 (en) |
WO (1) | WO2004053470A2 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3010735A1 (en) * | 2013-06-21 | 2016-04-27 | Audi AG | Torsion spring element |
US20160201755A1 (en) * | 2012-11-14 | 2016-07-14 | Leichtbau-Zentrum Sachsen Gmbh | Spring |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE675502C (en) * | 1937-05-22 | 1939-05-10 | Continental Gummi Werke Akt Ge | Cushioning, especially for motor vehicles |
DE960044C (en) * | 1952-03-22 | 1957-03-14 | Arthur Huppertsberg Fa | Rubber elastic suspension element |
FR1161994A (en) * | 1955-12-09 | 1958-09-08 | Gomma Antivibranti Applic | high flexibility elastic traction elements |
FR1453646A (en) * | 1965-11-12 | 1966-06-03 | Elastic suspension against vibrations | |
DE2502925A1 (en) * | 1974-01-30 | 1975-07-31 | Allied Polymer Group Ltd | Energy absorber for seat safety belts - is made from progressively stretched elastomer elements for ensuring changing energy absorption |
EP0728559A2 (en) * | 1995-02-24 | 1996-08-28 | Asea Brown Boveri Ab | Power-supply system for a manipulator |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59142089A (en) * | 1983-01-26 | 1984-08-15 | 三菱電機株式会社 | Arc welding robot |
GB8316690D0 (en) * | 1983-06-20 | 1983-07-20 | Secretary Industry Brit | Springs of fibre-reinforced plastics material |
GB8627357D0 (en) * | 1986-11-15 | 1986-12-17 | Gkn Technology Ltd | Spring assemblies |
-
2002
- 2002-12-03 FR FR0215201A patent/FR2847958B1/en not_active Expired - Fee Related
-
2003
- 2003-12-02 WO PCT/FR2003/050149 patent/WO2004053470A2/en not_active Application Discontinuation
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE675502C (en) * | 1937-05-22 | 1939-05-10 | Continental Gummi Werke Akt Ge | Cushioning, especially for motor vehicles |
DE960044C (en) * | 1952-03-22 | 1957-03-14 | Arthur Huppertsberg Fa | Rubber elastic suspension element |
FR1161994A (en) * | 1955-12-09 | 1958-09-08 | Gomma Antivibranti Applic | high flexibility elastic traction elements |
FR1453646A (en) * | 1965-11-12 | 1966-06-03 | Elastic suspension against vibrations | |
DE2502925A1 (en) * | 1974-01-30 | 1975-07-31 | Allied Polymer Group Ltd | Energy absorber for seat safety belts - is made from progressively stretched elastomer elements for ensuring changing energy absorption |
EP0728559A2 (en) * | 1995-02-24 | 1996-08-28 | Asea Brown Boveri Ab | Power-supply system for a manipulator |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160201755A1 (en) * | 2012-11-14 | 2016-07-14 | Leichtbau-Zentrum Sachsen Gmbh | Spring |
US10683907B2 (en) * | 2012-11-14 | 2020-06-16 | Leichtbau-Zentrum Sachsen Gmbh | Spring |
EP3010735A1 (en) * | 2013-06-21 | 2016-04-27 | Audi AG | Torsion spring element |
Also Published As
Publication number | Publication date |
---|---|
WO2004053470A2 (en) | 2004-06-24 |
WO2004053470A3 (en) | 2004-07-22 |
FR2847958B1 (en) | 2005-08-05 |
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Legal Events
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ST | Notification of lapse |
Effective date: 20100831 |