WO2009153429A1 - Manipulating arm having a detachable end incorporating motors - Google Patents
Manipulating arm having a detachable end incorporating motors Download PDFInfo
- Publication number
- WO2009153429A1 WO2009153429A1 PCT/FR2009/000580 FR2009000580W WO2009153429A1 WO 2009153429 A1 WO2009153429 A1 WO 2009153429A1 FR 2009000580 W FR2009000580 W FR 2009000580W WO 2009153429 A1 WO2009153429 A1 WO 2009153429A1
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- WO
- WIPO (PCT)
- Prior art keywords
- end portion
- manipulator arm
- removable end
- freedom
- removable
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Definitions
- the invention relates to a manipulator arm, for example a slave arm which extends in a protected enclosure and which is controlled from outside the enclosure.
- Such a manipulator arm comprises a base attached to a wall of the enclosure, the base carrying an arm consisting of segments articulated together, at least one of these segments being telescopic.
- the end segment carries a tool, for example a gripping member for moving objects within the enclosure.
- the enclosure In severe environments, such as nuclear environments, the enclosure is delimited by a thick wall and the base consists of a sleeve which passes through the wall from one side to the other and in which mechanical controls of the cable type extend. , bevel gear shafts, cardan shafts, which control the manipulator arm.
- the mechanical controls are actuated from outside the enclosure, for example by electric motors, or by means of a master arm manipulated by the operator.
- the manipulator arm generally comprises at least two segments articulated together, at least one of the segments being telescopic.
- the end segment which carries the gripping member comprises a wrist.
- the diameter of the sleeve must be large enough to allow the passage of all these mechanical controls.
- the multiplication of mechanical controls makes the set particularly complex and heavy.
- manipulator arms of which one or more degrees of freedom are controlled by means of electric motors arranged directly on the manipulator arm and powered by means of power cables which pass through the wall of the enclosure, for example through the sleeve passing through .
- This arrangement simplifies the design of the manipulator arm.
- such a manipulator arm which would be used under the same conditions as a nuclear speaker manipulator arm would have a singularly reduced lifetime. Indeed, the motors, and especially their associated electronics, do not support radiation well and degrade very quickly.
- document EPO 479 739 discloses a robot wrist that is removably attached to the robot arm and carries electric motors for handling a terminal clamp.
- the arm is provided with electrical and mechanical connection means (in this case screws) for mounting the wrist at the end of the arm.
- electrical and mechanical connection means in this case screws
- a wrist can not be used in harsh environments such as a nuclear enclosure. Indeed, the change of the wrist imposes disassembly operations impossible to implement in a confined environment.
- OBJECT OF THE INVENTION The invention relates to a manipulator arm equipped with motors, but not suffering from the limitation invoked above.
- a manipulator arm having one or more segments including a terminal segment having an end adapted to carry a tool
- the manipulator arm having several degrees of freedom, one or more of said degrees of freedom being controlled.
- one or more electric motors arranged on the manipulator arm, and in which the motor or motors are disposed on a removable end portion of the end segment, the removable end portion and the manipulator arm being equipped with quick connection / disconnection means for disassembly and placement of the removable end portion on the arm by remote control means.
- the engines whose life is limited because of the aggressions they suffer in the enclosure in which the manipulator arm evolves are according to the invention grouped on a removable end portion that can be changed regularly, so that electric motors no longer limit the service life of the manipulator arm.
- the quick connect / disconnect means allow the change of the removable end portion directly into the enclosure in which the manipulator arm is located, for example by means of another manipulator arm also disposed in the enclosure.
- the end portion can be quickly and easily changed, without human intervention, impossible in a confined space.
- connection / disconnection means comprise mechanical interfaces and electrical interfaces that can be engaged or disengaged by biasing in the longitudinal axis of the removable end portion.
- the removable end portion for example by means of another manipulator arm present in the chamber, to exert traction in the longitudinal axis of the removable end portion to separate the of the arm.
- the quick connection / disconnection means comprise locking means in position of the removable end portion on the arm.
- Figure 1 is a schematic sectional view of the end of a manipulator arm according to a particular embodiment of the invention
- Figure 2 is a sectional view in perspective of a removable end portion according to a particular embodiment, showing the means of fast connection / disconnection;
- FIG. 3 illustrates a phase of disconnection of the removable end portion inside an enclosure, with the aid of an additional manipulator arm
- FIG. 4 illustrates a disconnection phase of the removable end portion inside an enclosure, using a receiving cradle.
- a manipulator arm 50 intended to be used, for example, in high-level armored cells (nuclear waste reprocessing plants), or in enclosures irradiated, such as that of the ITER reactor.
- Such a manipulator arm is subjected to intense nuclear radiation.
- the enclosure comprises a wall through which a sleeve on which the manipulator arm is connected.
- the manipulator arm has several segments articulated between them, some of which can be telescopic.
- the manipulator arm ends with a terminal segment 1, the end of which is illustrated in FIG.
- the terminal segment 1 here comprises an anterior portion 2 which is directly connected to the rest of the manipulator arm.
- the position in the space of the anterior part 2 is determined by mechanical controls (not visible) which extend through the sleeve which crosses the wall of the enclosure. All this is well known and is only recalled as an illustration. Mechanical controls are generally used because they are much more resistant to radiation than electric motors, equipped with their power electronics if necessary.
- the front portion 2 is hollow and internally receives a sliding support 3 on which, according to the invention, is attached a removable end portion 4.
- the removable end portion 4 is attached to the sliding support 3 by connection means / quick disconnect, which will be detailed later.
- the removable end portion 4 here comprises a primary connecting tube 5 which is fixed to the sliding support 3.
- the primary tube 5 carries an extension 6 which is rotatably mounted on the primary tube along a longitudinal axis X.
- the extension 6 carries at its end a wrist 7 which receives a tool, in this case here a clamp 8.
- the terminal segment 1 of the manipulator arm 50 thus comprises several degrees of freedom:
- the first degree of freedom cited is a degree of freedom external to the removable end portion 4, while the other degrees of freedom are degrees of freedom internal to the removable end portion 4.
- all these degrees of freedom are controlled by electric motors which are all arranged, as well as their associated electronics, in the removable end portion 4.
- the degree of external freedom sliding of the sliding support 3 is here controlled with the aid of an electric motor 10 disposed on the primary tube 5 and which comprises a shaft 11 of fluted end section adapted to penetrate into a homologous rotary sleeve 12 disposed on the sliding support 3 when the removable end portion 4 is in place on the sliding support 3.
- the rotating sleeve 12 controls the rotation of one of the pulleys of a driver 13 which cooperates with a cable 15 stretched inside the front part 2.
- a rotation of the shaft 11 causes a rotation of the sleeve 12, which causes a rotation of one of the pulleys of the driver 13, which causes the displacement of the driver 13 the lo ng of the cable 15, and hence the sliding of the sliding support 3 in the front portion 2. It will be necessary to ensure during the introduction of the removable end portion 4 that the shaft 11 is introduced into the rotating sleeve 12. There is then obtained, and in a very simple way, a mechanical connection between the shaft 11 and the driver 13.
- 30, 31, 32 are arranged in the extension 6 to respectively control the rotation of the clamp 8 along the Y axis, the rotation of the clamp 8 along the Z axis, and the approximation or removal of the jaws of the clamp 8.
- the onboard electric motors arranged on the removable end portion 4 make it possible to control the degrees of freedom internal to the removable end portion, such as the control of the gripper 8 or the rotation of the extension 6, but also degrees of freedom external to the removable end portion 4, such as the sliding in the front portion 2 of the sliding support 3 to which the removable end portion 4 is coupled.
- the use of electric motors all grouped in the removable end portion 4 has several advantages:
- the grouping of all the electric motors in the removable end portion allows the replacement thereof when the electric motors and / or their associated power electronics have reached their life limit.
- the possibility of replacing the removable end portion according to the invention makes it possible to prevent the weaker resistance of the motors and the electronics associated with the radiation from lasting for a longer period of time. life of the entire manipulator arm.
- the replacement of the removable end portion may be performed directly in the enclosure by means of another manipulator arm; -
- the power supply of all electric motors is significantly simplified, since all the electric motors are physically grouped together.
- Figure 2 is illustrated the end of a manipulator arm 150 whose removable end portion 104 is attached to the end segment 103 of the arm.
- the removable end portion 104 carries electric motors for actuating degrees of freedom internal or external to the end portion.
- the end segment 103 of the arm and the removable end portion 104 are provided with quick connection / disconnection means 105 enabling the detachable end portion to be put in place and removed using an additional manipulator arm here. disposed in the enclosure.
- the quick connect / disconnect means allow disassembly and replacement of a removable end portion in the simplest possible manner.
- the additional manipulator arm can grasp the removable end portion, and, on a simple pull, separate the removable end portion from the rest of the arm.
- the fast connection / disconnection means comprise here: on the end segment 103 of the arm, a female electrical connector 106 and a conical centering surface 110; on the removable end portion 104, a male electrical connector 107 homologous and a conical centering bearing 111 homologous.
- the removable end portion 104 thus disengaged is then deposited by the additional manipulator arm 200 on a cradle 201 disposed in the enclosure, and the additional manipulator arm seizes a new removable portion 104 'to bring it back on the manipulator arm .
- the new end portion in the longitudinal axis, ensuring that it is angularly oriented so that the male and female connectors can interpenetrate.
- the new removable end portion 104 ' is then brought closer to the arm along said axis until the conical bearing surfaces cooperate to both center and immobilize the new removable end portion on the arm.
- indexing means 115 comprising on the one hand fingers 116 carried by the removable end portion and on the other hand homologous cavities 117 carried by the end segment 103 guarantee the correct angular positioning of the removable end portion on the end segment 103 of the manipulator arm
- locking means 120 comprising here a ring 121 rotatably mounted around the removable end portion 104, at the conical bearing surface 111 adjacent.
- the ring 121 internally has slopes for, during a rotation of the ring 121, to force the balls 122 radially in cavities dug in the portion of the removable portion carrying the conical bearing surface 111, which causes a tightening of the conical connection , and thus a lock of it.
- the locking ring 121 externally has teeth 123 allowing the rotation of the ring 121 to lock or unlatch the connection between the removable end portion 104 and the arm 103.
- the additional manipulator arm 200 is equipped with a motor 202 terminated by a toothed pinion to cooperate with teeth matching the locking ring 121, to rotate it and thus unlock the removable end portion 104.
- the manipulator arm 250 carrying the removable end portion 204 is now alone inside the enclosure.
- the manipulator arm 250 brings the removable end portion 204 onto the equipped cradle 300.
- Retaining means 301 presses the removable end portion to prevent its movement.
- an unlocking motor 302 equipped with a pinion to rotate the locking ring 221 and thus unlock the removable end portion 204 of the manipulator arm 250. It is then sufficient to move the manipulator arm 250 to disconnect the removable end portion, which then remains in position on the cradle.
- the equipped cradle may be provided swiveling or movable to facilitate the presentation of the removable end portion on the cradle.
- the locking ring 121,221 may be actuated by an electric motor mounted directly in the removable end portion 104,204. It will then suffice to control this motor prior to disassembly of the removable end portion to unlock the connection between the removable end portion and the arm, the unlocking motor is still powered via the electrical connectors.
- connection / disconnection may be of any known type, as long as they provide both a mechanical connection and an electrical connection, simultaneous as illustrated here or sequentially, which can be implemented using a additional manipulator arm, or more generally, using remote-controlled means.
- the connection / disconnection means may be of the motor-operated automatic connection and disconnection type installed in the removable end portion. It is then sufficient to present it in line with a cradle disposed in the enclosure, to control the means of quick connection / disconnection to cause separation of the removable end portion which is then received on the cradle. The end of the arm thus released is brought opposite another removable end portion held in position on another cradle, then is forced to connect to the removable end portion by a longitudinal approaching force.
- the connection / disconnection is also by remotely controlled means, although purely internal to the arm, by one actuation of the disconnection motor.
- the power electronics associated with the motors is embedded in the removable end portion, the power electronics may be disposed elsewhere than in the removable end portion, for example to the outside of the enclosure in which the manipulator arm evolves.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a manipulating arm comprising one or more segments, with an end segment (1) having an end for holding a tool (8), the manipulating arm having multiple degrees of freedom, one or more of said degrees of freedom being controlled by an electric motor or motors (30, 31, 32) arranged on the manipulating arm, the electric motor(s) being placed on a detachable end portion (4) of the end segment, the invention being characterized in that the end segment and the detachable end portion are provided with a rapid connection/disconnection means (105) operable by remote-controlled means.
Description
BRAS MANIPULATEUR AYANT UNE EXTREMITE AMOVIBLE INCORPORANT DES MOTEURSMANIPULATOR ARM HAVING REMOVABLE END INCORPORATING MOTORS
L'invention concerne un bras manipulateur, par exemple un bras esclave qui s'étend dans une enceinte protégée et qui est commandé de l'extérieur de l'enceinte. ARRIERE-PLAN DE L'INVENTIONThe invention relates to a manipulator arm, for example a slave arm which extends in a protected enclosure and which is controlled from outside the enclosure. BACKGROUND OF THE INVENTION
Un tel bras manipulateur comporte une base fixée à une paroi de l'enceinte, la base portant un bras composé de segments articulés entre eux, l'un au moins de ces segments pouvant être télescopique . Le segment d'extrémité porte un outil, par exemple un organe préhenseur pour déplacer des objets à l'intérieur de l'enceinte.Such a manipulator arm comprises a base attached to a wall of the enclosure, the base carrying an arm consisting of segments articulated together, at least one of these segments being telescopic. The end segment carries a tool, for example a gripping member for moving objects within the enclosure.
Dans des environnements sévères, comme par exemple des environnements nucléaires, l'enceinte est délimitée par une paroi épaisse et la base est constituée d'un manchon qui traverse la paroi de part en part et dans lequel s'étendent des commandes mécaniques de type câbles, arbres à pignon conique, arbres à cardans, qui permettent de commander le bras manipulateur. Les commandes mécaniques sont actionnées depuis l'extérieur de l'enceinte, par exemple par des moteurs électriques, ou encore au moyen d'un bras maître manipulé par l'opérateur.In severe environments, such as nuclear environments, the enclosure is delimited by a thick wall and the base consists of a sleeve which passes through the wall from one side to the other and in which mechanical controls of the cable type extend. , bevel gear shafts, cardan shafts, which control the manipulator arm. The mechanical controls are actuated from outside the enclosure, for example by electric motors, or by means of a master arm manipulated by the operator.
Cependant, le bras manipulateur comporte en général au moins deux segments articulés entre eux, l'un au moins des segments étant télescopiques . Le segment d'extrémité qui porte l'organe préhenseur comporte un poignet. Au total, il faut contrôler indépendamment plusieurs degrés de liberté, ce qui impose de faire transiter par le manchon autant de commandes mécaniques. Le diamètre du manchon doit être suffisamment important pour permette le passage de toutes ces commandes mécaniques. Qui plus est, la multiplication des commandes mécaniques rend l'ensemble particulièrement complexe et lourd.
II existe également des bras manipulateurs dont un ou plusieurs degrés de liberté sont commandés au moyen de moteurs électriques disposés directement sur le bras manipulateur et alimentés au moyen de câbles d'alimentation qui traversent la paroi de l'enceinte, par exemple par le manchon traversant. Cette disposition simplifie la conception du bras manipulateur. Cependant, un tel bras manipulateur qui serait utilisé dans les mêmes conditions qu'un bras manipulateur d'enceinte nucléaire aurait une durée de vie singulièrement réduite. En effet, les moteurs, et surtout leur électronique associée, supportent mal les radiations et se dégradent très rapidement .However, the manipulator arm generally comprises at least two segments articulated together, at least one of the segments being telescopic. The end segment which carries the gripping member comprises a wrist. In total, it is necessary to independently control several degrees of freedom, which makes it necessary to pass through the sleeve as many mechanical controls. The diameter of the sleeve must be large enough to allow the passage of all these mechanical controls. Moreover, the multiplication of mechanical controls makes the set particularly complex and heavy. There are also manipulator arms of which one or more degrees of freedom are controlled by means of electric motors arranged directly on the manipulator arm and powered by means of power cables which pass through the wall of the enclosure, for example through the sleeve passing through . This arrangement simplifies the design of the manipulator arm. However, such a manipulator arm which would be used under the same conditions as a nuclear speaker manipulator arm would have a singularly reduced lifetime. Indeed, the motors, and especially their associated electronics, do not support radiation well and degrade very quickly.
Dans un domaine connexe, on connaît du document EPO 479 739 un poignet pour robot qui est rapporté de façon amovible sur le bras du robot et qui porte des moteurs électriques pour la manipulation d'une pince terminale. Le bras est pourvu de moyens de connexion électrique et mécanique (en l'occurrence des vis) pour le montage du poignet à l'extrémité du bras. Cependant, un tel poignet ne peut être utilisé dans des environnements sévères tels qu'une enceinte nucléaire. En effet, le changement du poignet impose des opérations de démontage impossibles à mettre en œuvre en milieu confiné. OBJET DE L'INVENTION L'invention a pour objet un bras manipulateur équipé de moteurs, mais ne souffrant pas de la limitation invoquée ci-dessus.In a related field, document EPO 479 739 discloses a robot wrist that is removably attached to the robot arm and carries electric motors for handling a terminal clamp. The arm is provided with electrical and mechanical connection means (in this case screws) for mounting the wrist at the end of the arm. However, such a wrist can not be used in harsh environments such as a nuclear enclosure. Indeed, the change of the wrist imposes disassembly operations impossible to implement in a confined environment. OBJECT OF THE INVENTION The invention relates to a manipulator arm equipped with motors, but not suffering from the limitation invoked above.
BREVE DESCRIPTION DE L'INVENTIONBRIEF DESCRIPTION OF THE INVENTION
En vue de la réalisation de ce but, on propose un bras manipulateur comportant un ou plusieurs segments dont un segment terminal ayant une extrémité adaptée à porter un outil, le bras manipulateur présentant plusieurs degrés de liberté, un ou plusieurs desdits degrés de liberté étant contrôlés par un ou des moteurs électriques disposés sur le bras manipulateur, et dans lequel le ou les moteurs
électriques sont disposés sur une portion d'extrémité amovible du segment terminal, la portion d'extrémité amovible et le bras manipulateur étant équipés de moyens de connexion/déconnexion rapide permettant un démontage et une mise en place de la portion d'extrémité amovible sur le bras par des moyens télécommandés .In order to achieve this goal, a manipulator arm having one or more segments including a terminal segment having an end adapted to carry a tool is provided, the manipulator arm having several degrees of freedom, one or more of said degrees of freedom being controlled. by one or more electric motors arranged on the manipulator arm, and in which the motor or motors are disposed on a removable end portion of the end segment, the removable end portion and the manipulator arm being equipped with quick connection / disconnection means for disassembly and placement of the removable end portion on the arm by remote control means.
Ainsi, les moteurs dont la durée de vie est limitée du fait des agressions qu'ils subissent dans l'enceinte dans laquelle évolue le bras manipulateur sont selon l'invention regroupés sur une portion d'extrémité amovible qui peut être changée régulièrement, de sorte que les moteurs électriques ne limitent plus la durée de vie du bras manipulateur.Thus, the engines whose life is limited because of the aggressions they suffer in the enclosure in which the manipulator arm evolves are according to the invention grouped on a removable end portion that can be changed regularly, so that electric motors no longer limit the service life of the manipulator arm.
Par ailleurs, les moyens de connexion/déconnexion rapide permettent le changement de la portion d'extrémité amovible directement dans l'enceinte dans lequel se trouve le bras manipulateur, par exemple au moyen d'un autre bras manipulateur disposé également dans l'enceinte. Ainsi, la portion d'extrémité peut être rapidement et facilement changée, sans intervention humaine, impossible dans une enceinte confinée.Furthermore, the quick connect / disconnect means allow the change of the removable end portion directly into the enclosure in which the manipulator arm is located, for example by means of another manipulator arm also disposed in the enclosure. Thus, the end portion can be quickly and easily changed, without human intervention, impossible in a confined space.
Selon un mode de réalisation particulier, les moyens de connexion/déconnexion comportent des interfaces mécaniques et des interfaces électriques pouvant être engagés ou désengagées par une sollicitation dans l'axe longitudinal de la portion d'extrémité amovible. Ainsi, il suffit de saisir la portion d'extrémité amovible, par exemple au moyen d'un autre bras manipulateur présent dans l'enceinte, été d'exercer une traction dans l'axe longitudinal de la portion d'extrémité amovible pour séparer celle-ci du bras.According to a particular embodiment, the connection / disconnection means comprise mechanical interfaces and electrical interfaces that can be engaged or disengaged by biasing in the longitudinal axis of the removable end portion. Thus, it suffices to grasp the removable end portion, for example by means of another manipulator arm present in the chamber, to exert traction in the longitudinal axis of the removable end portion to separate the of the arm.
Avantageusement, les moyens de connexion/déconnexion rapide comportent des moyens de verrouillage en position de la portion d'extrémité amovible sur le bras.
BREVE DESCRIPTION DES FIGURESAdvantageously, the quick connection / disconnection means comprise locking means in position of the removable end portion on the arm. BRIEF DESCRIPTION OF THE FIGURES
L' invention sera mieux comprise à la lumière de la description des figures annexées, parmi lesquellesThe invention will be better understood in the light of the description of the appended figures, among which
- la figure 1 est une vue schématique en coupe de l'extrémité d'un bras manipulateur selon un mode particulier de réalisation de l'invention ; la figure 2 est une vue en coupe et en perspective d'une portion d'extrémité amovible selon un mode particulier de réalisation, montrant les moyens de connexion/déconnexion rapide ;- Figure 1 is a schematic sectional view of the end of a manipulator arm according to a particular embodiment of the invention; Figure 2 is a sectional view in perspective of a removable end portion according to a particular embodiment, showing the means of fast connection / disconnection;
- la figure 3 illustre une phase de déconnexion de la portion d'extrémité amovible à l'intérieur d'une enceinte, à l'aide d'un bras manipulateur supplémentaire ;FIG. 3 illustrates a phase of disconnection of the removable end portion inside an enclosure, with the aid of an additional manipulator arm;
- la figure 4 illustre une phase de déconnexion de la portion d'extrémité amovible à l'intérieur d'une enceinte, à l'aide d'un berceau de réception. DESCRIPTION DETAILLEE DE L' INVENTION Bien que cela ne soit aucunement limitatif, la description qui suit se rapporte à un bras manipulateur 50 destiné à être utilisé par exemple dans cellules blindées de haute activité (usines de retraitement de déchets nucléaires), ou dans des enceintes irradiées, comme par exemple celle du réacteur ITER. Un tel bras manipulateur est soumis à d'intenses radiations nucléaires. L'enceinte comporte une paroi traversée par un manchon sur lequel est relié le bras manipulateur. Le bras manipulateur comporte plusieurs segments articulés entre eux, dont certains peuvent être télescopiques . Le bras manipulateur se termine par un segment terminal 1, dont l'extrémité est illustrée à la figure 1.- Figure 4 illustrates a disconnection phase of the removable end portion inside an enclosure, using a receiving cradle. DETAILED DESCRIPTION OF THE INVENTION Although this is in no way limiting, the description which follows relates to a manipulator arm 50 intended to be used, for example, in high-level armored cells (nuclear waste reprocessing plants), or in enclosures irradiated, such as that of the ITER reactor. Such a manipulator arm is subjected to intense nuclear radiation. The enclosure comprises a wall through which a sleeve on which the manipulator arm is connected. The manipulator arm has several segments articulated between them, some of which can be telescopic. The manipulator arm ends with a terminal segment 1, the end of which is illustrated in FIG.
Le segment terminal 1 comprend ici une partie antérieure 2 qui est directement reliée au reste du bras manipulateur. La position dans l'espace de la partie antérieure 2 est déterminée par des commandes mécaniques (non visibles) qui s'étendent au travers du manchon qui
traverse la paroi de l'enceinte. Tout ceci est bien connu et n'est rappelé qu'à titre d'illustration. Les commandes mécaniques sont généralement utilisées car elles résistent bien mieux aux radiations que des moteurs électriques, munis le cas échéant de leur électronique de puissance.The terminal segment 1 here comprises an anterior portion 2 which is directly connected to the rest of the manipulator arm. The position in the space of the anterior part 2 is determined by mechanical controls (not visible) which extend through the sleeve which crosses the wall of the enclosure. All this is well known and is only recalled as an illustration. Mechanical controls are generally used because they are much more resistant to radiation than electric motors, equipped with their power electronics if necessary.
La partie antérieure 2 est creuse et reçoit intérieurement un support coulissant 3 sur lequel, selon l'invention, est rapportée une portion d'extrémité amovible 4. La portion d'extrémité amovible 4 est rapportée sur le support coulissant 3 par des moyens de connexion/déconnexion rapide, qui seront détaillés plus loin.The front portion 2 is hollow and internally receives a sliding support 3 on which, according to the invention, is attached a removable end portion 4. The removable end portion 4 is attached to the sliding support 3 by connection means / quick disconnect, which will be detailed later.
La portion d'extrémité amovible 4 comporte ici un tube primaire de raccordement 5 qui vient se fixer au support coulissant 3. Le tube primaire 5 porte une allonge 6 qui est montée à rotation sur le tube primaire selon un axe longitudinal X. L'allonge 6 porte a son extrémité un poignet 7 qui reçoit un outil, en l'occurrence ici une pince 8. Le segment terminal 1 du bras manipulateur 50 comporte donc plusieurs degrés de liberté :The removable end portion 4 here comprises a primary connecting tube 5 which is fixed to the sliding support 3. The primary tube 5 carries an extension 6 which is rotatably mounted on the primary tube along a longitudinal axis X. The extension 6 carries at its end a wrist 7 which receives a tool, in this case here a clamp 8. The terminal segment 1 of the manipulator arm 50 thus comprises several degrees of freedom:
- un degré de coulissement du support coulissant 3 dans la partie antérieure 2 ;a degree of sliding of the sliding support 3 in the front part 2;
- un degré de rotation de l'allonge 6 dans le tube primaire 5 ;a degree of rotation of the extension 6 in the primary tube 5;
- trois degrés de liberté de la pince 8, à savoir une rotation autour de l'axe transversal Y (vu ici en bout), un degré de rotation autour de l'axe Z, et un troisième degré de liberté par lequel les mâchoires de la pince sont approchés ou écartés.three degrees of freedom of the clamp 8, namely a rotation about the transverse axis Y (seen here at the end), a degree of rotation about the Z axis, and a third degree of freedom by which the jaws of the forceps are approached or spread apart.
On notera que le premier degré de liberté cité est un degré de liberté externe à la portion d'extrémité amovible 4, tandis que les autres degrés de liberté sont des degrés de liberté internes à la portion d'extrémité amovible 4.
Ici, et conformément à l'invention, tous ces degrés de liberté sont contrôlés par des moteurs électriques qui sont tous disposés, ainsi que leur électronique associée, dans la portion d'extrémité amovible 4. De façon plus précise, le degré de liberté externe de coulissement du support coulissant 3 est ici commandé à l'aide d'un moteur électrique 10 disposé sur le tube primaire 5 et qui comporte un arbre 11 de section terminale cannelée adaptée à pénétrer dans un manchon tournant homologue 12 disposé sur le support coulissant 3 lorsque la portion d'extrémité amovible 4 est en place sur le support coulissant 3. Le manchon tournant 12 commande la rotation de l'une des poulies d'un entraîneur 13 qui coopère avec un câble 15 tendu à l'intérieur de la partie antérieure 2. Une rotation de l'arbre 11 provoque une rotation du manchon 12, qui provoque une rotation de l'une des poulies de l'entraîneur 13, ce qui provoque le déplacement de l'entraîneur 13 le long du câble 15, et, partant, le coulissement du support coulissant 3 dans la partie antérieure 2. Il conviendra de veiller lors de la mise en place de la portion d'extrémité amovible 4 que l'arbre 11 soit introduit dans le manchon tournant 12. On obtient alors, et de façon très simple, une connexion mécanique entre l'arbre 11 et l'entraîneur 13. On pourra, pour assurer ce coulissement, utiliser d'autres systèmes connus tels qu'un système à courroie crantée, ou une transmission flexible, du moment qu'il soit actionné par un moteur disposé sur la portion d'extrémité amovible 4. Le degré de rotation de l'allonge 6 dans le tube primaire 5 est contrôlé par un moteur électrique 20 fixé sur l'allonge 6 et qui entraîne un pignon 21 qui coopère avec une couronne dentée 22 disposée dans le tube primaire 5 pour provoquer une rotation de l'allonge 6 vis-à-vis du tube primaire 5 autour de l'axe X.
Enfin, trois moteurs électriques, respectivementNote that the first degree of freedom cited is a degree of freedom external to the removable end portion 4, while the other degrees of freedom are degrees of freedom internal to the removable end portion 4. Here, and in accordance with the invention, all these degrees of freedom are controlled by electric motors which are all arranged, as well as their associated electronics, in the removable end portion 4. More precisely, the degree of external freedom sliding of the sliding support 3 is here controlled with the aid of an electric motor 10 disposed on the primary tube 5 and which comprises a shaft 11 of fluted end section adapted to penetrate into a homologous rotary sleeve 12 disposed on the sliding support 3 when the removable end portion 4 is in place on the sliding support 3. The rotating sleeve 12 controls the rotation of one of the pulleys of a driver 13 which cooperates with a cable 15 stretched inside the front part 2. A rotation of the shaft 11 causes a rotation of the sleeve 12, which causes a rotation of one of the pulleys of the driver 13, which causes the displacement of the driver 13 the lo ng of the cable 15, and hence the sliding of the sliding support 3 in the front portion 2. It will be necessary to ensure during the introduction of the removable end portion 4 that the shaft 11 is introduced into the rotating sleeve 12. There is then obtained, and in a very simple way, a mechanical connection between the shaft 11 and the driver 13. To ensure this sliding, it will be possible to use other known systems such as a toothed belt system, or a flexible transmission, as long as it is actuated by a motor disposed on the removable end portion 4. The degree of rotation of the extension 6 in the primary tube 5 is controlled by an electric motor 20 fixed on the elongate 6 and which drives a gear 21 which cooperates with a ring gear 22 disposed in the primary tube 5 to cause a rotation of the extension 6 vis-à-vis the primary tube 5 about the axis X. Finally, three electric motors, respectively
30, 31, 32, sont disposés dans l'allonge 6 pour contrôler respectivement la rotation de la pince 8 selon l'axe Y, la rotation de la pince 8 selon l'axe Z, et le rapprochement ou l' éloignement des mâchoires de la pince 8.30, 31, 32, are arranged in the extension 6 to respectively control the rotation of the clamp 8 along the Y axis, the rotation of the clamp 8 along the Z axis, and the approximation or removal of the jaws of the clamp 8.
On notera ainsi que les moteurs électriques embarqués disposés sur la portion d'extrémité amovible 4 permettent de contrôler les degrés de liberté internes à la portion d'extrémité amovible, comme le contrôle de la pince 8 ou la rotation de l'allonge 6, mais également des degrés de liberté externes à la portion d'extrémité amovible 4, comme le coulissement dans la partie antérieure 2 du support coulissant 3 auquel la portion d'extrémité amovible 4 est attelée. L'utilisation de moteurs électriques tous regroupés dans la portion d'extrémité amovible 4 comporte plusieurs avantages :It will thus be noted that the onboard electric motors arranged on the removable end portion 4 make it possible to control the degrees of freedom internal to the removable end portion, such as the control of the gripper 8 or the rotation of the extension 6, but also degrees of freedom external to the removable end portion 4, such as the sliding in the front portion 2 of the sliding support 3 to which the removable end portion 4 is coupled. The use of electric motors all grouped in the removable end portion 4 has several advantages:
- l'utilisation de moteurs électriques embarqués sur le bras manipulateur en lieu et place de commandes mécaniques courant le long du bras manipulateur simplifie considérablement le bras manipulateur et permet d'en réduire son diamètre, et donc son encombrement. En outre, l'utilisation de moteurs électriques réduit considérablement les frottements dans la chaîne de commande des degrés de liberté et contribue donc à augmenter la qualité du retour d'effort et la précision des mouvements du bras manipulateur ;- The use of electric motors on the manipulator arm instead of mechanical controls running along the manipulator arm greatly simplifies the manipulator arm and reduces its diameter, and therefore its size. In addition, the use of electric motors considerably reduces the friction in the control chain of the degrees of freedom and thus contributes to increase the quality of the force feedback and the precision of the movements of the manipulator arm;
- le regroupement de tous les moteurs électriques dans la portion d'extrémité amovible permet le remplacement de celle-ci lorsque les moteurs électriques et/ou leur électronique de puissance associée ont atteint leur limite de durée de vie. La possibilité de remplacement de la portion d'extrémité amovible selon l'invention permet d'éviter que la résistance plus faible des moteurs et de l'électronique associée aux radiations ne grève la durée de
vie de l'ensemble du bras manipulateur. Le remplacement de la portion d'extrémité amovible pourra être effectué directement dans l'enceinte au moyen d'un autre bras manipulateur ; - l'alimentation de l'ensemble des moteurs électriques est notablement simplifiée, puisque tous les moteurs électriques sont physiquement regroupés.- The grouping of all the electric motors in the removable end portion allows the replacement thereof when the electric motors and / or their associated power electronics have reached their life limit. The possibility of replacing the removable end portion according to the invention makes it possible to prevent the weaker resistance of the motors and the electronics associated with the radiation from lasting for a longer period of time. life of the entire manipulator arm. The replacement of the removable end portion may be performed directly in the enclosure by means of another manipulator arm; - The power supply of all electric motors is significantly simplified, since all the electric motors are physically grouped together.
L'intérêt de regrouper les moteurs électriques dans la portion amovible étant ainsi expliqué, la façon dont la portion d'extrémité amovible peut être changée directement dans l'enceinte confinée est maintenant explicitée en détail en relation avec la figure 2, relative à un mode particulier de réalisation de la portion amovible.The interest of grouping the electric motors in the removable portion being thus explained, the way in which the removable end portion can be changed directly in the confined space is now explained in detail in relation to FIG. particular embodiment of the removable portion.
Sur la figure 2 est illustrée l'extrémité d'un bras manipulateur 150 dont la portion d'extrémité amovible 104 est rapportée sur le segment terminal 103 du bras.In Figure 2 is illustrated the end of a manipulator arm 150 whose removable end portion 104 is attached to the end segment 103 of the arm.
Comme auparavant, la portion d'extrémité amovible 104 porte des moteurs électriques pour l ' actionnement de degrés de libertés internes ou externes à la portion d'extrémité.As before, the removable end portion 104 carries electric motors for actuating degrees of freedom internal or external to the end portion.
Le segment terminal 103 du bras et la portion d'extrémité amovible 104 sont pourvus de moyens de connexion/déconnexion rapide 105 permettant une mise en place et un retrait de la portion d'extrémité amovible à l'aide ici d'un bras manipulateur supplémentaire disposé dans l'enceinte.The end segment 103 of the arm and the removable end portion 104 are provided with quick connection / disconnection means 105 enabling the detachable end portion to be put in place and removed using an additional manipulator arm here. disposed in the enclosure.
A cet effet, il convient que les moyens de connexion/déconnexion rapide permettent un démontage et une remise en place d'une portion d'extrémité amovible de la façon la plus simple possible. En particulier, il est avantageux que le bras manipulateur supplémentaire puisse saisir la portion d'extrémité amovible, et, sur une simple traction, séparer la portion d'extrémité amovible du reste du bras .
A cet effet, les moyens de connexion/déconnexion rapide comportent ici : sur le segment terminal 103 du bras, un connecteur électrique femelle 106 et une portée de centrage conique 110 ; sur la portion d'extrémité amovible 104, un connecteur électrique mâle 107 homologue et une portée de centrage conique 111 homologue.For this purpose, it is appropriate that the quick connect / disconnect means allow disassembly and replacement of a removable end portion in the simplest possible manner. In particular, it is advantageous that the additional manipulator arm can grasp the removable end portion, and, on a simple pull, separate the removable end portion from the rest of the arm. For this purpose, the fast connection / disconnection means comprise here: on the end segment 103 of the arm, a female electrical connector 106 and a conical centering surface 110; on the removable end portion 104, a male electrical connector 107 homologous and a conical centering bearing 111 homologous.
Ainsi, et comme cela est illustré à la figure 3, il suffit de saisir la portion d'extrémité amovible 104 à l'aide du bras manipulateur supplémentaire 200 et, soit à l'aide du bras manipulateur 150 portant la portion d'extrémité amovible 104, soit à l'aide du bras manipulateur supplémentaire 200, d'exercer une traction dans l'axe longitudinal X de la portion amovible pour séparer la portion d'extrémité amovible du reste du bras, les connecteurs électriques et les portées coniques se désolidarisant simultanément.Thus, and as shown in FIG. 3, it suffices to grasp the removable end portion 104 with the aid of the additional manipulator arm 200 and either with the manipulator arm 150 carrying the removable end portion. 104, or using the additional manipulator arm 200, to exert a traction in the longitudinal axis X of the removable portion to separate the removable end portion of the rest of the arm, the electrical connectors and the conical bearings disengaging simultaneously.
La portion d'extrémité amovible 104 ainsi désolidarisée est alors déposée par le bras manipulateur supplémentaire 200 sur un berceau 201 disposé dans l'enceinte, et le bras manipulateur supplémentaire se saisit d'une nouvelle portion amovible 104' pour la rapporter sur le bras manipulateur. Il suffit de présenter la nouvelle portion d'extrémité dans l'axe longitudinal, en veillant à ce qu'elle soit angulairement orientée pour que les connecteurs mâle et femelle puissent s'interpénétrer.The removable end portion 104 thus disengaged is then deposited by the additional manipulator arm 200 on a cradle 201 disposed in the enclosure, and the additional manipulator arm seizes a new removable portion 104 'to bring it back on the manipulator arm . Just present the new end portion in the longitudinal axis, ensuring that it is angularly oriented so that the male and female connectors can interpenetrate.
La nouvelle portion d'extrémité amovible 104' est alors rapprochée du bras selon ledit axe jusqu'à ce que les portées coniques coopèrent pour tout à la fois centrer et immobiliser la nouvelle portion d'extrémité amovible sur le bras .The new removable end portion 104 'is then brought closer to the arm along said axis until the conical bearing surfaces cooperate to both center and immobilize the new removable end portion on the arm.
A cet égard, et comme cela est visible à la figureIn this respect, and as can be seen in the figure
2, des moyens d'indexation 115 comportant d'une part des doigts 116 portés par la portion d'extrémité amovible et
d'autre part des cavités 117 homologues portés par le segment terminal 103 garantissent le bon positionnement angulaire de la portion d'extrémité amovible sur le segment terminal 103 du bras manipulateur Pour sécuriser la liaison de la portion d'extrémité amovible 104 sur le segment terminal 103, les moyens de connexion/déconnexion rapide sont pourvus de moyens de verrouillage 120 comportant ici une bague 121 montée à rotation autour de la portion d'extrémité amovible 104, au niveau de la portée conique 111 adjacente. La bague 121 comporte intérieurement des pentes pour, lors d'une rotation de la bague 121, forcer radialement des billes 122 dans des cavités creusées dans la partie de la portion amovible portant la portée conique 111, ce qui provoque un serrage de la liaison conique, et donc un verrouillage de celle-ci. La bague de verrouillage 121 comporte extérieurement dentures 123 permettant la manœuvre en rotation de la bague 121 pour verrouiller ou au contraire déverrouiller la liaison entre la portion d'extrémité amovible 104 et le bras 103. A cet effet, et comme cela est visible à la figure 3, le bras manipulateur supplémentaire 200 est équipé d'un moteur 202 terminé par un pignon denté pour coopérer avec des dentures homologues de la bague de verrouillage 121, pour la faire tourner et ainsi déverrouiller la portion d'extrémité amovible 104.2, indexing means 115 comprising on the one hand fingers 116 carried by the removable end portion and on the other hand homologous cavities 117 carried by the end segment 103 guarantee the correct angular positioning of the removable end portion on the end segment 103 of the manipulator arm To secure the connection of the removable end portion 104 to the end segment 103, the quick connect / disconnect means are provided with locking means 120 comprising here a ring 121 rotatably mounted around the removable end portion 104, at the conical bearing surface 111 adjacent. The ring 121 internally has slopes for, during a rotation of the ring 121, to force the balls 122 radially in cavities dug in the portion of the removable portion carrying the conical bearing surface 111, which causes a tightening of the conical connection , and thus a lock of it. The locking ring 121 externally has teeth 123 allowing the rotation of the ring 121 to lock or unlatch the connection between the removable end portion 104 and the arm 103. For this purpose, and as can be seen in FIG. 3, the additional manipulator arm 200 is equipped with a motor 202 terminated by a toothed pinion to cooperate with teeth matching the locking ring 121, to rotate it and thus unlock the removable end portion 104.
Selon une variante illustrée à la figure 4, le bras manipulateur 250 portant la portion d'extrémité amovible 204 est maintenant seul à l'intérieur de l'enceinte. Pour déconnecter la portion amovible d'extrémité 204, on utilise un berceau de réception 300 équipé. Le bras manipulateur 250 amène la portion d'extrémité amovible 204 sur le berceau équipé 300. Des moyens de retenue 301 pressent la portion d'extrémité amovible pour empêcher son déplacement. Sur le berceau équipé 300 est disposé un moteur de déverrouillage 302 équipé d'un pignon pour faire tourner la
bague de verrouillage 221 et ainsi déverrouiller la portion d'extrémité amovible 204 du bras manipulateur 250. Il suffit alors d'éloigner le bras manipulateur 250 pour déconnecter la portion d'extrémité amovible, qui reste alors en position sur le berceau.According to a variant illustrated in Figure 4, the manipulator arm 250 carrying the removable end portion 204 is now alone inside the enclosure. To disconnect the removable end portion 204, a receiving cradle 300 equipped. The manipulator arm 250 brings the removable end portion 204 onto the equipped cradle 300. Retaining means 301 presses the removable end portion to prevent its movement. On the equipped cradle 300 is disposed an unlocking motor 302 equipped with a pinion to rotate the locking ring 221 and thus unlock the removable end portion 204 of the manipulator arm 250. It is then sufficient to move the manipulator arm 250 to disconnect the removable end portion, which then remains in position on the cradle.
En variante le berceau équipé pourra être prévu orientable ou déplaçable pour faciliter la présentation de la portion d'extrémité amovible sur le berceau.Alternatively the equipped cradle may be provided swiveling or movable to facilitate the presentation of the removable end portion on the cradle.
Ainsi, il est possible de procéder à la connexion/déconnexion de la portion d'extrémité amovible directement dans l'enceinte, à l'aide de moyens télécommandés, ce qui évite toute intervention dans l'enceinte, ou toute sortie du bras de l'enceinte.Thus, it is possible to connect / disconnect the removable end portion directly into the enclosure, using remote-controlled means, which avoids any intervention in the enclosure, or any output of the arm of the 'pregnant.
En variante, la bague de verrouillage 121,221 pourra être actionnée par un moteur électrique monté directement dans la portion d'extrémité amovible 104,204. Il suffira alors de commander ce moteur préalablement au démontage de la portion d'extrémité amovible pour déverrouiller la liaison entre la portion d'extrémité amovible et le bras, le moteur de déverrouillage étant encore alimenté via les connecteurs électriques.Alternatively, the locking ring 121,221 may be actuated by an electric motor mounted directly in the removable end portion 104,204. It will then suffice to control this motor prior to disassembly of the removable end portion to unlock the connection between the removable end portion and the arm, the unlocking motor is still powered via the electrical connectors.
Les moyens de connexion/déconnexion rapide pourront être de tout type connu, du moment qu'ils assurent à la fois une connexion mécanique et une connexion électrique, simultanée comme illustré ici ou séquentielle, pouvant être mise en œuvre à l'aide d'un bras manipulateur supplémentaire, ou plus généralement, à l'aide de moyens télécommandés. Par exemple, les moyens de connexion/déconnexion peuvent du type à connexion automatique et à déconnexion opérable par un moteur installés dans la portion d'extrémité amovible. Il suffit alors de présenter celle-ci à l'aplomb d'un berceau disposé dans l'enceinte, de commander les moyens de connexion/déconnexion rapide pour provoquer la séparation de la portion d'extrémité amovible qui est alors reçue sur
le berceau. L'extrémité du bras ainsi libérée est amenée en regard d'une autre portion d'extrémité amovible maintenue en position sur un autre berceau, puis est forcée à se connecter à la portion d'extrémité amovible par un effort de rapprochement longitudinal. Ainsi, la connexion/déconnexion se fait également par des moyens télécommandés, bien que purement internes au bras, grâce à 1 ' actionnement du moteur de déconnexion.The means of quick connection / disconnection may be of any known type, as long as they provide both a mechanical connection and an electrical connection, simultaneous as illustrated here or sequentially, which can be implemented using a additional manipulator arm, or more generally, using remote-controlled means. For example, the connection / disconnection means may be of the motor-operated automatic connection and disconnection type installed in the removable end portion. It is then sufficient to present it in line with a cradle disposed in the enclosure, to control the means of quick connection / disconnection to cause separation of the removable end portion which is then received on the cradle. The end of the arm thus released is brought opposite another removable end portion held in position on another cradle, then is forced to connect to the removable end portion by a longitudinal approaching force. Thus, the connection / disconnection is also by remotely controlled means, although purely internal to the arm, by one actuation of the disconnection motor.
L'invention n'est pas limitée à ce qui vient d'être décrit, mais au contraire englobe toute variante entrant dans le cadre défini par les revendications.The invention is not limited to what has just been described, but on the contrary encompasses any variant within the scope defined by the claims.
En particulier, on pourra prévoir que d'autres degrés de liberté soient contrôlés par des moteurs électriques embarqués dans la portion d'extrémité amovible, comme par exemple une rotation selon une articulation entre le segment terminal et un segment antérieur, ou encore si la partie antérieure du segment terminal est télescopique, le contrôle de ce mouvement télescopique.In particular, it can be provided that other degrees of freedom are controlled by electric motors embedded in the removable end portion, such as a rotation in articulation between the terminal segment and anterior segment, or if the part previous of the terminal segment is telescopic, the control of this telescopic movement.
Par ailleurs bien que dans les exemples illustrés, l'électronique de puissance associée aux moteurs soit embarquée dans la portion d'extrémité amovible, l'électronique de puissance pourra être disposée ailleurs que dans la portion d'extrémité amovible, par exemple à l'extérieur de l'enceinte dans laquelle le bras manipulateur évolue.Moreover, although in the illustrated examples, the power electronics associated with the motors is embedded in the removable end portion, the power electronics may be disposed elsewhere than in the removable end portion, for example to the outside of the enclosure in which the manipulator arm evolves.
En outre, on pourra bien évidemment interposer une rallonge entre la portion d'extrémité amovible et le bras, la rallonge comportant à ses deux extrémités des moyens de connexion/déconnexion rapide homologues lui permettant d'être interposée facilement par des moyens télécommandés entre le bras et la portion d'extrémité amovible.
In addition, it will obviously be possible to interpose an extension between the removable end portion and the arm, the extension having at its two ends homologous connection / fast disconnection means allowing it to be interposed easily by remote control means between the arm and the removable end portion.
Claims
1. Bras manipulateur comportant un ou plusieurs segments dont un segment terminal (1) ayant une extrémité adaptée à porter un outil (8) , le bras manipulateur présentant plusieurs degrés de liberté, un ou plusieurs desdits degrés de liberté étant contrôlés par un ou des moteurs électriques (30,31,32) disposés sur le bras manipulateur, le ou les moteurs électriques étant disposés sur une portion d'extrémité (4) amovible du segment terminal, caractérisé en ce que le segment terminal et la portion d'extrémité amovible sont équipés de moyens de connexion/déconnexion rapide (105) opérables par des moyens télécommandés . 1. Manipulator arm comprising one or more segments including a terminal segment (1) having an end adapted to carry a tool (8), the manipulator arm having several degrees of freedom, one or more of said degrees of freedom being controlled by one or more electric motors (30,31,32) arranged on the manipulator arm, the electric motor or motors being arranged on a removable end portion (4) of the terminal segment, characterized in that the terminal segment and the removable end portion are equipped with quick connect / disconnect means (105) operable by remote control means.
2. Bras manipulateur selon la revendication 1, dans lequel les moyens de connexion/déconnexion rapide comportent des moyens de liaison mécanique (110,111) et des moyens de liaison électrique (106,107) qui sont connectés ou déconnectés simultanément lors d'une mise en place ou d'une séparation de la portion d'extrémité amovible.2. manipulator arm according to claim 1, wherein the fast connection / disconnection means comprise mechanical connection means (110,111) and electrical connection means (106,107) which are connected or disconnected simultaneously during installation or a separation of the removable end portion.
3. Bras manipulateur selon la revendication 1, dans lequel les moyens de connexion/déconnexion rapide sont agencés pour permettre une déconnexion de la portion d'extrémité amovible en réponse à une traction de la portion d'extrémité amovible selon un axe longitudinal de celle-ci .The manipulator arm of claim 1, wherein the quick connect / disconnect means is arranged to allow disconnection of the removable end portion in response to traction of the removable end portion along a longitudinal axis thereof. this .
4. Bras manipulateur selon la revendication 1, dans lequel les moyens de connexion/déconnexion rapide comportent des moyens d'indexation (116,117) de la portion d'extrémité amovible par rapport au segment terminal du bras manipulateur.4. Manipulator arm according to claim 1, wherein the fast connection / disconnection means comprise indexing means (116,117) of the removable end portion relative to the terminal segment of the manipulator arm.
5. Bras manipulateur selon la revendication 1, dans lequel les moyens de connexion/déconnexion rapide comportent des moyens de verrouillage de la portion d'extrémité amovible en position sur le segment terminal. 5. Manipulator arm according to claim 1, wherein the fast connection / disconnection means comprise locking means of the removable end portion in position on the terminal segment.
6. Bras manipulateur selon la revendication 1, dans lequel un au moins des moteurs électriques disposés sur la portion d'extrémité amovible permet de contrôler au moins un degré de liberté interne à la portion d'extrémité amovible (4) .6. Manipulator arm according to claim 1, wherein at least one of the electric motors disposed on the removable end portion makes it possible to control at least one degree of internal freedom at the removable end portion (4).
7. Bras manipulateur selon la revendication 2, dans lequel le degré de liberté interne est une rotation selon un axe longitudinal (X) d'une allonge portée par la portion d' extrémité amovible . 7. manipulator arm according to claim 2, wherein the internal degree of freedom is a rotation along a longitudinal axis (X) of an extension carried by the removable end portion.
8. Bras manipulateur selon la revendication 1, dans lequel un au moins des moteurs électriques disposés sur la portion d'extrémité amovible permet de contrôler au moins un degré de liberté externe à la portion d'extrémité amovible (4) . 8. Manipulator arm according to claim 1, wherein at least one of the electric motors disposed on the removable end portion makes it possible to control at least one degree of freedom external to the removable end portion (4).
9. Bras manipulateur selon la revendication 4, dans lequel le degré de liberté externe est un coulissement télescopique de la portion d'extrémité amovible dans le segment terminal qui porte la portion d'extrémité amovible.9. manipulator arm according to claim 4, wherein the external degree of freedom is a telescopic sliding of the removable end portion in the end segment which carries the removable end portion.
10. Procédé d'utilisation d'un bras manipulateur selon l'une des revendications précédentes, dans lequel la portion d'extrémité terminale est mise en place sur le segment terminal ou retiré de celui-ci au moyen d'un bras manipulateur supplémentaire . 10. A method of using a manipulator arm according to one of the preceding claims, wherein the terminal end portion is placed on the terminal segment or removed thereof by means of an additional manipulator arm.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR0802680 | 2008-05-19 | ||
FR0802680A FR2931092B1 (en) | 2008-05-19 | 2008-05-19 | MANIPULATOR ARM HAVING REMOVABLE END INCORPORATING MOTORS |
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WO2009153429A1 true WO2009153429A1 (en) | 2009-12-23 |
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PCT/FR2009/000580 WO2009153429A1 (en) | 2008-05-19 | 2009-05-19 | Manipulating arm having a detachable end incorporating motors |
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FR (1) | FR2931092B1 (en) |
WO (1) | WO2009153429A1 (en) |
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FR2981597A1 (en) * | 2011-10-25 | 2013-04-26 | Innovations Tech S I T Soc D | Manipulator arm forming device for use in e.g. armor-plated cells, has locking body forming rotating nut such that threaded connection end of interior telescope tube cooperates with rotating nut to connect tube with distal portion |
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DE202010012232U1 (en) * | 2010-09-06 | 2011-12-08 | Wälischmiller Engineering GmbH | Device with a drive unit for driving a manipulator arm of a manipulator and manipulator |
DE102017217907B4 (en) | 2017-10-09 | 2019-06-19 | Kuka Deutschland Gmbh | Robot arm with a robot hand drive device |
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FR2230450A1 (en) * | 1973-05-25 | 1974-12-20 | Siv Societa Ind Veneta | |
EP0441397A1 (en) * | 1990-02-09 | 1991-08-14 | Hitachi, Ltd. | Assembling a modular robot arm by means of a second robot arm |
EP0484284A2 (en) * | 1990-10-04 | 1992-05-06 | COMAU S.p.A. | An articulated robot |
JPH0569362A (en) * | 1991-09-06 | 1993-03-23 | Toshiba Corp | Industrial robot |
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IT1241622B (en) * | 1990-10-04 | 1994-01-25 | Comau Spa | ROBOT WRIST |
JP3910134B2 (en) * | 2002-10-30 | 2007-04-25 | ファナック株式会社 | Robot equipment |
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- 2009-05-19 WO PCT/FR2009/000580 patent/WO2009153429A1/en active Application Filing
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FR2230450A1 (en) * | 1973-05-25 | 1974-12-20 | Siv Societa Ind Veneta | |
EP0441397A1 (en) * | 1990-02-09 | 1991-08-14 | Hitachi, Ltd. | Assembling a modular robot arm by means of a second robot arm |
EP0484284A2 (en) * | 1990-10-04 | 1992-05-06 | COMAU S.p.A. | An articulated robot |
JPH0569362A (en) * | 1991-09-06 | 1993-03-23 | Toshiba Corp | Industrial robot |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2981597A1 (en) * | 2011-10-25 | 2013-04-26 | Innovations Tech S I T Soc D | Manipulator arm forming device for use in e.g. armor-plated cells, has locking body forming rotating nut such that threaded connection end of interior telescope tube cooperates with rotating nut to connect tube with distal portion |
CN102580883A (en) * | 2012-03-28 | 2012-07-18 | 广西大学 | Spraying robot with two parallel-connected degrees of freedom |
CN109048873A (en) * | 2018-08-29 | 2018-12-21 | 王振海 | A kind of automobile production adjustable mechanical arm |
CN111844050A (en) * | 2020-08-24 | 2020-10-30 | 盐城工学院 | Artificial intelligence robot of supplementary prevention Alzheimer's disease |
Also Published As
Publication number | Publication date |
---|---|
FR2931092A1 (en) | 2009-11-20 |
FR2931092B1 (en) | 2010-09-10 |
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