• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a cable jack comprising a screw-nut device (2, 3) in which one of the elements is rotated about an axis of rotation (X) by a motor (10) and the other one elements is constrained to slide without rotating around the axis of rotation by means of an anti-rotation device, the sliding element being coupled to a cable (6) wound around a drive pulley (7) so that a rotation of the motor causes the sliding element to move linearly, the latter pulling on the cable and thereby rotating the drive pulley. The anti-rotation device comprises at least one elongate element (10) flexible but torsionally rigid, a first end (11) is fixed to the sliding element and a second end (12) is fixed on a fixed part of the jack , so that the elongated element is curved substantially in a plane parallel to the axis of rotation.
    公开号:FR3018327A1
    申请号:FR1451962
    申请日:2014-03-10
    公开日:2015-09-11
    发明作者:Philippe Garrec
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] The invention relates to an anti-rotation device for the sliding part of a jack which is actuated by a rotary part by means of a helical connection, and a cable jack equipped with such an anti-rotation device. The invention is particularly applicable to grippers comprising phalanges equipping orthoses or prostheses. BACKGROUND OF THE INVENTION Cable jacks are used in particular for operating robot arms. These cylinders comprise a screw-nut assembly, one of the elements is rotated by a motor, and the other of the elements is constrained by an anti-rotation device to move slidably during a rotation of the engine.
    [0002] The sliding element is coupled to a cable to exert on the latter traction in one direction or another. The cable is wrapped around a drive pulley which is associated with a rotating pivot adapted to rotate a segment of an arm or any other element to be rotated. The cylinder can be unilateral (open cable whose one end is connected to the sliding element, the other end being associated with a tension spring), or bilateral (the cable forms a loop between the drive pulley and a pulley of return). The motor drives the rotating element by any suitable device, such as a belt or gearbox. Moreover, the cable can be simple, or double. In the latter case, it is advantageously coupled to the sliding element by means of an anchoring member solid with the sliding element but movable relative thereto, the movable anchoring member then serving to balance the pulls between the two cables. These cable jacks are used in particular to operate finger phalanges preheaters device. Indeed, these cylinders have several competitive advantages on gear reducers for the realization of force control actuators embedded in articulated structures: - longitudinal motor thus allowing the integration of an elongated motor in a segment and that the articulation of the segment is transverse or transverse; - Low friction and low inertia reflected on the joint (high transparency) including the floating assembly described in FR2809464; - insensitivity of performance vis-à-vis the deformations of the host structure (no jamming or variation of friction).
    [0003] In the case of robotic hands, the control of multiple phalanges requires the grouping of a large number of actuators (typically 3 actuators per phalanx) in the equivalent volume of the palm. The volume of the electric motors constitutes at this point a significant constraint (in thickness or in length). For example, a palm that is too long causes the knuckles to lengthen in order to retain the possibility of gripping the palm, and this tends to reduce the clamping force for an actuator.
    [0004] It may then be desired to deport the motor in the upstream segment (forearm) by means of a transmission by means of a flexible transmission shaft, possibly in flexible sheath as shown in the document FR2990485. This offset is achievable by maintaining sufficient angulation between the forearm and the palm. It would then remain in the palm only the device for converting the rotary movement of the motor into a linear movement of the sliding element, a linear movement that is used to drive the cable.
    [0005] The invention more specifically relates to the anti-rotation device which allows this sliding by preventing the sliding element from rotating about the axis of rotation of the rotary element. Several devices are known to those skilled in the art. In particular, it is known from document FR 2 981 420 to equip the sliding element of a Holdam-shaped mount having diametrically opposed rollers constrained to slide in grooves parallel to the direction of sliding of the sliding element and preventing any rotation of the sliding element around the rotation axis of the rotary element. These anti-rotation devices are bulky, especially when several cylinders must be joined to each other to actuate several phas. They are also complex to achieve, since they involve the realization of grooves with precise dimensions, as well as guiding in rotation of rollers on pivots. It has furthermore been proposed to use a bellows to effect anti-rotation of the sliding element, as shown in document FR 2 856 452. The torsional rigidity of the bellows prevents the sliding element from sliding. rotate around the axis of rotation of the rotating element. However, such a bellows is unsuitable for use in a cable jack.
    [0006] OBJECT OF THE INVENTION The object of the invention is to propose a particularly simple and compact anti-rotation device, which can advantageously be used in cable jacks of phalanges of gripper hands.
    [0007] PRESENTATION OF THE INVENTION In order to achieve this goal, a cable jack is proposed comprising a screw-nut device, one of the elements of which is rotated about one axis of rotation by one motor and the other elements is constrained to slide without rotating about the axis of rotation through an anti-rotation device, the sliding element being coupled to a cable wound around a drive pulley so that a rotation of the motor causes the linear displacement of the sliding element, which pulls on the cable and thus rotating the drive pulley. According to the invention, the anti-rotation device comprises at least one flexible but torsionally rigid elongated element whose first end is fixed to the sliding element and a second end is fixed on a fixed part of the cylinder, so that the elongate element is curved substantially in a plane parallel to the axis of rotation. The elongate member prevents rotation of the sliding member due to its torsional rigidity, but follows the longitudinal movements of the slidable member bending due to its flexibility. This anti-rotation device is very simple to implement, only the attachment of the ends of the elongate element to be expected. Preferably, the first end and the second end of the elongate element are fixed respectively to the sliding element and to the fixed part of the cylinder on either side of the axis of rotation. Thus, the curve of the elongate element is formed in front thereof, and the size of the cylinder is reduced.
    [0008] According to a particular embodiment, the anti-rotation device comprises two elongated elements whose first ends are fixed diametrically opposite on the sliding element, so that the curved elongated elements extend in parallel planes. . According to a particular aspect of the invention, the elongate element is a flexible transmission shaft. Thus, the flexible transmission shaft is not used at all for its usual function which is the transmission of a torque between a motor and an actuated part. The high torsional stiffness of the flexible transmission shafts is used to ensure anti-rotation of the sliding element of the cable jack.
    [0009] DESCRIPTION OF THE FIGURES The invention will be better understood in the light of the following description of particular non-limiting embodiments of the invention, with reference to the figures of the appended drawings in which: FIG. 1 is a schematic diagram of FIG. a cable jack according to the invention, the sliding element here being the screw; FIGS. 2a to 2c illustrate the longitudinal displacement of the screw of the jack of FIG. 1; FIGS. 3a to 3c are figures similar to FIGS. 2a to 2c, illustrating a jack whose sliding element is the nut; FIGS. 4a to 4c are figures similar to FIGS. 2a to 2c, illustrating a jack with two elongate elements; FIGS. 5 to 5c are figures similar to FIGS. 4a to 4c, illustrating a jack with two elongate elements; FIGS. 6a and 6b are diagrammatic side and front views of a set of jacks according to FIGS. 4a to 4c; - Figures 7a and 7b are schematic side and front views of a set of cylinders according to Figures 4a to 4c; FIGS. 8a and 8b are diagrammatic side and front views of a set of jacks according to FIGS. 5a to 5c; DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION With reference to FIG. 1, and in accordance with a first embodiment of the invention, the cable jack comprises a motor 1 adapted to drive in rotation a nut 2 which cooperates with a screw 3 which moves longitudinally along an axis X of rotation of the nut 2 in response to a rotation of the motor 1. Here, the motor 1 drives the nut 2 by means of a belt connection, whose pulleys 4 and 5 are schematized. A cable 6 is stretched between a drive pulley 7 and a return pulley 8. The cable 6 passes inside the screw 3 (which is hollow) and is coupled thereto so that a displacement of the screw 3 causes a running of the cable 6 and thus a rotation of the drive pulley 7. The foregoing is only recalled as an illustration of the technological background. The invention will now be detailed applies to this type of cylinder, but is not limited to this type of cylinder. In particular, the cylinder may have a remote motor by means of a flexible transmission shaft, the cable may be wound only around the single drive pulley, a spring now held taut. The jack may have two cables ... According to the invention, the screw 7 is prevented from rotating about the axis X by means of an anti-rotation device comprising here an elongated element 10 which is flexible but exhibits high torsional rigidity. , having a first end 11 fixed to the screw 3 and a second end 12 fixed to a frame of the cable jack. The elongated element 10 is curved and extends substantially in a plane parallel to the axis X. FIGS. 2a to 2c illustrate the behavior of the elongate element 10 when the screw 3 moves under the action of the motor 1. It can be seen that the second end 12 remains of course immobile, but that the instantaneous center of curvature S2 of the curved portion of the elongated element 10 advances with the screw 3, the elongated element 10 extending substantially in the same plane. The elongate element 10 prevents the screw 3 from rotating and therefore constitutes an anti-rotation device of the latter. It will be noted that the plane in which the elongated element 10 extends may slightly turn during the displacement of the screw 3, which does not interfere with the operation of the jack. Similarly, if the stresses of the elongate element are important, it can deform non-flat, which does not interfere with the operation of the cylinder. However, it is important to ensure that the elongated element 10 remains stable under gravity or under stress, which limits its length and therefore the stroke of the cylinder. FIGS. 3a to 3c illustrate a variant of the cylinder of FIG. 1 in which the motor 1 is adapted to drive the screw 3 in rotation. It is then the nut 2 which moves longitudinally under the effect of the tation of the motor, the cable then being coupled to the nut 2. Of course, the elongate element 10 is now coupled to the nut 2. It can be seen that the second end 12 of course remains stationary, but that the instant center Curvature S2 advances with the nut 2, the longitudinal element extending substantially in the same plane P, small twist deformation near. Figures 4a to 4c relate to a cable jack similar to that of Figures 2a to 2c, except that it is equipped with two elongate elements 10 and 10 'which are fixed to the screw 3 via an anchoring member 13 in the form of a bar attached to the end of the screw 3. The first ends 11 and 11 'are fixed to the ends of the bar 13 in diametrically opposite directions on both sides. other of the X axis. It will be noted that for each of the longitudinal elements 10, 10 ', their ends extend on either side of the axis of rotation X. The two elongate elements 10, 10' extend in two parallel planes between them. The planes of the two elongated elements must be sufficiently far away from each other to avoid any interference between them in case of non-planar deformation. The use of two elongate elements coupled diametrically opposite to the sliding element of the cable jack makes it possible to balance the parasitic forces experienced by the sliding element due to the presence of the elongated elements. FIGS. 5a to 5c show the use of two elongate elements 10 and 10 'in the context of a cable jack whose sliding element is the nut 2.
    [0010] The anchoring member 13 is now fixed on the nut 2. FIGS. 6a and 6b show how such jacks can be associated in a compact assembly, for example to ensure the actuation of finger phalanges of a robotic hand. There is shown here only the screw / nut assembly of each of the cylinders. Here, it is the screws 3 which form the sliding element, the nuts 2 being rotated by their respective motor. The axes of rotation of the screw / nut devices are here all parallel to each other and extend in the same plane. All the elongated elements 10, 10 'of said cylinders extend in planes parallel to each other. The anchoring members 13 are also parallel to each other. As is more particularly visible in FIG. 6b, the planes of the elongate elements are imbricated one inside the other, so that an elongated element of a jack is framed by the two elongated elements of an adjacent jack. (except of course for the end cylinders). This arrangement is very flat. It will be noted in FIG. 6a that, at least for the intermediate cylinders, the plane of one of the longitudinal elements converges towards the axis of the adjacent screw, so that the end 12 of an elongate element which is hitched to a fixed part of the cylinder does not exceed the screw of the adjacent cylinder.
    [0011] Figures 7a and 7b show an arrangement even more compact in height, at the price however of increased width. Here, the arrangement still concerns cylinders whose screw is the sliding element. It can be seen that the elongated elements 10 and 10 'always extend in parallel planes. For this purpose, the anchoring members 13 ', which are always coupled to the screw, are now Z-shaped. The anchoring members 13' are connected to the screw 3 by the middle of their central branch. This arrangement makes it possible to ensure that the planes of the elongate elements extend on the sides of the screws, which allows their more compact nesting. FIGS. 8a and 8b show an arrangement similar to that of FIGS. 7a and 7b, for cylinders whose sliding element is now the nut 2. Preferably, each elongate element 10 is constituted by a flexible transmission shaft, of the type used in the cable cylinders for driving the rotary member by means of a de-energized motor. This type of elongated element is flexible while having a high torsional rigidity.
    [0012] The invention is not limited to what has just been described, but on the contrary covers any variant within the scope defined by the claims.
    权利要求:
    Claims (8)
    [0001]
    REVENDICATIONS1. Cable cylinder comprising a screw-nut device (2,3) one of whose elements is rotated about an axis of rotation (X) by a motor (10) and the other of the elements is restrained to slide without rotating around the axis of rotation by means of an anti-rotation device, the sliding element being coupled to a cable (6) wound around a driving pulley (7) so that a rotation of the motor causes the sliding element to move linearly, the latter pulling on the cable and thus rotating the drive pulley, characterized in that the anti-rotation device comprises at least one elongated element (10, 10 ') flexible but torsionally rigid having a first end (11) attached to the sliding member and a second end (12) attached to a fixed portion of the jack, whereby the elongate member is bent substantially in a plane parallel to the axis of rotation.
    [0002]
    2. Cable cylinder according to claim 1, wherein the first end (11) and the second end (12) of the elongate element are respectively fixed to the sliding element and to the fixed part of the cylinder of part and of other of the axis of rotation. Thus, the curve of the elongate element is formed in front thereof, and the size of the cylinder is reduced.
    [0003]
    3. Cable jack according to claim 1, wherein the anti-rotation device comprises two elongate elements (10, 10 ') whose first ends (11, 11') are fixed diametrically opposite on the sliding element, so that the curved longi-lines elements extend in parallel planes.
    [0004]
    4. A cable jack according to claim 3, in the first ends of the elongate members are attached to the sliding member via an anchoring member (13, 13 ') attached to the sliding member.
    [0005]
    5. A cable jack according to claim 3, wherein the first and second ends of the elongate members extend on either side of the axis of rotation.
    [0006]
    The cable jack of claim 1, wherein the elongated member is a flexible transmission shaft.
    [0007]
    7. Set of cable jacks according to one of the preceding claims, the jacks being juxtaposed relative to each other so that the axes of rotation of their respective screw / nut devices (2,3) are parallel to each other. and extend in the same plane, the elongate elements extending in planes parallel to each other.
    [0008]
    8. A cable jack assembly according to claim 6, wherein the plane of one of the elongated elements of one of the cylinders converges towards the axis of rotation of the screw / nut device of an adjacent jack.
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    同族专利:
    公开号 | 公开日
    US20170009857A1|2017-01-12|
    FR3018327B1|2016-03-25|
    EP3117124A2|2017-01-18|
    WO2015135747A2|2015-09-17|
    WO2015135747A3|2016-05-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2838170A1|2002-04-06|2003-10-10|Luk Lamellen & Kupplungsbau|Clutch control system using electric motor for road vehicle has hollow spindle with female thread driven by motor to induce longitudinal motion of rod with male thread pulling on cable|
    FR2941760A1|2009-02-04|2010-08-06|Commissariat Energie Atomique|Cable cylinder, has cable extended into socketed screw and integrated to socketed screw, so that translation of socketed screw causes displacement of cable, and belt extended at level that is same as level of bearing|
    US20110067518A1|2009-09-18|2011-03-24|Samsung Electronics Co., Ltd.|Robot actuator and humanoid robot having the same|
    JP2011255467A|2010-06-10|2011-12-22|Seiko Epson Corp|Electric actuator|WO2018162213A1|2017-03-07|2018-09-13|Commissariat A L'energie Atomique Et Aux Energies Alternatives|Guidance device with flexible high fatigue resistance pseudo-parallelograms|
    WO2019029976A1|2017-08-09|2019-02-14|Commissariat A L'energie Atomique Et Aux Energies Alternatives|Anti-rotation with cables|
    US10673303B2|2017-12-28|2020-06-02|Aeolus Robotics Corporation Limited|Robotic arm|
    CN109613824A|2018-12-13|2019-04-12|广东工业大学|A kind of the Rigid-flexible Coupled Motion platform and control method of ball-screw driving|
    法律状态:
    2015-03-19| PLFP| Fee payment|Year of fee payment: 2 |
    2016-03-21| PLFP| Fee payment|Year of fee payment: 3 |
    2017-03-22| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1451962A|FR3018327B1|2014-03-10|2014-03-10|CABLE CYLINDER EQUIPPED WITH ANTI-ROTATION DEVICE WITH A FLEXIBLE, BUT RIGID, FLEXIBLE ELEMENT|FR1451962A| FR3018327B1|2014-03-10|2014-03-10|CABLE CYLINDER EQUIPPED WITH ANTI-ROTATION DEVICE WITH A FLEXIBLE, BUT RIGID, FLEXIBLE ELEMENT|
    EP15705840.5A| EP3117124A2|2014-03-10|2015-02-24|Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted|
    US15/115,108| US20170009857A1|2014-03-10|2015-02-24|Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted|
    PCT/EP2015/053836| WO2015135747A2|2014-03-10|2015-02-24|Cable cylinder provided with an anti-rotation device having an elongate element which is flexible but rigid when twisted|
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