• 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 device comprises at least one shaft (4) rotatably mounted about its longitudinal axis; a movable member (1) having a succession of notches; a plurality of arms (2.1, 2.2, 2.3) for transmitting motion between the shaft and the movable member. Each arm is provided with at least one tooth (7) to cooperate with the notches of the movable member. Each arm is mechanically guided by a bearing of the shaft 4 to describe a cyclic movement. The bearings are arranged so that there is always at least one arm engaged with the movable member. The orientation of the arms is maintained in a substantially constant direction by a secondary shaft 5 with bearings arranged identically to those of the shaft 4 or by a pin sliding in a groove.
    公开号:FR3033862A1
    申请号:FR1570050
    申请日:2015-10-06
    公开日:2016-09-23
    发明作者:Franck Loriot
    申请人:Franck Loriot；
    IPC主号:
    专利说明:

    [0001] The invention relates to a motion transmission device primarily for use in a robot arm. The reduction ratios between an electric motor and a robot arm are of the order of 1/100, typically from 1/50 to 1/200. Motor speed 3000 r / min ie 50 t / s and the arm 0.5 t / s. Most current robots use cycloid-type gearboxes having a toothed gear mounted in a ring gear and having very similar numbers of teeth, for example 80 teeth and 79 teeth. The crown has an internal toothing and the wheel an external toothing. To obtain a gearless, reversible and wear-resistant gear, the teeth must be made of very hard metal and be machined with great precision. The ring having an internal toothing is particularly difficult to machine and involves a significant cost. The high selling price of the robots is mainly due to the cost of the gearboxes, a standard robot being composed of 6 reducers.
    [0002] The object of the invention is to propose a motion transmission device that is most often in the form of a ratio reducer greater than 1/50, reversible and easier to manufacture than existing cycloidal reducers. For this, the invention provides a motion transmission device comprising: a shaft 4 rotatably mounted about its longitudinal axis 9; a movable member 1 having a series of notches; a plurality of arms 2.1, 2.2, 2.3 for transmitting together the movement between the shaft and the movable member, - wherein: each arm is provided with at least one tooth 7 to cooperate with the notches of the movable member; each arm is articulated on an eccentric bearing relative to an axis 9, around which the bearing is rotatably mounted, the bearing and the shaft being interconnected to rotate in synchronism; the movable member 1 and each arm 2.1, 2.2, 2.3 are mechanically guided so that the arm describes a cyclic movement for each revolution of the eccentric bearing 3033862 2 on which it is articulated, the cyclic movement comprising successively: a phase during which the arm is free to grip with the movable member, and 5 o a phase during which the arm is engaged with the movable member by engagement of at least one tooth of the arm with a notch of the movable member for the displacement of one causes the movement of the other. in which the eccentric bearings are arranged so that there is at least one arm engaged with the movable member irrespective of the angle of rotation of the shaft. - In which the eccentric bearings 3 are arranged on the shaft 4. - In which each arm is articulated on a second eccentric bearing relative to a second axis 10 around which the bearing is rotatably mounted to keep the arm parallel to it. -Even whatever the angle of rotation of the shaft, or in which each arm is mechanically guided by a pin sliding in a slot or a groove. - In which the movable member is a wheel or a ring rotatably mounted about its central axis and on which the notches are circumferentially disposed or a rack guided in translation and having a series of notches. According to preferred embodiments, the invention comprises one or more of the following features: The shaft 4 and the secondary shaft 5 have at least three bearings 3 with the same eccentricity, and the bearings are spaced apart from each other, around axes of rotation of their shafts, by angles less than 180 °, allowing the transmission of the rotational movement of the shaft 4 to the secondary shaft 5. The arms 2 are mechanically connected to the bearings of the shaft 4 and the secondary shaft 30 by ball or needle bearings or plain bushings. The shaft 4 and the secondary shaft 5 are held in a given position, in the same mechanical assembly, by ball or needle bearings, bearings 3033862 or rings, so that their axes are parallel and that they can rotate about their axis, the shaft 4 is connected to a source of mechanical energy and the secondary shaft 5 being connected only to the shaft 4 by the arms 2. The speed reducer comprises at least three arms 2, the shape of the teeth, in relief, corresponds to the shape of the notches, recessed, of the movable member. The speed reducer comprises at least three arms 2 whose teeth 7 can engage in notches of a movable member 1, the angular offset of the bearings of the shaft 4 and the secondary shaft 5 implies that for all rotation angle of the shaft 4, there is at least one tooth of an arm 2 engaged in a notch of the movable member 1. Other features and advantages of the invention will appear on reading the description following of preferred embodiments of the invention, given by way of example and with reference to the accompanying drawing. Figures 1 to 7 illustrate the basic operating principle of the invention in the case of a notched wheel. Figure 1 shows the arm in the position where the tooth 7 is fully engaged in a notch of a wheel. Figure 2 shows the arm in the position where the tooth 7 is completely clear of the notches of a wheel. Figures 3 to 7 show the different positions the arm takes in its cyclic movement around the axis 4. During a movement about the axis 4, the tooth 7 of the arm gradually engages in a notch and emerges from it. Figure 8 shows an embodiment of the invention with three arms 2.1, 2.2, 2.3 and a notch wheel whose positions of the notches on the periphery are shifted to three levels corresponding to the positions of the three arms.
    [0003] Figure 9 shows another embodiment with a notched wheel in which the notches are aligned and where against the teeth 7 of the arms 2 are offset relative to each other. Figure 10 illustrates the three arms 2 in the case of use with a wheel with aligned notches as that of Figure 9. The teeth 7 of the arms 2 are offset with respect to each other. In this arrangement the axes of the shaft 3033862 and 4 4 that of the secondary shaft 5 are in the same plane as the axis of rotation of the wheel. Figure 11 illustrates the shaft 4 with eccentric bearings 3 angularly offset from each other.
    [0004] FIG. 12 illustrates an alternative to the embodiment of FIG. 8 and which corresponds to the embodiment of FIG. 9. FIG. 13 illustrates an embodiment of the invention with a crown with internal notches. Fig. 14 illustrates an embodiment in which the teeth of the arms will not engage in the same notch of the wheel when the shaft will rotate, but in adjacent or spaced notches on the circumference of the wheel, as shown in FIG. 19. This embodiment has the advantage of increasing the contact surface between the faces of the teeth and the faces of the notches and which offers the possibility of using a wheel of smaller thickness while keeping A large contact area. Figures 15 to 18 illustrate the shape of the parts in the embodiment illustrated in Figure 14. Figure 20 illustrates an embodiment of the invention with a rack. Fig. 21 illustrates an embodiment of the invention where the teeth of the arms 2 are held in a defined direction. The arms 2, being articulated on a bearing of the shaft 4, have a groove which can slide on a nipple 14 fixed relative to the axes of the movable member 1 and the shaft 4. A single arm is shown in FIG. FIG. 21 to facilitate understanding of the drawing, but, as in the other embodiments, there are at least three superimposed arms with at least one tooth each so that there is always at least one tooth engaged in a notch of wheel. Figure 22 illustrates an embodiment in which the arms 2.1, 2.2, 2.3 have many teeth, here, 44 teeth not arms. The high number of teeth on each arm allows a better progressiveness of the movement transmission, since at any time, some teeth will be partially engaged in the notches and at least one fully engaged. Figure 23 shows the embodiment of Figure 22 by hiding the wheel so that the teeth of the three arms are visible.
    [0005] With reference to FIGS. 1 to 7, the principle underlying the invention will be explained in the case of a notched wheel provided on its outer circumference, but which also applies to the case of a notched crown. on its inner circumferential surface or for the case of a rack. As can be seen in FIG. 1, the gearbox comprises a wheel 1 provided with an output shaft, a shaft 4 and a motion transmission arm 2 between the shaft 4 and the wheel 1. wheel 1 has a series of notches in its outer surface. The number of notches depends on the desired reduction ratio, for example 80 notches for a ratio of 1/80. The arm 2 is mounted on a cylindrical bearing 3 of the shaft 4 preferably by means of a ball bearing 6 or a smooth ring. The cylindrical bearing 3 has a slight eccentricity with respect to the axis of rotation of the shaft 4. The part 2 comprises a tooth 7 which engages in the notches of the wheel 1. The part 2 is mounted on a bearing cylindrical of a secondary shaft 5 preferably also via a ball bearing 6 or a smooth ring. The axis of rotation 10 of the secondary shaft 5 is parallel to the axis of rotation 9 of the shaft 4. This cylindrical bearing of the secondary axis 5 has the same eccentricity as the cylindrical bearing 3. If the shaft 4 and the axis 5 rotate in synchronism, the part 2 will always be oriented in the same direction. In the case of Figure 1, the part 2 will always be oriented in the vertical direction as the tooth 7 at its base. When the shaft 4 rotates, any point of the part 2 describes a circular path due to the eccentricity of the cylindrical bearing 3, the radius of the circular path corresponding to the eccentricity distance of the cylindrical bearing 3 to the axis The wheel 1 is rotatably mounted about an axis 8 located in the center of the latter. When the shaft 4 will make a turn, the tooth 7 of the part 2 will enter a notch of the wheel 1 and drive the wheel in rotation over a peripheral distance which will be a little smaller than the eccentric diameter of the part 3 with respect to the shaft 4.
    [0006] During rotation of the shaft 4, the tooth of the part 2 will emerge from the notch. Figures 2 to 7 show the different positions of the tooth relative to the notches of the wheel. When the cylindrical bearing due to its eccentricity is opposite the wheel, the tooth 7 is completely disengaged from the notches Fig.2.
    [0007] Gradually, when the shaft 4 will rotate, the tooth, while remaining vertical, will move closer to the wheel and enter a notch Fig.3 and Fig.4. When the shaft has made a rotation of 1800 and that the bearing will be oriented towards the wheel, the tooth will be entered at the maximum in the notch Fig.5. It may be noted that at this moment, a rotation of the axis 4 will cause a movement of the arm 2 on a circular trajectory 10 but which will be tangent to a fictitious circle centered on the axis of rotation of the wheel 1 (this tangent being horizontal in the case of Figures 1 to 7). The circular movement of the tooth and the circular motion of the notch of the wheel will both be almost confused. The drive of the wheel by the tooth will therefore be with very little friction and therefore with a mechanical efficiency of almost 100%. It can also be noted that because of this transmission with little friction and the presence of a ball bearing or a plain bearing at the shaft 4, if the shaft 4 is free to rotate and if exerts a torque on the wheel, the pressure force of the edge of the notch on the tooth will cause a rotation of the shaft 4. This feature will make possible the reversibility of the movement, that is to say the possibility to rotate the shaft 4 by rotating the wheel 1. The rotational speed is then multiplied by the number of notches of the tooth. During the rotation of the shaft 4 the tooth 7 will emerge from the notch as can be seen in FIGS. 6 and 7. In this case, the wheel 1 is no longer driven by the arm 2 and it could therefore to rotate freely about its axis 8. To avoid this 25 and that the wheel 1 is always precisely positioned by at least one tooth engaged in one of its notches, it is advantageous to stack at least three wheels 1 notches mounted on the same axis and rigidly assembled, and at least three arms 2 each having at least one tooth 7 and driven by the shaft 4, and to arrange them so that at any point of the rotation of The shaft 4, there is at least one tooth 7 engaged in a notch of a wheel 1. Figure 8 shows such an arrangement. The wheel comprises three parts 1.1, 1.2, 1.3 which are assembled together in a fixed manner. It is mounted so as to rotate about its axis 8. The notches of the three parts are offset. The arms 2, 2, 2, 2.3 for transmitting motion between the shaft 4 and the wheel 1 - namely three arms 2 described above - each comprise a tooth and are each mounted on a respective eccentric bearing of the shaft 4. These bearings are angularly offset about the axis of rotation of the shaft 4 preferably in a regular manner. Thus, they are offset by about 1200 in the case of a system with three teeth 7 and three wheels 1, 90 ° in the case of a system with four teeth 7 and four wheels 1, etc. The value of the eccentricity to the axis of rotation of the shaft 4 is the same for the different bearings. The shaft 4 therefore has a crankshaft shape with at least three bearings as shown in FIG. 11. This is also the case for the secondary shaft 5. When the shaft 4 is rotated, each tooth will go into a notch of the wheel that corresponds to it. When a tooth comes out of its notch another tooth from another room will engage in the notch of the wheel facing it. For example, with a three-tooth system whose trajectories are offset by 120 °, it can be ensured that there will always be a tooth engaged in a notch of one of the wheels. And since at any time there will be a tooth engaged in a notch of the corresponding wheel, all three wheels will always be positioned in a determined manner. When the tree has made a turn, all three wheels will have turned the value of a notch. In the case where the wheels each have 100 notches, for a turn of the shaft 20 4 the wheel will have turned the value of a notch 1 / 1001th of a turn. The device then behaves like a speed reducer with a reduction ratio of 1/100. The fact that the arms 2.1, 2.2, 2.3 are mounted on crankshaft bearings offset at the same angle causes the shaft 4 and the secondary shaft 5 to be mechanically connected and to rotate together in synchronism without an external device. ensuring the constant orientation of the arms 2. It is also possible to use either one of the two shafts as drive shaft, and the other as a secondary shaft. The eccentricity value of the crankshaft bearings on the shaft 4 and on the secondary axis 5 is accurately calculated so that the teeth are well in front of a notch when they come into contact with the wheel. . Despite a very low eccentricity, for example 0.6mm for a gear ratio 1/100 with notched wheels of diameter 100mm, the fact that the moving parts are mounted with ball bearings or roller eliminates friction and allows reversibility. That is to say that if one exerts a torque on the wheels 1, it will cause a rotation of the shaft 4, if, of course, nothing is opposed to its movement.
    [0008] It should be noted that the presence of at least three arms 2 mounted on the bearings of the shaft 4 and also mounted on the bearings of the secondary shaft 5, because the bearings have an identical eccentricity on the two shafts. since these bearings are angularly offset from each other with angles smaller than 1800, because these angular offsets are identical on the shaft 4 and the secondary shaft 5, makes it possible to carry out a motion transmission between the shaft 4 and the secondary shaft 5. Arrangements of the parts other than that of Figure 8 are possible. Figure 9 illustrates an embodiment where the wheel 1 has a series of notches aligned from top to bottom. So that there is always at least one tooth 15 engaged in a notch, the teeth 7 of the arms 2 are offset laterally as a function of the position of their bearings 3, as shown in FIG. 10. In FIGS. 13, for reasons of clarity it has been drawn only a wheel, a tooth and a part that carries the tooth, but in fact there are at least three which are superimposed.
    [0009] In FIG. 12, the shaft 4 and the secondary shaft 5 are arranged equidistant from the wheel. The positions of the shafts 4 and 5 with respect to the axis 8 of the wheel have no influence on the operation, they can be arbitrary. In Figure 13, the notches are inside a ring 11 which is hollow and the motor and secondary shafts are located inside said ring.
    [0010] In all cases the secondary shaft and shaft rotate in synchronism to ensure a constant orientation of the arms 2 which bear one or more teeth 7. And there are at least three superimposed parts with at least three teeth and three wheels for that there is always a tooth engaged in a notch.
    [0011] The fact that there is only one cutting operation and that takes place on the outside of the wheels which is easily accessible, makes the manufacture of this type of reducer easier and therefore more economical. Another possibility of construction is to use a wheel 1 which is thinner and whose thickness is less than the total thickness of the arms 2. In this case, the teeth 7 of the three or more arms 2 come into contiguous notches. or close to the wheel 1. The arrangement of the teeth and wheel can be seen in Figure 19. Figure 15 shows an exploded view, the parts not in their place, but correctly oriented relative to each other . Each arm 2 has a tooth 7. FIG. 16 shows the same parts in their place in the gearbox, their teeth being nested so that the three teeth are in front of the notches of the wheel. The operating principle remains the same. The arms 2 are always in rotation guided by the rolling bearings. The teeth of the three arms 2 enter the notches of the wheel so that at least one tooth is always engaged in a notch in the wheel. Figure 17 shows one of the side arms 2, and the tooth protrudes upward in this case. Figure 18 shows the three arms 2 assembled, and in the central part, that is to say in the area that includes the thickness of the middle part, the three teeth are present. It is in this area that the teeth will fit into the notches of the wheel. Figure 19 shows the three teeth facing three contiguous slots of the wheel. This construction with a thinner wheel will be simpler to manufacture so cheaper. It will also be lighter. In another embodiment, the wheel 1 is replaced by a rack as illustrated in FIG. 20. In this case, a rotational movement of the shaft 4 is transformed into a linear movement of the rack. When the shaft 4 turns, the relative position of the motor with respect to the rack will be displaced by the value of the distance between two notches of the rack. In another embodiment, the arms may have many teeth that correspond to the notches of the wheel. As for the previous 30 embodiments, the teeth of the arms engage gradually in the notches of the wheel and provide continuity in the positioning of the wheel. When the motor shaft makes a turn, a shift occurs and the same tooth will not re-engage in the same notch of the wheel, but in another notched notch 3033862 10 one or more notches compared to that of origin. The direction of the offset is related to the direction of rotation of the shafts 4 and 5. FIG. 22 shows the three arms 2.1, 2.2, 2.3 mounted on the shafts 4 and 5 and whose multiple teeth are, in certain positions, engaged in the shafts. notches of the wheel 1. Figure 23 5 shows the three arms 2.1, 2.2, 2.3 mounted on the shafts 4 and 5, but here the wheel is not shown so as to show the plurality of teeth on the arms. The operation of the teeth, in this embodiment is similar to that of a gear comprising a complete crown with an internal toothing and meshing with a wheel having a slightly smaller number of teeth.
    [0012] In this case, the shape of the most suitable teeth is similar to that of the involute gears, whereas when the arms have only one tooth, their shape is preferentially square. Of course, the present invention is not limited to the examples and the embodiment described and shown, but it is capable of many variations accessible to those skilled in the art.
    权利要求:
    Claims (10)
    [0001]
    REVENDICATIONS1. A motion transmission device comprising: - a shaft (4) rotatably mounted about its longitudinal axis; - a movable member (1) having a succession of notches; a plurality of arms (2.1,
    [0002]
    2.2, 2.3) for transmitting together the movement between the shaft and the movable member, wherein: - each arm is provided with at least one tooth (7) to cooperate with the notches of the movable member; - Each arm is articulated on a bearing (12) eccentric with respect to an axis (9) around which the bearing is rotatably mounted, the bearing and the shaft being interconnected to rotate in synchronism; - The movable member (1) and each arm are mechanically guided so that the arm describes a cyclic movement for each revolution of the eccentric bearing on which it is articulated, the cyclic movement comprising successively: a phase during which the arm is free of taken with the movable member, and o a phase during which the arm is engaged with the movable member by engagement of the at least one tooth of the arm with a notch of the movable member so that the displacement of one causes the displacement of the other, wherein the eccentric bearings are arranged so that there is at least one arm engaged with the movable member regardless of the angle of rotation of the shaft. 2. Device according to claim 1, wherein the eccentric bearings are arranged on the shaft.
    [0003]
    3. Device according to claim 1 or 2, wherein each arm is articulated on a second eccentric bearing relative to a second axis (10) around which the bearing is rotatably mounted to maintain the arm parallel to itself regardless of the angle of rotation of the tree.
    [0004]
    4. Device according to claim 3 in that it depends on claim 2, wherein the second eccentric bearings are arranged on the same second shaft (5). 3033862 12
    [0005]
    5. Device according to claim 1 or 2, wherein each arm is mechanically guided by a pin sliding in a slot or a groove.
    [0006]
    6. Device according to any one of claims 1 to 5, wherein the arms 5 are mounted on the first eccentric bearings (12) and optionally on the second eccentric bearings by ball or needle bearings or plain rings. .
    [0007]
    7. Device according to any one of claims 1 to 6, wherein the movable member 10 is a rack guided in translation.
    [0008]
    8. Device according to any one of claims 1 to 6, wherein the movable member (1) is a wheel or a ring rotatably mounted about its central axis (8) and on which the notches are arranged circumferentially. 15
    [0009]
    9. Device according to claim 8, which forms a speed reducer whose shaft is the input and whose reduction ratio is preferably at least 1/50. 20
    [0010]
    10. Use of a device according to claim 8 or 9 for transmitting the rotational movement of a motor to a joint of a robot arm or a machine some of whose elements must be moved accurately.
    类似技术:
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    同族专利:
    公开号 | 公开日
    FR3033862B1|2019-04-19|
    EP3271613A1|2018-01-24|
    FR3033861A1|2016-09-23|
    JP6781444B2|2020-11-04|
    JP2018512550A|2018-05-17|
    CN107667234B|2020-10-09|
    US10307907B2|2019-06-04|
    CN107667234A|2018-02-06|
    US20180079072A1|2018-03-22|
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    WO2013017704A1|2011-08-01|2013-02-07|Idom Ingenieria Y Consultoria, S.A.|Climbing device for moving large movable structures|
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    CN103089950A|2012-12-28|2013-05-08|浙江理工大学|Double-acting type speed change mechanism having stopping and moving characteristics|FR3072744B1|2017-10-23|2019-11-08|Ntn-Snr Roulements|CIRCULAR TRANSMISSION TRANSMISSION MECHANISM WITH TRANSMISSION PLATES PROVIDED FOR PASSAGES FOR FASTENING RODS|
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    法律状态:
    2016-09-23| PLFP| Fee payment|Year of fee payment: 2 |
    2016-09-23| PLSC| Search report ready|Effective date: 20160923 |
    2017-10-03| PLFP| Fee payment|Year of fee payment: 3 |
    2018-02-23| TP| Transmission of property|Owner name: MIP ROBOTICS, FR Effective date: 20180122 |
    2018-10-15| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-16| ST| Notification of lapse|Effective date: 20200906 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1500512A|FR3033861A1|2015-03-16|2015-03-16|MOVEMENT TRANSMISSION DEVICE FOR USE PRINCIPALLY IN A ROBOT ARM|
    FR1500512|2015-03-16|US15/558,600| US10307907B2|2015-03-16|2016-03-14|Movement transmission device, in particular a robot arm|
    PCT/FR2016/050562| WO2016146927A1|2015-03-16|2016-03-14|Movement transmission device, in particular for a robot arm|
    EP16718391.2A| EP3271613A1|2015-03-16|2016-03-14|Movement transmission device, in particular for a robot arm|
    CN201680027980.1A| CN107667234B|2015-03-16|2016-03-14|Motion transmission device, in particular for a robot arm|
    JP2017567552A| JP6781444B2|2015-03-16|2016-03-14|Motion transmission device especially for robot arms|
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