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  • 专利说明
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    • 专利摘要:
    The present invention relates to a motorized articulated arm haptic interface comprising at least: - a frame (1); - An arm (3) connected to said frame rotatable about at least one axis (2), efforts being able to be applied to said arm (3) by its environment; - motor means (5), comprising a rotor, adapted to deliver at least a maximum resistive torque about said axis (2) at least partially opposing said forces applied to said arm by its environment; a main transmission (6) to said arm (3) of said resistive torque generated by said motor means (5), said main transmission comprising a capstan cable gear (63); means for evaluating said resistive torque transmitted to said arm by said motor means (5); braking means (9) for rotating said arm (3) about said axis (2); activation means (101) of said braking means when said maximum resistive torque is reached by said motor means (5); evaluation means (101, 102, 103), after activation of said braking means (9), the forces transmitted audits arms (9) by said environment, comprising means for determining at least one piece of information representative of a deformation of said transmission (6) under the effect of said efforts; - Deactivation means (101) of said braking means when said information representative of a deformation of said transmission (6) becomes less than a predetermined threshold value.
    公开号:FR3037840A1
    申请号:FR1556001
    申请日:2015-06-26
    公开日:2016-12-30
    发明作者:Francois Louveau
    申请人:HAPTION；
    IPC主号:
    专利说明:

    [0001] FIELD OF THE INVENTION The field of the invention is that of haptic interfaces, force feedback systems, master arms for teleoperation and comanipulation robots. The related domain is that of automata devoted to the manipulation of objects in space. More specifically, the invention relates to a human-machine control member for constraining or accompanying the movement of an operator in particular for the purpose of stimulating his kinesthetic sensory system. The invention has numerous haptic applications, such as, for example, teleoperation, rehabilitation support activity, human / robot comanipulation during medical or industrial interventions, interconnection of a human being with an environment of virtual reality. 2. PRIOR ART Robots working in collaboration with humans are increasingly used in multiple fields of application. Such robots may for example be used in the field of laparoscopic surgery which consists in particular of making small diameter holes in the body of a patient to slide surgical tools in order to perform a surgical operation. In this case, as in that of other applications, the robot comprises for example an articulated arm movable in rotation relative to a frame, where appropriate along several axes, and motors capable of transmitting torques to the arm around these axes. . The arm is intended to carry a surgical instrument that will be moved by a surgeon during an operation. In order to stimulate the haptic receivers of the surgeon during the operation in such a way that he perceives the medium with which he interacts during the operation, the robot is previously programmed so that the motor (s) transmit to the arm driving couples or resistant corresponding to different areas (tissues, organs, nerves ...) of the environment in which the surgeon acts. The motors thus make it possible to accompany or constrain the movements of the articulated arm and consequently those of the surgeon 3037840 2 manipulating the arm. The surgeon thus receives feedback during the operation allowing him to feel the environment he is handling. To fulfill its role, the robot must not only transmit torques to the articulated arm via the motors but also control the forces applied to it by its environment, for example an operator such as a surgeon, so as to adapt the couples that his motors transmit. The robot is therefore controlled by effort. Thus, in the state of the art, different ways of controlling a robot in effort are known. Among these techniques is the use of a mechanically reversible robot employing motorized joints. These robots make it possible to obtain at the level of the engines a good estimate of the forces applied to the end of the robot. The robot is designed so that its joints do not rub. Thus, the forces applied on the end of the robot are transmitted through the transmission chains to the motors. As the current flowing in the motors is proportional to the torque they generate, it is possible to estimate by measuring the currents flowing in the motors, the forces applied to the robot and to control the robot accordingly. To ensure a good level of reliability in the evaluation of the forces, the friction in the joints of the robot must be very low. For this purpose, it is known to implement joints with direct drive. However, for the articulation to generate sufficient torques, the motors must be dimensioned accordingly. They are so large which affects the compactness of the robot.
    [0002] In order to use smaller motors in order to improve the compactness of the robot, the torques delivered by the motors must be amplified (and their rotation frequency must be reduced) by a gearbox placed at the output of the motors. To do this, it is known to implement cable reducers. In addition to the fact that they effectively provide their primary gearing function, the cable gearboxes have the advantage of not inducing friction, as would be the case, for example, with a gear reducer or a gearbox. belt reducer. Indeed, a gear reducer would introduce a friction between the teeth of the gears. On the other hand, a slight preload 3037840 3 between the input and output axes is generally used to minimize the transmission play. This preload adds friction on the bearings and between the teeth in contact. A belt reducer would also introduce significant friction. For the belt to work properly, it must be stretched. This tension adds friction in the bearings of the input and output shafts. On the other hand, the belt rubs upon arrival and departure pulleys. Document US Pat. No. 5,046,375 describes an example of a cable reducer comprising a pulley placed at the output of an engine, a pulley secured to the joint and a cable wound around the pulley secured to the motor while passing around the integral pulley. of the joint. Rotation in one direction or the other of the motor rotates the pulley secured to its shaft and the joint via the pulley secured to it and the cable. Finally, capstan-type gearboxes such as that illustrated in FIG. 1 are known. This figure partially illustrates a motorized articulated arm with a haptic interface. This articulated arm comprises a frame 1 to which is connected an arm 3 rotatably about an axis 2 by means of a hinge 4. The arm 3 can be driven in rotation about the axis 2 by means of a motor 5 and a capstan type gear reducer 6. This gear 6 comprises: a small diameter pulley 61 called "motor pulley" connected to the output shaft 51 of a motor 5; a pulley or pulley portion of larger diameter 62 called "sector" which is integral with the articulated arm 3 and whose axis of rotation is identical to that of the arm; a cable 63, whose ends are connected to the sector 62, extending along the sector 62 by winding around the motor pulley 61. The reduction ratio is determined by the ratio of the sum of the radius 30 of the pulley motor 61 and the radius of the cable on the one hand and the sum of the radius of the sector 62 and the radius of the cable on the other hand. The rotation of the motor induces a rotation of the motor pulley 61. The sector 62, then rotated by the cable 63 at a slower speed, 3037840 4 in turn drives the articulated arm 3 in rotation about the axis 2 by transmitting a torque greater than the output torque of the motor 5. The cable reducers, including capstan type, have the advantage of inducing very low friction. Indeed, the cable transmits efforts tangentially to the axes of the pulleys. The guide bearings of the pulleys are therefore not loaded by the forces transmitted. The use of reducers of this type therefore makes it possible to effectively ensure the gearing function and to reliably measure the forces transmitted to the arm without the measurement being disturbed by significant friction in the gearbox. . The evaluation of these forces is obtained by measuring the current flowing through the motor whose value is proportional to the torque it delivers. The force capacity of the robots, that is to say their ability to transmit to the arm drive couples and resistant couples, respectively to guide or constrain the movements of the user, is an important design criterion. Therefore, their designers are constantly improving the effort capacity of robots while trying to maintain their compactness. This compromise is achieved by working on the dimensioning of the motors and gear reduction ratio. With regard to the choice of motorization, the designer will analyze the following aspects. In the use of co-manipulated robots such as those listed above, it appears that the need for resistive force capacity (transmission of resistant torques) is much greater than that in motor force (transmission of driving torques). Indeed, the guidance of the user's hand 25 by the transmission to the arm of a motor torque is faithfully followed by the user. Conversely, a blockage of his hand by the transmission to the arm of a resisting torque counteracts the intentions of the user. It will take the latter a reaction time before understanding that the effort felt indicates a prohibited area. During this reaction time, the user will tend to force the arm 30 against the effort that is printed by the engine. Therefore, the motors must be dimensioned so as to ensure that the maximum torques they are capable of delivering are sufficient to properly constrain the movement of a user's hand when it is desired to prevent him / her access to a given area so that this area is not actually accessible to him. However, the size of the motors is substantially proportional to the maximum torque that they are able to deliver. The optimization of the compactness of the motorized articulated arms will therefore generally pass through the most accurate dimensioning of the motors. In order to improve the compactness of a motorized arm, it may be envisaged to use a brake to generate the resistive force necessary to constrain the movement of the user. Indeed, the implementation of a large capacity brake can assist the engine and reduce the size and thus optimize the size of the robot while having a significant resistive effort. In this case, it is tempting to size the motor to generate the motor force necessary to accompany the user's movement and to use a brake to generate the complementary resistive effort to constrain the user's movement when this is necessary. However, when the brake is blocked, the engine no longer turns. It is therefore no longer possible to measure the electrical current flowing through the motor whose value, which is proportional to the torque it delivers, makes it possible to evaluate the forces to which the arm is subjected and to regulate consequently the operation of the motor. engines. Once the brake is blocked, it is no longer possible to know the level of effort applied to the arm by its environment. It is therefore difficult to determine when to release the brake. The definition of the brake control mode so that it assists the engine at the appropriate moment without disturbing the use is therefore difficult. However, the control of the brake is essential insofar as a bad brake control would induce that the use of the arm by the operator would not be very natural, intuitive. With regard to compactness constraints, the designer will also analyze the following aspects. To reliably transmit the movement of the pulley to the capstan type gearbox, steel cables are often used. The minimum winding radius of a cable on a pulley is provided by the manufacturer 3037840 6 of the cable. This minimum winding radius of the cable will therefore size the size of the motor pulley and therefore that of the sector. The most flexible steel cables currently accept winding radii equal to 16 times their radius.
    [0003] Therefore, in order to improve the compactness of a robot, its designer will seek to reduce the radius of the motor pulley and therefore that of the cable. However, for a given type of cable, its mechanical strength is proportional to its radius. Indeed, the greater the radius of the cable will be more its mechanical strength will be high.
    [0004] In most cases, the diameter of the cable will be minimized to improve compactness. However, this entails the risk that, if excessive force is exerted on the arm of the robot, the cable is deformed. In extreme situations, this could lead to cable breakage. The operation of the robot would be disrupted with consequences more or less harmful and acceptable depending on the nature of the task performed. However, for sensitive applications, for example medical applications, this type of disadvantage must be avoided. For this, an important factor of safety in holding under load of the cables is necessary. This safety factor imposes the use of large diameter cable and therefore a large size of the reducer which affects the overall compactness of the robot. This dimensioning will have to be done in correlation with the choice of the motorization in order to obtain the resistive force capacity required. In the end, the techniques of the prior art do not make it possible to provide a robot benefiting from optimized sizing in terms of: resistive and motor force capacity, and compactness, the operation of which would be transparent for the user, that is to say, that allows to accompany or constrain the movement of the operator in a natural, intuitive way, that is to say, especially smoothly.
    [0005] A need in this sense therefore exists. OBJECTIVES OF THE INVENTION The object of the invention is in particular to provide an effective solution to at least some of these various problems.
    [0006] In particular, according to at least one embodiment, an object of the invention is to provide an articulated haptic interface arm with a cable reducer which has a high force capacity in particular resistive force. In particular, the invention aims, according to at least one embodiment, to improve the resistive force capacity of such an articulated arm, while ensuring a natural operation of the device. Another object of the invention is to provide, in at least one embodiment, such an articulated arm which is compact. Another object of the invention is, according to at least one embodiment, to provide such an articulated arm which is simple in design and / or easy to implement. 4. PRESENTATION OF THE INVENTION For this, the invention proposes a haptic interface motorized articulated arm comprising at least: a frame; an arm connected to said frame movably in rotation about at least one axis, efforts being likely to be applied to said arm by its environment; motor means, comprising a rotor, adapted to deliver at least a maximum resistive torque about said axis at least partially opposing said forces applied to said arm by its environment; a main transmission to said arm of said resistive torque generated by said motor means, said main transmission comprising a capstan cable reducer; means for evaluating said resistive torque transmitted to said arm by said motor means; means for braking the rotation of said arm about said axis; means for activating said braking means when said maximum resistance torque is reached by said motor means; Evaluation means, after activation of said braking means, of the forces transmitted audits arms by said environment, comprising means for determining at least one information representative of a deformation of said transmission under the effect of said efforts; ; means for deactivating said braking means when said information representative of a deformation of said transmission becomes less than a predetermined threshold value. Thus, the invention consists in equipping a motorized articulated arm with a haptic interface comprising a main transmission with a capstan-type cable gear: a brake making it possible to constrain the displacement of the articulated arm when the motor no longer allows it, and means for evaluating, during a braking phase, the forces applied to the arm by its environment by measuring the deformation of the main transmission due to these forces, the brake being released when these forces during braking pass below a predetermined single value corresponding to the attainment by these forces of a sufficiently low value so that the resisting force required to the motor does not exceed the maximum resistive torque that can be delivered by it. It is thus possible to size the engine (s) as accurately as possible to optimize the resistive force capacity of the arm while guaranteeing a natural and intuitive use of the robot.
    [0007] According to one conceivable characteristic, said means for evaluating at least one piece of information representative of a deformation of said transmission comprise means for evaluating the deformation of said cable. The deformation of the cable gives a faithful and precise indication of the deformation of the transmission.
    [0008] According to one conceivable characteristic, said means for evaluating at least one piece of information representative of a deformation of said transmission under the effect of said forces transmitted to said arm by its environment after activation of said braking means comprise: determining the angular position of said rotor about its axis of rotation; Means for estimating the theoretical angular position of said arm about its axis of rotation relative to said frame from said angular position of said rotor; means for determining the actual angular position of said arm about its axis of rotation relative to said frame; Means for determining the difference between said theoretical value and said actual value of the angular position of said arm about its axis of rotation; said deactivating means being adapted to deactivate said braking means when said difference becomes less than said predetermined threshold value. The fact of determining the difference between the actual position of the arm and its theoretical position makes it possible to obtain an estimate of the deformation of the transmission and thus of the forces impressed on the arm by its environment, which makes it possible to effectively control the deactivation of the brake at during a braking. According to one conceivable characteristic, said means for determining the actual angular position of said arm about its axis of rotation relative to said frame comprise an angular position sensor of said arm about its axis of rotation.
    [0009] This provides a simple but accurate and efficient way to determine the actual angular position of the arm. According to one conceivable characteristic, said main transmission comprises: a driving element linked in rotation to said arm, said driving element comprising at least one angular sector whose axis coincides with the axis of rotation of said arm; a driving pulley connected to said motor means; Said cable of said cable reducer extending along said angular sector by wrapping around said pulley, the ends of said cable being fixed to said drive member. According to one conceivable characteristic, an arm according to the invention comprises an auxiliary transmission of said resisting torque to said arm, said auxiliary transmission being able to assume at least two states: an inactive state, taken as long as said forces applied on said arm by its environment against the the effect of said torque is below a predetermined threshold, wherein said auxiliary transmission transmits no torque to said arm; An active state, taken when said forces applied on said arm by its environment against the effect of said torque are greater than a predetermined threshold, wherein said main transmission transmits no torque to said arm. An articulated haptic interface arm according to this variant is thus equipped with a main transmission with a cable reducer and an auxiliary transmission having identical reduction ratios, the auxiliary transmission being implemented in substitution of the main transmission with cable reducer when the forces applied to the arm by its environment become greater than a certain value.
    [0010] It is thus possible to size the cable gearbox as accurately as possible in order to optimize the compactness of the arm while guaranteeing very good mechanical strength, in other words a good safety factor, when too much effort is required for the gearbox. cable is applied to the arm. The implementation of the invention thus makes it possible to provide an articulated arm 30 with a robust and compact haptic interface that can, for example, find applications in sensitive areas such as in particular the medical field. According to one conceivable characteristic, said auxiliary transmission is configured to take said active state when the forces applied by the environment to said arm against the effect of said resisting torque induce a deformation of said upper cable to a predetermined threshold. This threshold will be determined in such a way that the auxiliary transmission activates before the torque generated on the arm induces a deformation of the cable likely to degrade it. This guarantees the safety and reliability of the arm according to the invention.
    [0011] According to one conceivable characteristic, said auxiliary transmission comprises: a pinion connected to said drive means and mounted in the axis of said pulley, at least one toothed gear portion integral with said drive element and meshing with said pinion; the reduction ratio of said auxiliary transmission being identical to that of said main transmission, the distance between the axis of rotation of said pinion and the axis of rotation of said gear being greater than the distance between the axis of rotation said pulley and the axis of rotation of said drive member such that said pinion and said wheel contact and meshing with each other only when said auxiliary transmission is in said active state. According to one conceivable characteristic, said means for evaluating at least one piece of information representative of a deformation of said transmission comprise means for detecting whether or not the said pinion is in contact with said wheel, said threshold value of information representative of said deformation triggering the deactivation of said braking means being achieved when said pinion and said wheel do not come into contact while said activation means activate said braking means.
    [0012] According to this variant, the gears of the auxiliary transmission constitute a sensor making it possible to know when, during braking, the forces applied by the environment to the arm are sufficiently small for the brake to be released.
    [0013] According to one conceivable characteristic, said means for detecting the entry into contact of said pinion with said wheel comprise said pinion and said gear which constitute an open electrical circuit as long as they are not in contact and closed when they are in contact with each other. contact. According to one conceivable characteristic, the difference between said centers is between 0.1 and 0.5 times the height of the teeth of said pinion and said wheel. A difference in spacing, that is to say a clearance between the pitch diameters of the pinion and the wheel, included within this interval provides a high level of safety by ensuring the engagement of 15 the auxiliary transmission before the cable is degraded. According to one conceivable characteristic, the difference dE between said distances is determined according to the following formula: dE = Cmax / (K. sin (alpha) .F) with alpha: pressure angle of the gear K: stiffness of the cable F: safety factor Cmax: maximum load on the cable 25 According to one conceivable characteristic, said arm is rotatably mounted relative to said frame along a plurality of axes, said articulated arm comprising as many sets of motor means, main transmission, means for evaluating the torque, braking means, activation means, means for evaluating at least one information representative of a deformation, deactivation means, and, if appropriate, auxiliary transmission means , that axes around which said arm can rotate, each set being dedicated to the transmission of torque along one of said axes.
    [0014] An arm according to the invention can thus have several degrees of freedom. The present invention also covers arm applications according to any one of the variants set forth above in a technical field belonging to the group comprising: haptic interface with a virtual environment; haptic interface with augmented reality environment; therapeutic rehabilitation; Computer Aided Design ; teleoperation; 15 sports training; training in technical gestures. The present invention also covers a method of driving a motorized articulated arm haptic interface comprising at least: a frame; An arm connected to said frame rotatably around at least one axis, forces being able to be applied to said arm by its environment; motor means, comprising a rotor, adapted to deliver at least one maximum resistive torque about said axis at least partially opposing said forces applied to said arm by its environment; a main transmission to said arm of said resistive torque generated by said motor means, said main transmission comprising a capstan cable gear; Means for braking the rotation of said arm about said axis; Said method comprising: a step of evaluating said resistive torque transmitted to said arm by said motor means; a step of activating said braking means when said maximum resistance torque is reached by said motor means; a step of evaluating, after activation of said braking means, the forces transmitted audits arms by said environment, comprising a step of determining at least one information representative of a deformation of said main transmission under the effect of said efforts; a step of deactivating said braking means when said information representative of a deformation of said main transmission becomes less than a predetermined threshold value. According to one conceivable characteristic, said step of evaluating at least one piece of information representative of a deformation of said transmission under the effect of said forces transmitted to said arm by its environment after activation of said braking means comprises: a step of determining the angular position of said rotor about its axis of rotation; A step of estimating the theoretical angular position of said arm about its axis of rotation relative to said frame from said angular position of said rotor; a step of determining the actual angular position of said arm about its axis of rotation relative to said frame; A step of determining the difference between said theoretical value and said actual value of the angular position of said arm about its axis of rotation; said deactivation step being implemented when said difference becomes less than said predetermined threshold value.
    [0015] According to one conceivable characteristic, said motorized articulated arm comprises an auxiliary transmission of said resisting torque to said arm, said auxiliary transmission being able to assume at least two states: an inactive state, taken as long as said forces applied on said arm by its environment against the the effect of said torque is below a predetermined threshold, wherein said auxiliary transmission transmits no torque to said arm; an active state, taken when said forces applied to said arm by its environment against the effect of said torque are greater than a predetermined threshold, wherein said main transmission transmits no torque to said arm. said auxiliary transmission comprising: a pinion connected to said drive means and mounted in the axis of said pulley, at least one toothed gear portion integral with said drive member and meshing with said pinion; the reduction ratio of said auxiliary transmission being identical to that of said main transmission, the distance between the axis of rotation of said pinion and the axis of rotation of said toothed wheel being greater than the distance between the axis of said transmission; rotating said pulley and the axis of rotation of said drive member such that said pinion and said wheel are in contact and meshing with each other only when said auxiliary transmission is in said active state; said step of evaluating at least one piece of information representative of a deformation of said transmission comprising a step of detecting whether the said pinion is in contact with said wheel or not, said threshold value of the information representative of said deformation; triggering the deactivation of said braking means being achieved when said pinion and said wheel do not come into contact while said braking means are activated. Other features and advantages of the invention will appear on reading the following description of particular embodiments, given by way of simple illustrative and non-limiting examples, and the appended drawings in which: FIG. 1 illustrates a partial perceptual view of an articulated haptic interface arm according to the prior art; FIG. 2 illustrates a perspective view of an articulated haptic interface arm according to a first embodiment of the invention; FIG. 3 illustrates the articulated arm of FIG. 2 from which the cowling has been removed; Figure 4 illustrates an enlarged view of the transmission mechanism of the articulated arm of Figure 3; FIG. 5 illustrates a perspective view of an articulated haptic interface arm according to a second embodiment of the invention from which the hood has been removed; Figure 6 illustrates an enlarged partial view of the transmission mechanism of an articulated arm according to the second embodiment; Figure 7 illustrates an enlarged partial view of the auxiliary transmission of the arm shown in Figure 6; Figures 8 and 9 illustrate flow diagrams of the brake control methods according to the first and second embodiments. 6. Description of particular embodiments 6.1. Angular displacement detection With reference to FIGS. 2 to 4 and 8, an example of a first embodiment of a motorized articulated arm with a haptic interface according to the invention is presented. As shown in these figures, such a motorized articulated arm comprises a frame 1 and an arm 3 secured to the frame 1 rotatable about an axis 2 by means of a hinge 4. The transmission mechanism of the articulated arm is covered with a cowling 10.
    [0016] The arm 3 is intended to be set in motion about the axis 2 by the external environment or environment of the motorized articulated arm, such as for example an operator, to perform any task such as for example a surgical operation, a manipulation of object, ...
    [0017] In this embodiment, the arm 3 comprises two arm portions 31, 32 hinged together by means of a hinge 33. The arm 3 can of course take any form adapted to the intended application. It may for example comprise a single portion or more than two articulated portions. The articulated arm comprises motor means that can be implemented to transmit torque to the arm 3 around the axis 2. In this embodiment, these motor means comprise an electric motor 5. The torques delivered by the motor may be sometimes motor or ten resistant depending on whether it is desired to accompany or constrain the movement of the arm. As just indicated, the motor 5 is particularly capable of delivering a resisting torque opposing the movement of the arm about its axis of rotation under the effect of forces being printed by its environment. The motor is by design not capable of delivering a resistant torque beyond a maximum resistance torque value. The motor conventionally comprises a stator and a rotor movable in rotation with respect to the stator. The articulated arm comprises a main transmission 6 to the arm 3 of 20 couples about the axis 2 generated by the motor 5 and opposing or not the movement printed on the arm by its environment. In this embodiment, the main transmission 6 comprises a cable reducer, in particular of the capstan type. This capstan-type cable gearbox conventionally comprises a pulley 61 mounted to rotate with the output shaft 51 of the engine 5. It also comprises a larger-diameter pulley portion 62, also referred to as a sector or angular sector, integral. in rotation of the arm 3 and whose axis of rotation coincides with the axis 2 of rotation of the arm. Alternatively, the pulley portion or sector 62 may be replaced by a pulley. The reducer further comprises a cable 63. The free ends of the cable are secured on either side of the sector 62 by means of screws 621 provided for this purpose. The cable 63 extends along the sector 62, more particularly the peripheral contour thereof, by winding around the pulley 61. According to the operating principle of the capstan reducer, the distance between the axis of the pulley 61 and the axis of the sector 62 is greater than the sum of the radius of the pulley 61, the sector 62 and the diameter of the cable 63. A gap of about one millimeter is often noted. This prevents the cable from rubbing on the pulley and the sector simultaneously. The articulated arm comprises means for evaluating the resistive torque transmitted to the arm 3 by the motor 5. These evaluation means comprise means 100 for measuring the electric supply current consumed by the motor, the value of which is representative of the torque that he delivers. These measuring means conventionally comprise a control electronics which measures the current flowing in the motor by passing it through a calibrated resistor. Measuring the voltage across this resistor provides an image of the current in the motor. The value of the torque 15 delivered by the motor is governed by the following law: C = Kt * IC: Torque delivered by the motor Kt: Torque constant of the motor I: Current flowing in the motor 20 The articulated arm comprises braking means 9 of the rotation of the arm 3 about its axis of rotation 2. These braking means may for example comprise a magnetic brake known to those skilled in the art such as those sold by the company KEB. They may alternatively include any other type of remotely controllable brake. By way of example, such a brake may in particular comprise a rotor and a stator, permanent magnets and a coil. When the brake is not supplied with electric current, the permanent magnets produce a magnetic field which generates a large coupling force between the rotor and the stator inducing a braking torque between them. When the brake coil is supplied with electric current, the magnetic field is neutralized. The rotor 3037840 19 and the stator then separate without residual torque by means of a spring blade so that no braking torque is applied. The articulated arm comprises means for activating the braking means when the rated resistive torque reaches the maximum resistive torque that can be delivered by the motor 5. The braking level can be regulated by controlling the current and therefore the magnetic field in the brake coil. Regulation could limit the current flowing in the brake and thus limit the increase in brake temperature. The current could be controlled by a dimmer 10 as a motor. The articulated arm comprises means for deactivating the braking means. The articulated arm also comprises evaluation means making it possible to evaluate, after the braking means have been activated, the forces transmitted to the arm 3 by its environment. These evaluation means comprise means for determining at least one piece of information representative of a deformation of the main transmission under the effect of the forces transmitted to the arm by its environment, in particular the torque around its axis of rotation 2.
    [0018] More particularly, the information in question is according to this embodiment representative of the deformation of the cable. Indeed, the deformation of the cable, which is a deformation of the main transmission, is proportional to the forces applied to the arm by its environment. The means for evaluating at least one information representative of a deformation of the main transmission under the effect of the forces transmitted to the arm by its environment after activation of the braking means comprise in this embodiment: determining means the angular position of the rotor of the motor 5 about its axis of rotation: these determination means 30 may comprise an angle sensor or an encoder 102 to know the angular position of the rotor relative to the stator; means for estimating the theoretical angular position of the arm about its axis of rotation relative to the frame from the angular position of the rotor: In this embodiment, it is a question of calculating the theoretical angular position , the latter being equal to the product of the angular position of the motor rotor by the reduction ratio of the main transmission; means for determining the actual angular position of the arm 10 about its axis of rotation relative to the frame: these determination means may comprise an angle sensor 103 for knowing the actual angular position of the arm relative to the frame; means for determining the difference between the theoretical value and the actual value of the angular position of the arm about its axis of rotation. In this embodiment, the means for deactivating the brake are designed to deactivate the brake when the difference between the theoretical value and the actual value of the angular position of the arm about its axis of rotation becomes less than a predetermined threshold value. which corresponds to attaining by the information representative of the deformation of the main transmission of the threshold value below which the deactivation means are used to deactivate the brake. This threshold value is determined in such a way that its attainment corresponds to that reached by the forces transmitted to the arm by its environment of a level such that the engine once again becomes capable of opposing it without the aid of the brake. The arm comprises a central unit 101 programmed to regulate the operation of the brake and perform all the measurements and calculations necessary for the implementation of this regulation. According to this embodiment, the regulation of the braking is carried out in the following manner with reference to FIG.
    [0019] A step 90 for measuring the resistive torque delivered by the motor is carried out continuously. This step comprises measuring the motor supply current and calculating the torque delivered by the motor from the value of its supply current according to the following law: C = Kt * IC: Torque delivered by the motor Kt : Torque constant of the motor I: Current flowing in the motor The value of the torque thus evaluated is compared with the maximum value of 10 resistive torque that can be delivered by the motor. When the measured value reaches the maximum admissible value, then the activation means then implement a step 91 of activation of the brake during which they control the activation of the brake. The engine, which is no longer able to oppose alone the forces applied to the arm by its environment to constrain the movement of the arm simply because of the resistant torque that it delivers, is then assisted by the brake to achieve it. This ensures that the movement of the arm is properly constrained whenever required. While the brake is activated, it is no longer possible to know the value of the forces applied to the arm by its environment from the value of the motor supply current since it is assisted by the brake so that the value of this current is no longer directly proportional to these efforts. A step 92 for evaluating the forces transmitted to the arm by its environment is then implemented. This step consists in measuring at least one piece of information representative of the deformation of the main transmission, which is in this case information representative of the deformation of the cable. During this step 920, are implemented: a step 921 for determining the angular position of the rotor about its axis of rotation by means of the angle sensor or encoder 102 provided for this purpose on the motor; A step 922 for estimating the theoretical angular position of the arm about its axis of rotation relative to the frame from the angular position of the rotor: for this, the position of the rotor of the motor is multiplied by the reduction ratio to obtain an estimate of the theoretical position of the arm; a step 923 for determining the actual angular position of the arm about its axis of rotation relative to the frame by means of the angle sensor 103 provided for this purpose at the arm; a step 924 for determining the difference between the theoretical value and the real value of the angular position of the arm about its axis of rotation. The deactivation means then implement a step 93 of deactivating the brake when the difference between the theoretical value and the actual value of the angular position of the arm about its axis of rotation becomes less than a predetermined threshold value. This threshold value is determined experimentally so that its achievement corresponds to the attainment by the forces transmitted to the arm by its environment of a level such that the engine becomes able to oppose it without the assistance of the brake. For example, if the theoretical angular position is equal to 10 ° and the actual angular position is 18 °, then the arm has rotated 8 ° under the effect of the deformation of the cable. If it is considered that below a pivoting of the arm under the effect of the deformation of the cable equal to 4 ° the motor again becomes capable of ensuring the placing in constraint of the movement of the arm without the assistance of the brake, then the brake will be disabled when the actual angular position of the arm is 14 °. Of course, the operation of the arm has been described here by insisting on the phases in which the motor transmits resistant torques to constrain the movement of the arm. During this operation, the motor can also transmit driving torques 30 during phases during which it is desired to accompany the movement of the arm. The robotic arm is conventionally programmed for this purpose and controlled in this sense by the central unit. In particular, the forces applied by the motors are calculated by the central unit to prohibit the user to intervene in certain areas. 6.2. Detection by Activation of an Auxiliary Transmission In connection with FIGS. 5 to 7 and 9, a second embodiment of a motorized articulated arm according to the invention is presented. An arm according to this second embodiment is identical to that according to the first embodiment except as regards the means 10 for evaluating at least one information representative of a deformation of the main transmission which are different from those described. in connection with the first embodiment and the fact that it further comprises an auxiliary transmission. This auxiliary transmission 7 makes it possible to transmit torque to the arm about the axis 2 generated by the motor and whether or not it opposes the movement printed on the arm 3 by its environment. This auxiliary transmission comprises a gear 71 mounted to rotate with the output shaft 51 of the motor 5 in the extension of the pulley 61. It also comprises a gear portion 72 integral with the sector 62 and concentric with it. Its teeth protrude at the peripheral surface of the sector. Alternatively, the gear portion may be replaced by a complete gear, especially when the sector will be replaced by a pulley. The gear portion 72 is provided to mesh with the gear 71. The gear 71 and the gear 72 constitute a gear reducer. The reduction ratio of the gearbox to the main transmission is equal to that of the gearbox of the auxiliary transmission. For this, the pitch diameter of the pinion 71 is equal to the sum of the diameter of the pulley 61 and the diameter of the cable 63, and the pitch diameter of the gear portion 72 is equal to the sum of the diameter of the sector 62 and The auxiliary transmission 7 can take at least two states: an inactive state, taken as long as the forces applied by the environment on the arm 3 against the effect of the resisting torque generated by the motor 5 are below a predetermined threshold; in this state the auxiliary transmission transmits no torque 5 to the arm: it is inactive; an active state, taken when the forces applied by the environment on the arm 3 against the effect of the resistive torque generated by the motor 5 are greater than the predetermined threshold; in this state the main transmission transmits no torque 10 to the arm (it is inactive), the torque being transmitted to the arm only via the auxiliary transmission. For this purpose, the spacing between the pinion 71 and the gear portion 72 is slightly increased relative to the distance between the pulley 61 and the sector 62. The pitch diameter dp of the pinion 71 is not secant nor This primitive diameter is tangent to the pitch diameter DP of the gear portion 72. On the contrary, these pitch diameters are slightly spaced apart from one another. Thus, in the inactive state, there is a clearance between the teeth of the pinion and the teeth of the toothed wheel. The adjustment of this difference in center distance may for example be obtained by mounting the motor on a support that can be moved over a range of adjustment relative to the frame and held in position after adjustment. Thus, as long as the level of load applied by the environment on the arm is less than a certain value, the pinion 71 is not in contact with the wheel portion 72. The transmission of torque to the arm 3 is then effected by the main transmission 6 including the capstan reducer and not the auxiliary transmission which is then in an idle state. If a large force is exerted on the arm on its environment, the cable 63 elongates without breaking until the teeth of the pinion 71 and the gear portion 72 come into contact. The mechanical strength of the joint is then provided by the gear system of the auxiliary transmission. The torque is then transmitted to the arm by the gearbox auxiliary transmission which is in the active state and no longer by the main transmission with a cable reducer. The backlash between the teeth of the gear reducer in the idle state and the stiffness of the cable determine the limiting force to go from cable-to-gear mode operation to gear-reduction mode operation. This game will preferably be between 0.1 and 0.5 times the height of the teeth of the gears. It will obviously be determined in such a way that the cable does not break before and during the phases when the auxiliary transmission becomes active. The elongation of the cable inducing the passage of the auxiliary transmission from its inactive state to its active state will preferably be in the field of elastic deformation. This clearance between the pitch diameters of the pinion and the wheel, which is equal to the difference dE between the spacing between the axis of rotation of the pinion 71 and the axis of rotation of the gear potion 72 and the center distance between the axis of rotation of the pulley 61 and the axis of rotation of the sector 62 may for example be determined as follows: dE = Cmax / (K. sin (alpha) .F) with alpha: angle of gear pressure (pinion, wheel) K: cable stiffness F: safety factor Cmax: maximum load on the cable 25 The implementation of the auxiliary transmission thus makes it possible to have the transparency and the fluidity of the gearbox in place. cable as long as the forces on the arm remain low, and the strong mechanical strength of the gear reducer when the load on the arm becomes stronger.
    [0020] 3037840 26 Thus, it is possible to choose a small cable, and thus improve the compactness of the joint while ensuring its mechanical strength. According to this second embodiment, the difference dE between the centers is chosen such that when the resistive torque delivered by the motor reaches its maximum value and is no longer sufficient to counteract the forces applied to the arm by its environment, the pinion 71 and the wheel 72 come into contact with each other. This bringing into contact results from the deformation of the main transmission, more particularly of the elongation of the cable, under the effect of the forces applied to the arm by its environment. The means for evaluating at least one piece of information representative of a deformation of the main transmission comprise means of detecting whether or not the pinion 71 is in contact with the wheel 72.
    [0021] The means for detecting the contact of the pinion with the wheel comprise the pinion and the toothed wheel, made of a conductive material, which constitute an open electrical circuit as long as they are not in contact and closed when they are in contact. are in contact. The deactivation of the braking means is then implemented when, during a braking phase, the pinion and the wheel no longer come into contact, which corresponds to the achievement of the information representative of the deformation. the main transmission of the threshold value below which the deactivation means are implemented to deactivate the brake. This corresponds to the attainment by the forces applied to the arm by its environment of a sufficiently low value so that the resisting torque requested from the motor does not exceed the maximum resistive torque that can be delivered by it. According to this embodiment, the regulation of the braking is carried out in the following manner with reference to FIG. 9.
    [0022] A step 90 for evaluating the resistive torque delivered by the motor is carried out continuously. This step comprises the measurement of the motor supply current and the calculation of the torque as a function of this measurement according to the following law: 5 according to the following law: C = Kt * IC: Torque delivered by the motor Kt: Torque constant of the motor I: current flowing in the motor 10 The value of the torque thus evaluated is compared with the maximum value of the resistive torque that can be delivered by the motor. When the measured value reaches the maximum admissible value, then the activation means implement a step 91 of activation of the brake during which they control the activation of the brake.
    [0023] Achieving the maximum resistive torque that can be delivered by the motor corresponding to the moment at which the pinion 71 and the wheel 72 come into contact. Thus, in one embodiment, rather than evaluating the resistive torque provided by the motor by measuring its supply current, and comparing the measured value to the maximum value to trigger or not the brake, the brake could be triggered when during a non-braking phase, the pinion and the wheel come into contact. The corresponding technical means can then be implemented for this purpose. While the brake is activated, a step 92 for evaluating the forces transmitted to the arm by its environment is implemented, in this case the torque transmitted by its environment to the arm about its axis of rotation. This step consists in measuring at least one piece of information representative of the deformation of the main transmission, which is in this case information representative of the deformation of the cable. During this step 920, it is detected in a step 921 'the moment at which the pinion and the wheel 3037840 28 no longer comes into contact during braking, that is to say the moment when the circuit they form opens. This moment corresponds to the achievement of the threshold value of deformation of the main transmission below which the brake can be deactivated, the motor then being able to oppose the forces transmitted to the arm by its environment to constrain its displacement by delivering a sufficient resisting torque. Thus, when during braking, the pinion and the wheel no longer come into contact, the deactivation means implement a step 93 of deactivating the brake. Of course, the operation of the arm has been described here only by emphasizing the phases in which the motor transmits resistant torques to constrain the movement of the arm. During this operation, the motor can also transmit motor torques during phases during which it is desired to accompany the movement of the arm. The robotic arm is conventionally programmed for this purpose and controlled by the central unit. In particular, the forces applied by the motors are calculated by the central unit to prohibit the user to intervene in certain area. 6.3. Variants In a variant, the device according to the first embodiment may comprise auxiliary transmission. It is recalled that the invention applies to a mobility device of a haptic interface. As an indication, such a device for setting a haptic interface mobile can be implemented for the rehabilitation of the arm of a patient or for the comanipulation during a surgical operation. Of course, the possible and conceivable variations of the embodiments of the device according to the invention are numerous. In other particular embodiments, it may be envisaged, without departing from the scope of the invention, to implement such a device to provide a simple haptic interface intended for example for teleoperation, video game, virtual reality, computer-aided design of sports training or training in technical gesture. According to another conceivable application, it may be provided to integrate a movement device to a tool changer for which the object to be animated or manipulated is an articulated clip. According to yet another possible application, an actuator, such as a manipulator robot, advantageously incorporates a device according to the invention. In variants, one or more intermediate reducers may be implemented between the output of the motor and the shaft on which is mounted the motor pulley. For reasons of mechanical equilibrium, a main transmission or a torque main transmission / auxiliary transmission may be implemented on both sides of the joint connecting the arm to the frame. In the embodiment described above, the arm is rotatable relative to the frame along a single axis. In variants, it could be rotatable relative to the frame along several axes. In this case, the motorized articulated arm 15 will comprise as many assemblies or pairs of assemblies, motor means, main transmission means, torque evaluation means, braking means, activation means, means for evaluating at least one piece of information representative of a deformation, of means of deactivation, and, if necessary, of auxiliary transmission, of axes around which the arm can rotate, each assembly being dedicated to the transmission of torque according to one of said axes. The arm may, for example, be rotatable relative to the frame along a first axis 2 and along a second axis 2 'orthogonal to the first, a first assembly, or pairs of assemblies, of the drive means 5, the main transmission means 6 and if necessary auxiliary transmission 7 being dedicated to the transmission of torque along the first axis 2 and a second set, or pairs of sets, motor means 5 ', main transmission 6' and optionally auxiliary transmission 7 ' being dedicated to torque transmission along the second axis 2 '. As many means as necessary will also be implemented to ensure the brake control of the various engines. For example, if the arm 3 is rotatable about two different axes 2 and 2 ', the assembly constituted by the arm 3 movable along a first axis 2, the main transmissions 6 and, where appropriate, the auxiliary transmission 7 and the motor 5 may be mounted on a plate 8 movable in rotation relative to the frame 2 along another axis 2 '. The motorized arm may then include another motor 5 'and another main transmission 6' and optionally another auxiliary transmission 7 'to drive the plate 8 in rotation along the other axis 2' according to the same principle as that wherein the torque of the motor 5 is transmitted to the arm 3 according to the first axis 2. The arm 3 can of course be rotatable relative to the frame 2 along more than two axes. 10
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. A motorized haptic interface articulated arm comprising at least: a frame (1); an arm (3) connected to said frame (1) rotatably around at least one axis (2), efforts being likely to be applied to said arm (3) by its environment; motor means (5), comprising a rotor, adapted to deliver at least a maximum resistive torque about said axis (2) at least partially opposing said forces applied to said arm (3) by its environment; a main transmission (6) to said arm (3) of said resistive torque generated by said motor means (5), said main transmission (6) comprising a capstan cable gear (63); means for evaluating said resistive torque transmitted to said arm (3) by said motor means (5); braking means (9) for rotating said arm (3) about said axis (2); activation means (101) of said braking means (9) when said maximum resistance torque is reached by said driving means (5); evaluation means (101, 102, 103), after activation of said braking means (9), forces transmitted audits arms (9) by said environment, comprising means for determining at least one information representative of a deformation of said transmission (6) under the effect of said efforts; means for deactivating (101) said braking means (9) when said information representative of a deformation of said transmission (6) becomes less than a predetermined threshold value. 3037840 32
    [0002]
    2. The arm according to claim 1, wherein said evaluation means (101, 102, 103) of at least one piece of information representative of a deformation of said transmission comprise means for evaluating the deformation of said cable (63). . 5
    [0003]
    3. Arm according to claim 1 or 2, wherein said means for evaluating at least one piece of information representative of a deformation of said transmission under the effect of said forces transmitted to said arm (3) by its environment after activation of said means. braking means (9) comprise: means (102) for determining the angular position of said rotor about its axis of rotation; estimating means (102, 101) of the theoretical angular position of said arm (3) about its axis of rotation relative to said frame (1) from said angular position of said rotor; Means for determining (101, 103) the actual angular position of said arm (3) about its axis of rotation relative to said frame (1); means (101) for determining the difference between said theoretical value and said actual value of the angular position of said arm (3) about its axis of rotation; Said deactivating means (101) being adapted to deactivate said braking means (9) when said difference becomes smaller than said predetermined threshold value.
    [0004]
    4. An arm according to claim 3, wherein said means for determining (101, 103) the actual angular position of said arm (3) about its axis of rotation relative to said frame (1) comprises an angular position sensor ( 103) of said arm about its axis of rotation.
    [0005]
    An arm according to any one of claims 1 to 4, wherein said main transmission (6) comprises: a drive member (62) rotatably connected to said arm (3), said driving member comprising at least one angular sector whose axis coincides with the axis of rotation (2) of said arm (3); a driving pulley (61) connected to said motor means (5); Said cable (63) of said cable reducer extending along said angular sector (62) by winding around said pulley (61), the ends of said cable (63) being fixed to said drive member (62) .
    [0006]
    6. An arm according to any of claims 1 to 5, comprising an auxiliary transmission (7) of said resisting torque to said arm (3), said auxiliary transmission being able to assume at least two states: an inactive state, taken as said forces applied on said arm (3) by its environment against the effect of said torque are below a predetermined threshold, wherein said auxiliary transmission (7) transmits no torque to said arm (3); an active state, taken when said forces applied on said arm (3) by its environment against the effect of said torque are greater than a predetermined threshold, wherein said main transmission (6) transmits no torque to said arm (3). 20
    [0007]
    The articulated arm according to claim 6 wherein said auxiliary transmission (7) is configured to take said active state when the forces applied by the environment to said arm (3) against the effect of said resisting torque induce a deformation of said upper cable to a predetermined threshold.
    [0008]
    An articulated arm according to claim 7, wherein said auxiliary transmission (7) comprises: a pinion (71) connected to said motor means and mounted in the axis of said pulley (61), 3037840 34 at least one wheel portion toothed gear (72) integral with said drive member (62) and meshing with said pinion (71); the reduction ratio of said auxiliary transmission (7) being identical to that of said main transmission (6), the spacing between the axis of rotation of said pinion (71) and the axis of rotation of said toothed wheel (72); ) being greater than the spacing between the axis of rotation of said pulley (61) and the axis of rotation of said drive member (62) so that said pinion (71) and said wheel (72) are in contact and meshing with each other only when said auxiliary transmission (7) is in said active state.
    [0009]
    9. An arm according to claim 8, wherein said means for evaluating at least one piece of information representative of a deformation of said transmission comprise means for detecting (101) the input or not in contact with said pinion (71). ) with said wheel (72), said threshold value of the information representative of said deformation triggering the deactivation of said braking means (9) being reached when said pinion (71) and said wheel (72) no longer come into contact then said activating means (101) activates said braking means (9). 20
    [0010]
    The arm of claim 9, wherein said detecting means (101) for contacting said pinion (71) with said wheel (72) comprises said pinion and said gear which constitute an open electrical circuit as long as they are not in contact and closed when in contact.
    [0011]
    The articulated arm according to any one of claims 8 to 10, wherein the difference between said centers is between 0.1 and 0.5 times the height of the teeth of said pinion (71) and said wheel (72). 3037840
    [0012]
    12. Arm according to any one of claims 8 to 11, wherein the difference dE between said distances is determined according to the following formula: dE = Cmax / (K. sin (alpha) .F) with alpha: pressure angle of the gear K: cable stiffness F: safety factor Cmax: maximum load on the cable 10
    [0013]
    Articulated arm according to any one of claims 1 to 12 wherein said arm (3) is rotatably mounted relative to said frame (1) along a plurality of axes, said articulated arm comprising as many sets of means motor, main transmission, torque evaluation means, braking means, activation means, means for evaluating at least one information representative of a deformation, deactivation means, and the case auxiliary transmission, that axes around which said arm (3) can rotate, each set being dedicated to the transmission of torque along one of said axes. 20
    [0014]
    14. Application of the arm according to any one of claims 1 to 13 to a technical field belonging to the group comprising: haptic interface with a virtual environment; haptic interface with augmented reality environment; Therapeutic rehabilitation; Computer Aided Design ; teleoperation; sports training ; training in technical gestures. 3037840 36
    [0015]
    15. A method of driving a motorized articulated arm haptic interface comprising at least: a frame (1); an arm (3) connected to said frame (1) rotatably about at least one axis (2), forces being able to be applied to said arm (3) by its environment; motor means (5), comprising a rotor, adapted to deliver at least a maximum resistive torque about said axis (2) opposing at least in part to said forces applied to said arm (3) by its environment; a main transmission (6) to said arm (3) of said resistive torque generated by said motor means (5), said main transmission (6) comprising a capstan cable gear (63); braking means (9) for rotating said arm (3) about said axis (2); said method comprising: a step of evaluating said resistive torque transmitted to said arm (3) by said motor means (5); a step of activating said braking means (9) when said maximum resistive torque is reached by said motor means (5); an evaluation step, after activation of said braking means (9), of the forces transmitted to said arms (3) by said environment, comprising a step of determining at least one piece of information representative of a deformation of said main transmission (6 25 under the effect of said efforts; a step of deactivating said braking means (9) when said information representative of a deformation of said main transmission (6) becomes less than a predetermined threshold value. 3037840 37
    [0016]
    16. A method of driving a motorized articulated arm according to claim 15, wherein said step of evaluating at least one information representative of a deformation of said transmission (6) under the effect of said forces transmitted to said arm ( 3) by its environment after activation of said braking means (9) comprises: said step of determining the angular position of said rotor about its axis of rotation; A step of estimating the theoretical angular position of said arm (3) about its axis of rotation relative to said frame (1) from said angular position of said rotor; a step of determining the actual angular position of said arm (3) about its axis of rotation relative to said frame (1); a step of determining the difference between said theoretical value and said actual value of the angular position of said arm (3) about its axis of rotation (2); deactivation step being implemented when said difference becomes lower than said predetermined threshold value.
    [0017]
    17. A method of driving a motorized articulated arm according to claim 15 or 16, said motorized articulated arm comprising an auxiliary transmission (7) of said resisting torque to said arm (3), said auxiliary transmission (7) being able to take at least two states: an inactive state, taken as long as said forces applied on said arm (3) by its environment against the effect of said torque are lower than a predetermined threshold, wherein said auxiliary transmission (7) transmits no torque to said arm ( 7); an active state, taken when said forces applied to said arm (3) by its environment against the effect of said torque are greater than a predetermined threshold, wherein said main transmission (6) transmits no torque to said arm (3). ). said auxiliary transmission (7) comprising: a pinion (71) connected to said motor means (5) and mounted in the axis of said pulley (61), at least one toothed gear portion (72) integral with said drive member (62) and meshing with said pinion (71); the reduction ratio of said auxiliary transmission (77) being identical to that of said main transmission (6), the distance between the axis of rotation of said pinion (71) and the axis of rotation of said toothed wheel (72); ) being greater than the spacing between the axis of rotation of said pulley (61) and the axis of rotation of said drive member (62) so that said pinion (71) and said wheel (72) are in contact and meshing with each other only when said auxiliary transmission (7) is in said active state; said step of evaluating at least one piece of information representative of a deformation of said transmission (6) comprising a step of detecting whether the said pinion (71) is in contact with said wheel (72), said threshold value information representative of said deformation triggering the deactivation of said braking means (9) being reached when said pinion (71) and said wheel (725) no longer come into contact while said braking means (9) are activated .
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    同族专利:
    公开号 | 公开日
    US10118289B2|2018-11-06|
    US20160375577A1|2016-12-29|
    FR3037840B1|2017-08-18|
    EP3109014A1|2016-12-28|
    EP3109014B1|2017-09-20|
    引用文献:
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    WO2011157757A1|2010-06-17|2011-12-22|Commissariat A L'energie Atomique Et Aux Energies Alternatives|Reducing device having a high reduction ratio, robot and haptic interface comprising at least one such reducing device|
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    法律状态:
    2016-06-27| PLFP| Fee payment|Year of fee payment: 2 |
    2016-12-30| PLSC| Search report ready|Effective date: 20161230 |
    2017-06-23| PLFP| Fee payment|Year of fee payment: 3 |
    2018-06-26| PLFP| Fee payment|Year of fee payment: 4 |
    2020-03-13| ST| Notification of lapse|Effective date: 20200206 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1556001A|FR3037840B1|2015-06-26|2015-06-26|ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE.|FR1556001A| FR3037840B1|2015-06-26|2015-06-26|ARTICULATED MOTORIZED ARM WITH CABESTAN WITH CABLE COMPRISING A BRAKE.|
    EP16175633.3A| EP3109014B1|2015-06-26|2016-06-22|Motorised articulated arm with cable capstan comprising a brake|
    US15/193,948| US10118289B2|2015-06-26|2016-06-27|Motor driven articulated arm with cable capstan including a brake|
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