CA1233856A - Device for torsion-proof connection of an element in a robot arm or the like - Google Patents
Device for torsion-proof connection of an element in a robot arm or the likeInfo
- Publication number
- CA1233856A CA1233856A CA000431699A CA431699A CA1233856A CA 1233856 A CA1233856 A CA 1233856A CA 000431699 A CA000431699 A CA 000431699A CA 431699 A CA431699 A CA 431699A CA 1233856 A CA1233856 A CA 1233856A
- Authority
- CA
- Canada
- Prior art keywords
- elements
- torsion
- rolling
- pair
- cross
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32606—Pivoted
- Y10T403/32622—Rocking or rolling contact
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Springs (AREA)
- Moving Of Heads (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
A B S T R A C T
A device for torsion-proof connection of a number of elements in direct or indirect rolling contact with each other, which together make a robot arm or the like, whereby the elements are held together and actuated by force transmitting actuators, for example cords. The object of the present invention is to provide a device with which the individual elements of a robot arm can be torsionally locked so that it can bear significant torsional forces without detoriating the rolling characteristics of the elements. This object has been achieved by the fact that the elements pairwise, with their rolling surfaces turned towards each other, being connected with each other through a torsion member which is flexible and/or jointed in the rolling direction of the elements and which has a great stiffness across the rolling direction.
A device for torsion-proof connection of a number of elements in direct or indirect rolling contact with each other, which together make a robot arm or the like, whereby the elements are held together and actuated by force transmitting actuators, for example cords. The object of the present invention is to provide a device with which the individual elements of a robot arm can be torsionally locked so that it can bear significant torsional forces without detoriating the rolling characteristics of the elements. This object has been achieved by the fact that the elements pairwise, with their rolling surfaces turned towards each other, being connected with each other through a torsion member which is flexible and/or jointed in the rolling direction of the elements and which has a great stiffness across the rolling direction.
Description
33~6 The present invention relates to a device for torsion-proof conneltion of a number of elements in dirert or indirect roll.ing contact with each other which together make a robot arm or the like where the elements are held together and can be moved by force transmitting actuators for example cords.
In the Swedish patents 7902366-9 and 800199~-7 a robot arm is described which is especially characterized by having a great fle~ibility in different planes whereby its ability to get around barrier.s is great. It can thus be inserted in curved or angled spaces which previously was almost impossible. The great flexibility of the robot arm is achieved because the arm consists of a large number of disc-like elements which have a rolling contact with earh other.
An absolute requirement for robot arms oF this type is that in additj.on to a relatively large weight bearing capability at the free end of the arm it be possible to transmit torques and maintai.n large torsional moments. The relatively poor torsional resistance of cord manouvered robot arms which is caused by the rounded form of the individual elements has indeed been improved through providing the rolling surfaces of the elements with teeth or the like which engage earh other but in rnany cases another torsion locking of the elements is desirable.
.
The present invention provides a .device with which the iridividual elements of a robot arm can be torsionally locked so that they can bear signifirant torsional :~ : forces without detoriating the rolling characteristics of the ~: ~ elements. This object has been achi0ved by connecting at least ~L~3~
tile fi l'st ~ncl the l~st elements in an ~lem~nt pair or group ~f elem~nts toge~her with ~t le~s~ one fle~ible and/~r j~inte~
torsion member whi(-h is sti~f in the longitudina} ~irec~ion of the arm.
According to -the present invention there is provi-ded a device for -torsion-proof connection of a number of elements having single-curved con-tact surfaces and being in direc-t or indirec-t rolling contact with each other which toge-ther make a robot arm or -the like, comprising: a plur-'' ality of elements held together by and through a power bear-ing unit which are ac-tuated by an actuating means; said plurality of elements being provided with torsion members having substantial stiffness transverse -to a rolling direc-tion; at least the first and the las-t element in said plur-ali-ty of elements are connected wi-th each other through a-t leas-t one joint which is Elexible in the rollillg direc-tion of the elements and which ls stiff in another direction transverse to the first direction, said join-t being a -tor-sion member. Sui-tably each said torsion member comprises at least one band, bo-th ends of which are fastened to a-t least the firs-t and the last in an element pair of said plurality of elements through regions adjacent -the ends of the respec-tive rolling surfaces. Preferably the torsion member com-prises several bands which are alternatively connected to respec-tive areas of the elemen-ts.
In one embodiment of the present invention moment and power receiving par-ts of the torsion member are located 3~ outside said plurality of elements. Suitably the torsion `I , member comprises at least one bellows, -the folded beliows walls being of a stiff material. Preferably -the members are cross-shaped and formed with a central part arranged between two elemen-ts each belongi,ng to its element pair, -the two arln 3S pairs of the cross-shaped member being ben-t in opposite ~ .
~'.
In the Swedish patents 7902366-9 and 800199~-7 a robot arm is described which is especially characterized by having a great fle~ibility in different planes whereby its ability to get around barrier.s is great. It can thus be inserted in curved or angled spaces which previously was almost impossible. The great flexibility of the robot arm is achieved because the arm consists of a large number of disc-like elements which have a rolling contact with earh other.
An absolute requirement for robot arms oF this type is that in additj.on to a relatively large weight bearing capability at the free end of the arm it be possible to transmit torques and maintai.n large torsional moments. The relatively poor torsional resistance of cord manouvered robot arms which is caused by the rounded form of the individual elements has indeed been improved through providing the rolling surfaces of the elements with teeth or the like which engage earh other but in rnany cases another torsion locking of the elements is desirable.
.
The present invention provides a .device with which the iridividual elements of a robot arm can be torsionally locked so that they can bear signifirant torsional :~ : forces without detoriating the rolling characteristics of the ~: ~ elements. This object has been achi0ved by connecting at least ~L~3~
tile fi l'st ~ncl the l~st elements in an ~lem~nt pair or group ~f elem~nts toge~her with ~t le~s~ one fle~ible and/~r j~inte~
torsion member whi(-h is sti~f in the longitudina} ~irec~ion of the arm.
According to -the present invention there is provi-ded a device for -torsion-proof connection of a number of elements having single-curved con-tact surfaces and being in direc-t or indirec-t rolling contact with each other which toge-ther make a robot arm or -the like, comprising: a plur-'' ality of elements held together by and through a power bear-ing unit which are ac-tuated by an actuating means; said plurality of elements being provided with torsion members having substantial stiffness transverse -to a rolling direc-tion; at least the first and the las-t element in said plur-ali-ty of elements are connected wi-th each other through a-t leas-t one joint which is Elexible in the rollillg direc-tion of the elements and which ls stiff in another direction transverse to the first direction, said join-t being a -tor-sion member. Sui-tably each said torsion member comprises at least one band, bo-th ends of which are fastened to a-t least the firs-t and the last in an element pair of said plurality of elements through regions adjacent -the ends of the respec-tive rolling surfaces. Preferably the torsion member com-prises several bands which are alternatively connected to respec-tive areas of the elemen-ts.
In one embodiment of the present invention moment and power receiving par-ts of the torsion member are located 3~ outside said plurality of elements. Suitably the torsion `I , member comprises at least one bellows, -the folded beliows walls being of a stiff material. Preferably -the members are cross-shaped and formed with a central part arranged between two elemen-ts each belongi,ng to its element pair, -the two arln 3S pairs of the cross-shaped member being ben-t in opposite ~ .
~'.
2 -.~.
~:33~
directions relative to each other, and each arm p,~ir being conrlected to tlle arms of a respective corresponding ~dja-cent member. More preferably between the elemen-ts in each element pair a subs-tantially planar plate is disposed which is connected by its ends to the arms of the cross-shaped member and between the cross arms of the member located opposite -to each o-ther and connectible to each other, there is a-ttached an ex-tending plate-shaped frame extending about a pair of elements. Suitably each member comprises a substantially planar plate place~ between two elemen-ts belonging each to its element pair and that the plates ln the ex-tensio~ of -the rolling planes are equipped with V- or bellows-shaped connecting pie~es. Preferably pins are dis-posed at -the end sides of the elemen-ts, substan-tially across the rolling direction of -the elements near the ends of the rolling surface, at which pins torsion members are arranged, which cross-wise connect the elements in each element pair.
The present invention will be further illustrated by wa~ of the ~ccompanying drawings, in which:-Fig. 1 sllows a side view of two cooperating elements provided with torsion members according to the invention.
Fig. 2 shows the member according to fig. 1 in perspective.
Fig. 3 shows also in perspective a modified embodiment of the member shown in fig. 2.
Fig. 1, shows a variation of the tarsion lock shown in fig. 1 ancl Z in perspective.
Fig. 5 shows in perspective an embodiment of an element pair where the torque and force bearing members are placed outside I the elemen-ts.
Fig. 6 shows a side view o~ a number of elements which have their rolling surfaces oriented in the same direction.
; 35 Fiy. 7 shows in perspective an addi~ional embodiment where the torsion member is arranged across the rolling direction of the element.
.
j~
~ a -~3~i6 Fig. a shows in perspective a cross-like embodiment of the torsion rnember.
Fig. 9 shows in perspective and partly in exploded view a modified embodiment of the variant shown in fig. 5.
Fig. 10 shows an exploded view of an embodiment of the cross-lil<e torsion member.
Fig. 11 shows in perspective an additional embodimen-t of the torsion member according to the invention.
I Fig. 12 shows a side view partly in section of a modification of the embodiment shown in fig. a Fig. 13 shows a side view of an embodiment with pivotally connected torsion members.
Fig. 1~ shows in a perspective an addi-tional embodiment of two elements provided with torsion members according to the invention.
Fig. 15 shows in perspective and in section torsion rnembers in :
; 35 - 2~ -~3~
the form of a bellows containing a group of elements.
Fig. 16 shows in perspective the lower part of a robot arm with torsion members according to fig. 8.
Fig. 1 and 2 show an embodiment consisting of two identical elements 11 and 12 shaped with single-curved surfaces 13 toward each other, which are i.n rolling contact with each other and are connected with each other via a torsion member 14. This can consist of for example a steel wire, appropriately of spring steel, which is fastened at one end to the side edge of one element 11, while the other end is connected to the corresponding side edge of the other element 1Z located directly opposite. The connection of the torsion member 14 with the elements can be achieved in a number of different ways, by welding, riveting, screw fastening or through grooves i.n the elements in which the ends of the members are fixed.
The cooperating elements 11 and 12 cooperating in the above described way and the rolling surfaces 13 of which are turned toward each other, are called an element pair in the following.
As is clea~ from fig. 3 the two elements need not be shaped with single- or double curved rolling surfaces, but included in the scope of the invention is the possibility of shaping an element 15 for example as a plane or even slightly convex or concave curve wi.th significantly larger radius of curvature than the radius of curvature of the other cooperating element.
In fig. 3 the torsion mernber 14 is thus attached to the side edge of the elernent 11 by one end, while the other end is fastened to the plane element 15.
The elements 11, 1Z and t5, on the plane side from the rolling surface 13, are provided with projecting portions 16, which contain holes for receiving the cords lfig. 1~) which are , ~ ' ~33~
acted on by actuators 9 and which connect the first louter) and last elements in a group of elements.
The element pairs can naturally be arranged in other relative rotational positions than the 90 mentioned. The element pairs .. ~ ~
can for example be rotated only a few degrees relative to each other, so that they are placed in a screw line formation.
The torsion member 14 can extend over the whole width of the element, but it can also advantageously be divided into several narrower bands which are alternately connected with respective elements, as is shown in fig. 4.
Fig. 5 shows an embodim0nt where the torsion members are place outside the elements 11 and 12. Each element pair includes two torsion plates 14 a and 14 b, which each include a central middle field 1~ and on the sides o-F that slightly angled side fields 19. At the outer end the torsion plate is provided with a narrow strip 21 which is mainly parallel to the middle field 1A. The two torsion plates 14 a and 14 b are connected at the outer edges for example by spot welding and in that way make a torsion member 14. Because the middle field 1B has mainly the same size and shape as the plane "back" surface of the elements 11 and 12 these will be locked against rotation relative to the torsion member.
For certain applications it can be appropriate to arrange a group of elements with their rolling planes placed in the same direction as is shown in fig. ~, and in such arrangements it is possible to arrange the torsion member 14 as a continuous length which e~tends from the first element 11 to the last element 12 in the element group.
The parts 19 of the torsion members outside the elements need not necessarily be arranged in the rolling direction of the elements as is shown in fig. 5 but can also be arranged perpendicular to the said rolling direction, according to what is shown in fig. 7. It is also possible to arrange the torsion ~33~
members in both these directions, that is a combination of what is shown in *ig. 5 and 7.
ln fig. 8 is shown an embodiment, where ear.h indlvidual torsion member 14 is cross-shaped and made of an appropriate spring steel material. The cross-shaped member has a central middle part 18, for receiving elements 11 and 12 respectively on each flat sides opposite each other. The elernents do not belong to the same element pair but belong to respective pairs. The parts 19 placed outside the ele~ents, that is one arm pair of the cross, are both curved at an anyle towards the central part 18, while the other parts 20 are curved in the opposite direction relative to the arms 19. The end parts 19, 20 of the arms are intended to be connected to the arms of the neighb~ring torsion member.
The c~nnection between the arms can be permanent, for example by welds, but other means of connection are possible, for instanse screw fastenings.
As can be seen in fig. B the r~lling direction of every second element pair is rotated 90 relative to each other, so that the ar~s 19 and 20 respectively are placed in the direction of the e~tension of the rolling direction.
In ord~r to obtain an even stiffer construction a plane plate 22 can, be placed between each element pair 11, 12, preferably of spring steel, which at both its ends is fastened to the ends of the arms 19 and 20 respectively, as is shown in fig. 9. Possibly -the parts 19 and 20 can be shaped with stiffeners inserked in the plates, which is indicated on two fields.
.
Fi0. 1~ shows an embodiment where the same great stiffness is obtained as in fig. 9 but without affecting the flexibility of the arms. This is obtained by replacing the plate 22 in fig. 9 with a plate-shaped frame Z~, which at a distance surrounds the el~ment pair 11, 12. In the same way as the plate 22 the ~ ~, ~33~
frame is fixed to the arms 19 and 20 respectively of two nearby torsion members 1~.
A further variant of the torsion members is shown in fig. 11, where the members have a partially bellows-like form. Each mamber 1~. contains a plane, for example eight-sided plate Z4, which in the same way as the cross shaped part according to fig. 8-10 is placed between two elements belonging each to its element pair. In the extension of the rolling surface between two neighboring plates 2~ are placed connecting pieces 25 with Y-shaped cross sections, which are fastened by their shank ends 27 to the edge parts 26 of the plates 2~.
In fig. 12 is shown a modified embodiment of the device according to fig. 11, where the fixed connections at the edge parts 27 and the shank ends 26 have been replaced by joint connections 28, 29, for example in the form of piano hinges.
Instead of connecting the plates Z~ with connection pieces 25 they can be attached to the elements 11 and 12 in a flexible bearing, which is shown in the embodiment according to fig.
13. At the oppositely placed side edg~s of the elements 11, 12 are flexibly attached torsion members 14, which consist of two hinge flanges 30 and 31.
An additional embodiment is shown in fig. 14. On the end sides 32 and 33 of the elements 11 and 12, across the rolling direction of the elements at the beginning and final ends of the rolling surface, pLns 3~ are fi~ed, which act as bearing axles for the torsion members 14, which in this embodiment co~sist of steel bands 35, which are loop shaped at the ends for fitting the pins 34.
In fig. 15 is finally shown an embodiment where a group of elements has a continuous torsion member 14 in the form of a cross-sectionally preferably circular bellows, where the folded bellows sides 38 are made of a stiff material. In this embodiment only the first and last elements of the group are ~3~iii connected with the end pieces 36 and 37 of the bellows, whereby the ends 39 of the wires 10 are attached to the end piece 36.
The invention is not limited to the embodiments shown and d,escribed, but a number of variations are possible w~--~e~
~ . Thus the elements 11, 12 can be arranged in yroups 50 that their rolling surface is turned in the same direction, said embodiment can be appropriate if the robot arm is to perform a motion only in that direction. In the description and in the drawings only single-curved elements have been shown, but the torsion members according to the invention can of course also be used with elements with double curved rolling surfaces.
~:33~
directions relative to each other, and each arm p,~ir being conrlected to tlle arms of a respective corresponding ~dja-cent member. More preferably between the elemen-ts in each element pair a subs-tantially planar plate is disposed which is connected by its ends to the arms of the cross-shaped member and between the cross arms of the member located opposite -to each o-ther and connectible to each other, there is a-ttached an ex-tending plate-shaped frame extending about a pair of elements. Suitably each member comprises a substantially planar plate place~ between two elemen-ts belonging each to its element pair and that the plates ln the ex-tensio~ of -the rolling planes are equipped with V- or bellows-shaped connecting pie~es. Preferably pins are dis-posed at -the end sides of the elemen-ts, substan-tially across the rolling direction of -the elements near the ends of the rolling surface, at which pins torsion members are arranged, which cross-wise connect the elements in each element pair.
The present invention will be further illustrated by wa~ of the ~ccompanying drawings, in which:-Fig. 1 sllows a side view of two cooperating elements provided with torsion members according to the invention.
Fig. 2 shows the member according to fig. 1 in perspective.
Fig. 3 shows also in perspective a modified embodiment of the member shown in fig. 2.
Fig. 1, shows a variation of the tarsion lock shown in fig. 1 ancl Z in perspective.
Fig. 5 shows in perspective an embodiment of an element pair where the torque and force bearing members are placed outside I the elemen-ts.
Fig. 6 shows a side view o~ a number of elements which have their rolling surfaces oriented in the same direction.
; 35 Fiy. 7 shows in perspective an addi~ional embodiment where the torsion member is arranged across the rolling direction of the element.
.
j~
~ a -~3~i6 Fig. a shows in perspective a cross-like embodiment of the torsion rnember.
Fig. 9 shows in perspective and partly in exploded view a modified embodiment of the variant shown in fig. 5.
Fig. 10 shows an exploded view of an embodiment of the cross-lil<e torsion member.
Fig. 11 shows in perspective an additional embodimen-t of the torsion member according to the invention.
I Fig. 12 shows a side view partly in section of a modification of the embodiment shown in fig. a Fig. 13 shows a side view of an embodiment with pivotally connected torsion members.
Fig. 1~ shows in a perspective an addi-tional embodiment of two elements provided with torsion members according to the invention.
Fig. 15 shows in perspective and in section torsion rnembers in :
; 35 - 2~ -~3~
the form of a bellows containing a group of elements.
Fig. 16 shows in perspective the lower part of a robot arm with torsion members according to fig. 8.
Fig. 1 and 2 show an embodiment consisting of two identical elements 11 and 12 shaped with single-curved surfaces 13 toward each other, which are i.n rolling contact with each other and are connected with each other via a torsion member 14. This can consist of for example a steel wire, appropriately of spring steel, which is fastened at one end to the side edge of one element 11, while the other end is connected to the corresponding side edge of the other element 1Z located directly opposite. The connection of the torsion member 14 with the elements can be achieved in a number of different ways, by welding, riveting, screw fastening or through grooves i.n the elements in which the ends of the members are fixed.
The cooperating elements 11 and 12 cooperating in the above described way and the rolling surfaces 13 of which are turned toward each other, are called an element pair in the following.
As is clea~ from fig. 3 the two elements need not be shaped with single- or double curved rolling surfaces, but included in the scope of the invention is the possibility of shaping an element 15 for example as a plane or even slightly convex or concave curve wi.th significantly larger radius of curvature than the radius of curvature of the other cooperating element.
In fig. 3 the torsion mernber 14 is thus attached to the side edge of the elernent 11 by one end, while the other end is fastened to the plane element 15.
The elements 11, 1Z and t5, on the plane side from the rolling surface 13, are provided with projecting portions 16, which contain holes for receiving the cords lfig. 1~) which are , ~ ' ~33~
acted on by actuators 9 and which connect the first louter) and last elements in a group of elements.
The element pairs can naturally be arranged in other relative rotational positions than the 90 mentioned. The element pairs .. ~ ~
can for example be rotated only a few degrees relative to each other, so that they are placed in a screw line formation.
The torsion member 14 can extend over the whole width of the element, but it can also advantageously be divided into several narrower bands which are alternately connected with respective elements, as is shown in fig. 4.
Fig. 5 shows an embodim0nt where the torsion members are place outside the elements 11 and 12. Each element pair includes two torsion plates 14 a and 14 b, which each include a central middle field 1~ and on the sides o-F that slightly angled side fields 19. At the outer end the torsion plate is provided with a narrow strip 21 which is mainly parallel to the middle field 1A. The two torsion plates 14 a and 14 b are connected at the outer edges for example by spot welding and in that way make a torsion member 14. Because the middle field 1B has mainly the same size and shape as the plane "back" surface of the elements 11 and 12 these will be locked against rotation relative to the torsion member.
For certain applications it can be appropriate to arrange a group of elements with their rolling planes placed in the same direction as is shown in fig. ~, and in such arrangements it is possible to arrange the torsion member 14 as a continuous length which e~tends from the first element 11 to the last element 12 in the element group.
The parts 19 of the torsion members outside the elements need not necessarily be arranged in the rolling direction of the elements as is shown in fig. 5 but can also be arranged perpendicular to the said rolling direction, according to what is shown in fig. 7. It is also possible to arrange the torsion ~33~
members in both these directions, that is a combination of what is shown in *ig. 5 and 7.
ln fig. 8 is shown an embodiment, where ear.h indlvidual torsion member 14 is cross-shaped and made of an appropriate spring steel material. The cross-shaped member has a central middle part 18, for receiving elements 11 and 12 respectively on each flat sides opposite each other. The elernents do not belong to the same element pair but belong to respective pairs. The parts 19 placed outside the ele~ents, that is one arm pair of the cross, are both curved at an anyle towards the central part 18, while the other parts 20 are curved in the opposite direction relative to the arms 19. The end parts 19, 20 of the arms are intended to be connected to the arms of the neighb~ring torsion member.
The c~nnection between the arms can be permanent, for example by welds, but other means of connection are possible, for instanse screw fastenings.
As can be seen in fig. B the r~lling direction of every second element pair is rotated 90 relative to each other, so that the ar~s 19 and 20 respectively are placed in the direction of the e~tension of the rolling direction.
In ord~r to obtain an even stiffer construction a plane plate 22 can, be placed between each element pair 11, 12, preferably of spring steel, which at both its ends is fastened to the ends of the arms 19 and 20 respectively, as is shown in fig. 9. Possibly -the parts 19 and 20 can be shaped with stiffeners inserked in the plates, which is indicated on two fields.
.
Fi0. 1~ shows an embodiment where the same great stiffness is obtained as in fig. 9 but without affecting the flexibility of the arms. This is obtained by replacing the plate 22 in fig. 9 with a plate-shaped frame Z~, which at a distance surrounds the el~ment pair 11, 12. In the same way as the plate 22 the ~ ~, ~33~
frame is fixed to the arms 19 and 20 respectively of two nearby torsion members 1~.
A further variant of the torsion members is shown in fig. 11, where the members have a partially bellows-like form. Each mamber 1~. contains a plane, for example eight-sided plate Z4, which in the same way as the cross shaped part according to fig. 8-10 is placed between two elements belonging each to its element pair. In the extension of the rolling surface between two neighboring plates 2~ are placed connecting pieces 25 with Y-shaped cross sections, which are fastened by their shank ends 27 to the edge parts 26 of the plates 2~.
In fig. 12 is shown a modified embodiment of the device according to fig. 11, where the fixed connections at the edge parts 27 and the shank ends 26 have been replaced by joint connections 28, 29, for example in the form of piano hinges.
Instead of connecting the plates Z~ with connection pieces 25 they can be attached to the elements 11 and 12 in a flexible bearing, which is shown in the embodiment according to fig.
13. At the oppositely placed side edg~s of the elements 11, 12 are flexibly attached torsion members 14, which consist of two hinge flanges 30 and 31.
An additional embodiment is shown in fig. 14. On the end sides 32 and 33 of the elements 11 and 12, across the rolling direction of the elements at the beginning and final ends of the rolling surface, pLns 3~ are fi~ed, which act as bearing axles for the torsion members 14, which in this embodiment co~sist of steel bands 35, which are loop shaped at the ends for fitting the pins 34.
In fig. 15 is finally shown an embodiment where a group of elements has a continuous torsion member 14 in the form of a cross-sectionally preferably circular bellows, where the folded bellows sides 38 are made of a stiff material. In this embodiment only the first and last elements of the group are ~3~iii connected with the end pieces 36 and 37 of the bellows, whereby the ends 39 of the wires 10 are attached to the end piece 36.
The invention is not limited to the embodiments shown and d,escribed, but a number of variations are possible w~--~e~
~ . Thus the elements 11, 12 can be arranged in yroups 50 that their rolling surface is turned in the same direction, said embodiment can be appropriate if the robot arm is to perform a motion only in that direction. In the description and in the drawings only single-curved elements have been shown, but the torsion members according to the invention can of course also be used with elements with double curved rolling surfaces.
Claims (11)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS
1. A device for torsion-proof connection of a number of elements having single-curved contact surfaces and being in direct or indirect rolling contact with each other which together make a robot arm or the like, comprising: a plurality of elements held together by and through a power bearing unit which are actuated by an actuating means; said plurality of elements being provided with torsion members having substantial stiffness transverse to a rolling direc-tion; at least the first and the last element in said plur-ality of elements are connected with each other through at least one joint which is flexible in the rolling direction of the elements and which is stiff in another direction transverse to the first direction, said joint being a tor-sion member.
2. A device according to claim 1, wherein each said torsion member comprises at least one band, both ends of which are fastened to at least the first and the last in an element pair of said plurality of elements through regions adjacent the ends of the respective rolling sur-faces.
3. A device according to claim 2, wherein the torsion member comprises several bands which are alterna-tively connected to respective areas of the elements.
4. A device according to claim 1, wherein moment and power receiving parts of the torsion member are located outside said plurality of elements.
5. A device according to claim 4, wherein the torsion member comprises at least one bellows, the folded bellows walls being of a stiff material.
6. A device according to claim 1, wherein the torsion member comprises plates extending from each element in an element pair, which are connected to each other out-side the elements.
7. A device according to claim 4, wherein the members are cross-shaped and formed with a central part arranged between two elements each belonging to its ele-ment pair, the two arm pairs of the cross-shaped member being bent in opposite directions relative to each other, and each arm pair being connected to the arms of a respective corresponding adjacent member.
8. A device according to claim 7, wherein between the elements in each element pair a substantially planar plate is disposed which is connected by its ends to the arms of the cross-shaped member.
9. A device according to claim 7, wherein between the cross arms of the member located opposite to each other and connectible to each other, there is attached an extend-ing plate-shaped frame extending about a pair of elements.
10. A device according to claim 4, wherein each member comprises a substantially planar plate placed between two elements belonging each to its element pair and that the plates in the extension of the rolling planes are equipped with V- or bellows-shaped connecting pieces.
11. A device according to claim 4, wherein pins are disposed at the end sides of the elements, substantially across the rolling direction of the elements near the ends of the rolling surface, at which pins torsion members are arranged, which cross-wise connect the elements in each ele-ment pair.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE8204126A SE436175B (en) | 1982-07-05 | 1982-07-05 | DEVICE FOR THE CONNECTION OF A ROBOT ARM OR SIMILAR INCLUDING ELEMENT |
| SE8204126-0 | 1982-07-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1233856A true CA1233856A (en) | 1988-03-08 |
Family
ID=20347274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000431699A Expired CA1233856A (en) | 1982-07-05 | 1983-07-04 | Device for torsion-proof connection of an element in a robot arm or the like |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US4815911A (en) |
| EP (2) | EP0098822A3 (en) |
| JP (1) | JPS59501349A (en) |
| AU (1) | AU1776183A (en) |
| CA (1) | CA1233856A (en) |
| DE (1) | DE3379162D1 (en) |
| DK (1) | DK163572C (en) |
| FI (1) | FI76951C (en) |
| NO (1) | NO154118C (en) |
| SE (1) | SE436175B (en) |
| WO (1) | WO1984000125A1 (en) |
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| JP5399910B2 (en) * | 2006-11-13 | 2014-01-29 | レイセオン カンパニー | Versatile endless track for lightweight mobile robot |
| JP2010526590A (en) | 2007-05-07 | 2010-08-05 | レイセオン・サルコス・エルエルシー | Method for manufacturing a composite structure |
| JP5331102B2 (en) * | 2007-05-08 | 2013-10-30 | レイセオン カンパニー | Variable primitive mapping for robotic crawlers |
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| FR2960468B1 (en) * | 2010-05-31 | 2013-03-29 | Commissariat Energie Atomique | ARTICULATED INFLATABLE STRUCTURE AND ROBOTIC ARM COMPRISING SUCH A STRUCTURE |
| US8393422B1 (en) | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| CN103417298B (en) * | 2012-05-25 | 2017-10-10 | 三星电子株式会社 | Arm unit and the robot with the arm unit |
| FR2991221B1 (en) * | 2012-06-01 | 2015-02-27 | Aldebaran Robotics | VERTEBRAL COLUMN FOR HUMANOID ROBOT |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
| US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
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| US10363669B2 (en) | 2015-09-15 | 2019-07-30 | Brad Smallridge | Anatomical robot |
| US10807659B2 (en) | 2016-05-27 | 2020-10-20 | Joseph L. Pikulski | Motorized platforms |
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| CN110900651B (en) * | 2019-12-04 | 2021-09-28 | 北京航空航天大学 | Flexible joint based on rolling contact and continuum robot with flexible joint |
| US11780079B2 (en) * | 2022-03-10 | 2023-10-10 | John Christian Colley | Flexible structure, particularly for applications in robotics and orthopedics |
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| US3266059A (en) * | 1963-06-19 | 1966-08-16 | North American Aviation Inc | Prestressed flexible joint for mechanical arms and the like |
| US3284964A (en) * | 1964-03-26 | 1966-11-15 | Saito Norio | Flexible beam structures |
| US3274850A (en) * | 1964-11-04 | 1966-09-27 | Nazarene F Tascio | Flexible push-pull control cable |
| CH452286A (en) * | 1965-08-30 | 1968-05-31 | Wild Heerbrugg Ag | Pivot bearing |
| US3712481A (en) * | 1971-12-23 | 1973-01-23 | Mc Donnell Douglas Corp | Actuator |
| US3932045A (en) * | 1973-03-05 | 1976-01-13 | Purdue Research Foundation | Rolling contact joint |
| NO137351C (en) * | 1976-01-30 | 1978-02-22 | Trallfa Nils Underhaug As | FLEXIBLE ROBOT ARM. |
| FR2462607A2 (en) * | 1978-09-20 | 1981-02-13 | Ass Ouvriers Instr Precision | ARTICULATION FOR A MANIPULATOR ARM |
| US4267608A (en) * | 1978-10-04 | 1981-05-19 | Bora Jr F William | Prosthetic joint |
| SE419421B (en) * | 1979-03-16 | 1981-08-03 | Ove Larson | RESIDENTIAL ARM IN SPECIAL ROBOT ARM |
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| SE419304B (en) * | 1980-03-14 | 1981-07-27 | Robotgruppen Hb | Flexible robot arm |
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| SU1184666A1 (en) * | 1984-04-28 | 1985-10-15 | Институт Машиноведения Им.А.А.Благонравова | Actuating device for industrial robot |
-
1982
- 1982-07-05 SE SE8204126A patent/SE436175B/en not_active IP Right Cessation
-
1983
- 1983-07-04 DE DE8383902309T patent/DE3379162D1/en not_active Expired
- 1983-07-04 AU AU17761/83A patent/AU1776183A/en not_active Abandoned
- 1983-07-04 WO PCT/SE1983/000269 patent/WO1984000125A1/en active IP Right Grant
- 1983-07-04 EP EP83850188A patent/EP0098822A3/en active Pending
- 1983-07-04 JP JP58502376A patent/JPS59501349A/en active Pending
- 1983-07-04 EP EP83902309A patent/EP0126079B1/en not_active Expired
- 1983-07-04 CA CA000431699A patent/CA1233856A/en not_active Expired
-
1984
- 1984-02-28 DK DK112484A patent/DK163572C/en not_active IP Right Cessation
- 1984-02-29 NO NO840764A patent/NO154118C/en unknown
- 1984-08-01 FI FI843031A patent/FI76951C/en not_active IP Right Cessation
-
1987
- 1987-07-20 US US07/076,990 patent/US4815911A/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| US4815911A (en) | 1989-03-28 |
| NO154118C (en) | 1986-07-23 |
| EP0126079A1 (en) | 1984-11-28 |
| NO840764L (en) | 1984-02-29 |
| DK163572B (en) | 1992-03-16 |
| EP0098822A2 (en) | 1984-01-18 |
| WO1984000125A1 (en) | 1984-01-19 |
| FI76951B (en) | 1988-09-30 |
| SE8204126L (en) | 1984-01-06 |
| DE3379162D1 (en) | 1989-03-16 |
| DK112484D0 (en) | 1984-02-28 |
| DK112484A (en) | 1984-02-28 |
| SE8204126D0 (en) | 1982-07-05 |
| FI843031A0 (en) | 1984-08-01 |
| JPS59501349A (en) | 1984-08-02 |
| FI843031A (en) | 1984-08-01 |
| SE436175B (en) | 1984-11-19 |
| DK163572C (en) | 1992-08-10 |
| EP0126079B1 (en) | 1989-02-08 |
| FI76951C (en) | 1989-01-10 |
| NO154118B (en) | 1986-04-14 |
| EP0098822A3 (en) | 1984-07-04 |
| AU1776183A (en) | 1984-01-26 |
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Legal Events
| Date | Code | Title | Description |
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| MKEX | Expiry |