[go: up one dir, main page]

WO2016198867A1 - Ensemble d'accouplement et application à un organe d'accouplement entraîné, bras robotique et entraînement double - Google Patents

Ensemble d'accouplement et application à un organe d'accouplement entraîné, bras robotique et entraînement double Download PDF

Info

Publication number
WO2016198867A1
WO2016198867A1 PCT/GB2016/051699 GB2016051699W WO2016198867A1 WO 2016198867 A1 WO2016198867 A1 WO 2016198867A1 GB 2016051699 W GB2016051699 W GB 2016051699W WO 2016198867 A1 WO2016198867 A1 WO 2016198867A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupling
axis
intermediate member
periphery
central axis
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.)
Ceased
Application number
PCT/GB2016/051699
Other languages
English (en)
Inventor
Simon Parker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Punk Couplings Ltd
Original Assignee
Punk Couplings Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from GBGB1510138.9A external-priority patent/GB201510138D0/en
Priority claimed from GBGB1510141.3A external-priority patent/GB201510141D0/en
Priority claimed from GBGB1510139.7A external-priority patent/GB201510139D0/en
Application filed by Punk Couplings Ltd filed Critical Punk Couplings Ltd
Priority to GB1721525.2A priority Critical patent/GB2555985B/en
Publication of WO2016198867A1 publication Critical patent/WO2016198867A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • 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
    • B25J9/065—Snake robots
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/18—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts (1) having slidably-interengaging teeth
    • F16D3/185—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts (1) having slidably-interengaging teeth radial teeth connecting concentric inner and outer coupling parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint

Definitions

  • This invention related to couplings between an input and an output and to drive systems incorporating such couplings.
  • the coupling comprises at least one elongate projection from one member of a pair of members into an elongate slot in the other of the pair of members, each projection and each slot being elongate in a plane containing or parallel to the central axis of the pair of members concerned, the slot and projection projecting in the direction of the said plane, and arranged to co-act with the pair of members to transmit torque from the innermost of the pair of members to the other member of the pair.
  • axles rather than projections in slots constrain one member to rotate about another on an axis perpendicular to the central axis.
  • a driven coupling in which the angular alignment of an output of a coupling with respect to the input can be varied by a user, rather than determined by the spatial relationship of the output to the input.
  • a coupling assembly comprised a coupling as described in the previous paragraph which is the outer of two couplings one inside the other.
  • a coupling assembly as described in the previous paragraph forms a link in a robot arm.
  • a coupling in coupling assembly having one coupling inside the other the outer coupling is undriven, such a coupling provides, when assembled in a series with other couplings, a dual drive wherein drive can pass along a series of inner couplings and a second drive along the series of outer couplings.
  • a coupling assembly comprises a first coupling having a central axis, an inner annular member having, when the coupling is aligned, an axis coincident with the central axis, an intermediate annular member and an outer annular member in which the inner member is contained within the intermediate member and the intermediate member is contained within the outer member, the outer peripheries of the inner member and the intermediate member and the inner peripheries of the intermediate member and the outer member each comprise concentric spherical segments centred on the central axis and in which the inner periphery of the intermediate member engages against the outer periphery of the inner member and the inner periphery of the outer member engages against the outer periphery of the intermediate member, the inner member and the intermediate member each having at one or a pair of diametrically opposed elongate radial projections extending from their outer peripheries engaging in one or a pair corresponding diametrically opposed slots in the concave inner peripheries of the intermediate
  • gear teeth are of the form of a worm gear meshing with a worm wheel.
  • the inner annular member has a shaft mounted in its central aperture and at least one shaft connected to the outer member, said output being on the opposite side of the coupling to the input.
  • the driven gear wheels are driven through shafts by motors mounted on the member concerned; operation of the motors will rotate the member in which the worms are mounted with respect to the other annular members so changing the angular relationship between the shafts.
  • an output of the first coupling comprises one or more shafts mounted on the outer member being connected to an input shaft mounted in the central aperture of an adjacent coupling.
  • the coupling assembly comprises the first coupling and a second inner coupling, the first coupling having a hollow shaft coaxial with the central axis, within the hollow shaft is mounted a second inner coupling; said second inner coupling comprising a second inner annular member having an axis coincident with the central axis, a second intermediate annular member and an second outer annular member in which the second inner member is contained within the second intermediate member and the second intermediate member is contained within the second outer member and in which the second intermediate member is constrained to rotate about the second inner member around a third axis of rotation which is perpendicular to the central axis, and the second outer member is constrained to rotate about the second intermediate member about a fourth axis of rotation which is perpendicular to the third axis of rotation and to the central axis, the outer periphery of the first inner annular member and the second intermediate members and the inner periphery of the second intermediate member and the second outer member each comprise concentric spherical segments centred
  • Both the first and second coupling of the coupling assembly comprising the said further embodiment share a common centre on the central axis.
  • the second inner member has an aperture which may, for example, receive a drive shaft; the second outer member itself may be connected to an output shaft, which in turn may be the input shaft of a second inner member of adjacent coupling assembly.
  • a drive arm such as a robot arm is formed in which drive may be transmitted through a series of coupling assemblies.
  • the spatial relationship of the final output drive to the initial input drive is determined by the user, by positioning the members of the first couplings one with respect to the other using the gear arrangement as in the first embodiment.
  • gears and worm wheels are omitted and a series of coupling assemblies are connected one to another, with the outer annular member of the first coupling connected to the inner annular member of the outer coupling of an adjacent coupling assembly and the outer annular member of the first member connected to the inner annular member of adjacent member of the series.
  • a dual drive system is constructed with an outer drive passing through the series of outer coupling and an inner drive passing through a series of inner couplings.
  • Figures 1A to 1C show an example of a coupling as described in WO2015/087080 of which Figure 1A is a cross-sectional view of Figure 1B along axis A2, Figure 1B is an axial view of the coupling, and Figure 1C is a perspective view of the coupling;
  • Figures 2A to 2F show an example of a coupling as described in WO2015/087081, of which Figure 2A is an axial view along of the coupling, Figure 2B is a cross-sectional view along plane A-A in Figure 2A, Figure 2C is a cross-sectional view along plane B-B in Figure 2A, Figure 2D is an axial view showing the elements of the coupling un-aligned, Figure 2E is an axial cross-sectional view of the coupling of in Figure 2A and Figure 2F is a cross sectional view along plane A-A of Figure 2D;
  • FIGS. 3 to 9 show an examples of a first embodiment of the invention, and in which:
  • Figure 3 is perspective view of the coupling assembly
  • Figure 4 is a top view of the coupling assembly of figure 3;
  • Figure 5 is a side view the coupling assembly of figures 3 and 4;
  • Figure 6 is a further side view of the coupling assembly of figures 3 and 4;
  • Figure 7 is vertical section on the line X-X of figure 6;
  • Figure 8 is a vertical section of the coupling on a plane perpendicular to that of figure 7;
  • Figure 9 is an exploded perspective view of a coupling assembly according to the invention.
  • Figure 10 is a robot arm comprising a plurality of coupling assemblies, each coupling as shown in figures 3 to 9;
  • Figure 11 is a vertical section similar to that of figure 8 but without the second inner coupling showing a first coupling according to the invention used as a mounting for other equipment;
  • Figure 12 is vertical section of further coupling assembly according to another embodiment
  • Figure 13 is a vertical section of the coupling on a plane perpendicular to that of figure 12;
  • Figure 14 is an exploded perspective view of a coupling assembly of figures 12 and 13;
  • Figure 15 is a dual drive comprising a plurality of coupling assemblies of the kind shown in figures 12 to 14.
  • a coupling of WO2015/08780 comprises a first, inner annular member 601, annular intermediate member 602 and an annular outermost member 603.
  • Each of the members 601, 602, 603 comprises spherical segments about the centre C.
  • the inner annular member 601 is centred on a first axis A1, the inner annular member 601 having an outer peripheral surface S1 which is convexly spherical centred on the point C on the axis A1.
  • the first inner annular member 601 has a central bore 40 which in this example has splines 41 for engaging a correspondingly splined shaft.
  • the intermediate annular member 602 has an inner peripheral surface S21 which is concavely spherical complementary to the outer surface S1 of the first inner member 601.
  • the inner spherical surface S21 of the intermediate member 602 and the outer spherical surface S1 of the first inner member 601 are contiguous plain bearing surfaces.
  • Diametrically opposite elongate projections M1 and M11 extends radially of, and parallel to, the first axis A1 from the convex spherical surface S1 of the inner member 601.
  • the radially outer surface of the projection also extends parallel to the spherical surface S1.
  • the projections extend into complementary slots K1 and K11 in the inner concave surface S21 of the intermediate member 602.
  • the projections M1, M11 and slots K1 K11 constrain the first inner member 601 and intermediate member 602 to be rotatable one relative to the other about a second axis A2 of rotation through and perpendicular to the first axis A1.
  • the intermediate member 602 has an outer periphery S22 which is convexly spherical.
  • the outermost annular member 603 has an inner peripheral surface S31 which is concavely spherical complementary to the outer surface S22 of the intermediate member 602.
  • the inner spherical surface S31 of the outermost member and the outer spherical surface S22 of the intermediate member 602 are contiguous plain bearing surfaces.
  • Second elongate projections M2 and M22 extend radially of, and parallel to, the first axis from the convex spherical surface S22 of the intermediate member 602.
  • the radially outer surface of the second projections M2and M22 also extends parallel to the spherical surface.
  • the projections M2and M21 extend into complementary, second, slots K2 and K21 in the inner concave surface of the outermost member 603.
  • the second projection M2 and M21 and second slots K2 and K21 are perpendicular to the first projections M1, M11, and first slots K1, K11. They constrain the intermediate 602 and outermost 603 members to be rotatable one relative to the other about a third axis A3 of rotation through the centre point C, and perpendicular to both the first axis A1and second axis A2.
  • the inner member 601 is retained in the intermediate member 602, and the intermediate member 602 is retained in the outermost member 603.
  • One use of the couplings of Figure 1A to 1C is as a universal joint as it allows angular misalignment of the shafts by virtue of the relative rotation of the inner and outermost members about the second axis.
  • the coupling of Figures 1A to 1C has a flange 44, fixed to or integral with the third annular member for connecting the third annular member to a structural element, for example a shaft.
  • the flange 44 may be replaced by splines or some other connecting means.
  • the projections M1, M11 and M2 M21 may be in intermediate member 602 and outermost member 603 respectively projecting into slots K1, K11, K2, K21 in inner member 601 and intermediate member 602.
  • the pairs of members 601 and 602, and 602 and 603 each comprise a pair of members as discussed above and in the claims.
  • FIG. 2A to 2F An example of a coupling according to WO2015/087081 is shown in figures 2A to 2F.
  • the coupling comprises an inner annular member 401 centred on a first axis A1, the inner annular member 401 having an outer peripheral surface S1 which is convexly spherical centred on the point C on the axis A1.
  • the inner annular member 401 has a central cylindrical bore 40 has splines for engaging a correspondingly splined shaft.
  • An intermediate annular member 402 has an inner peripheral surface S21 which is concavely spherical complementary to the outer surface S1 of the inner member 402.
  • the inner spherical surface S21 of the second member and the outer spherical surface S1 of the inner member 401 are contiguous plain bearing surfaces.
  • a first pair of diametrically opposed axles X1 and X11 extend radially of, the first axis A1 on the third axis A3 to couple the inner member 401 to the intermediate member 402.
  • the first and second axles constrain the inner and intermediate members to rotate one relative to the other about the third axis A3.
  • the intermediate member 402 has an outer periphery S22 which is convexly spherical.
  • An outer annular member 403 has an inner peripheral surface S31 which is concavely spherical complementary to the outer surface S22 of the intermediate member 402.
  • the inner spherical surface S31 of the outer member 403 and the outer spherical surface S22 of the intermediate member 402 are contiguous plain bearing surfaces.
  • a second pair of diametrically opposed axles X2 and X21 extend radially of the first axis A1 along the second axis A2 perpendicular both to the third axis A3 to couple the intermediate member 402 to the outer member 403.
  • the axles X2 and X21 constrain the intermediate 402 and outer 403 members to be rotatable one relative to the other about the second axis A2 of rotation through the centre point C, and perpendicular to the first axis A1 and perpendicular to the third axis A3.
  • the second pair of axles allows relative rotation of the pair of members comprising intermediate and outer members 402 and 403 independently of the pair of members comprising inner and intermediate members 401 and 402.
  • the spherical surfaces S1, S21, S22 and S31 bear loads acting radially of the axis A1 and in the direction of the axis A1.
  • the axles transmit torque between the inner member 401, intermediate member 402, and outer member 403.
  • the inner member 401 is retained in the intermediate member 402, and the intermediate member 402 is retained in the outer member 403.
  • a first shaft or other structural element may be engaged in the central bore in the first annular member 401 and a second shaft or other structural element may be engaged with the outer member 403.
  • the outer member 403 may be fixed to or integral with a flange (not shown) or it may comprise other means, for example external splines, for coupling to a structural element.
  • each intermediate member is constrained to rotate about each inner member, and each outer member about each intermediate member by using elongate projections operating in slots as described with reference to figures 1A to 1C, or in the case of an embodiment comprising a coupling assembly having a second coupling within a first coupling, the second coupling has either elongate projections as in figures 1A to 1C or axles as described with reference to figures 2A to 2F, or a combination of both.
  • a driven coupling assembly 10 has a central axis X, an inner annular member 12, an intermediate annular member 14 and an outer annular member 16.
  • the axes of the members 12, 14, and 16 coincide with the central axis X when the coupling assembly is aligned.
  • the inner member 12 is contained within the intermediate member 14 and the intermediate member 14 is contained within the outer member 16.
  • the outer peripheries 20 and 30 respectively of the inner member 12 and the intermediate member 14 and the inner peripheries 32 and 42 of the intermediate member and the outer member respectively each comprise concentric spherical segments having common centres on the central axis X (these items can be seen in figure 9).
  • the inner periphery 32 of the intermediate member 14 engages against the outer periphery 20 of the inner member 12 and the inner periphery 42 of the outer member engages against the outer periphery 30 of the intermediate member 14.
  • the inner member 12 is mounted within the intermediate member 14 and the intermediate member 14 within the outer member 16 (this can be seen most clearly in figures 7 and 8).
  • intermediate member 14 has diametrically opposed loading slots 23, and the outer member diametrically opposed loading slots 43 (the loading slots are best seen in figure 9).
  • Both the inner member 12 and the intermediate member 14 have a pair of diametrically opposed elongate radial projections 25 and 35 respectively extending from their outer periphery 20, 30 and engaging in a pair of corresponding diametrically opposed slots 36, 46 in the concave inner peripheries 32 of the intermediate and outer member 42 (this feature can be seen most clearly in figures 7 to 9).
  • the outer faces 27, 37 of projections 25, 35 are formed as with gear teeth in the form of worms each meshing with a driven worms 39, 49 mounted within the intermediate member 14 or outer member 16 respectively.
  • the projections and slots 25, 36 are contained in a first plane passing though the axis of the inner member and that the projections and slots 35, 46 are contained in a second plane passing though the axis of the inner member but perpendicular to the first plane.
  • the inner and intermediate members 12 and 14 rotate one with respect to the other about a first axis that is perpendicular to the axis X’ of the inner member and the intermediate 14 and outer members 16 rotate one with respect to the other about an second axis that that is perpendicular both to the first axis and to the axis of the inner member.
  • the inner annular member 12 has a hollow shaft 50 mounted its central aperture 21.
  • the shaft 50 has a key engaging in a keyway 24 in the in the periphery of the aperture to prevent slippage between the shaft 50 and the inner member 12.
  • the hollow shaft 50 terminates with an external flange 52.
  • shafts 54 Projecting from the outer member in the opposite direction to the hollow shaft 50, are shafts 54 mounted on the side of the outer member 16.
  • the shafts 54 have internally treaded holes 56. Holes 58 pass though the flange 52 positioned to align with the threaded holes 56 of shafts 54. If two coupling assemblies 10 are placed next to each other, the holes could be bolted 54 to the flange 52.
  • the worms 39 and 49 are mounted in thrust bearings within pairs of bearing blocks 61, 62 respectively mounted in pairs one of each pair either side of the intermediate 14 or outer 16 members respectively.
  • Each shaft 63 of the worms 39, 49 is driven through reduction gears 64 from individual electric motors 65 mounted on blocks 66.
  • the motors have electrical inputs controlled by computer or programmable logic controller.
  • Rotation of each pair of worms 39 or 49 is drives pair of elongate members 25, 35 and thus intermediate member 14 about the inner member 12 about the first axis or the outer member 16 about the intermediate member 14 about the second axis. In this way the coupling takes up various forms.
  • rotation of the worms ceases and the coupling is fixed in the particular spatial arrangement reached.
  • a second inner coupling 200 is mounted within the hollow shaft 50.
  • the inner coupling is of the same form as the couplings illustrated in Figures 1A to 1C or 2A to 2F.
  • the inner coupling 200 comprises with second annular member 212 having an axis which is coincident with the central axis when the second annular member with that axis, a second intermediate annular member 214 and a second outer annular member 216.
  • the second inner member 212 is contained within the second intermediate member 214 and the second intermediate member 214 is contained within the second outer member 216. Loading of the annular members one inside another is by the use of diametrically opposed loading slots in an analogous manner to the loading slots 23 and 43 in members 14 and 16.
  • the second intermediate member 214 is constrained to rotate about the second inner member 212 around a third axis of rotation which is perpendicular to the central axis X
  • the second outer member 216 is constrained to rotate about the second intermediate member about a fourth axis of rotation which is perpendicular to the third axis of rotation and to the central axis.
  • the outer peripheries of the first inner annular member and the second intermediate members and the inner periphery of the second intermediate member and the second outer member each comprise concentric spherical segment centred central axis and in which the inner periphery of the second intermediate member engages against the outer periphery of the second inner member and the inner periphery of the second outer member engages against the outer periphery of the second intermediate member, the second inner member being received in the second intermediate member and the second intermediate member in the second outer member.
  • the constraints comprise pairs of diametrically opposed elongate projections extending radially from the outer convex peripheries of second inner and second intermediate into radial slot in the inner concave peripheries of the intermediate and outer members respectively.
  • the projections and slots are akin to those shown as M1, M11 into slots K1, K11, and M2, M21 into slots K2, K21 of Figures 1A to 1C.
  • constraints may be axles mounted as opposite pairs between the second inner member and second intermediate on the third axis of rotation, and between in the second intermediate member and second outer member on the fourth axis of rotation as illustrated by axles X1, X11 and X2, X21 in figures 2A to 2F.
  • the constraints could be axles between a pair of members and elongate projections in one of the other pair of members engaging in slots in the other member of the pair; in this case the axles, projections and slots would all lie in the same plane.
  • the second inner member 212 has an aperture 221 which may, for example, receive a drive shaft; the second outer member itself is connected to end 224 of a further drive shaft 223 fitted to an annular extension 224 of the outer member 216 within the hollow shaft 50.
  • the outer end 226 of the shaft 223 can, for example be fitted to the annular aperture 221 of a further coupling of the kind described here. In this way, by linking three or more of such couplings to form a drive train within a robot arm as described below with respect to figure 10.
  • the second inner coupling 200 is supported within bearings 230 to allow it to freely rotate within hollow shaft 50.
  • the bearings are shown in figure 9.
  • the bearings are supported within hollow shaft 50 allowing the rotation of the second inner coupling with respect to the first outer coupling. Furthermore all the spherical surfaces of both the first and second couplings have a common centre on the central axis.
  • a robot arm 11 comprising a series of links 100 to 105 each being a coupling assembly according to this invention is shown in figure 10.
  • Each shaft 54 on the outer members 16 of the first coupling of each link in the series (other than the shafts 54 on the first link 100) in the series is bolted to the flange 52 on the hollow shaft 50 of the previous member of the series, i.e. the shafts 54 on link 101 are bolted to the flange 52 of the link 100 etc.
  • the motors 65 associated with each coupling assembly and thus the spatial relationship of the members in couplings, the curved arm shown in figure 10 can be produced.
  • the aperture of the second inner member of the first coupling 100 has a drive shaft coupled therein and connected to a shaft 254 of a drive motor 252 drive motor.
  • the second outer annular member (216 in figures 3 to 9) is connected to a drive shaft 223 whose opposite end in the inner annular member (212 in figures 3 to 9) of the next link of the series (i.e. the shaft 223 connects to the second outer member of link 100 is the drive shaft in the annular aperture of the second inner member of link 102, and so on).
  • the flange 52 of the hollow shaft 50 of the final link 105 in the series has a drill 250 bolted to the flange, with a chuck 251 rotatable mounted therein driven by the shaft 223 (not seen but within hollow shaft 50) connected to the second outer member of the final link 105 in the series.
  • the drive of motor 252 is transmitted through the series of inner couplings 200 in figures 3 to 9 and along a curved path via the series of shafts 223 to the rotating drill chuck 251.
  • the position of the robot arm is maintained by the parallel series of outer couplings each of which together with the corresponding inner couplings 200, make up the links 100 to 105.
  • the embodiment shown in figures 3 to 9 form a simple driven coupling, which can be configured such that flange 52 is configurable to be set at various angles to the shafts 54.
  • equipment 70 could be mounted on the flange 52, with the shafts 52 acting as ground mounting.
  • a driven shaft is connected within the hollow shaft 50, the display can be rotated and inclined at various angles.
  • Such a driven coupling is shown in figure 11 (which is a copy of figure 8 with the inner coupling 200 and shaft 223 not present).
  • the item of equipment 70 can be turned by connecting a drive shaft into shaft 50, and inclined at various angles using motors 65 as described above.
  • FIG 15 shows a dual drive system 12 made up of a series of links incorporating a coupling assembly 300 made up of a coupling within a coupling.
  • a coupling assembly 300 comprising the dual drive system is shown in figures 12 to 14.
  • the assembly comprises 300 a first outer coupling 310 having a central axis X’, an inner annular member 312 having, an intermediate annular member 314 and an outer annular member 316.
  • the inner member 312, intermediate member 314 and outer member 316 each have central axes co-incident with the central axis X’ when aligned.
  • the inner member 312 is contained within the intermediate member 314 and the intermediate member 314 is contained within the outer member 316.
  • the outer peripheries 320 and 330 respectively of the inner member 312 and the intermediate member 314 and the inner peripheries 332 and 342 of the intermediate member and the outer member respectively each comprise concentric spherical segments centred on a common centre C on central axis X.
  • the inner periphery 332 of the intermediate member 314 engages against the outer periphery 320 of the inner member 312 and the inner periphery 342 of the outer member engages against the outer periphery 330 of the intermediate member 314.
  • the inner member 312 is mounted within the intermediate member 314 and the intermediate member 314 within the outer member 316.
  • intermediate member 314 has diametrically opposed loading slots 323, and the outer member diametrically opposed loading slots 343.
  • the inner member is aligned with loading slot 323, inserted and turned to its position; to place the intermediate member 314 within outer member 316, the intermediate member, now containing the inner member 312, is aligned with loading slots 343, inserted and turned to its position.
  • Both the inner member 312 and the intermediate member 314 have a pair of diametrically opposed elongate radial projections 325 and 335 respectively extending from their outer periphery 320, 330 and engaging in a pair of corresponding diametrically opposed slots 336, 346 in the concave inner peripheries 332 of the intermediate and outer member 342 respectively.
  • the projections and slots 325, 336 are contained in a first plane passing though the axis of the inner member and that the projections and slots 335, 346 are contained in a second plane passing though the axis of the inner member but perpendicular to the first plane.
  • the inner and intermediate members 312 and 314 rotate one with respect to the other about a first axis that is perpendicular to the central axis X’
  • intermediate 314 and outer members 316 rotate one with respect to the other about an second axis that that is perpendicular both to the first axis and central axis X’.
  • the inner annular member 312 has a hollow shaft 350 mounted its central aperture 321.
  • the shaft 350 has a key engaging in a keyway 324 in the in the periphery of the aperture to prevent slippage between the shaft 350 and the inner member 312.
  • the hollow shaft 350 terminates with an external flange 352.
  • shafts 354 Projecting from the opposite direction to the hollow shaft 350, are four shafts 354 mounted on the side of the outer member 316.
  • the shafts 354 have internally treaded holes 356.
  • Four holes 358 pass though the flange 352, position to line up with the threaded holes 356 of shafts 354, if two coupling assemblies 300 were placed next to each other, such that holes could be bolted 354 to the flange 352.
  • the four individual shafts 354 will be replaced by a single hollow shaft which is bolted to flange 352.
  • the shafts 354 on the outer member of one coupling assembly 300 are bolted to the flange 352 of an adjacent coupling, as seen in the figures 12 and 13, whose shafts 354 may in turn bolted to the flange 352 of a third coupling assembly 300.
  • constraints in the embodiments are described in detail using diametrically opposed radial projections engaging in diametrically opposed slots as described in figure 1, the constraints could be axles coupling the inner and intermediate members together on the one hand, and intermediate and outer members together on the other as described in figure 2.
  • Parallel projections operating in parallel slots as described in WO2015/087080 could also be used.
  • An inner coupling 500 is mounted within the hollow shaft 350.
  • the inner coupling is of the same form as the couplings illustrated in Figures 1A to 1C or 2A to 2F.
  • the inner coupling 500 comprises second annular inner member 512 having an axis which is coincident with the central axis when the second annular member is aligned with that axis, a second intermediate annular member 514 and a second outer annular member 516.
  • the second inner member 512 is contained within the second intermediate member 514 and the second intermediate member 514 is contained within the second outer member 516. Loading of the annular members one inside another is by the use of diametrically opposed loading slots 219 in an analogous manner to the loading slots 323 and 343 in members 314 and 316.
  • the second intermediate member 514 is constrained to rotate about the second inner member 512 around a third axis of rotation which is perpendicular to the central axis X
  • the second outer member 516 is constrained to rotate about the second intermediate member about a fourth axis of rotation which is perpendicular to the third axis of rotation and to the central axis.
  • the outer peripheries of the first inner annular member and the second intermediate members and the inner periphery of the second intermediate member and the second outer member each comprise concentric spherical segment centred central axis and in which the inner periphery of the second intermediate member engages against the outer periphery of the second inner member and the inner periphery of the second outer member engages against the outer periphery of the second intermediate member, the second inner member being received in the second intermediate member and the second intermediate member in the second outer member.
  • the constraints comprise pairs of diametrically opposed elongate projections extending radially from the outer convex peripheries of second inner and second intermediate into radial slot in the inner concave peripheries of the intermediate and outer members respectively.
  • the projections and slots are akin to those shown as M1, M11 into slots K1, K11, and M2, M21 into slots K2, K21 of Figures 1A to 1C.
  • constraints may be axles mounted as opposite pairs between the second inner member and second intermediate on the third axis of rotation, and between in the second intermediate member and second outer member on the fourth axis of rotation as illustrated by axles X1, X11 and X2, X21 in figures 2A to 2F.
  • the constraints could be axles between on pair of members and elongate projections in one of the other pair of members engaging in slots in the other member of the pair; in this case the axles, projections and slots would all lie in the same plane.
  • the second inner member 512 has an aperture 521 which may, for example, receive a drive shaft; the second outer member itself is connected to the end of a further drive shaft 523 which connected via an annular extension 524 of the outer member within the hollow shaft 350.
  • the other end 526 of the shaft 524 is, in the case of the dual drive system shown in figure 15, fitted to the annular aperture 521 of inner coupling of the next link in series.
  • the dual drive of this invention is formed of at least three such links.
  • the second inner coupling 500 is supported on bearings 530 to allow it to freely rotate,
  • the bearings support the second inner coupling 500 supported within hollow shaft 350 allowing the second inner coupling to rotate with respect to the first outer coupling. Furthermore all the spherical surfaces of both the first and second couplings have a common centre on the central axis.
  • a dual drive shaft 310 constructed using couplings assemblies 300 as illustrated in figures 12 to 14 is shown in figure 15.
  • the dual drive shaft comprises series of individual coupling assemblies 301...306.
  • Each shaft 354 on the outer members 316 of the outer couplings in the series (other than the shafts 354 on the first link 301) is bolted to the flange 352 on the hollow shaft 350 of the previous member of the series.
  • the first outer coupling in of first of the series of links 301 may be connected to an output or input drive (no shown), the final outer annular member of the first couplings of the series of links is connected though shaft 350 to an input or output depending on the desired direction of the drive.
  • Each inner coupling in the series of links is connected by shaft 523 between its outer annular member 516 to the inner annular member 512 of the next second inner coupling 500 the series of links.
  • the dual drive system is described in the previous paragraph may transmits two drives parallel to one another in the same direction, or if the drives may be in opposite directions.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Gear Transmission (AREA)
  • Rolling Contact Bearings (AREA)

Abstract

Organe d'accouplement comprenant au moins un élément annulaire intérieur, un élément annulaire intermédiaire et un élément annulaire extérieur. Les éléments annulaires intermédiaire et extérieur sont positionnés l'un par rapport à l'autre et par rapport à l'élément intérieur par des roues d'engrenage entraînées agissant sur les dents d'engrenage associées aux éléments intérieur et intermédiaire. Par l'accouplement de l'élément extérieur d'un premier organe d'accouplement d'une série d'organes d'accouplement à l'élément intérieur de l'organe d'accouplement suivant de la série, un bras de robot peut être construit, dans lequel l'entraînement peut être transmis d'un bout à l'autre de la série. Grâce à la modification des parties des éléments des organes d'accouplement de la série, l'orientation du bras de robot peut être modifiée.
PCT/GB2016/051699 2015-06-11 2016-06-09 Ensemble d'accouplement et application à un organe d'accouplement entraîné, bras robotique et entraînement double Ceased WO2016198867A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB1721525.2A GB2555985B (en) 2015-06-11 2016-06-09 Coupling assembly and application to driven coupling, robotic arm and dual drive

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
GBGB1510138.9A GB201510138D0 (en) 2015-06-11 2015-06-11 Coupling
GB1510138.9 2015-06-11
GB1510139.7 2015-06-11
GBGB1510141.3A GB201510141D0 (en) 2015-06-11 2015-06-11 Dual drive
GB1510141.3 2015-06-11
GBGB1510139.7A GB201510139D0 (en) 2015-06-11 2015-06-11 Robot arm

Publications (1)

Publication Number Publication Date
WO2016198867A1 true WO2016198867A1 (fr) 2016-12-15

Family

ID=56178382

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2016/051699 Ceased WO2016198867A1 (fr) 2015-06-11 2016-06-09 Ensemble d'accouplement et application à un organe d'accouplement entraîné, bras robotique et entraînement double

Country Status (2)

Country Link
GB (1) GB2555985B (fr)
WO (1) WO2016198867A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022023131A1 (fr) * 2020-07-29 2022-02-03 Thk Gmbh Entraînement à pivot
US12472642B2 (en) 2021-06-11 2025-11-18 Magswitch Automation Company Adjustable end-of-arm tool or fixture

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989005216A1 (fr) * 1987-11-30 1989-06-15 Rosheim Mark E Poignet-robot
US5816926A (en) * 1997-06-03 1998-10-06 The Torrington Company Ball and socket double cardan motion universal joint
WO1999018385A1 (fr) * 1997-10-03 1999-04-15 Autonomous Effects, Inc. Procede et dispositif de positionnement d'une charge utile selon plusieurs axes
EP2075103A1 (fr) * 2007-12-27 2009-07-01 The Japan Steel Works, Ltd. Dispositif de coupe
WO2015008780A1 (fr) 2013-07-17 2015-01-22 日本電気株式会社 Système de gestion d'équipement, procédé de gestion d'équipement et programme
US20150094157A1 (en) * 2013-09-27 2015-04-02 Kenneth A. Lock Rotational connector device
WO2015087081A2 (fr) 2013-12-13 2015-06-18 Punk Couplings Limited Raccord
WO2015087080A2 (fr) 2013-12-13 2015-06-18 Punk Couplings Limited Raccord

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989005216A1 (fr) * 1987-11-30 1989-06-15 Rosheim Mark E Poignet-robot
US5816926A (en) * 1997-06-03 1998-10-06 The Torrington Company Ball and socket double cardan motion universal joint
WO1999018385A1 (fr) * 1997-10-03 1999-04-15 Autonomous Effects, Inc. Procede et dispositif de positionnement d'une charge utile selon plusieurs axes
EP2075103A1 (fr) * 2007-12-27 2009-07-01 The Japan Steel Works, Ltd. Dispositif de coupe
WO2015008780A1 (fr) 2013-07-17 2015-01-22 日本電気株式会社 Système de gestion d'équipement, procédé de gestion d'équipement et programme
US20150094157A1 (en) * 2013-09-27 2015-04-02 Kenneth A. Lock Rotational connector device
WO2015087081A2 (fr) 2013-12-13 2015-06-18 Punk Couplings Limited Raccord
WO2015087080A2 (fr) 2013-12-13 2015-06-18 Punk Couplings Limited Raccord

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022023131A1 (fr) * 2020-07-29 2022-02-03 Thk Gmbh Entraînement à pivot
CN116209843A (zh) * 2020-07-29 2023-06-02 Thk株式会社 枢转驱动装置
US12202132B2 (en) 2020-07-29 2025-01-21 Thk Co., Ltd. Pivot drive
US12472642B2 (en) 2021-06-11 2025-11-18 Magswitch Automation Company Adjustable end-of-arm tool or fixture

Also Published As

Publication number Publication date
GB2555985A (en) 2018-05-16
GB201721525D0 (en) 2018-02-07
GB2555985B (en) 2020-08-26

Similar Documents

Publication Publication Date Title
JP6618909B2 (ja) 継手
US9759265B2 (en) Centering mechanism for double cardan joints
US20020166403A1 (en) Orientation preserving angular swivel joint
US20050221941A1 (en) Joint structure for industrial robot
EP3080469A2 (fr) Raccord
WO2016198867A1 (fr) Ensemble d'accouplement et application à un organe d'accouplement entraîné, bras robotique et entraînement double
JP2021511472A (ja) シャフトカップリング
US6846241B2 (en) One-piece coupling disk
US20070049379A1 (en) Flexible coupling device
US9784327B2 (en) Centering mechanism for double cardan joints
EP2999896B1 (fr) Couplage d'arbre flexible
GB2540860A (en) Spragg and ratchet clutch couplings
US3217517A (en) Cross-keyed coupling device
US1861364A (en) Universal joint
US10578165B2 (en) Coupling
CN205991086U (zh) 扭力轴及双联齿轮结构和增速机
US6899630B2 (en) Universal joint yoke adapter
EP4124771B1 (fr) Accouplement articulé pour la transmission des mouvements de rotation entre deux arbres avec des broches de pivotement orientées radialement vers l'intérieur de la pièce d'accouplement extérieur
EP1373747A2 (fr) Joint articule pour la transmission de mouvement entre deux arbres
EP3246597B1 (fr) Réducteur de galet inversé
CN204025407U (zh) 一种十字球铰式万向卷筒联轴器
CN206429560U (zh) 联轴器及传动装置
RU2684552C1 (ru) Вал шарнирный
JP6617301B2 (ja) 移動輸送機構
WO2017068333A1 (fr) Raccord

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16731249

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 201721525

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20160609

122 Ep: pct application non-entry in european phase

Ref document number: 16731249

Country of ref document: EP

Kind code of ref document: A1