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1. (WO2017098471) MECHANICAL JOINT WITH VARIABLE IMPEDANCE
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2017/098471 International Application No.: PCT/IB2016/057504
Publication Date: 15.06.2017 International Filing Date: 09.12.2016
IPC:
F16D 3/56 (2006.01) ,F16D 3/78 (2006.01) ,F16D 3/79 (2006.01) ,B25J 17/00 (2006.01) ,B25J 19/06 (2006.01)
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
D
COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
3
Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
50
with the coupling parts connected by one or more intermediate members
56
comprising elastic metal lamellae, elastic rods, or the like, e.g. arranged radially or parallel to the axis, the members being shear-loaded collectively by the total load
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
D
COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
3
Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
50
with the coupling parts connected by one or more intermediate members
78
shaped as an elastic disc or flat ring, arranged perpendicular to the axis of the coupling parts, different sets of spots of the disc or ring being attached to each coupling part, e.g. Hardy couplings
F MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16
ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
D
COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
3
Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
50
with the coupling parts connected by one or more intermediate members
78
shaped as an elastic disc or flat ring, arranged perpendicular to the axis of the coupling parts, different sets of spots of the disc or ring being attached to each coupling part, e.g. Hardy couplings
79
the disc or ring being metallic
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17
Joints
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06
Safety devices
Applicants:
SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA [IT/IT]; P.zza Martiri della Libertà, 33 56127 Pisa, IT
Inventors:
BASSI LUCIANI, Lorenzo; IT
MONTAGNANI, Federico; IT
CIPRIANI, Christian; IT
CONTROZZI, Marco; IT
Agent:
CELESTINO, Marco; IT
Priority Data:
10201500008193610.12.2015IT
Title (EN) MECHANICAL JOINT WITH VARIABLE IMPEDANCE
(FR) JOINT MÉCANIQUE À IMPÉDANCE VARIABLE
Abstract:
(EN) A rotational joint (100) arranged to confer yielding to the transmission of a rotational motion between an input, arranged to carry out a rotation having angular acceleration ω about a longitudinal axis y, and an outlet (190), arranged to carry out a rotation having angular acceleration θ about longitudinal axis y. The rotational joint (100) comprises a transmission ring (121) arranged to carry out a rotation having angular acceleration φ about longitudinal axis γ, said transmission ring (121) being resiliently connected to the outlet (190) by an elastic constraint arranged to provide the condition θ = kφ. The elastic constraint comprises at least one pin (125) connected to the transmission ring (121). Each pin (125) has a rotation axis x and comprises a fixed portion (125a) integral to transmission ring (121) and a movable portion (125b) arranged to rotate about its rotation axis x with respect to the fixed portion (125a). The elastic constraint also comprises a flat spring (170) co-axial with respect to the transmission ring (121) and comprising a stiff portion (175) integrally connected to the outlet (190) and arranged to carry out a rotation having angular acceleration θ about longitudinal axis y. The flat spring (170) also comprises at least one elastic branch (176) having a root end (176a), integrally connected to the stiff portion (175), an elastic end (176b), which can be resiliently deformed, and an inner wall (176c) on which the movable portion (125b) is arranged to slide due to the acceleration φ. The flat spring (170) is configured in such a way that, when the acceleration φ causes the sliding of the movable portion (125b) on the inner wall (176c), the elastic end (176b) is deformed and the root end (176a) transmits to the stiff portion (175), and then to the outlet (190), an acceleration θ = kφ.
(FR) L'invention concerne un joint rotatif (100) disposé pour conférer une élasticité à la transmission d'un mouvement rotatif entre une entrée, disposée pour réaliser une rotation ayant une accélération angulaire ω autour d'un axe longitudinal y et une sortie (190), disposée pour réaliser une rotation ayant une accélération angulaire ϋ autour de l'axe longitudinal y. Le joint rotatif (100) comprend une bague de transmission (121) disposée pour réaliser une rotation ayant une accélération angulaire φ autour de l'axe longitudinal γ, ladite bague de transmission (121) étant reliée de manière élastique à la sortie (190) par une contrainte élastique disposée pour fournir la condition θ = . La contrainte élastique comprend au moins une broche (125) reliée à la bague de transmission (121). Chaque broche (125) présente un axe de rotation x et comprend une partie fixe (125a) solidaire de la bague de transmission (121) et une partie mobile (125b) disposée pour tourner autour de son axe de rotation x par rapport à la partie fixe (125a). La contrainte élastique comprend également un ressort plat (170) coaxial par rapport à la bague de transmission ring (121) et comprenant une partie rigide (175) reliée d'un seul tenant à la sortie (190) et disposée pour réaliser une rotation ayant une accélération angulaire θ autour de l'axe longitudinal y. Le ressort plat (170) comprend également au moins une branche élastique (176) ayant une extrémité emplanture (176a), reliée d'un seul tenant à la partie rigide (175), une extrémité élastique (176b), qui peut subir une déformation élastique et une paroi interne (176c) sur laquelle la partie mobile (125b) est disposée pour coulisser en raison de l'accélération φ. Le ressort plat (170) est conçu de manière telle que, lorsque l'accélération φ amène le coulissement de la partie mobile (125b) sur la paroi interne (176c), l'extrémité élastique (176b) est déformée et l'extrémité emplanture (176a) transmet à la partie rigide (175) et ensuite à la sortie (190) une accélération θ = .
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: Italian (IT)
Also published as:
EP3387280