Flexible arm, particularly a robot arm
First Claim
1. A flexible arm, particularly a robot arm, for supporting and/or manipulating tools or the like, wherein a number of elements are arranged in series for contacting each other and power-generating and power-transmitting actuating means are provided and arranged to operate the elements to move them with respect to each other comprising each said element has segments with convexly curved surfaces substantially oppositely disposed with respect to each other, the curved surfaces of each of said segments engaging the adjacent curved surfaces of the adjacent segments so that said elements have a rolling motion in relation to each other when actuated by said actuating means, the radius of curvature of said curved surfaces being relatively considerably larger than the height of said segments.
2 Assignments
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Accused Products
Abstract
A flexible arm particularly a robot arm comprising a plurality of elements engaging each other and being arranged in a series, said elements being interconnected via cables and if desired a power transferring actuating device. The purpose of the invention is to provide an arm having very good rigidity in the bending plane of the element and a high torsional resistance together with lower manufacturing costs as compared to conventional robot arms. This has been achieved by each element being designed with arched opposed single-or double-curved segments which with the curved surfaces of each segment engaging the surfaces of the adjacent segments, whereby the elements are arranged when actuated by the power generating and/or power transferring device to have a rolling motion relative to each other.
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Citations
14 Claims
- 1. A flexible arm, particularly a robot arm, for supporting and/or manipulating tools or the like, wherein a number of elements are arranged in series for contacting each other and power-generating and power-transmitting actuating means are provided and arranged to operate the elements to move them with respect to each other comprising each said element has segments with convexly curved surfaces substantially oppositely disposed with respect to each other, the curved surfaces of each of said segments engaging the adjacent curved surfaces of the adjacent segments so that said elements have a rolling motion in relation to each other when actuated by said actuating means, the radius of curvature of said curved surfaces being relatively considerably larger than the height of said segments.
- 3. A flexible arm, particularly a robot arm, for supporting and/or manipulating tools or the like, wherein a number of elements are arranged in series for contacting each other and power-generating and power-transmitting actuating means are provided and arranged to operate the elements to move them with respect to each other comprising each said element has segments with convexly curved surfaces substantially oppositely disposed with respect to each other, the curved surfaces of each of said segments being single-curved surfaces arranged in mutually orthogonal planes and engaging the adjacent curved surfaces of the adjacent segments so that said elements have a rolling motion in relation to each other when actuated by said actuating means, the radius of curvature of said curved surfaces being relatively considerably larger than the height of said segments, each element having a peripheral flange between the segments thereof, and said actuating means comprises means to apply force between said flanges of adjacent elements at circumferentially spaced positions.
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11. A flexible arm, particularly a robot arm, for supporting and/or manipulating tools or the like, wherein a number of elements are arranged in series for contacting each other and power-generating and power-transmitting actuating means are provided and arranged to operate the elements to move them with respect to each other comprising each said element has segments with convexly curved surfaces substantially oppositely disposed with respect to each other, the curved surfaces of each of said segments engaging the adjacent curved surfaces of the adjacent segments so that said elements have a rolling motion in relation to each other when actuated by said actuating means, the radius of curvature of said curved surfaces being relatively considerably larger than the height of said segments, each element having a peripheral flange between the segments thereof, and said actuating means comprises electromagnetic devices pivotally mounted between said flanges at circumferentially spaced positions and operatively associated therewith to control the spacing between said flanges at each of said circumferentially spaced positions.
- 12. A flexible arm, particularly a robot arm, for supporting and/or manipulating tools or the like, wherein a number of elements are arranged in series for contacting each other and power-generating and power-transmitting actuating means are provided and arranged to operate the elements to move them with respect to each other comprising each said element has segments with convexly curved surfaces substantially oppositely disposed with respect to each other, the curved surfaces of each of said segments engaging the adjacent curved surfaces of the adjacent segments so that said elements have a rolling motion in relation to each other when actuated by said actuating means, the radius of curvature of said curved surfaces being relatively considerably larger than the height of said segments each element having a peripheral flange between the segments thereof, and said actuating means comprises fluid operated piston and cylinder means mounted between said flanges at circumferentially spaced positions and operatively associated therewith to control the spacing between said flanges at each of said circumferentially spaced positions.
Specification