Flexible arm, particularly a robot arm

• US 4,393,728 A
• Filed: 02/23/1982
• Issued: 07/19/1983
• Est. Priority Date: 03/16/1979
• Status: Expired due to Fees

• Current Assignee: Komatsu Ltd.
• Original Assignee: Robotgruppen Hb
• Inventors: Davidson, Charles, Larson, Ove
• Primary Examiner(s): Herrmann, Allan D.
• Application Number:
  US06/351,589
• Time in Patent Office: 511 Days
• Field of Search: 74/469, 74/501 R, 74/501 M, 74/479, 3/1, 3/1.1, 3/1.2, 3/12.3, 3/12.6, 3/12.7, 15/104.3 SN, 46/126, 46/152, 403/220, 81/177 F, 248/160, 248/274, 414/7, 128/6, 128/7, 128/DIG. 9, 464/149
• US Class Current: 74/469
• CPC Class Codes: B05B 15/62 Arrangements for supporting spraying apparatus, e.g. suction cups
• CPC Class Codes: B25J 18/06 flexible
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: Y10T 74/20 Control lever and linkage systems
• CPC Class Codes: Y10T 74/20207 Multiple controlling elements for single controlled element
• CPC Class Codes: Y10T 74/20456 Specific cable or sheath structure

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.

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.

2. A flexible arm according to claim 1, wherein curved contact surfaces of the segments have an elliptical shape.

10. A flexible arm according to any one of claims 1, 2, 4, 5, 7, 8 or 3, wherein said elements are provided with at least one central through-passage.

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.

4. A flexible arm according to claim 3, wherein at least a portion of said curved surfaces of each segment is provided with meshing elements arranged to engage adjacent meshing elements during the relative movement of the elements.

5. A flexible arm according to claim 4, wherein said meshing elements comprise radial ridges and grooves to form teeth.

6. The flexible arm of claim 4 wherein said elements are rotatably mounted in said flanges and means are provided to rotate said elements.

7. A flexible arm according to claim 3, wherein said single-curved surface of each segment is a part of a cylindrical toothed wheel.

8. A flexible arm according to claim 3 wherein said flanges have peripheral spaced openings therein, said actuating means comprises flexible cables capable of transmitting tractive and compressive forces, a servo-motor operably connected to one end of each of said flexible cables, the opposite end of each cable being fixed to the last element from the servo-motor and said cables being arranged to pass freely through said openings in the flanges of the intermediate elements.

9. A flexible arm as claimed in claim 3 wherein each said element comprises a disc member having said segments mounted on the opposite sides thereof, each segment on each side comprising a pair of spaced gear segments which engage the adjacent gear segments of the adjacent elements.

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.

13. A flexible arm as claimed in claim 12 wherein said actuating means is pneumatic.

14. A flexible arm as claimed in claim 12 wherein said actuating means is hydraulic.