US 9,802,323 B2Granted

Secured motor-driven articulated arm with cable capstan

AssigneeHaption

InventorFrancois Louveau

Life of this patent

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Abstract

A motor-driven articulated haptic interface arm includes: a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor, which delivers at least one torque about the axis countering at least one part of forces applied to the arm by its environment. A main transmission transmits the torque to the arm and includes a capstan-type cable reducer, and an auxiliary transmission transmits the torque to the arm. The auxiliary transmission is capable of taking at least two states: an inactive state, when the forces applied to the arm by its environment are below a predetermined threshold, in which the auxiliary transmission transmits no torque to the arm; and an active state when the forces applied to the arm by its environment are higher than a predetermined threshold, in which the main transmission transmits no torque to the arm.

Claims9

Dependent claims

A motor-driven articulated haptic interface arm comprising at least:

a frame;
an arm linked to said frame so as to be rotationally mobile about at least one axis, forces being liable to be applied to said arm by its environment;
a motor, which delivers at least one torque about said axis countering at least one part of said forces applied to said arm by its environment;
a main transmission for the transmission to said arm of said torque about said axis, said main transmission comprising a capstan-type cable reducer;
an auxiliary transmission for the transmission to said arm of said torque about said axis, said auxiliary transmission being capable of taking at least two states:
an inactive state, taken so long as the forces applied to said arm by its environment against the effect of said torque are below a predetermined threshold, in which said auxiliary transmission transmits no torque to said arm;
an active state, taken when said forces applied to said arm by its environment against the effect of said torque are higher than a predetermined threshold, in which said main transmission transmits no torque to said arm.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/193,936Filed 27 Jun 2016
Priority: FR 15 5600226 Jun 2015
Published: US 2016/0375587 A129 Dec 2016
Granted: 31 Oct 2017
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

B25J 13/025
Hand grip control means: comprising haptic means
B25J 9/102
Characterised by positioning means for manipulator elements: gears specially adapted therefor, e.g. reduction gears
B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons
B25J 9/12
Characterised by positioning means for manipulator elements: electric