阅读说明：本技术 在第一元件和第二元件之间的用于机械连接以及用于光传输和/或电传输和/或流体传输的装置 (Device for mechanical connection between a first element and a second element and for optical and/or electrical and/or fluid transmission ) 是由 塞巴斯蒂安·马林尤德 于 2018-06-04 设计创作，主要内容包括：一种用于在第一元件(E1)和第二元件(E2)之间进行机械连接以及光传输和/或电传输和/或流体传输的装置(1),包括：-第一连接部分(10),其用于固定到所述第一元件(E1),-第一接合构件,其与第一元件(E1)光连接和/或电连接和/或流体连通并安装在第一连接部分(10)上,-第二连接部分(20),其用于固定到第二元件(E2)、至少部分地布置在第一连接部分(10)和第一接合构件之间、并在第一元件和第二元件之间限定球形接头连接,以及-第二接合构件,其与第二元件(E2)光连接和/或电连接和/或流体连通并布置在第二连接部分(20)中,第一接合构件和第二接合构件配置成允许两者之间的光传输和/或电传输和/或流体传输。(Device (1) for mechanical connection and optical and/or electrical and/or fluid transmission between a first element (E1) and a second element (E2), comprising: -a first connection portion (10) for fixing to the first element (E1), -a first engagement member, which is optically and/or electrically and/or fluidly connected to the first element (E1) and mounted on the first connection part (10), -a second connection part (20), for being fixed to a second element (E2), being at least partially arranged between the first connection portion (10) and the first joint member, and defining a ball joint connection between the first element and the second element, and-a second joint member, which is optically and/or electrically and/or fluidly connected to the second element (E2) and arranged in the second connection portion (20), the first and second engagement members are configured to allow optical and/or electrical and/or fluid transmission therebetween.)

1. Device (1) for making a mechanical connection and an optical and/or electrical and/or fluid transmission between a first element (E1) and a second element (E2), comprising:

-a first connection portion (10), said first connection portion (10) being designed to be fixed to said first element (E1),

-a first engaging member (30), said first engaging member (30) being in optical and/or electrical and/or fluid communication with said first element (E1) and being mounted on said first connecting portion (10),

-a second connection portion (20), said second connection portion (20) being designed to be fixed to said second element (E2) and being arranged at least partially between said first connection portion (10) and said first joint member (30) and defining a ball joint connection between said first element and said second element, and

-a second engaging member (40), said second engaging member (40) being in optical connection and/or electrical connection and/or fluid communication with said second element (E2) and being arranged in said second connecting portion (20),

the first joining member (30) and the second joining member (40) are configured such as to allow optical and/or electrical and/or fluid transmission from one to the other.

2. Device according to the preceding claim, the second connection portion (20) being rotatable about the axis (Z) of the first connection portion (10) by an angle greater than 180 °, better still greater than 210 °, in particular 360 °.

3. Device according to the preceding claim, the second connection portion (20) being rotatable about at least one axis (X) perpendicular to the axis (Z) by a maximum angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °, or even about a plurality of axes (X) perpendicular to the axis (Z) by a maximum angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °.

4. Device according to any one of the preceding claims, the first connection portion (10) comprising a recess (11) and the second connection portion (20) having an opposite outer concavity.

5. Device according to the preceding claim, the recess of the first connection portion (10) having an at least partially spherical inner surface and the second connection portion (20) comprising an at least partially spherical outer surface (21).

6. The device according to any one of the preceding claims, the first engagement member (30) comprising a protrusion (31) and the second connection portion (20) having an opposite internal concavity.

7. Device according to the preceding claim, the second connection portion (20) having an at least partially spherical inner surface (22) and the first engagement member comprising an at least partially spherical outer surface.

8. Device according to any one of the preceding claims, the second connection portion (20) comprising an inner surface having a radial groove (24) extending over at least a part of its height.

9. Device according to the preceding claim, the second engagement member comprising a dial (42) equipped with lugs (43), the lugs (43) being designed to be received in radial grooves (24) of the second connection portion.

10. The device according to any one of the preceding claims, the first and second engagement members (30, 40) each comprising a current transmission collector (35, 45).

11. The device according to the preceding claim, comprising a plurality of balls (50), said plurality of balls (50) being arranged between a first transmission collector (35) of the first engaging member and a second transmission collector (45) of the second engaging member to allow electrical transmission between said first and second transmission collectors.

Technical Field

The present invention relates to the field of motion transmission, in particular of a ball joint connection between a first element and a second element.

Background

In patent US 294851, the portion B only partially surrounds the spherical portion on the side opposite to the ferrule C. Therefore, this patent does not disclose the following configuration: a second connecting portion designed to be fixed to the second element is at least partially arranged between the first connecting portion and the first joint member.

In the field of robotics, home automation and industry, there is a need for an efficient mechanical connection that also allows the transmission of data.

There is also a need to allow synchronization of data transmission based on the movement of the ball joint connection.

Disclosure of Invention

Thus, according to a first aspect of the invention, the subject of the invention is a device for realising a mechanical connection and an optical and/or electrical and/or fluid transmission between a first element and a second element, comprising:

a first connection portion designed to be fixed to a first element,

a first engagement member which is in optical and/or electrical and/or fluid communication with the first element and which is mounted on the first connection portion,

-a second connection portion designed to be fixed to a second element, arranged at least partially between the first connection portion and the first joint member, and defining a ball joint connection between the first element and the second element, and

a second engagement member which is in optical and/or electrical and/or fluid communication with the second element and which is arranged in the second connection portion,

the first and second joining members are configured such as to allow optical and/or electrical and/or fluid transmission from one to the other.

The device according to the invention thus allows simultaneous mechanical, optical, electrical and fluid transmission between the first and second elements.

The optical, electrical and fluidic contacts may be synchronized with the mechanical transmission of motion.

Both the first engaging member and the second engaging member may be arranged in the second connecting portion.

Mechanical connection

In one embodiment, the second connection portion is movable in three degrees of freedom relative to the first connection portion.

The second connection portion can be rotated about the axis Z of the first connection portion by an angle greater than 180 °, better still greater than 210 °, in particular 360 °. In one embodiment, the second connection portion is completely free to rotate about the axis Z of the first connection portion. The axis Z may be the central axis of the first connection portion, in particular the axis of symmetry thereof.

The second connection portion can rotate about at least one axis X perpendicular to the axis Z by a maximum angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °, or even can rotate about a plurality of axes X perpendicular to the axis Z by a maximum angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °. The axis X may form a plane P perpendicular to the axis Z. The maximum angle may be, for example, about 22.5 °, but the configuration of the device may be altered such that the maximum angle is different without departing from the context of the invention. Further, this maximum angle is referred to as the deflection angle of the device.

In one embodiment, the second connection portion can be rotated through an angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °, around a plurality of axes X all perpendicular to axis Z, or even through an angle strictly greater than 0 °, even better greater than 10 °, or even greater than 20 °, around an infinite number of axes X forming a plane P perpendicular to axis Z.

The first connection portion may include a recess and the second connection portion may have an opposite outer concavity. Thus, the second connection portion may be partially arranged in the first connection portion.

The recess of the first connection portion may have an at least partially spherical inner surface and the second connection portion may comprise an at least partially spherical outer surface.

The inner surface of the first connection portion may have a ring-shaped general shape, which may form a portion of a first sphere extending up to 360 ° around the central axis Z and extending in an angular portion between two angles α and β measured perpendicularly from the center of the first sphere with respect to the central axis Z.

Angle α may be 1 ° to 45 °, still better 2 ° to 35 °, or even 3 ° to 25 °, angle β may be 10 ° to 90 ° (excluding values of 90 °), still better 15 ° to 75 °, or even 20 ° to 65 °.

Radius R of the first sphere₁May be from 6mm to 500mm, more preferably still from 10mm to 250mm, for example about 20 mm.

The outer surface of the second connection portion may have a general shape of a ring, which may form a second sphere portion extending around a central axis Y of the second connection portion up to 360 ° and in an angular portion between two angles γ and δ measured perpendicularly from the center of the second sphere with respect to the central axis Y.

The angle γ may be 10 ° to 80 °, still better 20 ° to 70 °, or even 30 ° to 60 °. The angle δ may be-60 ° to 60 °, still better-50 ° to 50 °, or even-40 ° to 40 °.

Radius R of the second sphere₂May be from 6mm to 500mm, more preferably still from 10mm to 250mm, for example about 20 mm.

The first sphere and the second sphere may have a common center. Their radii may differ by several hundred millimeters. For example, R₁-R₂From 0.01mm to 2mm, or even from 0.02mm to 1.5mm, better still from 0.03mm to 1 mm.

The first engagement member may include a protrusion and the second connection portion may have an opposite concavity. Thus, the first engagement member may be partially arranged in the second connection portion.

The second connection portion may have an at least partially spherical inner surface and the first engagement member may include an at least partially spherical outer surface.

The inner surface of the second connection portion may have a general shape of a ring, which may form a part of a third sphere extending up to 360 ° around the central axis Y and in an angular portion between the two angles γ and δ. Radius R of the third sphere₃And may be 4mm to 480mm, and more preferably 10mm to 300mm, for example about 18 mm.

The outer surface of the first engagement member may have the general shape of a ring, which may form a fourth sphere extending up to 360 ° around the central axis Z and in an angular portion between the two angles α and β₄And may be 4mm to 480mm, and more preferably 10mm to 300mm, for example about 18 mm.

The third sphere and the fourth sphere may have a common center. Their radii may differ by a few tenths of a millimeter. For example, R₃-R₄From 0.01mm to 2mm, or even from 0.02mm to 1.5mm, better still from 0.03mm to 1 mm. This configuration makes it possible to ensure that the second connecting portion can be rotated between the first connecting portion and the first engaging member.

The second connection portion may include an inner surface having a radial groove extending over at least a portion of the height of the inner surface. In one embodiment, the radial groove extends in a plane containing the central axis Y of the second connection portion.

The second engagement member may comprise a dial equipped with an ear designed to be received in a radial groove of the second connection portion. The turntable may be disc-like in general shape, extending in a substantially planar manner in the above-mentioned plane P. The turntable is rotatable around the above-mentioned axis Z of the first connection portion over an angle of more than 180 °, even better more than 210 °, in particular 360 °.

By means of the interaction of the lugs in the radial grooves, the rotary motion of the carousel about the axis Z can be transmitted to the second connection portion and vice versa. Furthermore, the turntable remains parallel to plane P, the lugs of the turntable moving in the radial grooves when the second coupling part moves about axis X and plane P.

The device according to the invention can be used as a universal joint between two non-aligned rotation axes. Such a joint also allows for sealed internal electrical and/or optical connections.

In a variant embodiment, the second connecting portion may lack the above-mentioned radial groove and the second engaging member may lack the above-mentioned lug.

The second connection portion and the second coupling member may be connected together by a synchronization link which may ensure that a rotational movement of the turntable of the second coupling member about the axis Z is transmitted to the second connection portion and vice versa.

The connecting rod may be fixed to the second connecting portion on the one hand and to the second joint member on the other hand by means of a ball joint connection. The ball joint connection may be sealed, for example, and may also allow for fluid connections in the connecting rod, as shown below. The connecting rod may be hollow. In this case, it may comprise first and second link portions connected in translational engagement, the first and second link portions being limited in terms of range of operation and sealing to allow fluid connection in the links.

Electrical transmission

Both the first and second engagement members may each include a current transfer collector. Each of the transport collectors may include at least two electrical transport rails. One of the tracks allows mass transfer while the other track allows current transfer. Each collector may for example comprise 2 to 20 tracks, or even 4 to 12 tracks, for example 6 tracks or 8 tracks.

The transmission collector may be configured so that a high data transmission speed can be achieved.

In one embodiment, the tracks of each of the two transport collectors may be circular and concentric. In this case, each of the two transport collectors may have a planar, disk-like general shape. The two transport collectors may comprise the same number of tracks having the same design. Which are symmetrical to each other with respect to plane P. The two transport collectors are rotatable relative to each other about the axis Z, but fixed relative to the plane P. They may have a disc-like general shape and extend parallel to each other in a substantially planar manner in a plane P.

In one embodiment, the second transport collector is fixed to the carousel.

The apparatus may include a plurality of balls disposed between the first transmission collector of the first engagement member and the second transmission collector of the second engagement member to allow electrical transmission between the first collector and the second collector.

The bulb includes at least a conductive coating. They may in particular be made of an electrically conductive material, such as stainless steel or brass or copper, without this being limitative. The use of balls may advantageously reduce or even eliminate friction. The device may comprise from 6 to 200 spheres, better still from 8 to 120 spheres, or even from 12 to 36 spheres. Each track of the collector may contact 3 to 36 balls, better still 5 to 8 balls, or even 9 to 18 balls.

The ball may in particular be held in the holding part. The retaining member may be in the form of a disc of generally disc-like shape which is pierced by an aperture in which a ball may be disposed. In one embodiment, the retention component is fixed to the second engagement member, for example by a snap fit.

In a variant embodiment, the transport collectors and the balls may be arranged in a tubular manner instead of in a planar manner.

Independently or in combination with the aforementioned objects, according to another aspect of the present invention, another subject of the present invention is a device for realising a mechanical connection and an optical and/or electrical and/or fluid transmission between a first element and a second element, comprising:

a first connection portion designed to be fixed to the first element,

a first engaging member optically and/or electrically and/or fluidly connected to the first element and mounted on the first connecting portion,

a second connection portion designed to be fixed to the second element, arranged at least partially between the first connection portion and the first joint member, and able to define a ball joint connection between the first element and the second element, an

A second engaging member optically and/or electrically and/or fluidly connected with the second element and arranged in the second connecting portion,

the first and second engagement members may be configured such as to allow optical and/or electrical and/or fluid transmission from one to the other,

both the first and second engagement members each include a current transmission collector, and the plurality of balls are arranged between the first transmission collector of the first engagement member and the second transmission collector of the second engagement member such that electrical transmission between the first collector and the second collector is allowed.

In a variant embodiment, the electrical transmission between the two transmission collectors can be effected without balls, but for example by means of blades with spring action, in particular one blade per track, or alternatively by means of brushes.

The first connection portion may include a first receiving electrical connector that receives electrical data from the first component.

The first receiving electrical connector may be disc-like in general shape and extend in a substantially planar manner in a plane P.

The second connection portion may include a second receiving electrical connector that receives electrical data from the second element.

The second receiving electrical connector may comprise an electrically flexible connector connecting it to the second transmitting connector. The second receiving electrical connector may be disc-like in general shape and extend in a substantially planar manner in a plane Q perpendicular to the central axis Y.

The electrical tracks may be configured so as to allow a current of about a few amperes, for example 0.5A to 10A, better still 1A to 6A, or even 1.5A to 4A, for example about 2A.

Optical transmission

The apparatus may be configured to allow optical transmission between the first element and the second element.

To this end, the device may comprise an optical ring arranged on one of the engaging members, which optical ring may have a surface state to allow the same intensity and the same rotational speed of light to be maintained when one of the engaging members is rotated relative to the other.

To this end, the optical ring may have been subjected to a suitably degraded surface evolution treatment, with a change in opacity. This configuration makes it possible to overcome the reception periodicity. The optical processing of the optical ring may be chosen such that a continuous output signal is obtained. In a variant, the curve is electronically recorded in order to smooth the output signal.

The surface state, shape of the surface and material density of the optical ring are chosen such as to allow light to be transmitted with sufficient synchronization.

The optical ring may have a general shape of a ring and extend parallel to the plane P in a substantially planar manner.

In one embodiment, the device may comprise two optical rings arranged parallel to the plane P facing each other, one on each of the two joining members.

In one embodiment, the optical ring may have a shape configured such that light is allowed to reach the optical ring via the disc-shaped entrance, and then the light is distributed over the entire surface of the optical ring having a ring shape. This configuration of the optical ring then allows the transmission of light towards the annular second optical ring, which then reconverges the light towards the disk-shaped exit. The inlet and outlet of the disc shape may be relatively isolated with respect to the annular transfer surface between the two rings. Thus, the light beam between the first ring and the second ring may have a circular cross-section. A given optical ring may comprise one or more inlets and/or one or more outlets, in particular disc-shaped inlets and/or outlets, to allow the arrival and departure of light.

The transmission may be entirely achieved only optically, that is, light from the first element may be transmitted directly out of the first optical fiber, then through the optical ring, then directly to the second optical fiber, which transmits it to the second element, or vice versa. The first and second optical fibres may be flexible so as not to impede relative rotation of the splice members. In one embodiment, one may be fixed and the other may be flexible.

In a variant, the transmission can be effected both optically and electrically. In this case, the device may comprise at least one transmitter and an optical receiver for optical or electrical-optical or even optical-electrical optical transmission between two transmission collectors.

In one embodiment, each transmission collector may include a light emitter-receiver, which may each be disposed to face the optical ring.

Fluid transfer

The device may be configured such that fluid transfer between the first element and the second element is allowed. The fluid transported may be a gas (e.g., air), or a liquid (e.g., water or oil).

The fluid may circulate in a single location, or in a variant, in two different locations. The fluid may for example circulate in the centre of the device, the fluid circulation being axial, or on one side of the device, the fluid circulation being eccentric.

In the case of axial fluid circulation, the device may comprise a hollow central shaft allowing the passage of fluid.

In the case of peripheral fluid circulation, the device may comprise an eccentric fluid channel equipped with a suitable leak-proof seal.

In all cases, the fluid engagement is configured to be sealed.

The device may comprise a link which is fixed to the second connection portion on the one hand and to the second joint member on the other hand by means of a ball joint connection and, as described above, is configured such that a fluid connection is allowed. The connecting rod is hollow and includes first and second hollow rod portions connected in translational engagement, the first and second hollow rod portions being limited in terms of range of operation and sealing properties to allow fluid flow through the connecting rod. The first link portion may be configured to partially slide within the second link portion.

The device according to the invention may be configured to be substantially airtight. "sufficient tightness" is understood to mean that the tightness must be such that electrical and/or optical connections can be present in the device in a satisfactory manner.

As mentioned above, the device according to the invention may even have a tightness allowing the transfer of fluid, thereby providing a fluid communication between the first and the second element.

The tightness of the device may for example have a sufficient protection index, such as IP 67.

The first connection portion and the second connection portion are configured such that the inner sealability of the device is ensured. The device may include a leak-proof seal disposed between the first connection point and the second connection point. It may be made of a thermoplastic material, such as EPDM or PTFE. The hardness may be, for example, about 30 to 70 shore a or 40 to 60 shore D.

At least one of the first and second connection portions, or even both, may be made of a thermoplastic material, such as POM (polyoxymethylene).

The electrical and optical contacts are preferably synchronized at the device inlet and outlet.

The device may have a circular general shape. It may have a larger transverse dimension, in particular a larger diameter, for example 50mm to 1000mm, still better 60mm to 800mm, or even 80mm to 500mm, still better 100mm to 140mm, for example about 120 mm.

The device may also include one or more sensors, such as one or more ultrasonic sensors, or even one or more infrared sensors. Such sensors may serve for collision avoidance or, alternatively, for spatial detection.

Assembly

Another subject of the invention is an assembly comprising a plurality of devices as described above coupled to each other, one of the first or second connection portions of a first device forming a first element for an adjacent second device.

Two adjacent devices may each be connected together by their first connection portions, or in a variant, by their second connection portions, or alternatively in a variant, one is connected by its first connection portion and the other is connected by its second connection portion. In other words, the device may be arranged in any orientation when the assembly is assembled.

Such an assembly may increase the possible deflection angles as long as the deflection angles of each device add to each other.

Two adjacent devices may be coupled together by a mounting ring to ensure retention of two consecutive connection portions of the two devices.

Each of the first and second connection portions may comprise a snap flange to allow one connection portion to be secured to the other connection portion.

The snap flanges may all be identical unless a positioning system is provided to ensure a satisfactory orientation of the connecting portion with respect to the axis Z. For this purpose, all but one of the snap flanges have the same shape.

The assembly may also include one or more accessories coupled to the device. These accessories may be mechanical or electrical accessories, such as ethernet connections, USB connections, fiber optics or electrically telescopic arms, which are not a limiting list.

The assembly and device according to the invention can be used in all technical fields where an electrical and/or optical transmission device without rotational restriction and/or a fluid articulated transmission device can be useful, in particular in the industrial field for production or assembly lines, in the field of robotics for articulated arms, even in the field of home automation for transmitting data and light, this is not a limiting list.

Drawings

Other features and advantages of the present invention will become apparent upon reading the following detailed description of exemplary embodiments which do not limit the invention, and upon review of the accompanying drawings.

Figure 1 is a schematic partial perspective view of a device according to the invention,

figure 2 is an expanded view thereof,

FIGS. 3a and 3B are views along arrows A and B of FIGS. 1 and 2,

figure 4 is a schematic partial view of the cross section IV-IV of the device of figures 1, 2, 3a and 3b,

figures 4a to 4c are detail views of figure 4,

figure 5 is a schematic partial perspective view of a first connection portion of the device of figures 1 to 4,

FIG. 6 is an expanded view thereof,

FIG. 7 is a view along arrow VII of FIGS. 5 and 6,

figure 8 is a view in cross section VIII-VIII of figure 7,

figure 9 is a schematic partially developed view of a second connection portion of the device of figures 1 to 4,

FIG. 10 is a view along the arrow X of FIG. 9,

FIG. 11 is a view in cross section XI-XI of FIG. 10,

figure 12 is a schematic partial perspective view of a first engagement member of the device of figures 1 to 4,

figure 13 is an expanded view thereof,

FIGS. 14a and 14B are views along arrows A and B of FIGS. 12 and 13,

FIG. 15 is a schematic partial view of the device of FIGS. 12, 13, 14a and 14b, in a cross section along XV-XV,

figures 16a and 16b are schematic partial perspective views of the second engagement member of the device of figures 1 to 4,

FIGS. 17a and 17B are views along arrows A and B of FIGS. 16a and 16B,

figure 18 is a schematic partial view of the device of figures 16a, 16b, 17a and 17b, in a cross section XVIII-XVIII,

FIG. 19 is an expanded view thereof,

figure 20 is a schematic partial perspective view of the light transmission of the device of figures 1 to 4,

FIG. 20a is a view along arrow A of FIG. 20, FIG. 20B is a cross-section along B-B of FIG. 20a,

FIGS. 20c and 20d are detailed views of FIG. 20b,

figures 21a and 21b are a top perspective view and a bottom perspective view of one of the engagement members,

figures 22a and 22b are a top perspective view and a bottom perspective view of the other of the engagement members,

figure 23a is a view of a drawing,

figure 23B is a cross-sectional view along B-B of figure 23a,

FIGS. 23c and 23d are detail views of FIG. 23b,

figure 23e is a perspective view of a variant embodiment of the optical ring,

FIG. 23f is an expanded view thereof,

FIG. 23g is a top view thereof,

FIG. 23h is a view of a longitudinal section thereof,

figure 24 is a schematic partial perspective view of an assembly according to the invention,

figure 25 is a schematic partial perspective view of a variant embodiment,

FIG. 26 is an expanded view thereof,

figure 27 is a view along arrow XXVII of figures 25 and 26,

figure 28 is a view of figure 27 in cross section XXVIII-XXVIII,

figure 29a is a top view of a variant embodiment similar to figure 4,

figure 29B is a view of figure 29a in cross section along B-B,

figure 30 is a perspective view of a variant embodiment,

FIG. 31a is a top view thereof,

FIG. 31B is a view in cross section along B-B of FIG. 31a,

FIGS. 31c and 31d are detailed views thereof,

figure 32a is a perspective view of the connecting rod of figure 30,

figure 32B is a view in cross section along B-B of figure 32a,

figure 33 is a view similar to that of figure 4 of a variant embodiment,

FIG. 33a is a view along arrow A of FIG. 33, an

Fig. 33b to 33e are detailed views thereof.

Detailed Description

Fig. 1 to 19 show a device 1 for making a mechanical connection between a first element E1 and a second element E2 and for optical and electrical transmission, which is shown in fig. 1 in dashed lines.

The device comprises a first connection portion 10 designed to be fixed to a first element E1 and a second connection portion 20 designed to be fixed to a second element E2.

The device also includes: a first coupling member 30 optically and electrically connected to the first element and mounted on the first connection part, as shown in fig. 2; and a second engaging member 40 optically and electrically connected to the second element E2, the second engaging member 40 being disposed in the second connecting portion 20.

As shown in fig. 4, the second connection portion 20 is at least partially disposed between the first connection portion 10 and the first coupling member 30. The two connection portions 10 and 20 define, by their particular form, a ball joint connection between the first element E1 and the second element E2, as will be described below.

Furthermore, the first and second joining members 30, 40 are configured to allow optical and electrical transmission from one to the other, such that the device 1 allows simultaneous mechanical, optical and electrical transmission between the first element E1 and the second element E2. Both the first and second engagement members are arranged in the second connection portion 20.

The configuration of the connection portion will now be described in more detail.

The second connection portion 20 is movable in three degrees of freedom with respect to the first connection portion 10. For this purpose, the second connection portion 20 is rotatable through an angle of 360 ° about the axis Z of the first connection portion 10. In other words, the second connection portion 20 is completely free to rotate about the axis Z of the first connection portion 10. The axis Z is the central axis of the first connection portion 10.

Furthermore, the second connection portion is rotatable about all axes X perpendicular to the axis Z by a maximum deflection angle of about 22.5 °. The axis X forms a plane P perpendicular to the axis Z, which is the plane of fig. 3a, 3b and 7.

As shown in figures 5 to 8, the first connection part 10 has a recess 11, which recess 11 has an at least partly spherical inner surface the inner surface of the first connection part has an annular general shape forming part of a first sphere extending up to 360 about the central axis Z and in an angular part between two angles α and β measured perpendicularly from the centre of the first sphere with respect to the central axis Z, as shown in figure 8, angle α is for example about 12.5 deg. angle β is for example about 25 deg. radius R of the first sphere₁For example about 20 mm.

As shown in fig. 9 to 11, the second connection portion 20 has an outer concavity opposite to the concavity of the recess 11. Thus, the second connection portion is partially arranged in the first connection portion. The second connection portion 20 comprises an at least partly spherical outer surface 21 having the general shape of a ring and forming a second sphere portion extending to 360 ° around the central axis Y of the second connection portion 20 and in an angular portion between two angles γ and δ measured perpendicularly with respect to the central axis Y from the center of the second sphere, as shown in fig. 11. The angle γ is for example about 50 °. The angle δ is, for example, about 5 °. Radius R of the second sphere₂For example about 20 mm.

Further, as shown in fig. 12-15, the first engagement member 30 comprises a protrusion 31 having the shape of a part-spherical outer surface the outer surface of the first engagement member 30 has the general shape of a ring forming a fourth spherical portion extending up to 360 ° around the central axis Z and in an angular portion between the two angles α and β₄Is about 18 mm.

The second connection portion 20 has an opposite concavityWhich has the shape of a part-spherical inner surface 22. The first engagement member may thus be arranged partially in the second connection portion, as shown in fig. 4. The inner surface of the second connection portion 20 has a ring-shaped general shape forming a part of a third sphere extending up to 360 ° around the central axis Y and in an angular portion between the above-mentioned angles γ and δ. Radius R of the third sphere₃Is about 18 mm.

This configuration makes it possible to ensure that the second connection portion 20 can be rotated between the first connection portion 10 and the first engagement member 30.

Furthermore, as shown in fig. 9, the second connection portion comprises an inner surface 22, which inner surface 22 has radial grooves 24 extending over at least a part of the height of the inner surface 22. As shown in fig. 11, the radial groove 24 extends in a plane containing the central axis Y of the second connection portion.

Furthermore, as shown in fig. 16a to 19, the second engagement member comprises a dial 42, the dial 42 being provided with lugs 43, the lugs 43 being designed to be received in the radial grooves 24 of the second connection portion 20. The turntable 42 has a disc-like general shape, extending in a substantially planar manner along the above-mentioned plane P. The turntable 42 is rotatable through an angle of 360 deg. about the above-mentioned axis Z of the first coupling part 10.

By means of the interaction of the lugs 43 in the radial grooves 24, the rotary movement of the carousel about the axis Z can be transmitted to the second connection portion and vice versa. Furthermore, the turntable remains parallel to plane P and the bolts of the turntable move in the radial grooves when the second connection portion moves about axis X and plane P.

The device is configured such that electrical transmission between the first element E1 and the second element E2 is allowed. To this end, the first and second joining members 30 and 40 include a current transfer collector 35 and a current transfer collector 45, respectively. The second transport collector 46 is fixed to the turntable 45 as shown in fig. 16 a. Each of the two transport collectors 36, 46 has the general shape of a planar disk.

Each transport collector 35, 45 comprises six tracks 36 and 46 for electric transport, as shown in fig. 12, 13, 14a on the one hand and in fig. 22a on the other hand. One of the tracks allows the transmission of mass, while the other track allows the transmission of current. The tracks 36 and 46 of each of the two transport collectors 35 and 45 are circular and concentric.

The two transport collectors 35, 45 comprise the same number of tracks with the same design. Which are symmetrical to each other with respect to plane P. The two transport collectors are rotatable relative to each other about the axis Z, but fixed relative to the plane P. They have a disc-like general shape and extend in a substantially planar manner, parallel to each other along a plane P.

To allow electrical transmission between the first collector 35 and the second collector 45, the device comprises a plurality of balls 50 arranged between the first transmission collector 35 of the first engagement member 30 and the second transmission collector 45 of the second engagement member 40, which balls are held in a holding part 52, as shown in fig. 16a and 19. The bulb 50 includes at least an electrocoat. They may in particular be made of an electrically conductive material, such as stainless steel. The holding member 52 has the form of a disc of generally disc-like shape pierced by an aperture 53 in which aperture 53 the ball 50 is arranged.

Furthermore, the first connection portion 10 comprises a first receiving electrical connector 15 which receives electrical data from a first element E1, visible in fig. 3b, 6 and 7. The first receiving electrical connector 15 is of a substantially disc-like shape and extends along a plane P in a substantially planar manner.

Similarly, the second connection portion 20 comprises a second receiving electrical connector 25 which receives electrical data from the second element E2. The second receiving electrical connector 25 is substantially disc-like in shape and extends in a substantially planar manner according to a plane Q perpendicular to the central axis Y. Plane Q is the plane of fig. 17a and 17 b.

The second receiving electrical connector 25 comprises a flexible electrical connector 27 connecting it to a second transmitting connector 45.

The device is also configured such as to allow light transmission between the first element E1 and the second element E2. To this end, the device comprises an optical ring 60, which optical ring 60 is arranged on one of the joining member 30 or the joining member 40, i.e. on the first joining member 30, as shown in more detail in fig. 20 to 23 d.

The optical ring 60 has a ring-like general shape and extends parallel to the plane P in a substantially planar manner. For example, as shown in fig. 20, light is transmitted toward the optical ring 60 or from the optical ring 60 through two optical fibers 61.

The device also comprises two optical transceivers 62 and 63, each located on one of the transmission collectors, each arranged facing the above-mentioned optical ring 60.

In the modified embodiment shown in fig. 23e to 23h, light transmission may be achieved by two optical rings 60 arranged to face each other. Each optical ring 60 has a form configured such that light is allowed to reach the optical ring via a disc-shaped entrance 64, which is then distributed over the entire surface 65 of the optical ring having an annular shape. The light is then transmitted to the annular second optical ring 60 and then reconverged toward the disk-shaped exit 66.

Each optical ring 60 has been externally anti-dispersion surface treated so as to allow internal radiation. All of the outer surfaces of the optics ring 60, except for the inlet 64 and outlet 66, may be coated with an opaque scattering material, such as aluminide, silver plating, or other types of scattering materials. Thus, the internal radiation is only transmitted in an annular beam between the inlet 64 and the outlet 66.

The invention also relates to an assembly 5 comprising four devices 1 coupled to each other as described above, as shown by way of example in figure 24.

In this embodiment, the first connection portion 10 of the first device 1 forms a first element for an adjacent second device. The first device 1 is connected to the second device 1, one being connected to each other by its first connection portion 10 and the other by its second connection portion 20.

The adjacent second and third devices 1, 1 are each connected together via their first connection portions 10, and the adjacent third and fourth devices 1, 1 are connected together via their second connection portions 20.

Two adjacent devices are coupled together by an assembly ring 70 to ensure the retention of two consecutive connection portions of the two devices.

Each of the first and second connection portions includes a snap flange 72 to allow one connection portion to be secured to the other connection portion. The snap flanges may all be identical unless a positioning system is provided to ensure a satisfactory orientation of the connection with respect to the axis Z.

In a variant embodiment, the transport collector 35, the transport collector 45 and the balls 50 may be arranged in a tubular manner instead of in a planar manner. By way of example, fig. 25 to 28 show an embodiment comprising five transport tracks 36, 46, each in the form of a ring, the inner surface of which is part of a cone (as can be seen in fig. 26), between the tracks 36, 46 a ball 50 being arranged to be held in a holding member 52, such as in a bearing. There are thus 5 retaining members 52, which accommodate 5 consecutive balls 50.

Current is supplied to each track by axial rods 37, 47, axial rods 37, 47 passing inside the track or outside the track.

In a variant embodiment, the second connecting portion and the second joint member may be hinged together in a rigid manner. By way of example, fig. 29a and 29b show the possibility of connecting the second connection portion 20 and the second joint member 40 by means of a synchronization link 80, which synchronization link 80 can ensure the transmission of the rotary motion of the turntable of the second joint member about the axis Z to the second connection portion and vice versa.

The connecting rod can be fixed to the second connecting portion on the one hand and to the second joint member on the other hand by means of a ball joint connection.

As a variant, the device according to the invention may also allow mechanical connections as well as optical, electrical and fluid transmission.

By way of example, another exemplary embodiment is also shown in fig. 30-32 b, which also includes a connecting rod 80, wherein the ball joint connection is also sealed in a manner that allows for a fluid connection in the connecting rod. The connecting rod 80 is hollow and in this case comprises a first rod portion 81 and a second rod portion 82, the first rod portion 81 and the second rod portion 82 being connected by translational engagement, limited in terms of range of operation and tightness, allowing a fluid connection in the connecting rod 80. The first link portion 81 is configured so as to partially slide in the second link portion 82.

This example also differs from the embodiment of fig. 1-19 in the values of angles α and β and γ and δ.

A variant embodiment is further illustrated in fig. 33 to 33e, which is configured such as to allow simultaneous or sequential optical, electrical and fluid transmission. In this embodiment, the device includes a fluid-tight connector link 80 that forms a fluid path F.

Naturally, the invention is not limited to the embodiment just described. The device may also include one or more sensors, such as one or more ultrasonic sensors, or even one or more infrared sensors. Such sensors may be made to function as collision avoidance or, alternatively, may function as space detection.