Remote actuation system

Abstract

A remote actuation system (100), comprising: A) an actuator assembly (10) comprising: a first cylinder- piston device (11) comprising a first cylinder (12) and a first piston (13) sealingly sliding inside said first cylinder (12) forming a first variable-volume chamber (14) between said first cylinder (12) and said first piston (13) as a function of a relative position between said first cylinder (12) and said first piston (13), a sealing element (15) between said first cylinder (12) and said first piston (13) comprising a first rolling diaphragm (16); an actuator device (30) connected to said first cylinder (12) or said first piston(13) so as to vary said relative position between said first cylinder (12) and said first piston (13); B) an actuated assembly (50) comprising: a second cylinder-piston device (51) comprising a second cylinder (52) and a second piston (53) sealingly sliding inside said second cylinder (52) forming a second variable-volume chamber (54) between said second cylinder (52) and said second piston (53) as a function of a relative position between said second cylinder (52) and said second piston (53), a sealing element (55) between said second cylinder (52) and said second piston (53) comprising a second rolling diaphragm (56); an actuated element (80) connected to said second cylinder (52) or said second piston (53), configured to be actuated as a function of said relative position between said second cylinder (52) and said second piston (53); C) a hydraulic conduit (90), which fluidly connects said first variable-volume chamber (14) to said second 67 variable-volume chamber (54) so that a change in the volume of said first chamber (14) produces a change in the volume of said second chamber (54) having an opposite sign to said change in volume of said first chamber (14); D) an antagonistic preloading device (35, 85) associated with said first cylinder-piston device (11) and / or said second cylinder-piston device (51), configured to apply an antagonistic force (36, 86), which opposes the expansion of said first chamber (14) and / or said second chamber (54), respectively, so as to maintain the internal absolute pressure of said chambers (14, 54) at a value greater than or equal to a predetermined absolute pressure threshold value, during operation; wherein said predetermined absolute pressure threshold value is the greatest of the external absolute pressure value of the environment in which said first cylinder-piston device (11) is immersed and the absolute pressure value of the environment in which said second cylinder-piston device (51) is immersed.

Description

REMOTE ACTUATION SYSTEMDESCRIPTIONField of the invention

[0001] The present invention relates to a remote actuation system, in particular for actuating the motion of a j oint which connects two members connected in a movable manner by means of such a j oint , of an articulated mechanism, e . g . , a robot .Background art

[0002] In the field of remote actuation of an articulated mechanism, e . g . , of a robot , the technique is known of using a system of cables diverted by pulleys , which connect the actuation system to the aforementioned j oint , and which are appropriately integrated into the structure of the articulated mechanism .

[0003] Sheathed cable transmission systems or cable transmission systems combined with appropriate diversion systems , e . g . , pulleys , are also known .

[0004] Such devices are not free from defects , indeed, sheathed cables have poor mechanical transmission quality with high friction and backlash; systems based on cables and pulleys have very good transmission quality but are very complex because they require the fabrication of high-precision, high-quality mechanical components . Moreover, they are limited in terms of design flexibilitybecause they can only be ef fectively applied to relatively simple kinematics .

[0005] In particular, none of these solutions suggests a transmission system which has the highest mechanical quality in terms of low friction and backlash, and avoids the need to integrate mechanical components with high accuracy and mechanical quality .

[0006] Therefore , the need is felt to provide a remote actuation system which allows delocali zing the actuators of an articulated mechanism, e . g . , of a robot , from the structure itsel f of such a mechanism, ensuring high mechanical actuation qualities even in terms of low friction and low backlash .Summary of the invention

[0007] It is the obj ect of the present invention to devise and provide a remote actuation system which allows meeting the aforesaid needs and at least partially obviating the drawbacks described above with reference to the prior art .

[0008] In particular, it is the task of the present invention to provide a remote actuation system which allows transmitting motion with high mechanical quality, for example in terms of low friction and backlash, and avoids the need to integrate complex mechanical system components which require high manufacturing accuracy .

[0009] It is another obj ect of the present invention to provide a remote actuation system which allows delocali zing the actuators of an articulated mechanism, e . g . , of a robot , from the structure itsel f of such a mechanism, ensuring high mechanical actuation quality in terms of low friction and low backlash .

[0010] It is another obj ect of the present invention to provide a remote actuation system which allows isolating the motors in an atmosphere other than that of the articulated mechanism, and thus of the actuated assembly .

[0011] These and further obj ects and advantages are achieved by a remote actuation system according to independent claim 1 .

[0012] The remote actuation system according to the invention has at least the following advantages over a sheathed cable transmission system : largely reduced friction, especial ly static friction, which in the case of a servo-actuated system is very relevant to reduce ; reduced backlash; simplicity in isolating the motors in an atmosphere , in particular, having pressure and type of surrounding fluid / gas di f ferent from that of the articulated mechanism .

[0013] The remote actuation system according to the invention has at least the following advantages over a cable-and-pulley diversion-based transmission system :reduced complexity : the design of a cable-actuated articulated mechanism needs a large number of mechanical components aboard the mechanism itsel f , such as pulleys and cable attachment systems ; much milder speci f ications on construction tolerances and mechanical qualities of the components : a cable and pulley transmission system requires accuracy in the measurement of center distances of the pulleys , which must be maintained during the motion of the mechanism, this results in a rather onerous demand for tight tolerances as well as high sti f fness of the mechanical structure of the mechanism; greater flexibility in the ability to implement di f ferent types of articulated mechanisms ; simplicity of assembly : the cable arrangement and preloading procedures of a system based on cables and pulleys is very onerous and complex ; simplicity in isolating the motors in an atmosphere , in particular having pressure and type of surrounding fluid / gas di f ferent from that of the articulated mechanism .

[0014] The remote actuation system according to the invention has at least the following advantages over a conventional hydraulic actuation system : it allows direct electrical actuation and thus possibility to control the position without necessarily having to perform a flow rate control ; possibility to implement a force controlwithout force sensors .

[0015] Further obj ects , solutions , and advantages are present in the embodiments described below and claimed in the dependent claims .Brief description of the drawings

[0016] The invention wil l be shown below by the description of embodiments thereof , given by way of non- limiting example , with reference to the accompanying drawings , in which :

[0017] - figure 1 shown a diagrammatic view of an embodiment of a remote actuation system according to the invention;

[0018] - figure 2 shown a three-dimensional view by way of example of the rolling diaphragm of the remote actuation system in figure 1 ;

[0019] - figure 3 shows a section view of the rolling diaphragm in figure 2 , taken along a section plane containing a symmetry axis of the rol ling diaphragm;

[0020] - figure 4 shows an enlarged section view of a cylinder-piston device used in the present invention;

[0021] - figure 5 shows a diagrammatic view of the remote actuation system in figure 1 , in which the antagonistic device comprises a spring which acts against the expansion of the first variable-volume chamber and a spring which acts against the expansion of the secondvariable-volume chamber ;

[0022] - figure 6 shows a diagrammatic view of another embodiment of the remote actuation system in figure 1 , in which the antagonistic device is applied to both the first cylinder-piston device and the second cylinderpiston device comprises a second assembly similar to the one in figure 1 comprising a first and second antagonistic cylinder-piston device , the f irst and second variable-volume chambers of which are fluidly connected to each other by an antagonistic conduit ;

[0023] - figure 7 shows a diagrammatic view of another embodiment of the system in figure 6 , in which the actuation device is of the linear type and the actuated element is with rotary motion;

[0024] - figure 8 shows a diagrammatic view of another embodiment of the system in figure 7 , in which the actuation device is of the rotary type and the actuated element is with linear motion;

[0025] - figure 9 shows a diagrammatic view of an example of a conduit collection device of the remote actuation system in figure 1 in three di f ferent angular positions during operation;

[0026] - figure 10 shows a diagrammatic view of a remote actuation system according to the invention, comprising variable damping valves ;

[0027] - figure 11 shows a diagrammatic view of an actuation system according to the invention having a pressure sensor ;

[0028] - figure 12 shows a diagrammatic view of a remote actuation system according to the invention, having a load cell ;

[0029] - figure 13 shows a diagrammatic view of a remote actuation system according to the invention, comprising an overload and depressuri zation protection device ;

[0030] - figure 13A shows an extension of the application of the overload and depressuri zation protection system in figure 13 to when the hydraul ic conduit preloading element is made with an antagonistic hydraulic conduit ;

[0031] - figure 14 shows a diagrammatic view of a remote actuation system according to the invention, comprising another overload protection device ;

[0032] figure 15 diagrammatically shows an embodiment of the remote actuation system according to the invention, in which the actuator device and the actuated element are both rotoidal and the antagonist devices comprise respective elastic elements ;

[0033] figure 16 shows an embodiment of the invention comprising a remote gravity compensation device ;

[0034] figure 17 diagrammatically shows a remoteactuation system according to the invention comprising a pre-pressuri zation apparatus ;

[0035] figure 18 diagrammatically shows a remote actuation system according to the invention comprising a single remote actuator capable of selectively driving a multiplicity of j oints by means of a valve system aboard the aforementioned articulated mechanism, which selectively activates one j oint at a time ;

[0036] figures from 19 to 22 show a sequence of operations for filling the system with the fluid;

[0037] - figure 23 shows a configuration consisting of two actuator assemblies and two actuated assemblies , in which the torque transmitted to the actuated assemblies is linear combination of the torques generated by the two actuators of the actuator assemblies .Description of preferred embodiments

[0038] With reference to the figures , a remote actuation system according to the invention is indicated by reference numeral 100 as a whole .

[0039] The remote actuation system 100 is preferably used to actuate a rotoidal or linear j oint which connects two mutually movably engaged members of an articulated mechanism, preferably of a robot .

[0040] In more detail , the system 100 comprises an actuator assembly 10 and an actuated assembly 50 mutuallyconnected by at least one conduit 90 .

[0041] The actuated assembly 50 is pre ferably associated with the robot j oint , while the actuator assembly 10 is preferably associated with a robot base .

[0042] In other words , the actuated assembly 50 is preferably arranged in a remote position from the actuator assembly 10 .

[0043] The actuator assembly 10 comprises a first cylinderpiston device 11 comprising a first cylinder 12 and a first piston 13 sealingly sliding inside said first cylinder 12 forming a first variable-volume chamber 14 between said first cylinder 12 and said first piston 13 as a function of a relative position between said first cylinder 12 and said first piston 13 .

[0044] The actuator assembly 10 further comprises a sealing element 15 between said first cylinder 12 and said first piston 13 comprising a first rolling diaphragm 16 .

[0045] The actuator assembly 10 further comprises at an actuator 30 connected to said first cylinder 12 or said first piston 13 so as to vary said relative position between said first cylinder 12 and said first piston 13 .

[0046] The actuated assembly 50 comprises a second cylinder-piston device 51 comprising a second cylinder 52 and a second piston 53 sealingly sliding inside said second cylinder 52 forming a second variable-volumechamber 54 between said second cylinder 52 and said second piston 53 as a function of a relative position between said second cylinder 52 and said second piston 53, a sealing element 55 between said second cylinder 52 and said second piston 53 comprising a second rolling diaphragm 56.

[0047] Moreover, the actuated assembly 50 comprises an actuated element 80 connected to said second cylinder 52 or said second piston 53, configured to be actuated as a function of said relative position between said second cylinder 52 and said second piston 53.

[0048] The rolling diaphragm sealing element 16, 56, for example shown in figures 2, 3 and 4, comprises a body 21 made of elastic material, preferably having a substantially cup or thimble shape, preferably made of elastomeric material, e.g., rubber.

[0049] According to an embodiment, the body 21 can comprise a reinforcing layer, e.g., a fabric, either therein or on a surface thereof.

[0050] According to an embodiment, the body 21 comprises a side wall 23 and a base wall 24 which closes said side wall 23 at a free end thereof.

[0051] The side wall 23 has a section orthogonal to a direction of relative sliding between piston and cylinder, having a closed shape, e.g., circular, or oval,or staged, or polygonal with connected angles .

[0052] Staged shape means a shape comprising two opposite parallel straight sides connected by two opposite curved sides .

[0053] According to an embodiment , the body 21 comprises an annular end rim 22 sealingly engageable in a corresponding seat inside said cylinder 12 , arranged around a free end of said side wall 23 opposite to said base wall 24 .

[0054] The side wall 23 and end base wall 24 form therein a cavity in which a free end o f said piston 13 is accommodated, preferably by adhering .

[0055] According to the relative position between the piston 13 and the cylinder 12 , the side wall 23 elastically deforms by folding on itsel f on two overlapping side wall portions 25 and 26 j oined together by a side wall intermediate portion 27 , as shown for example in figure 4 , remaining adhering on an inner surface of the cylinder 12 and an outer surface of the piston 13 .

[0056] In this manner, during the relative motion between the piston 13 and the cylinder 12 , the two overlapping side wall portions 25 and 26 slide without contact with each other, and simultaneously the intermediate portion27 rolls in the direction of the relative motion .

[0057] Such a sealing element 16 has many advantages , comprising : perfect f luid-tightness because both of the ends thereof , i . e . , the annular end rim 22 and the end base wall 24 , tightly adhere to cylinder 12 and piston 13 , respectively;- wear resistance because it does not have portions which slide contact with each other ;- no resistance to relative motion between piston 13 and cylinder 12 , because the side wall intermediate portion 27 rolls without friction or sliding .

[0058] The remote actuation system 100 further comprises a hydraulic conduit 90 , which fluidly connects said first variable-volume chamber 14 to said second variable-volume chamber 54 so that a change in the volume of said first chamber 14 produces a change of volume of said second chamber 54 having an opposite sign to said change in volume of said first chamber 14 .

[0059] In other words , when the volume of the first chamber 14 decreases , the volume of the second chamber increases , and vice versa .

[0060] The sign of said volume change is defined as positive when the volume of the chamber after said change is greater than the volume of the chamber itsel f before the change .

[0061] Conversely, the sign of said volume change is defined as negative when the volume of the chamber after said change is less than the volume of the chamber itsel f before the change .

[0062] In particular, the total internal volume contained by the first variable-volume chamber 14 , the second variable-volume chamber 54 and the conduit 90 remains constant in the ideal case of incompressible fluid . In that case , as the volume of the first chamber 14 decreases , the volume of the second chamber increases by the same amount , and vice versa .

[0063] Moreover, the remote actuation system 100 comprises an antagonistic preloading device 35 , 85 associated with said first cylinder-piston device 11 and / or said second cylinder-piston device 51 , configured to apply an antagonistic force 36 , 86 , which opposes the expansion of said first chamber 14 and / or said second chamber 54 , respectively, so as to maintain the internal absolute pressure of said chambers 14 , 54 at a value greater than or equal to a predetermined absolute pressure threshold value .

[0064] Absolute pressure value means a pressure value measured with respect to the ideal or absolute vacuum .

[0065] The antagonistic preloading device 35 , 85 has the function of keeping the diaphragm sealing element 16 , 56always taut and adhering against the free end of the piston 13 , 53 .

[0066] Said predetermined absolute pressure threshold value is the greatest of the external absolute pressure value of the environment in which said first cylinder-piston device 11 is immersed and the absolute pressure value of the external environment in which said second cylinderpiston device 51 is immersed .

[0067] External absolute pressure means the absolute value of the ambient pressure outside said first cylinderpiston device and said second cylinder-piston device , respectively .

[0068] In this respect , it is worth noting, for example , that the actuator assembly 10 could be in the atmosphere , and the actuated assembly could be submerged in water, or even vice versa .

[0069] According to an embodiment , the first piston 13 is fixed and the first cylinder 12 is movable with respect to the first piston 13 , the hydraulic conduit 90 crosses the first piston 13 leading into the first variablevolume chamber 14 through an opening 17 in the first piston 13 , and the first rolling diaphragm 16 has an opening 18 corresponding to the opening 17 in the first piston 13 .

[0070] According to an embodiment , the second piston 53 i sfixed and the second cylinder 52 is movable with respect to the second piston 53 , and the hydraulic conduit 90 crosses the second piston 53 leading into the second variable-volume chamber 54 through an opening in the second piston 53 , and where the second rolling diaphragm 56 has an opening corresponding to the opening in the second piston 53 .

[0071] According to a preferred embodiment , for example shown in figure 1 , the first piston 13 and the second piston 53 are both fixed, and the first cylinder 12 and the second cylinder 52 are both movable relative thereto .

[0072] This solution allows taking advantage of the overal l si ze of the movable parts achieving a more compact configuration which adapts to the actuation of a serial articulated mechanism .

[0073] According to another embodiment , not shown in the figures , the first cylinder 12 is fixed and the first piston 13 is movable with respect to the first cylinder 12 , the hydraulic conduit 90 crosses the first cylinder 12 leading into the first variable-volume chamber 14 , and the first rolling diaphragm 16 is devoid o f openings .

[0074] According to an embodiment , the second cylinder 52 is fixed and the second piston 53 is movable with respect to the second cylinder 52 , the hydraulic conduit 90 crosses the second cylinder 52 leading into the secondvariable-volume chamber 54 through an opening in the second cylinder 52 , and where the second rolling diaphragm 56 is devoid of openings .

[0075] Preferably, the first cylinder 12 and the second cylinder 52 are both fixed, and the first piston 13 and the second piston 53 are both movable .

[0076] According to an embodiment , for example shown in figure 5 , the antagonistic preloading device 35 , 85 comprises at least one elastic element 37 , 87 .

[0077] Preferably, the antagonistic preloading device 35 , 85 , comprises an elastic element 37 arranged so as to apply an antagonistic force 36 against the expansion of the first variable-volume chamber 14 , and an elastic element 87 arranged so as to apply an antagonistic force 86 against the expansion of the second variable-volume chamber 54 .

[0078] However, in some cases , it can be suf ficient to use only one elastic element applied to one cylinder-piston device .

[0079] According to an embodiment , for example shown in figure 15 , there is a rotary-type actuator device 30 and a rotary-motion actuated element 80 shown in figure 5 instead of the linear-type actuator device 30 and the linear-motion actuated element 80 .

[0080] According to an embodiment , for example shown infigures 6 , 7 and 8 , the antagonistic device 35 , 85 is associated with the first cylinder-piston device 11 and the second cylinder-piston device 51 .

[0081] Moreover, according to an embodiment , such an antagonistic device 35 , 85 comprises a first antagonistic cylinder-piston device 61 comprising a first antagonistic cylinder 62 and a first antagonistic piston 63 sealingly sliding within said first antagonistic cylinder 62 forming a first antagonistic variable-volume chamber 64 between said first antagonistic cylinder 62 and said first antagonistic piston 63 as a function of a relative position between said first antagonistic cylinder 62 and said first antagonistic piston 63 , a sealing element between said first antagonistic cylinder 62 and said first antagonistic piston 63 comprising a first antagonistic rolling diaphragm 66 .

[0082] Moreover, the first antagonistic cylinder-piston device 61 is connected to said actuator device 30 so that a positive change in the volume of the first chamber 14 produces a negative change in the volume of said first antagonistic chamber 64 or vice versa .

[0083] In this embodiment , the antagonistic device 35 , 85 further comprises a second antagonistic cylinder-piston device 71 comprising a second antagonistic cylinder 72 and a second antagonistic piston 73 sealingly slidinginside the second antagonistic cylinder 72 forming a second antagonistic variable-volume chamber 74 between the second antagonistic cylinder 72 and the second antagonistic piston 73 as a function of a relative position between the second antagonistic cylinder 72 and the second antagonistic piston 73 , a sealing element between said second antagonistic cylinder 72 and said second piston 73 comprising a second antagonistic rolling diaphragm 76 ; where the second antagonistic cylinderpiston device 71 is connected to the actuated device 80 so that a positive change in the volume of the second chamber 54 produces a negative change in the volume of said second antagonistic chamber 74 or vice versa .

[0084] Moreover, in this embodiment , the antagonistic device 35 , 85 comprises an antagonistic hydraulic conduit 91 , which connects said first antagonistic variablevolume chamber 64 and said second antagonistic chamber 74 to each other .

[0085] In other words , according to the embodiment in figures 6 , 7 and 8 , the antagonistic device 35 , 85 comprises an antagonistic hydraulic circuit comprising the first and second antagonistic cylinder-piston devices 61 , 71 , connected by the antagonistic hydraulic conduit 91 , analogous to the main hydraulic circuit comprising the first and second antagonistic cylinder-piston devices11 , 51 , connected by the antagonistic hydraulic conduit 90 .

[0086] Thus , in such a case , the actuator assembly 10 , e . g . , positioned in a robot base , and the actuated assembly 50 e . g . , positioned at a j oint between two robot members , are connected to each other by two hydraulic conduits , in particular the hydraulic conduit 90 and the antagonistic hydraulic conduit 91 .

[0087] According to an embodiment , the first antagonistic piston 63 is fixed and the first antagonistic cylinder 62 is movable with respect to the first antagonistic piston 63 , the antagonistic hydraulic conduit 91 crosses the first antagonistic piston 63 leading into the first antagonistic variable-volume chamber 64 through an opening in the first antagonistic piston 63 , and the first antagonistic rolling diaphragm 66 has an opening corresponding to the opening in the first antagonistic piston 63 .

[0088] According to an embodiment , the second antagonistic piston 73 is fixed and the second antagonistic cylinder 72 is movable with respect to the second antagonistic piston 73 , and the antagonistic hydraulic conduit 91 crosses the second antagonistic piston 73 leading into the second variable-volume chamber 74 through an opening in the second antagonistic piston 63 , and where thesecond antagonistic rolling diaphragm 76 has an opening corresponding to the opening in the second antagonistic piston 73 .

[0089] According to an embodiment , the first antagonistic cylinder 62 is fixed and the first antagonistic piston 63 is movable with respect to the first antagonistic cylinder 62 , the first antagonistic hydraulic conduit 91 crosses the first antagonistic cylinder 62 leading into the first antagonistic variable-volume chamber 64 , and the first antagonistic rolling diaphragm 66 is devoid of openings .

[0090] According to an embodiment , the second antagonistic cylinder 72 is fixed and the second antagonistic piston 73 is movable with respect to the second antagonistic cylinder 72 , the antagonistic hydraulic conduit 91 crosses said second antagonistic cylinder 72 leading into the second antagonistic variable-volume chamber 74 through an opening in the second antagonistic cylinder 72 , and where said second rolling diaphragm 76 is devoid of openings .

[0091] According to an embodiment , for example shown in figures 1 , 5 , 6 and 7 , the actuator device 30 is a linear actuator .

[0092] For example , such a linear actuator is a hydraul ic or pneumatic, or electromagnetic, or mechanical driveassociated with an electric motor .

[0093] According to an embodiment , for example shown in figures 8 and 10 , the actuator device 30 is a rotary actuator .

[0094] Preferably, the rotary actuator 30 comprises a motori zed wheel 31 and a flexible transmission member 32 wound around the motori zed wheel 31 , where the first cylinder-piston device 11 and the first antagonistic cylinder-piston device 61 , respectively, are connected to the opposite free ends of said flexible transmission member 32 .

[0095] The flexible transmission member 32 compri ses , for example , a belt , cable , chain, or flexible foil .

[0096] The flexible transmission member 32 is configured to be wound without sliding onto the motori zed wheel 31 .

[0097] According to an embodiment , for example shown in figures 1 , 5 , 6 , 8 , the actuated element 80 has a linear motion .

[0098] According to an embodiment , for example shown in figure 7 , the actuated element 80 is rotatably movable , and the actuated assembly 50 comprises a support 57 with respect to which said actuated element 80 is rotatably engaged .

[0099] According to an embodiment , the actuated assembly 50 comprises a wheel 81 rotatable with respect to saidsupport 57 and either integral with, or rotationally connected to , said actuated element 80 , and a flexible transmission member 82 wound about the wheel 81 , where at the opposite free ends of said flexible transmission member 82 they are connected to said second cylinderpiston device 51 and to said second antagonistic cylinder-piston device 71 .

[0100] The flexible transmission member 82 comprises , for example , a belt , cable , chain, or flexible foil .

[0101] The flexible transmis sion member 82 is configured to be wound without sliding onto the motori zed wheel 81 .

[0102] According to an embodiment , said actuated assembly 50 comprises a conduit collection device 58 for guiding and containing said hydraulic conduit 90 during operation .

[0103] An example of the aforementioned conduit collection device 58 is diagrammatically shown in figure 9 .

[0104] According to an embodiment , the conduit collection device 58 comprises a pulley 67 integral with said actuated element 80 , about which a portion of the hydraulic conduit 90 is free to wind / unwind with a rolling motion, a fixing point 59 in which said hydraulic conduit 90 is f ixed to said support 57 , one or morebacking elements 60 fixed to said support 57 to keep said conduit 90 abutting against the conduit.

[0105] If the remote actuation system is applied to a robot having at least one member i and one member 1 + 1, rotatably engaged with the member i by means of a rotoidal joint, the support 57 is integral with the member i, while the actuated element 80 is integral with member i+1.

[0106] The conduit collection device 58 allows reducing the torque, used during the actuation of the joint, required to overcome the resistance of the hydraulic conduit 90 to bending.

[0107] According to an embodiment, for example shown in figure 10, the remote actuation system 100 comprises an adjustable damping valve 92 arranged along said hydraulic conduit 90.

[0108] Such an adjustable damping valve 92 has the function of introducing a variable and adjustable load loss into the hydraulic circuit comprising such a hydraulic conduit 90.

[0109] This simultaneously ensures high controllability, efficiency, and speed of movement of the actuated element 80, e.g., to the benefit of the movement of a robot which comprises said remote actuation system100.

[0110] According to an embodiment, the adjustable damping valve 92 is motorized, in other words, it can comprise a motor 94 configured to adjust the opening of the adjustable damping valve 92.

[0111] According to an embodiment, for example shown in figure 10, the remote actuation system 100 comprises an antagonistic adjustable damping valve 93 arranged along said antagonistic hydraulic conduit 91.

[0112] Such an adjustable damping valve 93 has the function of introducing a variable and adjustable load loss along the hydraulic circuit comprising such a hydraulic conduit 91.

[0113] This simultaneously ensures high controllability, efficiency, and speed of movement of the actuated element 80, e.g., to the benefit of the movement of a robot which comprises said remote actuation system 100.

[0114] According to an embodiment, the adjustable damping valve 93 is motorized, in other words, it can comprise a motor 95 configured to adjust the opening of the adjustable damping valve 93.

[0115] The adjustable damping valve 92 and the antagonistic adjustable damping valve 93 can be adjusted simultaneously in a cooperative mode with each other according to work requirements.

[0116] According to an embodiment , for example shown in figure 11 , the remote actuation system 100 comprises at least one pressure sensor 96 fluidly connected to at least either said hydraulic conduit 90 or said antagonistic hydraulic conduit 91 .

[0117] Thus , the pressure sensor 96 is arranged to measure the fluid pressure inside the hydraulic conduit 90 and / or inside the antagonistic hydraulic conduit 91 .

[0118] The use of such a pressure sensor 96 in combination with the high quality of motion transmission of the remote actuation system 100 allows indirectly measuring the force and torque transmitted through the pressure measurement . This has the advantage of avoiding the use of more expensive and complex force or torque measurement systems .

[0119] The presence of the pressure sensor 96 also allows for an implementation of the remote actuation system 100 comprising a closed-loop force or torque control .

[0120] According to an embodiment , the at least one pressure sensor 96 is arranged close to the actuator device 30 .

[0121] In this manner, the at least one pressure sensor 96 is in an enclosed and protected environment .

[0122] Such an arrangement of the pressure sensor 96allows measuring the force or torque applied to the actuated element 80 in real time without using force sensors applied to the actuated element 80 , in order to avoid damage , wear due to aggressive environments , vacuum, high temperatures or pressures at the actuated ass e mb 1 y 50 .

[0123] Such an arrangement of the pressure sensor 96 is particularly useful i f the actuator device 30 comprises a gear motor with high reduction so that a correct estimation of the force or torque applied to the actuated element 80 through the measurement o f the electric current is not possible .

[0124] Alternatively, or in combination, the at least one pressure sensor 96 can be fluidly connected to the hydraulic conduit 90 close to the actuator device 30 .

[0125] The aforesaid advantages are obtained also in this case .

[0126] According to an embodiment , for example shown in figure 12 , the remote actuation system 100 comprises at least one load cell 97 associated with said first cylinder-piston device 11 to measure the force applied by said actuator device 30 to said first cylinder-piston device 11 .

[0127] The at least one load cel l 97 is thus arranged close to the actuator device 30 .

[0128] It results that the at least one load cell 97 is in an enclosed and protected environment .

[0129] Such an arrangement of the load cell 97 allows measuring the force or torque applied to the actuated element 80 in real time without using force sensors applied to the actuated element 80 , in order to avoid damage , wear due to aggressive environments , vacuum, high temperatures or pressures at the actuated assembly 50 .

[0130] Such an arrangement of the load cell 97 is particularly useful i f the actuator device 30 comprises a gear motor with high reduction so that a correct estimation of the force or torque applied to the actuated element 80 through the measurement of the electric current is not possible .

[0131] Alternatively, or in combination, the at least one load cell 97 can be associated with the first antagonistic cylinder-piston device 61 .

[0132] According to an embodiment , the remote actuation system 100 can comprise at least one pressure sensor 96 , as shown for example in figure 11 , and at least one load cell 97 , as shown for example in figure 12 , in combination with each other .

[0133] According to an embodiment , for example shown in figure 13 , the remote actuation system 100 comprises an overload and depressuri zation protection device 500fluidly connected to said hydraulic conduit 90 .

[0134] In case of overload, i . e . , when excessive forces and / or torques are applied on the actuated element 80 , the hydraulic conduit 90 can undergo pressuri zation which can exceed the design limits or depressuri zation below the said predetermined absolute threshold pressure value .

[0135] The overload and depressuri zation protection device 500 has the function of protecting the hydraulic circuit comprising the hydraulic conduit 90 and actuator assembly 10 in case of excessive force and / or torque on the actuated element 80 .

[0136] According to an embodiment , said overload and depressuri zation protection device 500 comprises a preloaded piston 506 , a preloaded cylinder 505 , and a preloaded rolling diaphragm 507 . Said preloaded piston, preloaded cylinder, and preloaded diaphragm create a preloaded variable-volume chamber 508 in direct communication with the hydraulic conduit 90 .

[0137] Said overload and depressuri zation protection device 500 can comprise a first preloading elastic element 501 and / or a second preloading elastic element 502 . Said first elastic preloading element 501 acts directly against the expansion of said variable-volume preloaded chamber 508 , while said second elasticpreloading element 502 acts against the expansion of said variable-volume preloaded chamber 508 by means of a movable element 503 , shaped so as to rest against a fixed abutment element 504 . The system is configured so that the second elastic preloading element 502 applies a greater force than said first elastic preloading element 501 .

[0138] In this manner, when the pressure of hydraulic conduit 90 fall s below a given value defined by the designer, it is no longer capable of overcoming the action of the first elastic preloading element 501 , which causes compression of the variable-volume preloaded chamber 508 and the consequent input of fluid into hydraulic line 90 so as to prevent excessive depressuri zation .

[0139] Moreover, when the pressure in hydraulic conduit 90 exceeds a maximum overload value defined by the designer, this overcomes the action of the first and second elastic preloading elements 502 and 501 by causing the expansion of the variable-volume preloaded chamber 508 and the consequent outflow of a given amount of fluid from the hydraulic conduit 90 to the variable-volume preloaded chamber 508 by limiting the pres sure increase .

[0140] In this manner, in addition to protecting the mechanism from possible damage situations , the overloadand depressuri zation protection device enables 500 , once the said overload condition is overcome , restores the total internal volume initially contained by the first variable-volume chamber 14 , the second variable-volume chamber 54 , and the hydraulic conduit 90 , recovering the correct relative positioning between actuator device 30 and actuated element 80 .

[0141] According to thi s embodiment , shown in figure 6 , said overload and depressuri zation protection system 500 can be extended to when the antagonistic preloading device 35 , 85 comprises an antagonistic hydraulic conduit 91 , as shown for example in figure 13 A.

[0142] In this case , an antagonistic overload and depressuri zation protection device 510 fluidly connected to said antagonistic hydraulic conduit 91 .

[0143] According to an embodiment , said antagonistic overload and depressuri zation protection device 510 comprises an antagonistic preloaded piston 516 , an antagonistic preloaded cylinder 515 , and an antagonistic preloaded rolling diaphragm 517 . Said antagonistic preloaded piston, antagonistic preloaded cylinder, and antagonistic preloaded diaphragm create an antagonistic preloaded variable-volume chamber 518 in direct communication with the antagonistic hydraulic conduit 91 .

[0144] Said antagonistic overload and depressuri zationprotection device 510 can comprise a first antagonistic preloading elastic element 511 and / or a second antagonistic preloading elastic element 512 . Said first antagonistic elastic preloading element 511 acts directly against the expansion of said antagonistic variablevolume preloaded chamber 518 , while said second antagonistic elastic preloading element 512 acts against the expansion of said antagonistic variable-volume preloaded chamber 518 by means of an antagonistic movable element 513 , shaped so as to rest against an antagonistic fixed abutment element 514 . The system is configured so that the second antagonistic elastic preloading element 512 applies a greater force than said first antagonistic elastic preloading element 511 .

[0145] In this manner, when the pressure of the antagonistic hydraulic conduit 91 falls below a given value defined by the designer, it is no longer capable of overcoming the action of the first antagonistic elastic preloading element 511 , which causes the compression of the antagonistic variable-volume preloaded chamber 518 and the consequent input of fluid into the antagonistic hydraulic conduit 91 so as to prevent excessive depressuri zation .

[0146] Moreover, when the pressure in the antagonistic hydraulic conduit 91 exceeds a maximum overload valuedefined by the designer, this overcomes the action of the first and second antagonistic elastic preloading elements 512 and 511 by causing the expansion of the antagonistic variable-volume preloaded chamber 518 and the consequent outflow of a given amount of fluid from the antagonistic hydraulic conduit 91 to the antagonistic variable-volume preloaded chamber 518 by limiting the pres sure increase .

[0147] Equivalently to the explanation given for the overload and depressuri zation protection device 500 , the antagonistic overload and depressuri zation protection device 510 allows protecting the mechanism from possible damage situations and, once said overload condition is overcome , restoring the total internal volume initially contained by the first antagonistic variable-volume chamber 64 , the second antagonistic variable-volume chamber 74 , and the antagonistic hydraulic conduit 91 , recovering the correct relative positioning between actuator device 30 and actuated element 80 .

[0148] According to an embodiment , for example shown in figure 14 , the remote actuation system 100 comprises a connecting conduit 98 fluidly connecting said hydraulic conduit 90 and said antagonistic hydraulic conduit 91 to each other, and comprises at least one pressure limiter device 99 fluidly connected to , and arranged along, said connecting conduit 98 . For example , said pressure limiter99 comprises one or more pressure rel ief valves .

[0149] Preferably, said pressure limiting device 99 is normally closed, i . e . , it does not allow fluid to pass through the connecting conduit 98 .

[0150] The task of said pressure limiting device 99 is to open i f the pressure in the hydraulic conduit 90 or antagonistic hydraulic conduit 91 exceeds a maximum overload value de fined by the designer, allowing fluid to flow through the connecting conduit 98 . In this manner, the fluid flows from the conduit which is at high pressure to the conduit which is at lower pressure , limiting further pressure increases .

[0151] This ensures the protection of the hydraulic circuit comprising the hydraulic conduit 90 and the actuator assembly 10 in case of excessive force and / or torque on the actuated element 80 .

[0152] According to an embodiment , for example shown in figure 16 , the remote actuation system 100 comprises a gravity compensation system 42 .

[0153] According to an embodiment , the gravity compensation system 42 comprises an articulated quadrilateral 44 comprising members rotatably engaged with each other, where a member 46 of said articulated quadrilateral 44 is constrained so as to rotate together with said rotary-type actuator device 30 , and where thecompensation system comprises an elastic contrast element 45 which is arranged so as to oppose the rotation of said 46, and where a fixed load 43, e.g., the weight of the robot, is applied to the actuated member 80.

[0154] According to an embodiment, for example shown in figure 17, the remote actuation system 100 comprises a pre-pressurization apparatus 46.

[0155] According to an embodiment, the pre- pressurization apparatus 46 comprises an injection device 77, an outlet conduit 49 connected to said injection device 77, a first connecting conduit 47 connected to the hydraulic conduit 90 and the outlet conduit 49, a second connecting conduit 48 connected to the antagonistic hydraulic conduit 91 and the outlet conduit 49, a first valve 28 along said first connecting conduit 47, a second valve 29 along said second connecting conduit 48.

[0156] In this manner, the advantage of providing initial pressurization in hydraulic conduit 90 and antagonistic hydraulic conduit 91 is obtained without using compressors.

[0157] According to an embodiment, the pre- pressurization apparatus 46 can be operated according to a method of actuation comprising the following steps:- opening the first valve 28 and the second valve 29; operating the injection device 77 to adjust thepressure in said first connecting conduit 47 and said second connecting conduit 48 ; aligning the actuator device 30 with the actuated element 80 ;- closing the first valve 28 and the second valve 29 .

[0158] According to an embodiment , the inj ection device 77 comprises a hydraulic cylinder 68 and a piston 69 sliding in said hydraulic cylinder, a rolling diaphragm fluid sealing element 70 .

[0159] According to an embodiment , the pi ston 69 has a surface 78 exposed to external ambient pressure .

[0160] In this a case , the external ambient pressure can provide a contribution to the actuation force of the piston 69 .

[0161] According to an embodiment , the inj ection device 77 comprises a linear motor 79 to actuate said piston 69 in said hydraulic cylinder 68 .

[0162] Figures 19 through 22 show successive steps of a filling method of a remote actuation system 100 according to the invention .

[0163] According to an embodiment , the remote actuation system 100 comprises a filling system, in particular to fill the conduits 90 , 91 and the chambers 14 , 54 , 64 , 74 with said fluid to enable operation .

[0164] According to an embodiment , the filling systemcomprises a fluid reservoir 19 , a filling supply conduit 75 connected to said fluid tank 19 , a first filling supply conduit 83 fluidly connected between said filling supply conduit 75 and said hydraulic conduit 90 , a second filling supply conduit 84 fluidly connected between said filling supply conduit 75 and said antagonistic hydraulic conduit 91 .

[0165] According to an embodiment , the filling system comprises a first filling valve 33 on said first filling conduit 83 and a second filling valve 34 on said second filling conduit 84 .

[0166] According to an embodiment , each cylinder 12 , 52 , 62 , 72 comprises a respective vent valve 65 .

[0167] According to an embodiment , the filling supply conduit 75 compri ses a supply valve 20 interposed between said tank 19 and said the fill ing conduit 83 and said second filling conduit 84 .

[0168] According to an aspect of the present invention, a method for filling said remote actuation system 100 with a fluid is described below .

[0169] The filling method comprises the following operating steps : closing the vent valves 65 and opening the first filling valve 33 , the second filling valve 34 and the supply valve 20 ;- opening the vent valves 65 ;- waiting for fi lling and then closing the vent valves 65 ; aligning the actuator device 30 with the actuated element 80 ;- closing the first filling valve 33 , the second filling valve 34 and the supply valve 20 .

[0170] Aligning the actuator device 30 with the actuated element 80 means moving the actuator device 30 and / or the actuated element until the actuated element 80 is positioned in a position corresponding to a desired position of the actuator device 30 .

[0171] According to another aspect of the present invention, the aforesaid purposes and advantages are achieved by a robot 200 , for example shown in figure 18 , comprising a plurality of members 204 , 205 , 206 , movably engaged in sequence with each other by respective j oints 207 , 208 , 209 , comprising a remote actuation system 100 as described above , where each actuated element 80 is arranged so as to actuate a member of said plurality with respect to an adj acent member .

[0172] According to an embodiment , said remote actuation system 100 comprises at least one respective j oint valve 201 , 202 , 203 upstream of each actuated assembly 50 comprising said actuated element 80 ,respectively, so as to operate only one j oint at a time , in other words in "multiplexing" mode .

[0173] This configuration has the advantage that of having one or only one pair of conduits 90 , 91 to connect the actuator assembly 10 with each respective actuated ass e mb 1 y 50 .

[0174] According to an embodiment , the remote actuation system 100 comprises two actuator devices 30 , 30 ' , two actuated elements 80 , 80 ' .

[0175] Two first cylinder-piston devices 601 , 602 and two first antagonistic cylinder-piston devices 603 , 604 are associated with the actuator device 30 . The two first cylinder-piston devices 601 and 602 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same . The two first antagonistic cylinder-piston devices 603 and 604 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same .

[0176] Two first cylinder-piston devices 605 , 606 and two first antagonistic cylinder-piston devices 607 , 608 are associated with the actuator device 30 ' . The two first cylinder-piston devices 605 and 606 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons isthe same . The two first antagonistic cylinder-piston devices 607 and 608 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same .

[0177] Two second cylinder-piston devices 609 , 610 and two second antagonistic cylinder-piston devices 611 , 612 are associated with the actuated device 80 . The two second cylinder-piston devices 609 and 610 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same . The two second antagonistic cylinder-piston devices 611 and 612 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same .

[0178] Two second cylinder-piston devices 613 and 614 and two second antagonistic cylinder-piston devices 615 , 616 are associated with the actuated device 80 . The two second cylinder-piston devices 613 and 614 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same . The two second antagonistic cylinder-piston devices 615 and 616 are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same .

[0179] Said first cylinder-piston device 601 isfluidly connected to said first cylinder-piston device 605 and said second cylinder-piston devices 609 , 610 by means of a first combined hydraulic conduit 617 .

[0180] Said first cylinder-piston device 602 is fluidly connected to said first antagonistic cylinderpiston device 608 and to said second cylinder-piston devices 613 , 614 by means of a second combined hydraulic conduit 618 .

[0181] Said first antagonistic cylinder-piston device603 is fluidly connected to said first antagonistic cylinder-piston device 607 and to said second antagonistic cylinder-piston devices 611 , 612 by means of a third combined hydraulic conduit 619 .

[0182] Said first antagonistic cylinder-piston device604 is fluidly connected to said first cylinder-piston device 606 and to said second antagonistic cylinderpiston devices 615 , 616 by means of a third combined hydraulic conduit 620 .

[0183] According to such a configuration, the torques transmitted to the actuated devices 80 and 80 ' are a linear combination of the torques generated by the two actuators of the actuated devices 30 and 30 ' .

[0184] Indicating by T30 the torque generated by the actuator device 30 , by T30 ' the torque generated by the actuator device 30 ' , by T80 the torque transmitted to theactuated device 80 , and by T80 ' the torque transmitted to the actuated device 80 ' , according to the configuration in figure 23 , the following relationships apply : T80 = T30 + T30 ' and T80 ' = T30 - T30 ' .

[0185] This configuration has the advantage of being capable of achieving a maximum torque transmitted to an actuated device which is greater than the maximum torque generated by each individual actuation device .

[0186] Those skilled in the art may make changes and adaptations to the embodiments of the device described above or replace elements with others which are functionally equivalent in order to meet contingent needs without departing from the scope o f the following claims . Each of the features described as belonging to a possible embodiment can be made irrespective of the other embodiments described .List of reference numerals in the drawings10 actuator assembly11 first cylinder-piston device12 first cylinder13 first piston14 first variable-volume chamber15 sealing element16 first rolling diaphragm17 opening in the pistonopening in the rolling diaphragm fluid tank inlet valve rolling diaphragm sealing element body annular end edge side wall end base wall and 26 overlapping portions of the side wall intermediate portion of the side wall first valve second valve actuator device motori zed wheel flexible transmission member first valve second valve antagonistic preloading device antagonistic force elastic element pressure limiting device preloaded diaphragm piston antagonistic pressure limiting device preloaded diaphragm piston gravity compensation system fixed loadarticulated quadrilateral elastic contrast element pre-pressuri zation apparatus first connecting conduit second connecting conduit outlet conduit actuated assembly second cylinder-piston device second cylinder second piston second variable-volume chamber sealing element second rolling diaphragm support conduit collection device fixing point backing elements first antagonistic cylinder-piston device first antagonistic cylinder first antagonistic piston first antagonistic variable-volume chamber vent valve first antagonistic rolling diaphragm pulley cylinderpiston rolling diaphragm fluid sealing element second antagonistic cylinder-piston device second antagonistic cylinder second antagonistic piston second variable volume antagonistic chamber filling supply conduit second antagonistic rolling diaphragm inj ection device exposed surface of the piston linear motor actuated element wheel flexible transmission member first filling conduit second filling conduit antagonistic preloading device antagonistic force elastic element hydraulic conduit antagonistic hydraulic conduit adj ustable damping valve antagonistic adj ustable damping valve adj ustable damping valve motor antagonistic adj ustable damping valve motor96 pressure sensor97 load cell98 connecting conduit99 pressure limiter100 remote actuation system150 variable-volume chamber500 overload and depressuri zation protection device501 first elastic preloading element502 second elastic preloading element503 movable element504 fixed abutment element505 preloaded cylinder506 preloaded piston507 preloaded rolling diaphragm508 preloaded variable-volume chamber510 antagonistic overload and depressuri zation protection device511 first antagonistic elastic preloading element512 second antagonistic elastic preloading element513 antagonistic movable element514 antagonistic fixed abutment element515 antagonistic preloaded cylinder516 antagonistic preloaded piston517 antagonistic preloaded rolling diaphragm518 antagonistic preloaded variable-volume chamberfirst cylinder-piston device first cylinder-piston device first antagonistic cylinder-piston device first antagonistic cylinder-piston device first cylinder-piston device first cylinder-piston device first antagonistic cylinder-piston device first antagonistic cylinder-piston device second cylinder-piston device second cylinder-piston device second antagonistic cylinder-piston device second antagonistic cylinder-piston device second cylinder-piston device second cylinder-piston device second antagonistic cylinder-piston device second antagonistic cylinder-piston device first combined hydraulic conduit second combined hydraulic conduit third combined hydraulic conduit fourth combined hydraulic conduit-k 'k 'k

Claims

CLAIMS1. A remote actuation system (100) , comprising:A) an actuator assembly (10) comprising:- a first cylinder-piston device (11) comprising a first cylinder (12) and a first piston (13) sealingly sliding inside said first cylinder (12) forming a first variable-volume chamber (14) between said first cylinder (12) and said first piston (13) as a function of a relative position between said first cylinder (12) and said first piston (13) , a sealing element (15) between said first cylinder (12) and said first piston (13) comprising a first rolling diaphragm (16) ;- an actuator device (30) connected to said first cylinder (12) or to said first piston (13) so as to vary said relative position between said first cylinder (12) and said first piston (13) ;B) an actuated assembly (50) comprising:- a second cylinder-piston device (51) comprising a second cylinder (52) and a second piston (53) sealingly sliding inside said second cylinder (52) forming a second variable-volume chamber (54) between said second cylinder (52) and said second piston (53) as a function of a relative position between said second cylinder (52) and said second piston (53) , asealing element (55) between said second cylinder (52) and said second piston (53) comprising a second rolling diaphragm (56) ;- an actuated element (80) connected to said second cylinder (52) or to said second piston (53) , configured to be actuated as a function of said relative position between said second cylinder (52) and said second piston (53) ;C) a hydraulic conduit (90) , which fluidly connects said first variable-volume chamber (14) to said second variable-volume chamber (54) so that a change in the volume of said first chamber (14) produces a change in the volume of said second chamber (54) having an opposite sign to said change in volume of said first chamber (14) ;D) an antagonistic preloading device (35, 85) associated with said first cylinder-piston device (11) and / or said second cylinder-piston device (51) , configured to apply an antagonistic force (36, 86) , which opposes the expansion of said first chamber (14) and / or said second chamber (54) , respectively, so as to maintain the internal absolute pressure of said chambers (14, 54) at a value greater than or equal to a predetermined absolute pressure threshold value, during operation; wherein said predetermined absolute pressure threshold value is the greatest of the external absolute pressurevalue of the environment in which said first cylinderpiston device (11) is immersed and the absolute pressure value of the environment in which said second cylinderpiston device (51) is immersed.

2. A remote actuation system (100) according to claim 1, wherein said first piston (13) is fixed and said first cylinder(12) is movable with respect to said first piston (13) , and wherein said hydraulic conduit (90) crosses said first piston (13) leading into said first variable-volume chamber (14) through an opening (17) in said first piston(13) , and wherein said first rolling diaphragm (16) has an opening (18) corresponding to said opening (17) in said first piston (13) , and / or wherein said second piston (53) is fixed and said second cylinder (52) is movable with respect to said second piston (53) , and wherein said hydraulic conduit (90) crosses said second piston (53) leading into said second variablevolume chamber (54) through an opening in said second piston (53) , and wherein said second rolling diaphragm (56) has an opening corresponding to said opening in said second piston (53) , and / or wherein said first cylinder (12) is fixed and said first piston (13) is movable with respect to said first cylinder (12) , said hydraulic conduit (90) crosses said first cylinder(12) leading into said first variable-volume chamber (14) , and said first rolling diaphragm (16) is devoid of openings, and / or wherein said second cylinder (52) is fixed and said second piston (53) is movable with respect to said second cylinder (52) , said hydraulic conduit (90) crosses said second cylinder (52) leading into said second variable-volume chamber (54) through an opening in said second cylinder (52) , and wherein said second rolling diaphragm (56) is devoid of openings.

3. A remote actuation system (100) according to at least one of the preceding claims, wherein said antagonistic device (35, 85) comprises at least one elastic element (37, 87) .

4. A remote actuation system (100) according to claim 1 or 2, wherein said antagonistic device (35, 85) is associated with said first cylinder-piston device (11) and said second cylinder-piston device (51) , and comprises : a first antagonistic cylinder-piston device (61) comprising a first antagonistic cylinder (62) and a first antagonistic piston (63) sealingly sliding inside said first antagonistic cylinder (62) forming a first antagonistic variable-volume chamber (64) between said first antagonistic cylinder (62) and said firstantagonistic piston (63) as a function of a relative position between said first antagonistic cylinder (62) and said first antagonistic piston (63) , a sealing element between said first antagonistic cylinder (62) and said first antagonistic piston (63) comprising a first antagonistic rolling diaphragm (66) ; wherein said first antagonistic cylinder-piston device (61) is connected to said actuator device (30) so that a positive change in the volume of said first chamber (14) produces a negative change in the volume of said first antagonistic chamber (64) or vice versa; a second antagonistic cylinder-piston device (71) comprising a second antagonistic cylinder (72) and a second antagonistic piston (73) sealingly sliding inside said second antagonistic cylinder (72) forming a second antagonistic variable-volume chamber (74) between said second antagonistic cylinder (72) and said second antagonistic piston (73) as a function of a relative position between said second antagonistic cylinder (72) and said second antagonistic piston (73) , a sealing element between said second antagonistic cylinder (72) and said second piston (73) comprising a second antagonistic rolling diaphragm (76) ; wherein said second antagonistic cylinder-piston device (71) is connected to said actuated device (80) so that a positive change inthe volume of said second chamber (54) produces a negative change in the volume of said second antagonistic chamber (74) or vice versa;- an antagonistic hydraulic conduit (91) , which connects said first antagonistic variable-volume chamber (64) and said second antagonistic chamber (74) to each other.

5. A remote actuation system (100) according to claim 3 or 4, wherein said first antagonistic piston (63) is fixed and said first antagonistic cylinder (62) is movable with respect to said first antagonistic piston (63) , and wherein said antagonistic hydraulic conduit (91) crosses said first antagonistic piston (63) leading into said first antagonistic variable-volume chamber (64) through an opening in said first antagonistic piston (63) , and wherein said first antagonistic rolling diaphragm (66) has an opening corresponding to said opening in said first antagonistic piston (63) , and / or wherein said second antagonistic piston (73) is fixed and said second antagonistic cylinder (72) is movable with respect to said second antagonistic piston (73) , and wherein said antagonistic hydraulic conduit (91) crosses said second antagonistic piston (73) leading into said second antagonistic variable-volume chamber (74) through an opening in said second antagonistic piston (63) , andwherein said second antagonistic rolling diaphragm (76) has an opening corresponding to said antagonistic opening in said second antagonistic piston (73) ; and / or wherein said first antagonistic cylinder (62) is fixed and said first antagonistic piston (63) is movable with respect to said first antagonistic cylinder (62) , said first antagonistic hydraulic conduit (91) crosses said first antagonistic cylinder (62) leading into said first antagonistic variable-volume chamber (64) , and the first antagonistic rolling diaphragm (66) is devoid of openings; and / or wherein said second antagonistic cylinder (72) is fixed and said second antagonistic piston (73) is movable with respect to said second antagonistic cylinder (72) , said antagonistic hydraulic conduit (91) crosses said second antagonistic cylinder (72) leading into said second antagonistic variable-volume chamber (74) through an opening in the second antagonistic cylinder (72) , and wherein said second rolling diaphragm (76) is devoid of openings .

6. A remote actuation system (100) according to at least one of the preceding claims, wherein said actuator (30) is a linear actuator.

7. A remote actuation system (100) according to at least one of the preceding claims, wherein said actuator (30)is a rotary actuator.

8. A remote actuation system (100) according to at least one of the preceding claims, wherein said actuated element (80) is linearly movable.

9. A remote actuation system (100) according to at least one of the preceding claims, wherein said actuated element (80) is rotatably movable, and the actuated assembly (50) comprises a support (57) with respect to which said actuated element (80) is rotatably engaged.

10. A remote actuation system (100) according to claim 9, wherein the actuated assembly (50) comprises a wheel (81) rotatable with respect to said support (57) and either integral with, or rotationally connected to, said actuated element (80) , and a flexible transmission member (82) wound about said wheel (81) , wherein said second cylinder-piston device (51) and said second antagonistic cylinder-piston device (71) are connected at the opposite free ends of said flexible transmission member (82) .

11. A remote actuation system (100) according to claim 9, wherein said actuated assembly (50) comprises a conduit collection device (58) for guiding and containing said hydraulic conduit (90) during operation.

12. A remote actuation system (100) according to claim 11, wherein said conduit collection device (58) comprises a pulley (67) integral with said actuated element (80) ,about which a portion of the hydraulic conduit (90) is free to wind / unwind with a rolling motion, a fixing point (59) in which said hydraulic conduit (90) is fixed to said support (57) , one or more backing elements (60) fixed to said support (57) to keep said conduit (90) abutting against the conduit.

13. A remote actuation system (100) according to claim 1, comprising an adjustable damping valve (92) arranged along said hydraulic conduit (90) .

14. A remote actuation system (100) according to claim 1 or 4, comprising an adjustable damping valve (92) arranged along said hydraulic conduit (90) and / or comprising an adjustable damping valve (93) arranged along said antagonistic hydraulic conduit (91) .

15. A remote actuation system (100) according to claim 1 or 4, comprising a pressure sensor (96) fluidly connected to said hydraulic conduit (90) and / or comprising a pressure sensor (96) fluidly connected to said antagonistic hydraulic conduit (91) .

16. A remote actuation system (100) according to claim 15, wherein the at least one pressure sensor (96) is arranged close to the actuator device (30) .

17. A remote actuation system (100) according to claim 1 or 4, comprising a load cell (97) associated with said first cylinder-piston device (11) to measure the forceapplied by said actuator device (30) to said first cylinder-piston device (11) and / or comprising a load cell associated with said first antagonistic cylinder-piston device (61) to measure the force applied by said actuator device (30) to said first antagonistic cylinderpiston device (61) .

18. A remote actuation system (100) according to claim 1, comprising an overload and depressurization protection device (500) fluidly connected to said hydraulic conduit (90) .

19. A remote actuation system (100) according to claim18, wherein said overload and depressurization protection device (500) comprises a preloaded piston (506) , a preloaded cylinder (505) , and a preloaded rolling diaphragm (507) , wherein said preloaded piston, preloaded cylinder, and preloaded diaphragm define a variablevolume preloaded chamber (508) in direct communication with the hydraulic conduit (90) .

20. A remote actuation system (100) according to claim19, comprising a first elastic preloading element (501) and / or a second elastic preloading element (502) , wherein said first elastic preloading element (501) acts directly against the expansion of said variable-volume preloaded chamber (508) , while said second elastic preloading element (502) acts against the expansion of saidvariable-volume preloaded chamber (508) by means of a movable element (503) , shaped so as to rest against a fixed abutment element (504) .

21. A remote actuation system (100) according to claim 20, configured so that the second elastic preloading element (502) applies a greater force than said first elastic preloading element (501) .

22. A remote actuation system (100) according to claims 4 and 18, comprising an antagonistic overload and depressurization protection device (510) fluidly connected to said antagonistic hydraulic conduit (91) .

23. A remote actuation system (100) according to claim22, wherein said antagonistic overload and depressurization protection device (510) comprises an antagonistic preloaded piston (516) , an antagonistic preloaded cylinder (515) , and an antagonistic preloaded rolling diaphragm (517) , wherein said antagonistic preloaded piston, antagonistic preloaded cylinder, and antagonistic preloaded diaphragm define an antagonistic variable-volume preloaded chamber (518) in direct communication with the antagonistic hydraulic conduit (91) .

24. A remote actuation system (100) according to claim23, wherein said antagonistic overload and depressurization protection device (510) comprises afirst antagonistic elastic preloading element (511) and / or a second antagonistic elastic preloading element (512) , wherein said first antagonistic elastic preloading element (511) acts directly against the expansion of said antagonistic variable-volume preloaded chamber (518) , while said second antagonistic elastic preloading element(512) acts against the expansion of said antagonistic variable-volume preloaded chamber (518) by means of an antagonistic movable element (513) , shaped so as to rest against an antagonistic fixed abutment element (514) .

25. A remote actuation system (100) according to claim 24, configured so that the second antagonistic elastic preloading element (512) applies a greater force than said first antagonistic elastic preloading element (511) .

26. A remote actuation system (100) according to claim 4, comprising a connecting conduit (98) fluidly connecting said hydraulic conduit (90) and said antagonistic hydraulic conduit (91) to each other, and comprising at least one pressure limiter device (99) fluidly connected to, and arranged along, said connecting conduit (98) .

27. A remote actuation system (100) according to claim 26, wherein said pressure limiter device (99) is normally closed, that is: it remains closed preventing the passage of fluid through the connecting conduit (98) when the pressure inthe hydraulic conduit (90) or the antagonistic hydraulic conduit (91) is lower than a predetermined maximum overload value; it opens allowing the passage of fluid through the connecting conduit (98) when the pressure in the hydraulic conduit (90) or the antagonistic hydraulic conduit (91) is higher than said predetermined maximum overload value.

28. A remote actuation system (100) according to at least one preceding claim, comprising a gravity compensation system ( 42 ) .

29. A remote actuation system (100) according to claim 28, wherein said gravity compensation system (42) is connected to said actuator device (30) and configured to produce a deformation of an elastic contrast element (45) by means of an articulated quadrilateral structure (44) constrained to move according to the movement of said actuator device (30) .

30. A remote actuation system (100) according to at least one preceding claim, comprising a pre-pressurization apparatus (46) .

31. A remote actuation system (100) according to claim 30, wherein said pre-pressurization apparatus (46) comprises an injection device (77) , an outlet conduit (49) , a first connecting conduit (47) connected to saidoutlet conduit (49) and said hydraulic conduit (90) , and / or a second connecting conduit (48) connected to said outlet conduit (49) and said antagonistic hydraulic conduit ( 91 ) .

32. A remote actuation system (100) according to claim 31, wherein a first valve (28) is placed along said first connecting conduit (47) and / or a second valve (29) is placed along said second connecting conduit (48) .

33. A remote actuation system (100) according to claim 31, wherein said injection device (77) comprises: a hydraulic cylinder (68) , a hydraulic piston (69) moving with respect to said hydraulic cylinder (68) , and a fluid-tight element with rolling diaphragm (70) , forming a variable-volume chamber (150) between said hydraulic cylinder (68) , said hydraulic piston (69) and said rolling diaphragm (70) as a function of a relative position between said hydraulic cylinder (68) and said hydraulic piston (69) ; said variable-volume chamber (150) is in direct communication with said outlet conduit (49) ; a linear actuator (79) connected to said hydraulic cylinder (68) or said hydraulic piston (69) so as to vary said relative position between said hydraulic cylinder (68) and said hydraulic piston (69) .

34. A remote actuation system (100) according to claim 33, wherein said hydraulic cylinder (68) and / or saidhydraulic piston (69) are configured to have a surface exposed to the external ambient pressure so that it develops a force opposing the expansion of said variablevolume chamber (150) .

35. A remote actuation system (100) according to claim 30, wherein said pre-pressurization apparatus (46) is arranged close to the actuator device (30) .

36. A remote actuation system (100) according to claim 32, wherein the pre-pressurization apparatus (46) can be operated according to an operation method comprising the following steps:- opening the first valve (28) and the second valve (29) ; operating the injection device (77) to adjust the pressure in said first connecting conduit (47) and said second connecting conduit (48) ;- aligning said actuator device (30) with said actuated element (80) ;- closing the first valve (28) and the second valve (29) .

37. A remote actuation system (100) according to claim 4, comprising a filling system for filling said hydraulic conduits (90, 91) and said variable-volume chambers (14, 54, 64, 74) with said fluid by expelling the air in said hydraulic conduits (90, 91) and said variable-volume chambers (14, 54, 64, 74) ; said cylinder-piston elements (11, 51, 61, 71) are provided with bleeding valves (65) .

38. A remote actuation system (100) according to claim 1, comprising two actuator devices (30, 30' ) and two actuated elements (80, 80' ) .

39. A remote actuation system (100) according to claim 38, wherein:- two first cylinder-piston devices (601, 602) and two first antagonistic cylinder-piston devices (603, 604) are associated with the actuator device (30) , wherein said two first cylinder-piston devices (601, 602) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same, and wherein said two first antagonistic cylinder-piston devices (603, 604) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same;- two first cylinder-piston devices (605, 606) and two first antagonistic cylinder-piston devices (607, 608) are associated with the actuator device ( 30 ’ ) , wherein said two first cylinder-piston devices (605, 606) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same, and wherein said two first antagonistic cylinder-piston devices (607, 608) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same;- two second cylinder-piston devices (609, 610) and two second antagonistic cylinder-piston devices (611, 612) are associated with the actuated device (80) , wherein said second cylinder-piston devices (609, 610) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same, and wherein said two second antagonistic cylinder-piston devices (611, 612) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same;- two second cylinder-piston devices (613, 614) and two second antagonistic cylinder-piston devices (615, 616) are associated with the actuated device (80' ) , wherein said second cylinder-piston devices (613, 614) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same, and wherein said two second antagonistic cylinder-piston devices (615, 616) are mechanically connected to each other so that the relative motion between the respective cylinders and pistons is the same; said first cylinder-piston device (601) is fluidly connected to said first cylinder-piston device (605) and said second cylinder-piston devices (609, 610) by means of a first combined hydraulic conduit (617) ; said first cylinder-piston device (602) is fluidlyconnected to said first antagonistic cylinder-piston device (608) and to said second cylinder-piston devices (613, 614) by means of a second combined hydraulic conduit (618) ;- said first antagonistic cylinder-piston device (603) is fluidly connected to said first antagonistic cylinderpiston device (607) and to said second antagonistic cylinder-piston devices (611, 612) by means of a third combined hydraulic conduit (619) ;- said first antagonistic cylinder-piston device (604) is fluidly connected to said first cylinder-piston device (606) and to said second antagonistic cylinder-piston devices (615, 616) by means of the combined hydraulic conduit (620) .

40. A robot (200) comprising a plurality of members (204,205, 206) movably engaged mutually in sequence through respective joints (207, 208, 209) , and comprising a remote actuation system (100) according to at least one preceding claim, wherein each actuated element (80) is arranged so as to operate a member of said plurality of members (201, 205, 206) with respect to an adjacent member .

41. A robot (200) according to claim 40, wherein said remote actuation system (100) comprises at least one joint valve (201, 202, 203) upstream of each actuatedassembly (50) comprising said actuated element (80) , respectively, so as to operate only one joint at a time.

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