DE102017004432A1 - robot - Google Patents

Abstract

A robot according to the invention has at least one member (100) which is mounted in a joint, and a drive (10) for moving this joint, wherein a link-side input element (20) for moving the joint with a drive disk (11, 11 ') the drive two by a traction means (30), in particular frictionally and / or positively, coupled, in particular each at least partially entwined, and rolling on each other discs of a wrap-around gear and / or with an introduction layer (110; 110 ') of the multi-layered member connected or integrally formed, which is connected to a structural layer (121, 122, 122 ') of the member.

Description

The present invention relates to a single or multi-unit robot and a wrap-around gear.

Particularly in consumer robotics, there is a need for robots which should be lightweight, cost-effective and / or low-maintenance and nevertheless precise and / or safe if possible and / or have high efficiencies and / or adjustment ranges. Accordingly, there is a need in particular for such robots for transmissions which are cost-effective, low-maintenance, precise and / or safe and / or have high efficiencies and / or adjustment ranges.

An object of the present invention is to provide an advantageous robot or transmission that preferably meets one or more of the above-mentioned, partially complementary, requirements.

This object is achieved by a robot having the features of claim 1 and a transmission having the features of claim 16. The subclaims relate to advantageous developments.

According to one aspect of the present invention, a wrap-around gear, in particular for a robot described here, in particular at least one wrap-around gear of a robot described here, two discs, by a traction means, in particular frictionally and / or positively , coupled, in particular in one or more, in particular all (possible) gear positions, partially or completely, in particular opposing or crossing, entwined, are and on each other, in particular friction and / or form-fitting, roll off and present as (drive) or (output side) driven pulley of the transmission be designated.

Accordingly, according to one aspect of the present invention, a robot has one or more members which are mounted in a joint, respectively, and a drive for moving, in particular, rotating, this joint or these (rotary) joints, wherein (in each case) a limb-side, in particular fixed, input element for moving the (respective) joint with a drive pulley of the (respective) drive (s) by a traction means, in particular friction and / or positive, coupled, in particular in one or more, in particular all (possible) gear or joint positions, partially or completely, in particular in opposite directions or cross, looped, and each other, in particular frictionally and / or positively, rolling discs of a (described here ) Wraparound Wälzgetriebe or one (driven) of the two discs of the Umschlingungs Wälz transmission forms, wherein the drive pulley d it (respective) drive forms the other (driving or driving) of the two disks of the Umschlingungs Wälz transmission.

In such a wrap-around gear transmission, a drive torque or a rotational movement of the driving pulley is advantageously transmitted to the driven pulley both by the traction means and by the rolling.

As a result, in one embodiment, size, weight, bearing load and / or clearance can be reduced and / or safety, adjustment range and / or efficiency can be increased.

In particular, this can be realized in one embodiment, an advantageous ratio of a speed of a (drive or driving) disc to a speed of the other (driven or driven) disc, in one embodiment at least 1.1: 1, in particular at least 1.5: 1, and / or at most 5: 1, in particular at most 4: 1, is: $$\frac{1.1}{1}bzw,\frac{1.5}{1}\le \frac{\text{Speed of the drive resp}\text{, driving disc}}{\text{Speed of the output or}\text{, driving disk}}\le \frac{4}{1}bzw,\frac{5}{1}$$

The drive has in one embodiment, in particular gear and / or single-stage, gear and / or an electric, in particular servomotor.

As a result, in one embodiment, an advantageous, in particular compact and / or low-maintenance, drive can be realized. By translating the wrap-around gear in one embodiment, a game of the drive is advantageously reduced accordingly.

In one embodiment, it is arranged, in particular fastened, in particular fixed, in particular in its subsequently explained introduction, structure and / or support layer, on a further, in particular identically structured, member of the robot mounted on the (respective) multilayered member.

The traction means is in one embodiment rope or cable or ribbon-shaped and / or contiguous, in particular in one piece or, formed and / or has a tensile stiffness, the at least 2 GPa, in particular at least 2.5 GPa, in particular at least GPa such as Dyneema®, Kevlar® or the like. As a result, in one embodiment, an advantageous, in particular reliable, coupling can be realized.

In one embodiment, the two disks of the belt-rolling gear or the member-side input element or the member side, in particular fixed, driven pulley and the drive pulley of the drive frictionally engage each other or form a friction wheel (part) gear. As a result, the wrap-around gear in one embodiment can advantageously slip under overload, in particular with corresponding expansion or failure of the Zugmittelkopplung, and thus increase security. Likewise, in one embodiment, the two disks can also roll over one another in a form-fitting manner, in particular a gearwheel (part) gear, in particular a spur gear (part) gear, form.

Additionally or alternatively, in one embodiment, the traction means biases or compresses the two disks of the belt-rolling gear or member-side input element or driven disk and drive disk of the drive radially relative to one another or is used for this purpose.

In this way, in one embodiment, the traction means can advantageously combine a preload function for effecting the frictional engagement of the friction wheel (part) transmission and a coupling function for the frictional and / or positive coupling of the two discs and / or reduce a bearing load.

In one embodiment, the traction means, in particular for this purpose and / or elastically and / or biased by one or more clamping means, the one or more in one embodiment (one) have one or more tension and / or compression spring (s) and / or (Each) at one end of the traction means and / or on, in particular, one of the two discs or one of the input element and the drive disc are arranged.

As a result, in one embodiment, a frictional engagement between the two discs and / or between the traction means and the discs can be improved.

In the present case, the directional indication "axially" can in particular designate the direction of the axis of rotation of the joint or of the two disks of the belt-rolling gear, the directional indication "radially" corresponding in particular to a direction perpendicular thereto and / or to a circumferential direction or direction of rotation. In one embodiment, an angle between the two axes of rotation of the belt-rolling gear is at most 45 °, in particular at most 15 °, in particular at most 5 °, in one embodiment, they are in particular parallel to each other.

In one embodiment, the traction means in one or more, in particular all, gear or joint positions wraps around one or both of the two discs of the belt-rolling gear (in each case) completely or partially, in particular positive and / or frictionally engaged. In one development, the traction means in one or more joint positions at least one loop or a tapered eye, which wraps around one of the discs of the belt-rolling gear, in particular the drive pulley. Additionally or alternatively, the traction means in one embodiment has one or two ends, which is / are attached to one of the discs of the belt-rolling gear, in particular the input member or the driven pulley, in particular via or through the or the clamping devices.

In one embodiment, at least two sections or strands of the traction means cross each other, in particular in a contact region of the two disks of the belt-rolling gear, or extend axially offset from one another to the disks on or from these.

Additionally or alternatively, in one embodiment, at least two portions of the traction means in one or more joint positions at least one, in particular spaced from one or the contact region of the two discs of the Umschlingungs- Wälz transmission, section of at least one of the discs of the Umschlingungs Wälz transmission , in particular the input element or the output disk, axially spaced, in particular out in mutually axially spaced grooves.

Additionally or alternatively, in one embodiment, at least two portions of the traction means in one or more joint positions at least one, in particular spaced from one or the contact region of the two discs of the Umschlingungs- Wälz transmission, section of at least one of the discs of the Umschlingungs Wälz transmission , in particular the input element or the output disk, axially adjacent or contact each other, in particular guided in the same groove.

Correspondingly or alternatively, in one embodiment in one or more, in particular all, joint positions on one or both of the disks of the belt-rolling gear (each) at least a portion of the traction means guided positively, in particular in a (circumferential) groove.

As a result, in one embodiment in each case, in particular in combination, an advantageous, in particular compact and / or low-play, coupling of the two disks can be realized via or by the traction means.

In one embodiment, one or both of the two discs of the wrap-around gear (each) has a lateral surface that is concave (shaped).

As a result, in one embodiment, the traction means advantageously be centered axially and / or the discs contact each other at their axially outer edges.

Additionally or alternatively, in one embodiment, the elasticity and / or the coefficient of friction of one or both of the two discs of the wrap-around gear (each) greater than the elasticity or the coefficient of friction of a central or central region of an (axial ) Face of this disc.

In particular, in one embodiment, the lateral surface of one or both of the two disks of the belt-rolling gear (each) one, in particular elastomeric, coating, in particular a rubber coating have.

In this way, in one embodiment in each case, in particular in combination, an advantageous, in particular reliable, coupling of the two disks via or by the traction means and / or an advantageous, in particular compact and / or low-play, friction wheel (part) gear can be realized.

According to a further aspect of the present invention, which in particular can be combined with the aspect of the belt-rolling gear described here, or how this can also be implemented independently, a robot or robot has the or one or more links that are or are being used which is (are) mounted in one or the joint (s), and (respectively) one or the drive for moving or adjusting, in particular turning, this joint or these joints, wherein (respectively) one or the member (s), in particular solid (s), driving element for moving the (respective) joint is connected to an introduction layer of the (respective) member or formed integrally, which in turn with a structural layer of this multilayer member, in particular, form, reib and / or cohesively, connected, in particular glued, -solders and / or -welds, wherein initiation and structural layer in an embodiment separately prepared and joined together sin d.

Due to the multilayer construction of the member or members, in one embodiment an advantageous, in particular lighter and / or cost-effective, robot and / or a - based on its weight - high load capacity can be provided, which in one embodiment in a maximum stretched Pose at least 1 kg, in particular at least 4 kg, and / or at most 25 kg, in particular at most 10 kg. In particular, in one embodiment, a drive torque can be advantageously, in particular homogeneously (er), introduced via the introduction layer into the member or (from this) in the structural layer.

In one embodiment, the input element is disc-shaped, in particular as a (output or output side) of the two discs of a belt-rolling gear described here.

Additionally or alternatively, in one embodiment, it is positively, frictionally and / or materially connected to the introduction layer and / or is positively, frictionally and / or materially connected to the structure layer, in a further embodiment it is pressed with the introduction and / or structural layer , -glues, -solders and / or -welds. For this or alternatively, in one embodiment, the drive element may have one or more webs crossing one another, in particular a cross, which or which in one, in particular congruent, Recess, in particular through opening in the introduction layer engages / intervene, these in particular passes through / engage and engages in the underlying structural layer / intervene.

As a result, in one embodiment, a compact and / or lightweight design and / or an advantageous, in particular homogeneous, force input and / or forwarding can be realized.

In one embodiment, the structural layer has, at least in sections, a sandwich, honeycomb and / or foam structure.

Additionally or alternatively, in one embodiment, a volume of the structural layer is at least ten times a volume of the introduction layer.

Additionally or alternatively, the structural layer is made in a design made of paper, in particular cardboard, plastic and / or metal, in particular plastic and / or metal foam.

As a result, in one embodiment, in particular in combination, an advantageous, in particular lighter, more stable and / or less expensive, robot can be realized.

In one embodiment, a side of the structure layer opposite the introduction layer is connected, in particular adhesively bonded, to a support layer and / or one or more support beams, in particular adhesively bonded, soldered and / or welded. The or the support beams is / are arranged in an embodiment adjacent to the support layer.

In one embodiment, the or one or more of the support beams made of paper, in particular cardboard, plastic and / or metal, in particular plastic and / or metal foam, manufactured and / or have / at least partially have a sandwich, honeycomb and / or foam structure, he / she may / may be structurally and / or material (formed) in particular with the structural layer. Likewise, he / she can also be formed rod-like.

By supporting layer and / or support beams in one embodiment, in particular pressure forces can be advantageously supported and thus relieved the structural layer and / or reduces deflection of the member and so a precision of the robot can be improved. In particular, in one embodiment, the introduction and / or support layer and / or support beams extend over at least 50%, in particular at least 75%, of a length of the structure layer.

In one embodiment, a stiffness, in particular a bending, tensile, compressive and / or torsional stiffness, the introduction and / or the support layer, in particular its material and / or its geometry, and / or a stiffness, in particular a bending Tensile, compressive and / or torsional stiffness, the, in particular cohesive, connection, in particular bonding, welding and / or soldering, the introduction and / or the support layer with the structural layer in a proximal region which is closer to the joint as a distal region, greater than or the corresponding rigidity, in particular a bending, tensile, compressive and / or torsional stiffness, the structural layer, in particular its material and / or its geometry, and / or greater than the stiffness in the distal region and / or less than one or the corresponding rigidity, in particular a bending, tensile, compressive and / or torsional rigidity, a bearing of an axis of the joint, esp special of their material and / or their geometry. In the present case, a stiffness is understood, in particular in the customary manner, to mean a quotient of an amount of pestation which is required or leads to a specific deformation divided by an amount of this deformation, with a stiffness of a material corresponding in particular to its E (lastity) modulus. under a stiffness of a geometry in particular a corresponding or for the deformation relevant area moment of inertia of the geometry. In one embodiment, the introducer and / or backing layer has a smaller mesh lattice in the proximal region and a larger mesh lattice in the distal region, thereby reducing rigidity from proximal to distal.

In this way, in one embodiment, a drive torque can be advantageously, in particular homogeneously, introduced via the introduction layer into the element or into the structural layer or at least partially from the support layer and / or beam.

In one embodiment, the introduction and / or the support layer is at least partially plate, in particular shell and / or lattice-like and / or made of plastic and / or metal.

As a result, in one embodiment, in particular in combination, an advantageous, in particular lighter, more stable and / or less expensive, robot can be realized.

In one embodiment, an axis of the hinge of the multilayered member or at least one of the multilayered members is integrally formed or bonded to its support layer, in particular to a bushing of the support layer and, in particular integrally formed with and / or supported by ribs / or positive, friction and / or cohesive, in particular pressed, glued, soldered and / or welded.

Additionally or alternatively, the axle in one embodiment engages through the input element, in particular form, friction and / or cohesively, or is integrally formed with the drive element.

Additionally or alternatively, in one embodiment, the axis on another member of the robot, in particular on the support and / or on the introduction layer of an identically constructed in this way described other member of the robot, and / or an axis of another joint to Storage of a further, in particular the same or as described here constructed, member of the robot to the support and / or introduction layer of (a) multi-layered member stored, in particular (respectively) via or by one or more axially spaced rolling bearings, the or arranged in an embodiment in a corresponding receptacle of the (respective) support or introduction layer, in particular form, friction and / or cohesively fastened, may be, in particular via bearing sleeves, in particular made of metal.

Additionally or alternatively, in one embodiment, the axis of the joint in which the multilayer member is mounted, and / or the axis of the further joint for supporting the further member made of metal, in particular light metal, in particular an aluminum alloy, and / or plastic manufactured and / or or formed as a hollow shaft, in particular with a constant or varying diameter.

As a result, in one embodiment, in particular in combination, an advantageous, in particular lighter, more stable and / or less expensive, robot can be realized.

In one embodiment, the robot has at least one, in particular at least two, joint position (s) in which the one or more of the multilayer member (s) is parallel to a preceding and / or parallel to a subsequent member (arranged or aligned) which is rotatably mounted on this multilayer member and / or this same or in this way described multilayer structure, or is in this joint position (s) adjustable.

As a result, in one embodiment, these members can assume a (compact) folded pose in which they are (axially) stacked or stacked, and / or a (maximally) stretched pose and / or an advantageous mobility Make available.

• 1: einen Roboter nach einer Ausführung der vorliegenden Erfindung in perspektivischer Ansicht;
• 2: den Roboter in einer maximal gestreckten Pose;
• 3: den Roboter in einer kompakt gefalteten Pose;
• 4: den Roboter in einer weiteren Pose;
• 5: ein mehrschichtiges Glied des Roboters in einer Explosionsdarstellung;
• 6: einen Axialschnitt durch ein Gelenk des Roboters, in dem dieses Glied gelagert ist;
• 7: ein Umschlingungs-Wälz-Getriebe des Roboters nach einer Ausführung der vorliegenden Erfindung in perspektivischer Ansicht;
• 8: das Umschlingungs-Wälz-Getriebe in einer axialen Draufsicht in einer Ausgangs-Gelenkstellung;
• 9: das Umschlingungs-Wälz-Getriebe in einer um 45° gegen die Ausgangs-Gelenkstellung verdrehten Gelenkstellung;
• 10: das Umschlingungs-Wälz-Getriebe in einer um 180° gegen die Ausgangs-Gelenkstellung verdrehten Gelenkstellung;
• 11: das Umschlingungs-Wälz-Getriebe in einer um 225° gegen die Ausgangs-Gelenkstellung verdrehten Gelenkstellung; und
• 12: das Umschlingungs-Wälz-Getriebe in einer um -225° gegen die Ausgangs-Gelenkstellung verdrehten Gelenkstellung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized ,:

• 1 a robot according to an embodiment of the present invention in a perspective view;
• 2 : the robot in a maximally stretched pose;
• 3 : the robot in a compact folded pose;
• 4 : the robot in another pose;
• 5 : a multi-layered member of the robot in an exploded view;
• 6 an axial section through a joint of the robot in which this member is mounted;
• 7 a wrap-around gear of the robot according to an embodiment of the present invention in perspective view;
• 8th : the wrap-around gear in an axial plan view in an initial hinge position;
• 9 : the wrap-around gear in a 45 ° rotated against the initial joint position joint position;
• 10 : the wrap-around gear in a 180 ° rotated against the initial joint position joint position;
• 11 : the wrap-around gear in a joint position rotated by 225 ° from the initial joint position; and
• 12 : the wrap-around gear in a joint position rotated by -225 ° from the initial joint position.

1 shows a robot according to an embodiment of the present invention in perspective view.

This has three identically constructed members 100 of which a first or proximal (left in 1 ) rotatable about a vertical axis of rotation on a vertical or translationally adjustable vertical axis 200 of the robot is stored. At a third or distal of the three members of equal construction 100 (right in 1 ) is a gripper 210 movably supported by the robot. The first or proximal and the third or distal of these members 100 are each about vertical axes of rotation at a second or middle of the three members constructed equal 100 stored.

The robot is thus in particular in a maximum stretched pose (see. 2 ), in which the three identically constructed members 100 parallel to each other, and a compact folded pose (cf. 3 ), in which they are also parallel to each other and also axially stacked or stacked on top of each other or aligned, as well as in further Posen adjustable, of which 4 an example shows.

5 shows one of the three identically constructed multilayer links 100 of the robot in an exploded view, wherein an assembly of its individual elements is indicated by vertical mounting arrows.

As in particular in this 5 Recognizable, has each of the three identically constructed multilayer members 100 of the robot each have an introduction layer or shell 110 made of plastic, which is formed in sections lattice-like.

This is or is glued to a structural layer of cardboard or plastic, which consists of a sandwich honeycomb structure, in which an upper and a lower chord 121 honeycomb 122 sandwich and at least ten times the volume of the introduction layer or shell 110 has and thus provides a large area moment of inertia at low weight.

One of the introductory shift 110 opposite side of the structural layer 120 . 121 (below in 5 ) is or is with a support layer or shell 130 and two on both sides of this support layer 130 arranged supporting beams glued, of which in 5 for better clarity, only one support beam 140 is shown and the same structure and material to or with the structural layer 120 . 121 also consist of a sandwich honeycomb structure made of cardboard or plastic.

The support layer or shell 130, like the introduction layer or shell 110, is made of plastic and formed in sections like a grid.

It has an integrally formed socket 131 in which an axle in the form of a hollow shaft 150 is pressed and / or glued or is, which is a driving element or a driven pulley 20 a belt-type transmission explained in more detail below for moving the multilayered member 100 passes through and in rolling bearings 151 ' in one of the neighboring three of the same structure 100 (in 5 not shown, cf. 6 ) or the vertical axis 200 is stored or is.

The corresponding elements of this adjacent of the three identically constructed members 100 are in 6 With 5 corresponding reference numerals identified and of the features of the member of the 5 (below in 6 ) is differentiated by apostrophes.

The axle or hollow shaft 150 is or is also in the input element or the driven pulley 20 pressed in and / or-glued.

In the same way, an axis (in 5 not shown) of a further joint for supporting a further of the three identically constructed members 100 or the gripper 210 of the robot in two axially spaced rolling bearings 151 stored, which has bearing sleeves 152 made of metal in a receptacle 133 the supporting layer 130 of the multilayered member of the 5 are fixed, with the bearing sleeves 152 pressed and / or glued and the rolling bearings 151 be pressed or are.

In addition, or is a drive 10 ' for moving this further articulation or member or gripper in an integrally formed receptacle of the support layer 130 of the multilayered member of the 5 pressed in and / or-glued. In the same way, or is inversely a drive 10 (see. 6 ) for moving the multilayered member of 5 around his axis 150 on the preceding one of the three members of equal construction 100 (in 5 not shown, cf. 6 ) or the vertical axis 200 attached. In addition, a sensor 300 be attached to the support layer or shell 130 for detecting the joint position.

With particular reference to 6-12 Now, a wrap-around gear is used to move one of the three similarly constructed links 100 or the gripper 210 of the robot explained in more detail.

The wrap-around gear each has one of the input and output disks 20 on, the introduction layer side each having a cross, which passes through a congruent, cross-shaped passage opening of the respective introduction layer or shell 110, and are glued to this introduction layer or shell 110 (see. 5 ). This can advantageously a part of the tilting moment of the axis 150 be supported. In addition, the cross is also with the structure layer 121 . 122 pressed and / or glued.

Next, the wrap-around gear each have one or the drive pulley 11 respectively. 11 ' the corresponding drive 10 respectively. 10 ' on that with an output of a single-stage gearbox 12 the drive is connected or integrally formed, which is actuated by an electric motor of the drive.

sheave 11 and input member or driven pulley 20 roll frictionally together. (Also) to generate the necessary radial contact force wraps around a traction device 30 whose ends 31 by tension springs 40 to input element or driven pulley 20 are attached so that the traction means 30 is biased or is.

The traction device 30 forms a sling, which is the drive pulley 11 wraps around and in a contact area of drive and driven pulley 11 . 20 axially spaced, intersecting portions which in axially spaced circumferential grooves of the driven pulley 20 on or off these on the concave lateral surface of the drive pulley 11 accumulate on the loop or the traction means 30 be centered axially on the latter by the concave shape of the lateral surface.

To improve the frictional connection between traction means 30 or sling and driven pulley 20 and between drive pulley 11 and driven pulley 20 is the concave lateral surface of the driven pulley 20 rubberized.

In 8th - 12 is a section of the traction device 30 , which in an axial or in the direction of the 8th upper of the two circumferential grooves of the driven pulley 20 is guided, dash-dotted lines or blue indicated, a portion which in an axial or in the direction of the 8th lower of the two circumferential grooves of the driven pulley 20 is guided, dashed or orange. To illustrate the Zugmittelkinematik axially spaced portions of the traction means, which are the driven pulley 20 wrapped around and are guided in its grooves, while radially separated from each other, while they can be aligned axially in the real version with each other, in particular, if partially two sections in the same Umfangsnute the driven pulley 20 guided or axially adjacent to each other.

In an in 8th shown symmetrical starting position runs a section 30A of the traction device 30 from the concave and rubberized lateral surface of the drive pulley 11 in the axial or in the direction of the 8th Upper groove of the driven pulley 20 and from this to that in the plane of the 8th vertically upper tension spring 40 at the end 31 this section is attached (dot-dashed or blue in 8th ). Another section 30B of the traction device 30 (dashed or orange in 8th ) runs from the concave and rubberized lateral surface of the drive pulley 11 in the axial or in the direction of the 8th lower groove of the driven pulley 20 and from this to that in the plane of the 8th vertically lower tension spring 40 at the end 31 this section is attached.

The drive is twisted 10 the drive pulley 11 , so this twisted on the one hand by frictional rolling and on the other hand by the wrap-around traction means 30 the driven pulley 20 , as in the sequence of figures 8th → 9 indicated by a rotary motion arrow and a rotation of a driven disk fixed arrow-shaped reference mark against a drive-proof arrow-shaped reference mark.

Once the export of the traction device 30 from one of the grooves to one of the tension springs 40 the contact area of drive and driven pulley 11 . 20 passes over or in the exemplary embodiment from a rotation of 135 ° (see. 10 with a rotation of 180 °) are in the axial or in the direction of the 8th . 10 upper groove of the driven pulley 20 partially still only a section 30A and partially two axially adjacent sections 30C of the traction device 30 guided (dot-dashed or blue in 10 ), in the axial or in the direction of the 8th . 10 lower groove of the driven pulley 20 still only a section 30B (dashed or orange in 10 ), wherein the (angle) section of the driven pulley 20 on which two axially adjacent sections 30C of the traction device 30 together in the same circumferential groove of the driven pulley 20 are guided, increases with increasing rotation, as from the sequence of figures 8th → 11 recognizable.

The same applies due to the symmetrical structure, of course, inversely in an opposite direction rotation. 12 shows an example of a rotation of -225 ° from the starting position of 8th , in the corresponding two axially adjacent sections 30D of the traction device 30 together in the axial or in the direction of the 8th . 12 lower circumferential groove of the driven pulley 20 are guided.

The bias in the traction means 30 is due to a deformation of the traction device 30 itself, the rubber layer on the drive pulley 11 and the compression springs 40 causes. The latter draw traction means, if required due to settling or the like. In regular operation, the higher drive loads and greater accuracy requirements often occur in stretched poses involving the drive pulley 11 relatively located on the side facing away from the spring. This is the traction means 30 over a longer distance on the lateral surface of the driven pulley 20 and can for the most part transmit its output torque purely via friction, without the spring 40 have a mechanical influence on the drive train. If the robot folds, there is only a small amount of traction left 30 one-sided on the driven pulley 20 on and the springs 40 act strengthened and pull means of traction 30 so that the system generally behaves very stiffly and directly, and is automatically retensioned to the rest position during each robot movement.

The kinematics of the traction device 30 On the one hand allows a very large swivel angle and on the other hand reduces the loss of friction and thus the wear in the drive train. This is the traction means 30 on the driven pulley 20 guided in the two axially spaced grooves. The traction device 30 will be on the long way around the driven pulley 20 guided around and crosses in the contact area with the drive pulley 11 that it wraps around. Since the two sections are axially spaced at the crossing point, they do not touch and therefore do not rub against each other. This significantly minimizes the wear and the loss of friction. On the drive pulley 11 runs the traction device 30 slightly oblique and easily compensates for the offset.

Introductory and supporting layer 110 . 130 in particular serve to direct the loads to the bearings with as gentle a flow of force as possible. The power flow can be designed to be low-stress by no hard jump in stiffness between the structural layer 121 . 122 and introduction and support layer 110 . 130 consists. This can in particular by geometric shapes of the introduction and support layer 110 . 130 be achieved. The geometries of the introduction and support layer 110 . 130 In this case, in one embodiment, they are designed such that they each have higher stiffnesses than joints, ie, in the middle of the structural part. This effect can be generated in particular by a gradient in the bond and / or by targeted thickening or recesses, in particular by means of larger grid spacings in the center. The special grid design in the cups 110 . 130 creates the desired smooth flow in the power flow while significantly saving material.

Thus, in contrast to a construction with a constantly continuous upper and lower shell, this construction additionally significantly improves the lightweight construction, since the heavier plastic parts no longer extend over a large area over the structural part but can leak towards the center. The flat areas of the introduction and support layer 110 . 130 The bearings are used specifically for bonding in order to obtain a stable bond with a continuously increasing force transition.

The transition between the more sheet-like shell elements of the introduction and support layer 110 . 130 and the driven pulley 20 and the bearing or axle area is by targeted ribbing 112 . 112 ' . 132 . 132 ' (see. 5 . 6 ) weight saving reinforced.

By gluing the support beams 140 with the underside of the structural layer 121 . 122 Bending loads of the structural layer are absorbed and in compressive forces on the two beams 140 transferred. By this construction, the pressure side of the structural layer becomes 121 . 122 significantly relieved.

Due to the very short tolerance chain, high concentricity and collinearity of the bearing axes can be achieved cost-effectively. Furthermore, in the backing layer 130 in addition, the socket 131 for receiving the axle 150 integrated, so that kinematic dimensions essentially depend only on a coherent injection molded part.

The introductory layer 110 connects the camps 151 with the axis 150 of the respective member 100 not with a contiguous component, but only on the bearing carrier 133 . 133 ' (see. 5 . 6 ) of the support layer 130 aligned and joined over a light compression bandage. The interference fit serves the additional radial stiffening of the introduction layer closer bearing and acts like a clamping ring.

The driven pulley 20 is due to the already correctly positioned axis 150 centered and pushed on this as a slight pressure. The front side is the driven pulley 20 both with the introduction layer and directly with the structure layer 121 . 122 glued, with the latter in particular on her frontal cross.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

10; 10 '

drive

11; 11 '

sheave

12

single-stage gearbox of the drive

20

Input element / output disk

30

traction means

30A, 30C

Section (e) in the upper circumferential groove

30B, 30D

Section (e) in the upper circumferential groove

31

pulling means

40

Compression spring (clamping device)

100

multilayer robot link

110; 110 '

Introductory shell (layer)

112; 112 '

ribbing

121

Upper, lower flange of the sandwich structure of the structural layer

122; 122 '

Honeycomb structure of the sandwich structure of the structural layer

140

shore

150; 150 '

axis

151; 151 '

roller bearing

152; 152 '

bearing ring

130

Support shell (layer)

131

integrated socket

132; 132 '

ribbing

133; 133 '

bearing seat

200

vertical axis

210

grab

300

sensor

Claims (16)

Robot having at least one member (100) mounted in a joint and a drive (10, 10 ') for moving said joint, wherein a link-side input member (20) for moving the joint with a drive pulley (11, 11') the drive two by a traction means (30), in particular frictionally and / or positively, coupled, in particular each at least partially entwined, and rolling on each other discs of a belt-rolling gear (11, 20, 30, 11 ') forms and / or is connected or integrally formed with an introduction layer (110; 110 ') of the multilayered member, which is connected to a structural layer (121, 122; 122') of the member. Robot after Claim 1 , characterized in that the two discs (11, 20, 11 ') of the belt-rolling gear frictionally or positively roll on each other and / or are stretched by the traction means (30) radially against each other. Robot according to one of the preceding claims, characterized in that the traction means (30), in particular elastically and / or by at least one clamping means (40), is biased. Robot according to one of the preceding claims, characterized in that the traction means (30) at least one loop which wraps around one of the discs (11; 11 ') of the belt-rolling gear, and / or at least one end (31), the one of the discs (20) of the Umschlingungs Wälz transmission is attached has. Robot according to one of the preceding claims, characterized in that at least two sections (30A-30D) of the traction means (30) cross each other, in particular in a contact region of the two discs (11, 20, 11 ') of the belt-rolling gear, and / or in at least one joint position on at least one, in particular spaced from a contact region of the two disks of the Umschlingungs- Wälz transmission, portion of at least one of the discs (20) of the Umschlingungs Wälz transmission are axially spaced and / or in at least one hinge position at least one, in particular of a contact region of the two disks of the Umschlingungszurn gear spaced portion of at least one of the discs (20) of the Umschlingungs Wälz transmission are axially adjacent. Robot according to one of the preceding claims, characterized in that in at least one joint position on at least one of the discs (20) of the belt-rolling gear at least a portion (30A-30D) of the traction means (30) positively guided, in particular in a groove and / or at least one of the discs (11; 11 ') of the belt-rolling gear has a lateral surface which is concave and / or whose elasticity and / or friction coefficient is greater than an elasticity or a coefficient of friction of a central region of an end face of this disc and / or one, in particular elastomeric, coating. Robot according to one of the preceding claims, characterized in that the input element (20) is disc-shaped and / or with the introduction and / or the structural layer (110, 121, 122; 110 ', 122') form, frictional and / or cohesively connected. Robot according to one of the preceding claims, characterized in that the drive (10, 10 ') to, in particular at least partially, in a further, in particular identically constructed, member (100) of the robot mounted on the multilayer member (100), in particular its Introductory, structural and / or supporting layer (110, 130, 110 ', 130') is arranged. Robot according to one of the preceding claims, characterized in that the structural layer has a sandwich, honeycomb and / or foam structure (121, 122; 122 ') and / or at least ten times the volume of the introduction layer (110, 110') and / or made of paper, plastic and / or metal. Robot according to one of the preceding claims, characterized in that a side of the structure layer (121, 122; 122 ') opposite the introduction layer (110; 110') is provided with a support layer (130; 130 ') and / or at least one support beam (140). , in particular cohesively, is connected. Robot according to one of the preceding claims, characterized in that a stiffness of the introduction and / or the support layer (110, 130; 110 ', 130') and / or their connection to the structural layer (121, 122, 122 ') in one Proximal region that is closer to the joint than a distal region, greater than a stiffness of the structural layer (121, 122; 122 ') and / or in the distal region and / or less than a stiffness of a bearing of an axis (150; ) of the joint. Robot according to one of the preceding claims, characterized in that the introduction and / or the support layer (110, 130, 110 ', 130') at least partially plate, in particular shell and / or lattice-like and / or plastic and / or Metal is made. Robot according to one of the preceding claims, characterized in that an axis (150) of the joint with the support layer, in particular a bushing (131) of the support layer (130) and / or positive, friction and / or cohesive, connected or integral herewith is formed and / or the input element (20), in particular form, friction and / or material fit, passes through or is formed integrally therewith. Robot according to one of the preceding claims, characterized in that an axis (150) of a further joint for supporting a further, in particular identically constructed, member (100) of the robot on the support and / or introduction layer (110 ', 130'), in particular via at least one rolling bearing (151 '), is mounted. Robot according to one of the preceding claims, characterized in that it has at least one joint position in which the multilayered member (100) is parallel to a preceding and / or a subsequent member (100) rotatably mounted on it and / or the same structure is. Wrap-around gear, in particular for a robot according to one of the preceding claims, with two by a traction means (30), in particular frictionally and / or positively, coupled, in particular at least partially wrapped, and one another, in particular frictionally and / or positively , rolling discs (11, 20, 11 ').

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