DE102019125706B4 - Swivel joint device for a robot and robot - Google Patents

Abstract

Rotary joint device (100) for a robot, the rotary joint device (100) having a first joint element (102) and a second joint element (104) with a common joint axis (108) around which the first joint element (102) and the second joint element (104) are rotatable together and rotatable relative to one another, with a cam gear-like spring device (106) designed with a cam spring module (112) and a support module (110) acting between the first joint element (102) and the second joint element (104), characterized in that the The curve spring module (112) has a predetermined curve and is at least partially deflectable relative to the support module (110) in a resilient manner.

Description

The invention relates to a rotary joint device for a robot, the rotary joint device having a first joint element and a second joint element with a common joint axis about which the first joint element and the second joint element can be rotated together and rotated relative to one another, with between the first joint element and the second joint element a cam mechanism with a cam spring module and a support module designed spring device is effective. The invention also relates to a robot.

From the document “Friedl, Werner & Chalon, Maxime & Reinecke, Jens & Grebenstein, Markus. (2011). FAS A flexible antagonistic spring element for a high performance over actuated hand. 1366-1372. 10.1109 / IROS.2011.6048177. ”An antagonistic tendon mechanism is known that requires little installation space, is adaptable, can absorb energy and has a low energy requirement. The mechanism has fixed sheaves, spring-loaded sheaves, string-like traction means and take-up / unwinding.

The German patent application filed on April 11, 2019 with the file number DE 10 2019 109 590 A1 relates to a swivel joint device for a robot. The swivel joint device has a first joint element and a second joint element with a common joint axis about which the first joint element and the second joint element can be rotated together and rotated relative to one another. The swivel joint device has at least one first roller radially spaced from the joint axis, rotatably arranged on the first joint element about a first roller axis and rotatable with the first joint element about the joint axis, at least one first roller radially spaced from the joint axis, rotatable on the second joint element about a second roller axis arranged and with the second joint element rotatable about the joint axis second roller and at least one elastic traction means looping around the at least one first roller and the at least one second roller in a loop-like manner.

The document WO 2017/138701 A1 relates to a robot joint structure comprising a support frame, a rotating shaft, an ellipsoid and an elastic body, wherein the robot can be protected by absorbing a floor reaction force generated when the robot is running, the running efficiency can be increased by reusing the absorbed energy and the floor reaction force generated in various amounts according to the running speed of the robot can be coped with.

The document DD 154 282 B1 relates to a device for the weight compensation of single and multi-part gripper arms in handling means or robots with swivel joints. With the document DD 154 282 B1 It is proposed to arrange a counter-torque generating device in the swivel joint, which consists of a cam and a pressure unit loaded on this by a pretensioned spring, and to secure the position of the cam to the frame by transmission means in multi-link gripper arms.

The invention is based on the object of structurally and / or functionally improving a swivel joint device mentioned at the beginning. In addition, the invention is based on the object of structurally and / or functionally improving a robot mentioned at the beginning.

The object is achieved with a swivel joint device with the features of claim 1. In addition, the object is achieved with a robot with the features of claim 14. Advantageous embodiments and / or developments are the subject matter of the subclaims.

The swivel joint device can have a degree of freedom f = 1. The swivel joint device can serve to connect two robot members of a robot to one another in a rotatable manner.

The first joint element can have a first connecting section. The first connection section can be used for a fixed connection to a first robot link. The first connecting portion can have a flange-like shape. The first joint element can have a first receiving section. The first joint element can be a drive-side joint element or a driven-side joint element. The first receiving section can serve to receive the support module or the cam spring module.

The second joint element can have a second connecting section. The second connecting section can be used for a fixed connection to a second robot link. The second connecting section can have a flange-like shape. The second joint element can have a second receiving section. The second joint element can be an output-side joint element or a drive-side joint element. The second receiving section can serve to receive the cam spring module or the support module.

The first receiving section can be arranged radially inside the second receiving section. The second receiving section can be arranged radially outside the second receiving section. The first receiving section and the second Receiving sections can be arranged axially interlocking.

Unless otherwise stated or the context does not indicate otherwise, the information “axial”, “radial” and “in the circumferential direction” refer to a direction of extension of the joint axis. “Axial” then corresponds to a direction of extension of the joint axis. “Radial” is then a direction perpendicular to the direction of extent of the joint axis and intersecting with the joint axis. “In the circumferential direction” then corresponds to a circular arc direction around the joint axis.

With the aid of the spring device, mechanical power can be transmitted between the first joint element and the second joint element. With the aid of the spring device, mechanical power can be transmitted non-uniformly. The curve spring module and the support module can be in force-locking and / or form-locking contact with one another. The curve spring module can be effective on the one hand on the first joint element, in particular on the first receiving section, and on the other hand on the support module. The curve spring module and the support module can be acted upon by spring force against one another. The curve spring module can be radially deflectable at least in sections.

The support module can be resilient at least in sections. The support module can be deflected at least in sections relative to the curve spring module. The support module can be radially deflectable at least in sections.

The cam spring module can have at least one shaped spring serving as a cam carrier. The at least one shaped spring can be made from a spring plate. The at least one shaped spring can be made from a strip-shaped spring plate. The curve spring module can have several shaped springs. The shaped springs can be connected to one another. The shaped springs can be non-positively, positively and / or cohesively connected to one another. The shaped springs can be connected to one another in a ring-like arrangement. The shaped springs can be connected to one another so as to be circumferentially closed.

The support module can have at least one support element. The support module can have a carrier for the at least one support element. The carrier can have a plate-like or frame-like shape. The carrier can be rotatable with the first joint element about the joint axis. The at least one support element can have a rolling element. The at least one support element can have a pivot bearing. The rolling element can have a rolling axis. The roll axis and the hinge axis can be parallel to one another. The roll-off axis and the hinge axis can be spaced from one another. The roll-off element can be arranged on the carrier so as to be rotatable about the roll-off axis.

The swivel joint arrangement can be designed in the manner of a planetary gear. The curve spring module can then correspond to a ring gear. The carrier can then correspond to a planet carrier. The at least one support element can then correspond to a planet.

The support module can be assigned to the first joint element. The curve spring module can be assigned to the second joint element. The curve spring module can be assigned to the first joint element. The support module can be assigned to the second joint element.

With the aid of the spring device, a predefined spring function and / or a predefined torque curve can be represented. The spring function and / or the torque curve can / can be represented in a torque-deflection diagram. The torque can be a torque that can be transmitted between the first joint element and the second joint element. The deflection can be a deflection of the cam spring module, in particular of the at least one shaped spring. The torque that can be transmitted can be dependent on a deflection of the cam spring module, in particular of the at least one shaped spring. The transmittable torque can be changed with a deflection of the cam spring module, in particular the at least one shaped spring.

The spring function can have at least one active section. The active section can be effective when the swivel joint device is operating below a predetermined maximum torque. The spring function can have at least one overload section. The overload section can be effective when a predetermined maximum torque is exceeded. The spring function can have at least one dead center position. The at least one dead center position can be arranged between the at least one active section and the at least one overload section. The overload section can also be referred to as an over-dead point section. The spring function can have at least one latching position. The at least one latching position can be arranged between the at least one overload section and the at least one active section. The swivel joint device can thus form an overload clutch. The spring function can periodically follow one another several active sections, several dead center positions, several overload sections and several Has locking positions. The active sections and the overload sections can be arranged alternately one after the other. The active sections and the overload sections can also be referred to as functional sections.

The spring device can be constructed to be rotationally symmetrical. To ensure mountability m, a number n _f of shaped springs can be equal to or greater than a number n _a of support modules and a ratio of the number of shaped springs to the number of support modules can result in a natural number.

gelten, wobei

m:

Montierbarkeit

rf:

Anzahl der Formfedern

na:

Anzahl der Abstützmodule

For the spring device can $$m=\frac{n_f}{n_a}\in \mathbb{N},n_f\ge n_a$$

apply, where

m:

Mountability

rf:

Number of shaped springs

n / A:

Number of support modules

When the swivel joint device is in operation, a mechanical power flow can take place from the first swivel joint element via the support elements and the shaped springs to the second swivel joint element.

und der Tangentenpunkte ${\stackrel{\rightharpoonup }{t}}_i\left(\phi \right)$

der Abstützelemente mit den korrespondierenden Formfedern ergeben, das daher auch als Gesamtmoment bezeichnet wird.Depending on a rotation of the first joint element and the second joint element relative to one another or on a deflection of the support module and the cam spring module relative to one another, a restoring torque τ (φ) can be the sum of all restoring forces ${\stackrel{\rightharpoonup }{\mathrm{F.}}}_i\left(\phi \right)$

and the tangent points ${\stackrel{\rightharpoonup }{t}}_i\left(\phi \right)$

of the support elements with the corresponding shaped springs result, which is therefore also referred to as the total moment.

The restoring moment can be determined by a spring plate thickness, spring plate height, a spring material, a number of radially placed shaped springs and their shape, as well as a number of support elements, their partial diameter on the carrier and / or a rolling element diameter. A periodicity, an amplitude, a course and / or an expression of the functional sections can be determined from the construction parameters mentioned. The active sections can determine a specific behavior during regular operation of the swivel joint device and can be designed with linear or non-linear characteristic curves. If a specified maximum torque is exceeded, a transition from the active sections to the overload sections can take place, with the support elements "slipping through", now resting on the nearest shaped springs and being located again on the active sections of the next period, so that regular operation can be resumed.

The swivel joint device can have a linear spring behavior. The swivel joint device can have a non-linear spring behavior. The swivel joint device can have a periodic spring behavior. The swivel joint device can pass through at least one active section, at least one dead center position, at least one overload section and / or at least one latching position when the first joint element and the second joint element are rotated relative to one another or when the support module and the cam spring module are deflected relative to one another. When the first joint element and the second joint element are rotated relative to one another or when the support module and the cam spring module are deflected relative to one another, the rotary joint device can periodically repeat an active section, a dead center position, an overload section and a latching position. The dead center position can be an unstable position. The detent position can be a stable position. The locking position can be a preferred position.

When the first joint element and the second joint element are rotated relative to one another, the total moment τ (<ρ) can change periodically between a positive maximum value and a negative maximum value, which can also be referred to as the minimum value, with a zero crossing. Starting from a zero crossing, mechanical power can be transmitted in the at least one active section when the first joint element and the second joint element are rotated relative to one another or when the support module and the cam spring module are deflected relative to one another. When a positive maximum value is reached corresponding to a predetermined maximum torque corresponding to the at least one dead center position, a transition to at least one overload range can take place. After exceeding the positive maximum value corresponding to the specified maximum torque corresponding to the at least one dead center position, the at least one overload area can be passed through without significant mechanical power transmission, the total torque τ (φ) initially falling to a negative maximum value or minimum value and then again to a detent position in Zero crossing increases. When the first joint element and the second joint element are rotated relative to one another, an active section can again follow.

gelten, wobei

Vektor der Rückstellkraft der Formfeder mit Abstützelement i

Tangentenpunkt der Formfeder mit Abstützelement i

τ(φ):

Gesamtdrehmoment

For the spring device can $$\tau \left(\phi \right)={\displaystyle \sum _t{\stackrel{\rightharpoonup }{t}}_i\left(\phi \right)}\times {\stackrel{\rightharpoonup }{\mathrm{F.}}}_i\left(\phi \right)$$

apply, where

Vector of the restoring force of the shaped spring with support element i

Tangent point of the shaped spring with support element i

τ (φ):

Total torque

The robot can be a mobile robot, an autonomous robot, an industrial robot, a medical robot, a service robot, a toy robot, an exploration robot and / or a humanoid robot. The robot can have at least one first robot limb and at least one second robot limb. The at least one first robot link and the at least one second robot link can be connected to one another in an articulated manner. The at least one first robot link and the at least one second robot link can be connected to one another with the aid of the at least one swivel joint device. The first joint element can be firmly connected to the first robot link. The second joint element can be firmly connected to the second robot link.

The swivel joint device can also be used in prostheses, in orthopedics, in the automotive industry, in agricultural machinery, in mobile drones and / or in general mechanical engineering.

In summary and in other words, the invention thus results, inter alia, in a roller clutch with a defined periodic spring behavior. A mechanism with periodic spring behavior (linear or non-linear) can be used, the simultaneous function of which corresponds to that of an overload clutch. The mechanism can use a special curve shape in the elastic element in the form of a shaped spring. By choosing a spring plate thickness / height, a spring material, a number of radially placed shaped springs and their shape as well as a number of planets, their partial diameters on a carrier and a roller diameter, a periodicity, an amplitude, a course and a characteristic of functional areas can be designed . Pure rolling friction can be provided between contact partners.

The invention enables compliance and overload protection. Damage is avoided. A space requirement is reduced. Tolerance requirements are reduced. An effort such as construction effort, adjustment effort, cost effort and / or calibration effort is reduced. A work area, a freedom of design and / or a load capacity are increased. A hysteresis is reduced.

• 1 eine Drehgelenkeinrichtung mit einem antriebsseitigen Gelenkelement, einem abtriebsseitigen Gelenkelement und einer kurvengetriebeartigen Federvorrichtung mit einem Kurvenfedermodul und einem Abstützmodul,
• 2 eine Kinematik einer Drehgelenkeinrichtung mit einem antriebsseitigen Gelenkelement, einem abtriebsseitigen Gelenkelement und einer kurvengetriebeartigen Federvorrichtung mit einem Kurvenfedermodul und einem Abstützmodul und
• 3 einen Drehmomentverlauf an einer Drehgelenkeinrichtung mit einem antriebsseitigen Gelenkelement, einem abtriebsseitigen Gelenkelement und einer kurvengetriebeartigen Federvorrichtung mit einem Kurvenfedermodul und einem Abstützmodul.

In the following, exemplary embodiments of the invention are described in more detail with reference to figures, which show schematically and by way of example:

• 1 a swivel joint device with a drive-side joint element, a driven-side joint element and a cam gear-like spring device with a cam spring module and a support module,
• 2 a kinematics of a swivel joint device with a drive-side joint element, a driven-side joint element and a cam gear-like spring device with a cam spring module and a support module and
• 3 a torque curve on a swivel joint device with a drive-side joint element, a driven-side joint element and a cam gear-like spring device with a cam spring module and a support module.

1 shows a swivel device 100 with a first joint element on the drive side 102 , a second joint element on the output side 104 and a cam gear type spring device 106 . The swivel device 100 is used in particular to connect two robot limbs to one another in a rotatable manner. With the help of the spring device 106 can mechanical power between the first hinge element 102 and the second hinge element 104 be transmitted.

The swivel device 100 has a hinge axis 108 on. The first joint element 102 and the second hinge element 104 are around the joint axis 108 rotatable together and rotatable relative to one another. The spring device 106 is between the first hinge element 102 and the second hinge element 104 effective and has a on the first joint element 102 arranged support module 110 and one on the second hinge element 104 arranged curve spring module 112 on.

The curve spring module 112 has several, in the present case six, shaped springs, such as 114, 116. The form springs 114 , 116 serve as curve supports and are made from a strip-shaped spring plate. The form springs 114 , 116 are permanently connected to one another in a ring-like arrangement. The curve spring module 112 has a predetermined curve. The curve spring module 112 is with the second hinge element 104 around the joint axis 108 rotatable.

The support module 110 has a plate-shaped carrier 118 and several, in the present case three, support elements, such as 120. The support elements 120 each have a pivot bearing and a rolling element. The rolling elements are each on the carrier 118 around one to the joint axis 108 parallel and from the hinge axis 108 spaced unwinding axis rotatably arranged. The support module 110 is with the first hinge element 102 around the joint axis 108 rotatable.

The curve spring module 112 and the support module 110 are in frictional and form-fitting contact with one another. The support module 110 is using the cam spring module 112 spring-loaded. The curve spring module 112 is with the help of the support module 110 deflectable in sections.

bezeichnet und auf einem Teilkreis um die Gelenkachse 108 verlagerbar. Bei einem Verdrehen des ersten Gelenkelements 102 relativ zu dem zweiten Gelenkelement 104 in Pfeilrichtung φ erfolgt ein Kraftfluss von dem ersten Gelenkelement 102 mit wälzender Kraftübertragung über die Abstützelemente, wie 120, und die Formfedern, wie 116, auf das zweite Gelenkelement 104. Je nach Drehwinkel φ des ersten Gelenkelements 102 relativ dem zweiten Gelenkelement 104 stellt sich ein Rücktreibmoment τ(φ) als Summe aller Rückstellkräfte $\stackrel{\rightharpoonup }{F_i}\left(\phi \right)$

und der Kontaktpunkte $\stackrel{\rightharpoonup }{t_i}\left(\phi \right)$

der Abstützelemente 120 mit den korrespondierenden Formfedern 116 ein. Ein Abstand zwischen der Gelenkachse 108 und dem Kontaktpunkte $\stackrel{\rightharpoonup }{t_i}\left(\phi \right)$

der Abstützelemente 120 ist mit R bezeichnet. Ein Radius der Abstützelemente 120 ist mit r_i bezeichnet. Im Übrigen wird ergänzend insbesondere auf 1 und die zugehörige Beschreibung verwiesen. 2 shows kinematics of the rotary joint device in a Cartesian coordinate system with an x-axis and a y-axis 100 . The rolling axis of a rolling element is with ${\stackrel{\rightharpoonup }{p}}_i$

and on a pitch circle around the joint axis 108 relocatable. When the first joint element is twisted 102 relative to the second joint element 104 In the direction of the arrow φ there is a flow of force from the first joint element 102 with rolling force transmission via the support elements, such as 120, and the shaped springs, such as 116, to the second joint element 104 . Depending on the angle of rotation φ of the first joint element 102 relative to the second joint element 104 there is a return torque τ (φ) as the sum of all restoring forces $\stackrel{\rightharpoonup }{{\mathrm{F.}}_i}\left(\phi \right)$

and the contact points $\stackrel{\rightharpoonup }{t_i}\left(\phi \right)$

the work supports 120 with the corresponding shaped springs 116 a. A distance between the joint axis 108 and the contact points $\stackrel{\rightharpoonup }{t_i}\left(\phi \right)$

the work supports 120 is denoted by R. A radius of the support elements 120 is denoted by r _i. In addition, in particular on 1 and the associated description.

3 shows a torque curve 122 on the swivel device 100 in a torque-deflection diagram in which a deflection φ is plotted on an x-axis and a torque τ is plotted on a y-axis. The torque curve 122 has active sections, such as 124, which are required during regular operation of the swivel joint device 122 below a specified maximum torque 126 are effective. The torque curve 122 has overload sections, such as 128, when the specified maximum torque is exceeded 126 are effective. The torque curve 122 has latching positions, such as 130. The locking positions 130 are between the overload sections 128 and the effective sections 124 arranged.

When the swivel joint device is in operation, a mechanical power flow from the first swivel joint element 102 via the support elements 120 and the shaped springs 114 , 116 to the second pivot element 104 respectively.

When the specified maximum torque is exceeded 126 there is a transition from the active sections 124 to the overload sections 128 , the support elements 120 "Slip through", now on the nearest shaped spring 114 , 116 and rest on the active sections 124 the next period so that normal operations can be resumed.

In addition, in particular on 1 and 2 as well as the associated description.

In particular, optional features of the invention are designated by “can”. Accordingly, there are also developments and / or exemplary embodiments of the invention which additionally or alternatively have the respective feature or the respective features.

If necessary, isolated features can also be selected from the feature combinations disclosed here and used in combination with other features to delimit the subject matter of the claim, dissolving any structural and / or functional relationship that may exist between the features.

List of reference symbols

100

Hinge device

102

first joint element

104

second joint element

106

Spring device

108

Joint axis

110

Support module

112

Curve spring module

114

Shaped spring

116

Shaped spring

118

carrier

120

Support element

122

Spring function, torque curve

124

Effective section

126

Maximum torque

128

Overload section

130

Locking positions

Claims (14)

Rotary joint device (100) for a robot, the rotary joint device (100) having a first joint element (102) and a second joint element (104) with a common joint axis (108) around which the first joint element (102) and the second joint element (104) are rotatable together and rotatable relative to one another, with a cam gear-like spring device (106) designed with a cam spring module (112) and a support module (110) acting between the first joint element (102) and the second joint element (104), characterized in that the The curve spring module (112) has a predetermined curve and is at least partially deflectable relative to the support module (110) in a resilient manner. Swivel joint device (100) according to Claim 1 , characterized in that the support module (110) is resilient at least in sections. Rotary joint device (100) according to at least one of the Claims 1 to 2 , characterized in that the cam spring module (112) has at least one shaped spring (114, 116) serving as a cam carrier. Rotary joint device (100) according to at least one of the Claims 1 to 3 , characterized in that the cam spring module (112) has a plurality of shaped springs (114, 116) connected to one another in a ring-like arrangement. Rotary joint device (100) according to at least one of the Claims 1 to 4th , characterized in that the support module (110) has at least one support element (120). Swivel joint device (100) according to Claim 5 , characterized in that the at least one support element (120) has a rolling element. Rotary joint device (100) according to at least one of the Claims 5 to 6th , characterized in that the support module (110) has a carrier (118) for the at least one support element (120). Rotary joint device (100) according to at least one of the preceding claims, characterized in that the support module (110) is assigned to the first joint element (102) and the cam spring module (112) is assigned to the second joint element (104). Rotary joint device (100) according to at least one of the Claims 1 to 8th , characterized in that a predetermined spring function (122) is represented with the aid of the spring device (106). Swivel joint device (100) according to Claim 9 , characterized in that the spring function (122) has at least one active section (124) and at least one overload section (128). Rotary joint device (100) according to at least one of the Claims 1 to 10 , characterized in that the spring function (122) has several active sections (124) and several overload sections (128) in periodic succession. Rotary joint device (100) according to at least one of the Claims 1 to 11 , characterized in that for the spring device (106) $$m=\frac{n_f}{n_p}\in \mathbb{N},n_f\ge n_{{}^p}$$

applies. Rotary joint device (100) according to at least one of the Claims 1 to 12th , characterized in that for the spring device (106) $$\tau \left(\phi \right)={\displaystyle \sum _i{\stackrel{\rightharpoonup }{t}}_i}\left(\phi \right)\times {\stackrel{\rightharpoonup }{\mathrm{F.}}}_i\left(\phi \right)$$

applies. Robot, characterized in that the robot has at least one swivel joint device (100) according to at least one of the Claims 1 to 13th having.

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