DE202014010032U1 - Coupling with contactless energy and data transmission - Google Patents

Abstract

A robotic joint, comprising: a first hinge member; a second hinge member movably disposed about an axis of rotation relative to the first hinge member, the robotic hinge further comprising at least one of: a coupling for transmitting energy by induction between the first and second hinge members; an optical fiber for transmitting optical signals between the first and second hinge members, the optical fiber having an interruption at the transition from the first hinge member to the second hinge member.

Description

1. Technical area

The present invention relates to a robot joint, and more particularly to a robot joint for transmitting energy and signals via the robot joint.

2. Technical background

Robots or manipulators are automatically controlled handling devices that can be used either stationary or mobile. A robot or manipulator may have individual links, which are connected to each other via linear guide and / or rotary joints to form a kinematic chain. The links, joints and their drives form the axes of a robot. Robot joints connect different members or axes of a robot. For example, robot joints can connect two robotic arms to each other, or a robotic arm to an end effector. In this case, energy, control and / or signal lines are typically routed across the joints along the robot axes, which limits the freedom of rotation of the joints. The movements of the joints, the lines are exposed to mechanical stress. It is thus necessary to replace the lines regularly to maintain the functionality of the robot.

Furthermore, there is a need to replace units or members of a robot quickly and easily. For example, it may be advantageous to replace individual links of a multi-axis articulated arm robot in order to use the robot flexibly for different applications. For example, to process and handle small and light workpieces, the use of a light and therefore faster carbon fiber shaft is advantageous over a robust, slow axis. An efficient and fast method for changing limbs of a robot is not known.

It is thus an object of the present invention to provide a maintenance-friendly robot joint. It is another object of the present invention to provide a manipulator or robot whose drive axes have improved freedom of movement. A further object of the present invention is to provide a robot system which permits efficient and fast changing of individual links or axes.

These and other objects are achieved by the subject matter of the independent claims.

3. Content of the invention

The robot joint according to the invention has a first and a second joint element. The second joint element is arranged to be movable or pivotable relative to the first joint element about an axis of rotation. Between the first and second hinge element thus there is a separation surface through which the axis of rotation extends at right angles.

The robot joint according to the invention further has at least one coupling for transmitting energy by means of induction between the first and second joint element, and / or an optical waveguide for transmitting signals, and preferably optical signals, between the first and second joint element. In this case, the optical waveguide at the transition from the first joint element to the second joint element on an interruption. Preferably, energy and / or signals are transmitted without contact between the first and second joint element.

Those skilled in the art will understand that the term "energy" is used to describe the energy needed to drive electrical actuators. Furthermore, the term "signal" is not restrictive and includes, for example, control signals for controlling or activating individual actuators, as well as measuring signals that are output by sensors. The skilled person understands that the signal strength is typically lower than the energy level.

The energy transfer by induction allows a contactless transfer of energy. Thus, failure-prone sliding contacts are superfluous. Likewise, the use of an interrupted optical fiber allows a contactless transmission of signals, without requiring a complicated wiring or the use of wireless modules. The use of an optical waveguide thus allows the advantageous use of optical signals that offer very high transmission rates and are not exposed to electromagnetic interference. The robot joint according to the invention is also characterized by a lower wear.

The energy transfer coupling preferably includes respective transducers and coils for transmitting energy from the first hinge element to the second hinge element by induction, and preferably by high frequency induction. Preferably, the coupling allows a releasable connection between the first hinge element and the second hinge element.

The optical waveguide preferably runs along or parallel to the axis of rotation, and more preferably, the optical waveguide lies concentrically in the axis of rotation. Further preferably, the interruption of the optical waveguide is in the axis of rotation, so that the light waves or optical signals at the interruption of the optical waveguide are parallel to the axis of rotation. The interruption is advantageous at the transition from the first joint element to the second joint element, ie in the interface between the joint elements. Thus, the hinge elements can be moved relative to each other without being restricted in the movement by the optical waveguide or by the transmission of the signals. Furthermore, the signal transmission is not affected or disturbed by the movement of the joint elements.

Preferably, the interruption of the optical waveguide is in the form of a gap. The gap preferably has a width of less than 0.5 mm, and more preferably less than 0.1 mm. Thus, the full flexibility of the joint can be achieved with minimal disruption of the optical signal line. Further preferably, the gap is filled with a filler, wherein the filler is preferably made of an oil and / or a plastic. Thus, the optical signals can bridge the gap with only little scattering. In this case, the filler preferably has a refractive index which essentially corresponds to the refractive index of the optical waveguide (core or cladding of the optical waveguide). In other words, both refractive indices differ by less than 50%, and preferably by less than 10%.

Thus it is achieved that the transition from the optical waveguide into the filler and opposite is as homogeneous as possible and the optical signals are only minimally impaired.

Preferably, the robot joint has an intermediate piece at the interruption of the optical waveguide. The intermediate piece is arranged to be movable relative to the optical waveguide, so that the joint movement is not impaired. Further preferably, the intermediate piece is particularly suitable to keep the filler in the interruption of the optical waveguide, or in the gap. The intermediate piece may consist of the filler, or consist of a different material from the filler and thus act as a holder. Thus, advantageously, the functionality and durability of signal transmission through the joint can be increased.

Preferably, the robot joint is free of pneumatics, which further reduces maintenance and repair costs. Further preferably, the first joint element is separably connected to the second joint element. Thus, the robot joint according to the invention is suitable for use in a wireless exchange unit for end effectors and / or members or axes. In this case, limb-specific or axis-specific data and information, such as, for example, levers and angles, are preferably stored in a modular manner in the unit to be docked or changed. When coupling or changing these modular properties are detected and adapted in the overall system.

Preferably, the non-contact energy transfer system allows buffering of energy, such as braking energy. When a joint motion is braked, the associated braking energy can be buffered or cached, and later advantageously used to drive the robot joint or other module.

In general, the robot joint according to the invention is suitable for use in any robot or manipulator. Preferably, the robot joint according to the invention is used in lightweight robots, which are characterized by low energy consumption.

The present invention further comprises the use of the inventive robot joint for transmitting energy and signals.

The present invention further relates to a robot system comprising the robot joint according to the invention.

4th embodiment (e)

In the following, embodiments of the invention will be described with reference to the figures. Showing:

1 a schematic representation of a cross section through a robot joint according to the invention, and

2 schematically the composition of the inventive robot joint according to 1 in the form of an explosion sketch of the system parts.

In 1 a cross-section of a schematic representation of a robot joint according to the invention is shown. The illustrated robot joint comprises a hinge element 10 , which with a second hinge element 20 connected is. The first joint element 10 has a stator 11 on which with a rotor 21 of the second hinge element 20 interacts and thereby cause a pivoting or rotation of the joint. Furthermore, the illustrated robot joint has a transmission 30 on. The two joint elements 10 . 20 are advantageously separable connected.

Furthermore, the first joint element 10 an energy transmitter 12 on which is established energy to a second energy transmitter 22 to transfer, which in the second joint element 20 is appropriate. The contactless energy transfer takes place advantageously by means of high-frequency induction.

Furthermore, the first joint element 10 a first optical fiber 13 which is arranged concentrically in the axis of rotation of the joint. The second joint element 20 also has an optical fiber 23 which is also arranged concentrically in the axis of rotation of the joint and thus the extension of the first optical waveguide 13 represents. Thus, both optical fibers are located 13 and 23 on the same axis, regardless of the orientation of the joint. Preferably located at the transition from the first optical waveguide 13 to the second optical fiber 23 an intermediate piece (not shown), which ensures a smooth transition of the optical signals from the first optical waveguide 13 to the second optical fiber 23 allows. The data transmission thus takes place by means of bidirectional optical waveguides 13 . 23 ,

Both the first joint element 10 as well as the second hinge element 20 each have a board 14 . 24 on which with the appropriate energy transmitters 12 . 22 and optical fibers 13 . 23 are connected. Furthermore, the stator is also 11 with the board 14 of the first joint element 10 connected. The boards 14 . 24 also each have a data line 15 . 25 on, which along the respective joint element 10 . 20 runs to the respective adjacent axis. The boards 14 . 24 enable reading in or outputting the signals. Consequently, the boards include 14 . 24 Control electronics for energy and data transmission as well as for the robot axis itself.

The 2 schematically shows the individual elements of the robot joint according to 1 , The interaction between the stator 11 and rotor 21 allows movement of the joint further by means of a transmission 30 This movement is controlled electrically and without the use of compressed air. Furthermore, the energy transmitters allow 12 . 22 a contactless transfer of energy by means of high-frequency induction. The optical fibers 13 . 23 allow contactless transmission of data or signals via the robot joint.

As can be clearly seen, are stator 11 , Rotor 21 , Transmission 30 and energy transmitter 12 . 21 arranged concentrically about the axis of rotation of the robot joint. Thus, a pivotable movement of the robot joint is possible without affecting the operation of the individual components.

Preferably, in the boards 14 . 24 member- or axis-specific data and information stored. Thus, advantageously, different axes or members can be coupled and decoupled with the robot joint. In a method according to the invention, the robot system recognizes a malfunction of an axis and starts a decoupling process. Alternatively, the robot system may also receive a corresponding command to uncouple an axis from the path planning. In a following step, the electronics of the joint to be decoupled is switched off and a corresponding mechanism is opened. For this example, a catch can be opened. The robot then releases from the released axis and approaches a second axis to be connected to the robot. After docking the two joint elements, the corresponding mechanism is closed, and the electronic connection between the joint elements made. From the coupled axis, the axis-specific information is provided to the robot controller. After a subsequent automatic calibration, the coupled axis is ready for use.

Claims (9)

Robotic joint, comprising: A first joint element; a second hinge element, which is arranged to be movable relative to the first hinge element about an axis of rotation, wherein the robotic joint further comprises at least one of the following elements: A coupling for transmitting energy by induction between the first and second hinge elements; an optical fiber for transmitting optical signals between the first and second hinge members, the optical fiber having an interruption at the transition from the first hinge member to the second hinge member. Robot joint according to claim 1, wherein the optical waveguide extends along the axis of rotation, and wherein the interruption of the optical waveguide is preferably in the axis of rotation, so that the optical signals at the interruption of the optical waveguide parallel to the axis of rotation. Robot joint according to one of the preceding claims, wherein the interruption of the optical waveguide is in the form of a gap. The robotic joint of claim 3, wherein the gap is filled with a filler, and wherein the filler preferably has a refractive index substantially equal to the refractive index of the optical fiber. A robot joint according to any one of the preceding claims, further comprising an adapter at the interruption of the optical fiber, the adapter being movably disposed relative to the optical fiber. Robot joint according to claim 3 to 5, wherein the intermediate piece is particularly suitable to keep the filler in the gap. Robot joint according to one of the preceding claims, wherein the joint is free of pneumatics. Robot joint according to one of the preceding claims, wherein the energy and / or signals are transmitted without contact between the first and second joint member. Use of a robot joint according to any one of claims 1 to 8 for transmitting energy and signals.

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