EP3765243A1

EP3765243A1 - Arm joint for a manipulator and manipulator

Info

Publication number: EP3765243A1
Application number: EP19707749.8A
Authority: EP
Inventors: Martin Raak; Felix BERGER
Original assignee: Igus GmbH
Current assignee: Igus GmbH
Priority date: 2018-03-15
Filing date: 2019-02-21
Publication date: 2021-01-20
Also published as: US11865712B2; CN112135714B; CA3093324A1; CA3093324C; EP3939751A1; US20240149437A1; JP7264909B2; JP2021518273A; CN112135714A; US20210001479A1; DE202018101462U1; WO2019174883A1; KR20200130432A; KR102484267B1

Abstract

The invention relates to an arm joint for a manipulator (M) having a motor (5) with a transmission (G), comprising a gear wheel (2) that can rotate about a transmission axis of rotation (g), wherein the gear wheel (2) is rotatably mounted in a housing (3) of the arm joint (1) and has an adapter (22) on at least one of its end sides (21), and wherein the adapter (22) has an opening (24) that is central relative to the transmission axis of rotation (g) on the side (23) facing away from the end side (21) of the gear wheel (2) The central opening (24) has an internal thread (25) for the purpose of a simple construction, easy assembly and a great number of variation possibilities in terms of construction and application.

Description

Wrist joint for a manipulator and manipulator

The invention relates to an arm joint for a manipulator and a manipulator with arm joints. The wrist joint for the manipulator has a gear wheel rotatable about a gear rotation axis. The gear wheel is rotatably mounted in a housing of the arm joint and has an adapter on at least one of its end faces. The adapter has on its side remote from the end face of the gear on a side facing the transmission axis of rotation opening.

A generic wrist joint is disclosed in DE 20 2014 101 342 Ul, wherein the gear wheel is designed as a worm wheel, which is mounted on the output side via adapter with a central opening on the housing. The structure is complex. Furthermore, the structure offers no significant variations in terms of design and use of the wrist and thus the manipulator with such arm joints.

In another wrist joint according to DE 20 2016 101 255 U1, likewise equipped with worm gear, a turntable is expensively provided on the output side for the worm wheel for connection to a spacer, namely transversely to its longitudinal section. Here, too, no effortless variations can be derived from the structural design.

An object of the invention is to develop the generic wrist joint or the manipulator with the generic wrist joint so that it has a simpler structure, is easier to install and more variation options in terms of construction and possible use.

The stated object is achieved by the features of claim 1. Advantageous developments are described in the subclaims. The stated object is already achieved in that the central opening has an internal thread.

As described in more detail below, the internal thread provides the possibility for a rapidly producible, safe and inexpensive connection of the wrist joint with, for example, the gear wheel and / or a housing of an adjacent arm joint of the manipulator. In extension of the variation possibilities can also be easily made a connection with a motor axis of a motor to drive the gear directly hereby. Thus, certain types of connection can be made between two adjacent and, in addition, an adjacent wrist joint and moreover adjacent wrist joints which allow for certain relative movements between the connected wrist joints, wrist-to-wrist torque transmission and / or torque transmission.

The threaded engagement of a component with external thread in the internal thread of the adapter, an operative connection between the component and the gear can be produced. This component may for example be part of another arm joint or acting on the hinge axis engine.

In an advantageous development of the wrist joint, the housing may have a receiving part for receiving a further transmission element. This further transmission element can be arranged transversely to the transmission axis of rotation. It may be in operative connection with the periphery of the gear. This form gear and the other transmission elements Transmission for converting a torque. The periphery of the gear, for example, a circumferential thread or a toothing, such as spur or bevel gear, have. The design of the periphery depends on the particular type of gear built up by the gear wheel and the further gear element. This will be described below in more detail by way of example.

The bearing of the gear can be done by means of any suitable bearings, such as plain bearings, ball bearings, especially double ball bearings, or roller bearings. Advantageously, for storage plastic bearings, in particular plastic plain bearings are used. The plastic bearings can be designed to be lubricant-free and thus maintenance-free. The gear can be stored axially displaced held. The storage can be done via Radiaxlager that allow freedom of movement of the gear only in the circumferential direction.

The adapter may be rotatably mounted about the transmission axis of rotation on the housing. The storage of the transmission component can be done alone via adapters. The adapter may be a single component, preferably a one-piece component. The adapter may be mechanically or integrally, in particular materially connected to the gear. The adapter with the internal thread can be at least rotationally fixed to the gear, in particular fixed or integrally connected to the gear. The central opening may have a circular cross section and be introduced in the direction of the axis of rotation in the gear. In particular, the central opening is accessible from the outside.

As is well known, according to the general definition of a rotation axis, no torque, however, via a rotary shaft, a torque respectively on the mounted thereon transmission component such as transmit the gear. In accordance with the usual usage but is spoken in the following of a rotation axis, even if a torque can be transmitted. The actual function of the rotation axis as a shaft or axis then results from the context.

It is understood that the term housing also includes frame or base on which the wrist joint is constructed.

The gear may have on its two end faces an adapter and be rotatably mounted in the housing via the two adapters. In particular, the bearing of the gear to the transmission axis of rotation can be symmetrical. The gear can be rotatably mounted with respect to the transmission axis of rotation at both end faces in each case via an adapter to the housing. The bearings on both sides of the gear can be the same design.

In particular, both adapters may, at their sides remote from the end faces of the gear wheel, each have a central opening with an internal thread relative to the gear rotational axis. Thus, to establish the manipulator with two or more arm joints axially on both end faces of the gear an operative connection to an adjacent wrist joint can be made. This connection can also be made to a torque axis, such as engine rotation axis and / or another component, such as extension, coupling or tool. These connection options can also be combined by selecting on the one hand a possibility for active connection on the other side another possibility for active connection.

It is regarded as an advantage that the gear wheel and / or the further gear element in each case play free to the housing and / or that the gear wheel and the further gear element are arranged without play into one another. Thanks to the freedom of play, a smooth running and a reduced wear of the gear can be achieved during operation. The backlash can be carried out so that, for example, to compensate for a game created by wear between the respective interacting components adjustable or nachj ustiertbar. Advantageously, an adjustment for play-free arrangement of the gear and / or the further transmission element may be designed for the housing. In addition or in addition, the adjusting device can serve for the backlash-free arrangement of the gear wheel and of the further gear element relative to one another.

In a further development of the wrist joint, the further gear element may have an effective axis spaced in a direction of spacing from the transmission rotational axis. About this axis of action, the further transmission element can be arranged stored in the receiving part of the housing. In particular, the axis of action can be arranged transversely to the transmission axis of rotation. Structurally simple, the axis of action can be arranged perpendicular to the transmission axis of rotation. Gear rotation axis and effective axis can not be arranged intersecting. In particular, the transmission rotational axis and the axis of action can be arranged parallel to a plane.

The plane may extend perpendicular to a distance extending in the distance between the effective axis and the transmission axis of rotation. The distance direction can extend radially to the transmission axis of rotation and that from the gear wheel to the further gear element.

The gear wheel and the further transmission component can be arranged relative to each other for setting a relative to the distance direction axial backlash in the distance direction movable and festlegt. The relative movement to Game adjustment in the distance direction can be done by shifting the gear and / or the other transmission element relative to the housing.

This relative mobility is provided only for adjustment, wherein they have no play to each other, of course, have no relative mobility in the direction of the game. Preferably, the distance is the minimum distance between the active axis and the transmission axis of rotation. Advantageously, the setting or adjustment via a derivation on effective in the distance direction oblique planes take place. Preferably, only the gear for adjustment in the adjustment direction is arranged to be movable relative to the housing. The further transmission element may be arranged statically with respect to a linear movement in the adjustment direction relative to the housing.

The bearings for the gear can each have a first bearing ring associated with the housing and a second bearing ring associated with the gear. To set the relative axial clearance with respect to the distance direction, a setting force can be coupled via the inclined plane in the direction from the gear wheel to the further gear element in the first bearing ring. The inclined plane can accordingly have a surface normal, which points with a directional component in the direction of distance to the further gear element. The inclined plane may be inclined at a preferably constant angle of inclination to the distance direction. The angle of inclination may be less than / equal to 45 °, less than / equal to 30 ° or less than / equal to 10 °. Preferably, the inclination angle is dimensioned so that a self-locking of the sliding movement occurs. As is known, the prerequisite for self-locking is that the friction caused by sliding resistance to slippage or twisting of two adjacent or touching Body is less than or equal to a static friction, which precludes this relative sliding movement of these bodies.

It may be provided as part of the adjustment at least one movably mounted on the housing adjustment. In particular, the adjustment can be arranged transversely to the direction of spacing on the housing movable and in particular mounted detectable. The single element may slide off while creating the adjustment force on the inclined plane. For this purpose, the adjusting element and / or the first bearing ring may each have an inclined plane through which the sliding takes place.

In a structurally advantageously simple embodiment, the adjusting element can be designed as a threaded bolt with a cone-shaped working end, with which the bolt slides off transversely to the adjustment direction into a matching adjusting recess provided on the first bearing ring. In terms of force mechanics, the screw bolt and the adjusting recess can be positioned at the height of a region of the first bearing ring which is upper in relation to a direction from the further gear element to the gear wheel. This is preferably the uppermost region of the first bearing ring. The bolt itself can be arranged in a preferably self-locking threaded engagement with the housing schraubbeweglich on the same. To avoid tilting moments can be provided on both sides of the gear each have an adjustment, so that the adjustment of the backlash can be made on both sides of the gear.

In a further specification of the wrist joint, the further transmission element can be arranged to be linearly movable in the direction of the axis of action and / or to be rotatable about the axis of action, in each case supported on the receiving part of the housing. The further gear element can be designed for relative linear movement as a linear element, such as a rack. It can do that form a linear transmission together with the gear. In the case of a rotatable about the axis of action embodiment, the further transmission element may be formed, for example, as a worm for a worm gear or as a spur gear for an inverted worm gear.

To set an axial freedom of play with respect to the axis of action, the further gear element can be arranged in a positionally variable manner relative to the housing in the direction of the axis of action. The intended change in position may, but not necessarily, move in a slight amount, for example, to compensate only for installation by Aufsummierung of tolerances and / or operation by wear adjusting deviations from a prescribed backlash-free storage.

In the embodiment of the transmission as a worm gear with worm wheel and worm, the further gear element can be designed as a worm and the effective axis as a drive shaft. The worm can be arranged rotationally fixed on the axis of action. Furthermore, the axis of action can preferably be supported axially rotatably on both sides of the worm on or in the receiving part. The bearings can axially support the screw each end face. As usual, the worm wheel can have a toothing adapted to the thread of the worm, in particular helical gearing.

The drive shaft can be arranged guided in a hollow profile. This also provides protection of the drive shaft. For this purpose, the hollow profile can have a preferably centrally extending channel for the drive shaft in the longitudinal direction of the hollow profile. Here, the hollow profile can be used solely for the protection and in particular for the implementation of the drive shaft, ideally couple without torque in the wrist. The drive shaft can with radial Slip be arranged in the channel. In the case of the worm drive, the hollow profile may be arranged so as to be rotationally fixed and non-displaceable relative to the receiving part and / or in the same. The drive shaft may be mounted on the hollow profile.

The hollow profile may comprise two portions spaced apart at least over the axial extent of the screw, i. a first section and a second section. At least the first section can be arranged to be axially movable in order to set an axial backlash of the worm on the drive shaft via an intended adjusting device of the adjusting device to the worm. The axial mobility may, similar to the above in connection with the game setting the operative connection of gear and other transmission element already shown, move in the order of a game to be compensated. This game can be eliminated by adjusting the Justiergerätes.

The two sections can each be arranged counter to the receiving part at the end regions pointing away from the screw. In particular, the first portion of the hollow profile may be mounted at one end to the adjusting device and disposed at its other end to be displaced towards the screw. The adjusting device can in turn be mounted on the receiving part. Accordingly, the second portion of the hollow profile can be mounted with its one end towards the screw and arranged at its other end against the receiving part. The first section of the hollow profile may be held against the receiving part via the adjusting device and the second section of the hollow section via a provided clamping element, wherein the clamping element is screwed axially to the housing with respect to the axis of action against a stop. As usual, the clamping element can have two coaxial sleeves, ie a radially inner sleeve and a radially outer sleeve Sleeve, which are in threaded engagement via conical screw thread. With progressive screwing the outer sleeve exerts on the inner sleeve a growing contact pressure on the hollow profile, which can lead to frictional engagement with the hollow profile. In this case, the hollow profile is fixed to the housing via the clamping element screwed to the housing. If no contact pressure is generated, the clamping element screwed to the housing serves as a plain bearing.

The worm can be axially displaceable on the drive shaft, in particular in a press fit. The spacing of the sections can be exactly equal to the axial extent of worm and drive shaft bearing with backlash.

The adjusting device can be designed to be effective with respect to the further gear element in the direction of the axis of action. The adjusting device can be designed to adjust the freedom of play to press the first section of the hollow profile and, via this, the bearing axially in the direction of the first section of the hollow section to the second section thereof against the worm. In particular, the first section of the hollow profile can be supported at one end on the end face of the adjusting device and the other end on the front side with respect to a direction from the adjusting device to the screw towards the front bearing of the bearing. The second section of the hollow profile can accordingly be supported end-to-end on the rear bearing with respect to the direction from the adjusting device to the worm. For this purpose, the other end may be resisted by a provided clamping element on the receiving part.

The axial spacing of the two sections of the hollow profile can thus not only the axial extent of the screw and the Include axial extent of the front and the rear bearing of the drive shaft on the hollow profile. Preferably, the threads of the clamping element and / or the adjusting device are designed to be self-locking.

In a specification of the wrist joint, the adjusting device may have a blind opening which is axial to the axis of action. The drive shaft can be arranged freely projecting with a free end in the axial blind opening. The adjusting device can be fixed on the one hand to the receiving part and on the other hand, for example, a slidably mounted on the hollow profile component, such as sleeve, which rests with respect to the active axis of the front side of the front bearing. The sleeve can be further pressed by means of a provided adjusting device of the adjusting device under axial displacement of the front bearing against the screw until backlash is achieved. Be positioned with the. In particular, the adjusting device can be formed like a nut. Advantageously, the adjusting device can be actuated from the outside. It can have a threaded engagement. The threaded engagement may be self-locking.

With rotation of the screw, the front bearing can be moved axially to adjust a certain game to zero backlash. For example, if re-adjustment is necessary when a game occurs due to wear, the play that has occurred can be eliminated in a simple manner by actuating the adjusting device.

In another development of the wrist joint, the transmission may be formed as an inverted worm gear. In an inverted worm gear, in contrast to the usual worm gear, the further gear element can be driven by the gear wheel. In particular, can be provided be that the active axis is designed as a drivable hollow profile with the inner channel for receiving the drive shaft, such as motor shaft. The worm wheel can be arranged rotationally fixed on the hollow profile. The hollow profile in turn can be rotatably mounted on or in the receiving part. This results in the possibility that in addition to the hollow profile as drive shaft, a further carried in the channel drive shaft may be provided which, ideally without transmitting torque to the hollow profile, is guided by the hollow profile on the wrist joint, for example, a torque to couple into an adjacent wrist joint.

The gear can have a circumferential external thread and the further gear component has a male thread adapted to the spur toothing. The gear is with its external thread in threaded engagement with the face gear of the other transmission component. Preferably, in the worm gear, the pitch of the external thread of the worm as further gear element is larger and in particular about 1.5 times to 4 times greater than the pitch of the external thread of the trained as a "worm gear" in the inverted worm gear Pitch in the inverted worm gear a possibly adjusting game also be less than that of the worm gear.

In a further advantageous embodiment of the arm joint can be provided that, as part of a linear gear, the gear as a gear and the further gear element are formed as a linear element, in particular as a rack member. The rack member may also form the axis of action and be arranged linearly displaceable on the receiving part. In an advantageous development, the linear element, in particular the rack element, be arranged in a mounting position in the direction of the gear towards receiving groove of the hollow profile. Here, the receiving groove can be adapted to the linear element so that the linear element is arranged in the direction of the axis of action and circumferentially to the same displacement. Preferably, the linear element is arranged positionally immutable in the receiving groove.

Also with regard to the increase of variation possibilities advantageous, the hollow profile may be formed as a multi-functional profile.

For this purpose, as described above, the hollow profile, in a gear formed as a linear transmission, in an installed position to the gear towards open receiving groove for the linear element, in particular the rack section having. Already described as an advantageous feature of the hollow profile is the possible channel-like in the longitudinal direction of the hollow profile extending through hole or the inner channel for the drive shaft and for the motor drive shaft.

Furthermore, the hollow profile may have a further receiving groove for receiving sensor elements, such as displacement transducer or magnetic tape, and / or control and / or supply lines for the sensor elements. Preferably, this further receiving groove is arranged on a diametrically opposite to the axis of action outside of the hollow profile. Furthermore, the hollow profile can have a stop device for limiting a linear path, in that, for example for a linear gear or a worm gear, it has in particular laterally undercut receiving grooves for fastening elements for non-rotatable connection of the hollow profile to the receiving part of the housing. For this purpose, for example, the cross section of the associated receiving groove adapted anchor elements be provided, which are arranged displaceably at least in one of the lateral grooves and in particular in the same fixable. About such anchor elements, the hollow profile can also be held rotationally and non-displaceably to the housing.

In a further particularly advantageous simplification of the structure which solves the problem set out above and to increase the possibilities of variation, provision may be made for the overall wrist joint and / or the transmission components to have a modular structure. It may be the transmission component and the further transmission element individual module components. These can be composable to create a particular type of transmission, such as worm gear, inverted worm gear or spur gear to the gearbox, without requiring the storage of the gear has to be changed. The same applies to the associated adapters as modular components, and moreover, these can also advantageously be designed so that they can be used universally for the types of transmission described.

Thus, the modular components are easily interchangeable and variable with each other. As is readily apparent, such a modular construction is costly. It can be provided, for example, a modular system with modular components of different types of transmissions and different transmission sizes, housing and / or housing parts such as covers or end-side end elements, adapters and / or hollow profiles.

The wrist can be designed to be driven by a motor. The wrist joint may be part of a motor drive with electric motor and gearbox for converting the engine torque. For this purpose, an associated motor spaced from the wrist joint be arranged. The engine may be arranged away from the transmission. This has the advantage that the arm joint can be structurally smaller and thus kept movable, also that a heat generated by the engine waste heat, if anything, can only slightly act on the wrist joint. Advantageously, the transmission can be driven directly by the engine. As can be seen in particular from the description of the figures, the engine torque can be transmitted, for example, via the drive axle to the gear wheel or to the further gear element.

Another advantage is that a number of different motors are suitable for use, whereby they can be selected on the basis of certain conditions, such as maximum torque and type and level of operating voltage. Advantageously, the motor can be designed as a brushless DC motor.

Particularly advantageously, a manipulator can be provided with at least one wrist joint according to one of the previously and subsequently mentioned embodiment. In particular, the manipulator may have at least two arm joints, which are arranged in operative connection with one another. The structural design of the at least two arm joints can be the same, at least except for the gear and the further transmission element.

The at least two arm joints can be mechanically connected to each other. The two arm joints can be connected by means of a connecting device in a connecting position force, motion and / or effective management. The at least two arm joints can be arranged coaxially aligned with respect to the transmission axis of rotation facing each other. In particular, the at least two arm joints can be rotatably mounted about a common transmission rotational axis. The at least two wrists can respect the transmission axis of rotation be arranged frontally facing each other. For this purpose, the mutually facing end sides of the arm joints may each have the central opening. The central openings may be arranged in alignment with each other. In particular, the central openings of the at least two arm joints may be identical.

The connecting device may comprise parallel connectors, by means of which the at least two arm joints in the connecting position with respect to a plane perpendicular to the transmission rotational axis parallel to each other and further be held axially displaceable relative to each other. The parallel connectors may serve in the connecting position for the spaced parallel positioning of the at least two arm joints and / or for connecting the at least two arm joints. Due to the parallel connector, the at least two arm joints or furthermore further directly or indirectly adjacent arm joints can be held parallel to one another and connected in a connected manner. In particular, the parallel connectors can be constructed at least substantially rotationally symmetrical to the transmission axis of rotation.

Advantageously, the connecting device can be designed so that the parallel connector in the connection position functionally effective on certain components of the arm joints attack. In a further specification of the manipulator can be provided in each case with respect to the transmission axis of rotation that engages at least one radially inner than inner connector trained parallel connector torque transmission effective in the mutually facing central openings of the frontally adjacent arm joints. Furthermore, a radially outer formed as an outer connector parallel connector may be provided, which is designed to engage the housings frontally adjacent arm joints. Moreover, a transversely extending to the transmission axis of rotation a parallel connector designed as a cross connector is provided, which is adapted to apply torque transfer-wise radially inward into the central opening of an arm joint and radially spaced apart from the central opening on the housings of the arm joint at the front-adjacent arm joint.

It can be provided that, via the connection of the two arm joints, a transmission of the torque from the transmission rotational axis of one arm joint to the transmission rotational axis of the other arm joint takes place. For this purpose, the housing of the two arm joints and the transmission axis of rotation of the two arm joints can each be firmly connected to each other. Advantageously, the transmission axes of rotation of the two arm joints via an inner connector and the housing of the two arm joints via an external connector can be rotatably connected to each other.

Alternatively, the connection of the two arm joints can be designed as a rotary joint. In the rotary joint, the torque acting on the transmission rotational axis of one of the two arm joints can be transmitted to the housing of the other arm joint. In particular, it can be provided that the two arm joints are rotatably connected to each other via a transversely extending to the transmission axis of rotation transverse connector. The cross connector can be rotationally fixed with a radially inner end portion, in particular being able to be rotated and displaced, connected to the transmission rotational axis of one of the two arm joints. Further, the cross connector may be slidably or rollably rotatable with a radially outer end portion connected to the housing of the one wrist joint and fixed to the housing of the other wrist joint. Thus, the housing of the one arm joint slidably or rollably abut the radially outer end portion of the cross connector. In a further embodiment of the manipulator, the at least two arm joints can be connected to one another by forming a rotary guide of one arm joint on the other arm joint. In particular, an arm joint rotated about the transmission rotational axis can be guided on the other wrist joint. In particular, this can be done without any significant torque transfer from one wrist joint to the other wrist joint, except for any friction losses caused by the guide. To reduce friction, conventional measures, such as a Teflon coating on the friction surfaces, may be provided. Advantageously simple thanks to the provided parallel connector, the transmission axes of rotation of the two arm joints via a radially inner formed as an inner connector parallel connector and by a radially outboard than outer connector trained parallel connector slidably or rollably with the housing of the other arm joint and rotationally fixed to the housing of the one Arm joints connected. Alternatively, the outer connector to form the rotary guide slidably or rollably connected to the housing of one arm joint and rotationally connected to the housing of the other arm joint.

The rotationally fixed connection of the transmission axes of rotation on the inner connector is used in the rotary guide initially the axial cohesion of the two arm joints. In the rotation guide, one arm joint becomes twisted by its rotation at the other wrist joint, i. guided on the housing thereof. Furthermore, no torque is transferred to the other pivot, except for possible friction losses. This has the consequence that the transmission, for example, the other arm joint for the coupling of, for example, a motor torque is still "free".

The parallel connectors, insofar as they are formed, can transmit torque into the connection position in a torque-transmitting manner engage the facing central openings or in both facing central openings, for the respective engagement have an end portion with an internal thread of the respective central opening adapted external thread. In the connecting position, the two threads engage each other in a torque-transmitting manner. For this purpose, a corresponding Einschraubensweg for producing the screw connection can be limited stop. Accordingly, the inner connector for producing a rotationally fixed connection of both arm joints two free ends each having a portion with external thread for engaging in the installation position facing each other central openings of two axially adjacent arm joints. In the non-rotatable connection, an immediate transfer of torque from a gear of one joint to the gear of the other joint done.

A particular advantage is considered to block a relative rotation of internal thread to external thread in the connecting position. In particular, internal threads and external threads are fixed to each other. This allows a respect to the transmission rotational axis play-free arrangement of the portion with the external thread, which is in threaded engagement with the internal thread of the central opening. In particular, it can be provided that at least one blocking element, such as a bolt, pin or screw element, is provided for the play-free threaded engagement of internal threads of the central opening and external thread of the end section. The blocking element can be arranged axially in the connection position with respect to the transmission rotational axis in a blocking opening adapted to it between the two intermeshing threads. The blocking opening can be created by introducing a similar semicircular groove into both threads, with the two grooves in a specific relative Assemble the rotational position of the two threads to the circular blocking opening. The end portion can be screwed to reach its connection position backlash against the stop in the central opening. Subsequently, the blocking element can be introduced between the two threads. The blocking element allows a play-free rotationally fixed connection by blocking the threaded engagement. Preferably, with the screwing of the blocking element, the two components with the central openings frontally screwed against each other.

The blocking element can, both thread cutting, are introduced parallel to the transmission axis of rotation. It can be provided with respect to the two threads, an overlap region in which the external thread and internal thread overlap radially when threaded engagement with respect to the transmission axis of rotation. The overlapping region may have a hollow cylindrical shape in accordance with the cylinder geometry of the central opening.

It can, if, for example, the backlash of the screw is removed by wear by the two components no longer abut against each other without play frontally, the blocking element solved, the components backlash screwed against each other and then the blocking element are introduced again between the thread.

Preferably, a plurality of, for example, six or eight blocking openings are provided, which are preferably circumferentially equally spaced in the connecting position and are further arranged with respect to the transmission axis of rotation at an equal radius. By the number of the blocking openings constituting grooves of the rotation angle is reduced, which is necessary to reach for adjustment a rotational position in which the grooves join together again to the blocking openings. In an advantageous embodiment of the manipulator may be modular. Individual modules may, for example, the arm joints per se, the engine, motor shaft for transmitting the torque to the transmission, in particular to the gear or the other transmission component, each of the individual components of the arm joint such as housing, gear, further transmission component, adapter, and connecting components, as the parallel connector, and / or the hollow profile.

Further details and advantages of the invention will become apparent hereinafter, without limiting the scope, by the description of preferred embodiments with reference to the accompanying drawings. Hereby show:

1A-1C each show a view of an embodiment of an arm joint,

2A-2B are each a view of another embodiment of the wrist joint similar to that of Figure 1, but with adjustment

2C shows a detail enlargement IIC according to FIG. 2B

FIGS. 3-5 each show a view of a further embodiment of the wrist joint with a motor connected in a torque-transmitting manner,

Fig. 6 is a side view with a detailed representation of the cooperating gear members according to Figures 1-5, Fig. 7 a with respect to a transmission axis of rotation

Cross-sectional view of another embodiment of the wrist joint, here with inverted worm gear, Figures 8 and 9 each have a side view with

Individual representation of the interaction of the gear members according to FIG. 7,

10 is a side view of another embodiment of the

Wrist joints, here with linear gear,

11 with respect to the transmission axis of rotation cross-sectional view of the arm joint according to Figure 10, FIGS. 12A and 12B each show a view of a hollow profile axis; Figure 12A with magnetic tape

13 is a perspective view of a rack profile for the wrist joint according to Figure 11,

14 is a perspective view of an attachable to the housing sensor,

15 is a side view of the embodiment of the wrist joint according to Figure 1, here with frontal guide insert for a motor shaft,

16 with respect to the transmission axis of rotation longitudinal section view C-C of the wrist joint according to Figure 15,

17 shows a detail enlargement J according to FIG. 16, FIG.

18A-18D each show a view of one of the components of the guide insert according to Figure 15,

19 is a perspective view of two fixedly connected arm joints IV and V of an embodiment of a manipulator,

FIGS. 20A and 20B show a side view and a longitudinal sectional view, respectively, of the arm joints according to FIG. 19,

21A and 20B are each a view of an outer connector for the rotationally fixed connection of the housing of the two arm joints of Figure 18,

22 is a perspective view of an inner connector for fixed connection of the two pivot axes of the two arm joints of Figure 18,

23 is a perspective view of two pivotally interconnected arm joints I and II of another embodiment of the manipulator,

24A and 24B are each a view of a cross connector for rotatably connecting the two arm joints of Figure 23,

25A and 25B is a perspective view and

Longitudinal sectional view of three interconnected arm joints I-III of another embodiment of the Manipulator, wherein the arm joints I and II are rotatably connected and arm joints II and III in rotation guide effective,

FIGS. 26A and 26B each show a view of a further embodiment of the outer connector for carrying out a rotary guide between arm joints II and III;

27 shows a perspective view of two arm joints IV and V, which are firmly connected to one another, of a further embodiment of the manipulator,

28 is a longitudinal sectional view of Figure 27 with additional parallel to the arm joint V rotating arm joint V, Fig. 29A and 29B is a perspective view and

Longitudinal view of two rotatably interconnected arm joints I and II according to Figure 25, but in addition with frontally torque-coupled motor,

30 shows a side view of a further embodiment of the manipulator with three arm joints according to FIGS. 25A and 25B and three arm joints according to FIG. 28, FIG.

Fig. 31 is a longitudinal sectional view of another embodiment of the manipulator with three arm joints of Figure 28 and two arm joints of Figure 23 and

32A and 32B is a perspective view and

Longitudinal sectional view of another embodiment of the manipulator with three successively driven by a motor arm joints.

In the description, all terms used to describe the location, such as top, bottom, front, back, right and left, are meant to be as shown in the figure itself unless otherwise defined. In FIGS. 1-18, without wishing to be limited thereto, possible embodiments of an arm joint 1 for a manipulator M are shown in different Views and partial views shown. FIGS. 19-32 show possible embodiments of the manipulator M with arm joints 1 combined with one another, which are in operative connection with one another. It is immediately apparent that a large number of further combinations and couplings of the arm joints 1 are possible, which are also included in the scope of protection.

As can be seen in particular from FIGS. 1, 2, 5, 8, 11, 16, 20B, 25B, 28, 29B and 32B, the arm joints 1 each have a gearwheel 2 which is rotatable about a transmission rotational axis g. The gear 2 is rotatably mounted in a housing 3 of the arm joint 1. It has in the embodiments of the arm joint 1 shown in the figures on both of its end faces 21 each have an adapter 22. The gear 2 is connected via the two adapters 22, i. with respect to the transmission axis of rotation g on both sides in each case via a bearing 7 in the housing 3 rotatably arranged. FIGS. 18A and 18B each show an individual representation of the adapter 22, which is an independent component here. Alternatively, at least one of the adapters 22 may be integrally connected to the gear wheel 2.

The two adapters 22 each have on their side facing away from the end face 21 of the gear 2 side 23 with respect to the transmission axis of rotation g central opening 24 with internal thread 25. Minimally, only one of the two adapters 22 can be provided with the central opening 24. As can be seen in FIGS. 18A and 18B, the adapters 22 each have axially protruding cylindrical plug-in projections 221, which are arranged at a radius and circumferentially equidistant and, in the installed position, axially engage in a plug-in opening 222 provided on the gear wheel 2. Since an adapter with the plug projections 221 is provided on both sides of the gear, the plug openings 222 are formed as through holes, in the in the installed position in each case from two sides axially an associated plug-in projection 221 engages. The adapters 22 and the gear wheel 2 as a whole are in each case rotationally symmetrical to the transmission rotational axis g.

The housing 3 has a receiving part 31 for receiving a further transmission element 4. The further transmission element 4 is arranged transversely to the transmission axis of rotation g on an active axis w. The effective axis w is positioned at a distance from the transmission rotational axis g. The further transmission element 4 is arranged in the receiving part 31 via the effective axis w. In the embodiments of the wrist joint 1 shown here, both, i. Axis of action w and gear rotation axis g, spaced parallel to a plane extending perpendicular to a distance a running distance in the distance between the active axis w and gear rotation axis g. The distance here is the minimum distance between the two axes. Gear rotation axis g and effective axis w do not intersect.

The transmission element 4 is in operative connection with the periphery of the gear wheel 2. Gear 2 and further transmission element 4 form a transmission G for the translation of a coupled into the arm joint 1 engine torque. The motor 5 per se is arranged at a distance from the respectively associated arm joint 1.

The gear wheel 2 and the further gear element 4 are arranged with respect to the distance direction a axially backlash acting in one another. For this purpose, the gear wheel 2 and the further transmission element 4 are arranged relative to one another in the emission direction a. To adjust the backlash is in the embodiments shown here, the arm joint 1 alone, the gear 2 by means of an adjustment 6 in the direction of distance a relatively movable arranged to the housing 3. The relative movement takes place here by a displacement of the gear 2 in the distance direction a to the further gear element 4 out.

The adjusting device 6 is connected to the bearings 7 of the gear 2 and the adapter 22, via which the gear 2 is mounted on. The gear 2 is rotatably supported by its adapter 22 axially on both sides in each case via a bearing 7 on the housing 3. The bearings 7 each have a housing 3 associated first bearing ring 71 which is arranged here with respect to the transmission axis of rotation g outside, and the gear 2 associated second bearing ring 72 which is here arranged with respect to the transmission axis of rotation g inside. For adjustment, a setting force E acting in the direction of insertion a towards the further transmission element 4 is coupled into at least one of the first bearing rings 71. In terms of force mechanics, it is provided here to introduce the setting force E via both first bearing rings 71 in order to displace the gear wheel 2 into the same.

For this purpose, a setting force K is generated via the adjusting device 6 radially to the distance direction a, which is diverted via a derived in the direction of distance a effective inclined planes S in the direction of distance a in the direction of the other transmission element 4, in the respectively associated first bearing ring 71 is introduced , The inclined planes are arranged here in each case at the same angle of inclination to the distance direction a, which is less than 60 ° here. For this purpose, an adjusting element 61 is provided for each first bearing ring 71, which is arranged with respect to the distance direction a in the radial direction to the first bearing ring 71 out of position in an adjustment opening 62 on the housing 3. This adjustment opening 62 is disposed above the transmission rotational axis g, specifically in a point of the radius which is the uppermost point with respect to a radius extending about the transmission rotational axis. In order to is force-mechanically favorable at the same time the respective first bearing ring 71 is acted upon in its uppermost point with the adjustment force E. The adjusting member 61 has a threaded shaft 63 with external thread with which it is in threaded engagement with an opening provided in the insertion opening 62 internal thread. This thread engagement is self-locking. The adjusting member 61 projects with a the inclined plane S having conical working end 64 in the housing 3 and is in a working position on a provided in a Einstellausnehmung 621 on the first bearing ring 71 inclined plane S at. Thus, the gear 2 can be pressed with a screwing movement of the adjusting member 61 under the action of the inclined planes S in the distance direction a against the further gear part 4 until it rests against the same without play. For the engagement of the working end 64, a working end 64 adapted and thus also the inclined plane S having opening on the first bearing ring 71 is provided.

Another to protect the transmission G is provided as part of the housing 3 axially on both sides of the gear 2 each one to the transmission axis g coaxially arranged annular cover 32 with an annular opening 33. The cover 32 is fixed radially on the outside of the housing 3. If necessary, the cover 32 is provided with a central annular opening 33 through which the respective associated central opening 34 remains uncovered or at least accessible from the outside. The annular opening 33 can also be used for mounting, in particular plain bearing, the drive shaft 51, in the motor shaft 52 and / or the hollow section 8. The size of the annular opening 33 can be designed minimized to the particular purpose, for example, for storage on the respective diameter of the shafts 51, 52 or the hollow section 8, towards. Further, as shown in FIGS. 2B and 2C, in the cover 32, the adjustment hole 62 may be formed in which the above described adjustment member 61 is arranged accessible from the outside schraubbeweglich mounted in the cover 32.

The further gear element 4 is arranged axially free of play with respect to the active axis w to the gear wheel 2. In the embodiment of the wrist joint 1 according to FIGS 1-6, the gear G is formed as worm gear Gl with the output side gear 2 as worm wheel 26 and the drive side further gear element 4 as a screw 41. Worm wheel 26 and worm 41 are shown in Figure 6 without the remaining wrist joint 1 in threaded engagement. As can be seen in FIG. 5, the effective axis w here is a drive shaft 51 directly driven by a motor 5. The worm 41 is arranged in a clamping fit on the drive shaft 51.

The drive shaft 51 is, as Figure 5 removable, protected in a hollow section 8 and that is guided in an intended central inner channel 81 of the hollow section 8. The drive shaft 51 is also axially with respect to the axis of action w axially on both sides of the screw 41 each rotatably supported via a bearing 7 on the receiving part 31. The adjustment with respect to the axis of action w axially play-free mounting of the other transmission element 4 on the active axis w and thus the respect of the active axis w axial backlash interaction of gear 2 and further transmission element 4 is similar to the setting described above with respect to the distance direction a axially backlash interaction of Gear 2 and further transmission element 4. Here, however, there is an axis of rotation w axial displacement of the gear 2 via its bearings 7. The hollow section 8 itself is rotationally and non-displaceably arranged to the receiving part 31. For this purpose, 8 undercut grooves 82 are provided on both sides of the hollow section, in the most twisted storage engage the hollow profile 8 provided on the receiving part 31 anchor projections.

The hollow profile 8 is divided into two sections, i. a first portion 83 and a second portion 84, divided. The two sections 83; 84 are arranged with respect to the axis of action w axial extent of the drive shaft 51 bearing against the hollow section 8 two bearings 7 and the axial extent of the screw 41 from each other. As a result, the area around the worm 41 for the worm wheel 26 is accessible from outside. Furthermore, a structurally unobtrusive adjustment of the operative connection between the gear 2 and further transmission element 4 up to a relative to the direction of the axis of action w axial clearance is possible. The two sections 83; 84 each engage with one of the screw 41 end facing the end of their associated bearing 7, that is, in each case with respect to the direction of the adjusting device to the screw 41 out, a front bearing 73 and a rear bearing 74, wherein they each with their the screw 41 remote from the other end are mounted on the receiving part 31.

The second section 84, arranged on the right in FIG. 5, is mounted on a clamping element 65. This is in the working position circumferentially here under frictional engagement radially on the outside of the second section 84. The clamping element 65 is further arranged screwed to the receiving part 31. The clamping element 65 is designed such that, with progressive screwing on the receiving part 31, it exerts a correspondingly increasing radial frictional force on the second section 84 in the circumferential direction, which causes a frictional engagement with the second section 84 in this application.

The first section 83, arranged on the left in FIG. 5, lies with its opposing end opposite the front side force transmission effective on an adjusting device 67 at. This is screwed to the receiving part 31 in the direction of the effective axis w. The adjusting device has an adjusting device 671, via which the first section 83 can be pressed under axial displacement on the hollow profile 8 against the front bearing 73, which is then pressed against the further transmission element to the backlash. In this way, the axial play of the operative connection between the gear 2 and further transmission element 4 can be eliminated. The adjusting device 671, such as Figure 4 removable, actuated by rotation of an externally accessible cap nut. The adjusting device 67 has an axis of action w axial blind opening 65 into which the drive shaft 51 protrudes freely at the end. Non-binding means without abutting the sack opening 65 on the inside.

The bearing 7 described above for the gear 2 as the trained for the screw 41 further transmission element 4 are shown in the embodiments shown in the figures of the arm joints 1 each as a roller bearing, to which the invention is not limited, as well as any other suitable bearing shapes can be used. Alternatively, at least some of the bearings may each be provided as sliding bearings, in particular plastic plain bearings, which are advantageously designed lubricant-free.

FIG. 7 shows another embodiment of the arm joint 1 in a cross-sectional view with respect to the transmission rotational axis g. The gear G is embodied here as an inverted worm gear G2. In reversal to the worm gear Gl, here the torque on the drive side via the gear 2 is coupled and decoupled via the further gear element 4 on the output side to the effective axis w. As can be seen in FIGS. 8 and 9, the gear wheel 2 has a peripheral external thread 27 as a spur gear and the other gear Transmission part 4 has a spur gear teeth 42. The output side hollow section 8 forms the effective axis w. The further transmission element 4 is rotationally mounted on the hollow profile 8. The hollow profile 8 is rotatably supported by two axially spaced-apart clamping elements 65 in the receiving part 31. The clamping elements 65 serve here for guiding and supporting without clamping the hollow profile 8. As described above, the hollow profile 8 has an inner channel 81. Since the inner channel 81 in the embodiment of the arm joint according to FIG. 7 is not required for forming the inverted worm gear G2, other components, such as lines or, as indicated by way of example in FIG. 31, can guide a further drive shaft 51 through the hollow profile 8 for a remote wrist joint be without the further drive shaft 51 transmits a torque to the wrist joint 1.

FIGS. 10 and 11 each show a view of a further embodiment of the wrist joint 1; FIGS. 12 to 13 each show individual components of this embodiment. As part of a linear gear G3, the gear 2 as a spur gear 28 and the further gear element 4 are formed as a rack member 43. The rack member 43 forms the effective axis w. The rack member 43 is seconded in the installed position in a first receiving groove 84 @@@@, which is open in installation position to the gear. The first receiving groove 84 has, as well as the lateral grooves 82, an undercut. The rack member 43 engages in the installed position via a tail adapted to the undercut 44 in the first receiving groove 84 and is thereby axially non-rotatably and radially displaceable mounted on the hollow profile. Further, on both sides of the rack member 43 clamping elements 65 are provided, which are arranged in a clamping fit on the hollow profile 65 and on which the rack member 43 axially frontally to clamping elements 65th is applied. Thus, the rack member 43 is held axially displaceable in the receiving groove 84. The first receiving groove 84 is arranged for meshing in the gear 2 open towards the same.

Figures 12A and 12B, the hollow section 8 is shown in perspective or in a cross-sectional view. In addition to the already mentioned lateral receiving grooves 82 for the most twisted arrangement of the hollow section 8 and the upper receiving groove 85, a lower receiving groove 86 is provided for receiving metrological components on the underside, in which case a magnetic strip Ma is arranged as an example for measuring the distance. An associated sensor R for measuring distance is shown by way of example in FIG. 14, wherein the latter has a half-shell-like shape and is designed so that it can be fastened centrally to the receiving part 51 with respect to the effective axis w.

In FIGS. 19 to 26B, three basic connection forms between at least two arm hinges 1 are shown by means of side views, sectional views and detailed views. These are coaxial with respect to the transmission axis of rotation g and arranged frontally parallel to each other. They each have, at least on the mutually facing end faces, the central opening 24, wherein these two openings 24 are arranged in alignment with each other. The at least two wrists 1 are part of an embodiment of the manipulator M. To connect the arm joints 1, a connecting device 9 is provided with parallel connector 91, by means of which the arm joints 1 are arranged parallel to and spaced from each other and rotatably held about a common transmission axis of rotation g.

In FIGS. 19 to 21, two arm hinges 1 are rigidly connected to each other to form a rigid connection VI, that is, the housings 3 are at least two Wrist joints 1 and that the gears 2 of the at least two arm joints 1 are each twisted together. For this purpose, the two transmission rotational axis g of the two arm joints 1 via a radially inner formed as an inner connector 92 parallel connector 91 rotatably connected to each other. Further, the housing 3 of the two arm joints 1 via a radially outer outer connector 93 designed as a parallel connector 91 rotatably connected to each other. Thus, if a torque is coupled into the transmission rotational axis g of the one arm joint 1, the torque is transmitted directly to the transmission rotational axis g of the other arm joint 1, specifically 1: 1. The same applies to the coupling of a torque in the housing 3 of an arm joint 1 and its transmission to the housing 3 of the other wrist joint first

The inner connector 92 and the outer connector 93 are shown in individual views in FIGS. 21A and 21B and in FIG. 22, respectively. The inner connector 92 has an elongated shape, each with an external thread 27 at both ends, with which he twisted into the two mutually facing openings 24 of the two interconnected arm joints 1 engages. The outer connector 93 has a ring shape, over the axial extent of the two arm joints 1 are held spaced from each other. Furthermore, axially on both sides are circumferentially equally objected and arranged on a radius plug-in projections 94 are provided, which engage axially in the installation position provided in accordance with the housing 3 plug openings. By the inner connector 92, the two arm joints 1 are held together axially and held pressed axially against the outer connector 93.

To prevent rotation of the threaded engagement of internal thread 25 and external thread 95 is provided in both arm joints 1, respectively, that a plurality of identically formed blocking elements 68, here in the form of a screw 681, axially in an overlapping area of the two interlocking threads 25; 95 are screwed to this about a relative rotation of the two threads 25; 95 block. This ensures that the two interconnected arm joints 1 are held axially displaced and twisted test.

The eight screw elements 681 here are arranged at a radius and circumferentially equidistant. Each screw 681 is one between the interlocking threads 25; 95 introduced blocking openings 69 assigned. To form the blocking openings 69 are in both threads 25; 95 per blocking opening 69 each introduced an axial groove 691 with a semicircular cross-section, the then two axial grooves 691 in threaded engagement, in a certain relative rotational position of the two threads 25; 95 superimposed, in which the axial grooves 691 complement each other at least to a circular blocking opening 69. Thus, on the assembly side, the two arm joints 1 can be screwed together at the spacing of the same via the outer connector 93 and via the threaded engagement of the inner connector in the two central openings 24, that the thread 25; 95 mesh of the two openings 24 as possible under low preload clearance and have additionally supplemented the axial grooves 691 to the respective blocking opening 69, and then screw in a further step, the screw 681 in the respective associated blocking opening 69. By the same process, when, for example, during operation by wear adjusting game, the game can be eliminated, for which first the screw elements 681 one of the two openings 24 must be solved.

The adjustment to the backlash of the threaded engagement is thus gradual, that is here at eight blocking elements 68 is the distance extends over a Twist angle of 45 °. The accuracy in which the game setting or freedom from play can therefore depends, inter alia, on the number of blocking elements 68. This type of adjustment of a backlash of a threaded engagement of two interlocking threads 25; 95 is also used in other embodiments of the manipulator M described below.

According to FIG. 23, two arm joints 1 are rotatably connected with one another with the formation of a rotary joint V2 with respect to the transmission rotational axis g. The rotary joint V2 was here by means of a cross connector 96. The cross connector 96 has a bent shape and engages with a radially inner threaded sleeve-like end portion 961 under threaded engagement radially inward and axially into the internal thread 25 of the central opening 24 of the gear 2 of the one arm joint 1 axially displaceable one. Again, by means of the Einstellvorichtung described above blocking elements 68 of the threaded engagement after setting the backlash against relative rotation of the thread 25 is blocked. With the other radially outer end portion 962 of the cross connector 95 is fixed radially outward and axially to the housing 3 of the other arm joint 1, that is, as seen at the provided screw openings 98 in Figure 24A, screwed here, the two arm joints 1 on the axial extent of the outer end portion of the cross connector 95 are kept spaced.

Thus, the coupled from the gear 2 of the one arm joint 1 in the cross connector 95 torque can be transmitted to the housing 3 of the other arm joint 1, so that the two arm joints 1 rotate relative to each other in torque transmission with respect to the transmission axis g. To occur in the relative rotation of the two arm joints 1 friction losses radially outward between the cross connector 96 and To minimize the housing 3 of the one arm joint 1, the cross connector 96 laterally axially to the one wrist joint 1 facing sliding surfaces 97, where alone the one arm joint 1 radially outwardly abuts the cross connector 96.

By way of example, a rotary guide V3 of two interconnected arm hinges 1 will be explained with reference to FIGS. 25 and 26 as a further connection form. In the rotary guide V3 two interconnected arm joints 1 are guided together rotated relative to each other. However, this relative rotational movement is passive, that is, that the rotational movement is not active from one of the two wrist joints 1. In contrast, in the rotary joint V2, the rotational movement is actively generated by one of the two interconnected arm joints 1. FIGS. 25A and 25B show a further embodiment of the manipulator M with three interconnected arm hinges 1. The arm joints 1 are additionally indicated by the Roman numerals I-III for better clarity in the figures. In each case according to FIG. 25B, the wrist joint I on the right, the wrist joint III on the left and the wrist joint II are arranged centrally between the two wrist joints I and II. As the longitudinal sectional view here parallel to the active axes w shown in Figure 25A of the arm joints I-III, there is between the wrist joint I and the wrist joint II already discussed above rotary joint V2, wherein the wrist joint I a worm gear Gl and the wrist joint II have a linear transmission. Here, a torque from the worm wheel 2 of the wrist joint I is coupled to the housing 3 of the wrist joint II, whereby this is rotated relative to the wrist joint I. The gears 2 of the two arm joints II and I are connected via an inner connector 92 against rotation and slidably connected to each other. Via the inner connector 92 thus the spur gear 28 of the linear drive G3 of the wrist joint II is rotated, wherein the spur gear 28 on the output side, the rack member 43 meshes and moves linearly in the direction of the effective axis w.

Further, an outer connector 93 is provided. As can be seen in FIGS. 26A and 26B, as in the case of the rotary connection V2, plug-in projections 94 are provided on the output-side front side and sliding surfaces 97 are provided on the drive-side front side. That is, the outer connector 93, each radially outward, rotationally fixed to the housing 3 of the wrist joint II and drehgleitbeweglich connected to the housing 3 of the wrist joint III. If the wrist joint II is actively rotated by the wrist joint I, the wrist joint II is simultaneously guided in a rotationally slidable manner on the wrist joint III.

In FIGS. 27-28 and 29A-29B, three further possibilities for connecting arm joints 1 are shown, which are each driven on the drive side via a worm drive G1. The two arm joints 1 shown in FIG. 27 are shown in FIG. 28 and the two arm joints 1 shown in FIG. 29A are each shown in a longitudinal section in FIG. 29B. Hereinafter, the left arm joint 1 in FIGS. 27-29 has a worm drive G1. The worm 41 of the worm drive G 1 is driven by a motor 5 arranged at a distance from the arm joint 1. Furthermore, the arm joint 1 adjoining the left wrist joint 1 according to FIG. 28 has a linear drive G3. The two adjacent arm joints are interconnected according to FIG. 28 via a rigid connection VI, so that the torque coupled by the worm wheel 26 of one arm joint 1 into the spur gear 28 of the other arm joint 1 is converted into a linear movement of the rack element 43 via the linear gearing G3.

In the embodiment of the manipulator M according to FIG. 28, a further wrist joint 1 with a linear drive G3 is provided, which is arranged at a distance from the other wrist joint 1 with a linear gear G3. For torque connection with the other arm joint 1, a spacer bridging the drive shaft portion 54 is provided. This is rotatably connected to the spur gears 28 of the two linear G3, so that the two linear G3 drives are driven synchronously via the worm gear Gl. The drive shaft section 54 is rotatably mounted at both ends via a connection element 53 at the mutually facing central openings 34 of the arm joints 1. For this purpose, the connecting element 53 is provided with an external thread 27 in a play-free threaded engagement described above with the internal thread 25 of the respective associated central openings 34. This connection element 53 is shown by way of example in a single representation according to Figures 18C and 18D.

In the embodiment of the manipulator M according to FIGS 29A and 29B, a further motor 5 is provided, which is coupled with its motor shaft 52 with respect to the transmission axis of rotation g frontally on the wrist joint 1 with worm gear Gl and connected via a coupling 55 to the drive shaft 51. The drive shaft 51 passes through the wrist joint 1 with the worm gear Gl without transmitting torque to this wrist joint 1. The two interconnected arm joints 1 is mounted in the remote from the two arm joints 1 central opening 24 as described above. Here he is rotationally connected to the gear 2 of the inverted worm drive G2. Thus, the hollow section 8 is set on the other motor 5 in rotary motion.

In the embodiment of the manipulator M according to FIG. 30, the articulated joints 1 can be divided into a first group U1 and a second group U2, the first group U1 arranged at the bottom in FIG. 30 having already been described with reference to FIG. 25 and FIG. 30 at the top arranged second Group U2 have already been explained in more detail with reference to FIG. 28. Deviating from this, the arm joints 1 of the second group are attached here to a base B, wherein the arm joints 1 of the first group working side of the manipulator M are arranged. In the second group, the two arm joints 1, which are spaced apart via the drive shaft section 54, and thus the associated toothed rack elements 43 arranged in each case in a hollow profile 8, are moved in parallel and synchronously. At the above arranged free ends of the hollow sections 8, a motor 5 is provided in each case, which couples a torque in a guided in the respective associated hollow profile drive shaft and this drives the two outer joints 1 of the first group. It is clear that the manipulator M thanks to the arm joints 1, a space-consuming movement is made possible.

In the embodiment of the manipulator M according to FIG. 31, the arm joints 1 used can likewise be subdivided into two groups U2, U3. One group is the already mentioned second group U2 and left in FIG. Since the toothed rod elements 43 mounted on a hollow profile 8 are moved in a synchronously linear manner parallel to one another, they can, as provided in FIG. 31, be firmly connected to one another by way of transverse webs 99 for their stabilization. The arm joints 1 of both groups U2, U3 are arranged coaxially to a transmission rotational axis g.

Between the two arm joints 1 of the other group U3 there is a rotary joint V2 already described above in connection with FIG. 23, wherein the left wrist joint 1 in FIG. 31 drives the right wrist joint 1 in FIG. The left arm joint 1 has a worm drive Gl, while the right arm joint 1 is equipped with an inverted worm gear G2. The performed through the right arm joint 1 hollow section 8 is thus over the inverted worm gear G2 of the right arm joint. 1 driven, in turn, with a respect to the transmission axis of rotation g torque transmission effective attacking motor 5 is frontally coupled. Further, the front side of this hollow section 8, a further motor 5 is coupled, which drives a guided in the hollow section 8 drive shaft 51 for a purpose not shown here. This drive shaft 51 is, since hidden in the hollow section 8, end indicated only by dashed lines.

Between the two arm joints 1 of the two groups U2, U3, which are immediately adjacent to each other, there is a further not yet explained use form by their housing 3 via an external connector 93 against rotation and connected via a screw V4 torque transmission ineffective each other.

According to FIG. 32, the manipulator M has three substantially identical arm joints 1 with respect to the torque transmission 3, each with worm gear Gl, whose worms 41 are driven by a single drive shaft 51 passing through the arm joints 1.

The transmission components, such as gear 2 and further transmission component 4, are designed so modular that the arm joints 1 are inexpensively mounted and interchangeable in all their embodiments described here. The manipulator M, motor 5, arm joint 1, hollow section 8 and / or the components, in particular transmission components in their various modifications and sizes, each have a modular structure and therefore easy to install and replace. Wrist joint for a manipulator and manipulator

LIST OF REFERENCE NUMBERS

1 wrist joint

2 gear wheel

21 front side

22 adapters

221 plug-in projection

222 plug-in opening

223 leadership use

23 page

24 opening

25 internal thread

26 worm wheel

261 helical toothing

27 external thread

28 spur gear

29 external toothing

3 housing

31 recording part

32 cover

33 ring opening

4 other transmission element

41 snail

42 spur toothing

43 rack element

44 feet 45 anchor element

5 engine

51 drive shaft

52 motor shaft

53 Connection storage

54 drive shaft section

55 clutch

6 adjustment device

61 adjustment element

62 adjustment opening

621 adjustment recess

63 threaded shaft

64 working ends

65 clamping element

651 inner threaded sleeve

652 outer threaded sleeve

66 bag opening

67 Adjustment device

671 adjusting device

68 blocking element

681 screw element

69 blocking opening

691 groove

7 bearings

71 first bearing ring

72 second bearing ring

73 front bearing

74 rear warehouse

8 hollow profile

81 inner channel

82 lateral receiving groove

83 first section

84 second section

85 upper receiving groove 86 lower receiving groove

9 connecting device

91 parallel connector

92 inner connector

921 inner screw connection

93 outer connector

94 plug-in projection

95 external thread

96 cross connector

961 inner end area

962 outer end area

97 sliding surface

98 screw opening

99 crossbar

a distance direction

g gear rotation axis

w axis of action

B base

E adjustment force

G gearbox

Gl worm gear

G2 inverted worm gear G3 Linear gear

M manipulator

Ma magnetic stripe

R sensor

S inclined plane

VI rigid connection

V2 rotary joint

V3 rotary guide

V4 screw connection

Ul first group

U2 second group

U3 third group

Claims

claims

1. An arm joint for a manipulator (M) having a motor (5) with a transmission (G), wherein the

Arm joint (1) about a gear rotation axis (g)

having rotatable gear (2), wherein the

Gear (2) in a housing (3) of the arm joint (1) is rotatably mounted and on at least one of its end faces (21) has an adapter (22) and wherein the adapter (22) at its from the end face (21) of Gear (2) facing away from (23) with respect to the transmission axis of rotation (g) central opening (24), dadu r ch seke nt zei chne t, since ss the central opening (24) has an internal thread (25).

2. wrist joint according to claim 1, dadu r ch

The housing (3) is a receiving part (31) for receiving another one

Transmission element (4) which transversely to

Transmission rotational axis (g) is arranged and with the

Periphery of the gear (2) is in operative connection.

3. wrist joint according to one of the preceding claims,

The gear wheel (2) has an adapter (22) at its two end faces (21) and is rotatably mounted in the housing (3) via the two adapters (22).

4. wrist joint according to claim 3, d a du r c h

Both adapters (22) on their sides (23) remote from the end faces (21) of the gear wheel (2) each have a central opening (24) with an internal thread (25) relative to the gear rotation axis (g).

5. wrist joint according to one of claims 2 to 4,

d a c h e c e n c e s, that is the

Gear (2) and / or the further transmission element (4) each clearance to the housing (3) and / or that the gear (2) and the further transmission element (4) are arranged without play into one another.

6. wrist joint according to one of claims 2 to 5,

In other words, the further transmission element (4) is one in one

Distance direction (a) to the transmission axis of rotation (g)

spaced apart axis of action (w) over which the further transmission element (4) is mounted in or on the receiving part (31) of the housing (3).

7. wrist joint according to claim 6, d a du r c h

e n c ia n, the s

Transmission rotational axis (g) and the effective axis (w) are arranged parallel to a plane extending perpendicular to a distance in the distance direction (a) extending distance between the active axis (w) and transmission rotational axis (g), wherein the gear (2) and the other Transmission element (4) for adjusting a relative to the spacing direction (a) axial play in

Distance direction (a) are arranged movable relative to each other.

Wrist joint according to claim 7, since you rch Since the bearing for the gear wheel (2) has a first bearing ring (71) associated with the housing (3) and a second bearing ring (72) associated with the gear wheel (2), and that the adjustment of the relative to Distance direction (a) axial play on an effective in the spacing direction (a) inclined plane (S), via the in

Direction from the gear (2) to the other

Transmission element (4) towards a setting force (K) in the first bearing ring (71) can be coupled.

9. wrist joint according to claim 8, dadu r ch

In this case, an adjustment element (61) which is movably mounted on the housing (3) transversely to the spacing direction (a) is provided for adjustment, which slides on the inclined plane (S) to produce the adjustment force (K) ,

10. wrist joint according to claim 9, dadu r ch

It is not the setting element

(61) is designed as a threaded bolt with a conical working end (64), with which the bolt slides transversely to the spacing direction (a) on the first bearing ring (71) provided oblique plane (S).

11. wrist joint according to one of claims 6 to 10,

The transmission is designed as worm gear (G1) with worm wheel (26) and worm (41), the further gear element (4) being a worm (41) and the effective axis (w). are formed as a drive shaft (51) on which the screw (41) is arranged rotationally fixed and axially on both sides of the screw (41) is rotatably mounted on or in the receiving part (31).

12. wrist joint according to claim 11, dadu r ch

The drive shaft (51) is arranged in a hollow profile (8), which is arranged so that it is rotationally and non-displaceably secured to and / or in the receiving part (31).

13. wrist joint according to claim 12, dadu r ch

Because the hollow profile (8) has at least two sections spaced apart from each other over at least the axial extent of the screw (41), i. a first portion (83) and a second portion (84), wherein at least the first portion (83) for adjusting a with respect to the direction of the effective axis (w) axial backlash of the engagement of

Worm wheel (26) in worm (41) via a

provided adjusting device (67) of the adjusting device (6) to the worm (41) is disposed axially movable.

14. wrist joint according to claim 13, dadu r ch

This is the first one

Section (83) of the hollow profile (8) with one end frontally on the adjusting device (67) and the other end frontally supported on the relative to a direction of the adjusting device (67) to the screw (41) towards the front bearing and that the second portion of the hollow profile (8) with one end at the end with respect to the direction of the adjusting device (67) to the screw (41) towards rear bearing (7) supported, the other end via a provided clamping element (64) on the receiving part (31).

15. wrist joint according to claim 13 or 14, dadu r ch

that the adjusting device (67) has a blind opening (66) which is axial with respect to the axis of action (w). has, in which the drive shaft (51) is rotatably supported projecting with a free end, wherein the adjusting device (67), frontally against the first portion (83) of the hollow profile (8) fitting, axially towards the screw (41) out screwed to the receiving part (31) is arranged.

16. wrist joint according to one of claims 6 to 10,

The gearbox (G) is an inverted worm gear (G2) with a drive-side gear (2) and a gearbox (G)

output side further transmission element (4)

is formed, wherein the active axis (w) as

drivable hollow profile (8) with an inner channel (81) for passing through a drive shaft (51), such as

Motor shaft (52) is formed, the worm wheel (26) rotationally fixed on the hollow profile (8) is arranged and the hollow profile (8) rotatably on or in the

Receiving part (31) is mounted.

17. wrist joint according to claim 16, d a du r c h

The transmission (G) is designed as a linear transmission (G3), wherein the

Gear (2) a spur gear teeth (42) and the further gear element (4) as a rack member (43) are formed.

18. Manipulator with at least one wrist joint (19) according to one of claims 1 to 17.

19. Manipulator according to claim 18, d a du r c h

At least two arm joints (1) are provided, which are provided by means of an intended connection device (9) in one

Connection position force, motion and / or are closely linked.

20. Manipulator according to claim 19, dadu r ch

The at least two arm joints (1) are coaxially aligned with respect to the transmission axis of rotation (g) facing each other, the facing end faces (21) each having an opening (24) central to the transmission axis of rotation (g) ,

21. Manipulator according to claim 19 or 20, dadu r ch

It is not possible to have the at least two arm joints (2) in a connecting position by means of a parallel connector (91)

Connecting device (9) with respect to a plane perpendicular to the transmission axis of rotation (g) in parallel

spaced from each other and coaxial with the

Gear rotation axis (g) are arranged.

22. Manipulator according to claim 21, dadu r ch

It is not possible that they are the two

Arm joints (1) are firmly connected to each other by the transmission axes of rotation (g) of the two arm joints (1) via a radially inner as inner connector (92) formed parallel connector (91) and the

Housing (3) of the two arm joints (1) via a radially outer as outer connector (93) formed parallel connector (91) are each rotatably connected to each other.

23. Manipulator according to claim 21, dadu r ch

It is not possible that they are the two

Arm joints (1) rotatable across itself across the

Gear rotation axis (g) extending as

Cross connector (96) formed parallel connector (91) are interconnected, wherein the transverse connector (96) with a radially inner end portion (961) twisted, in particular twisted and

non-slidably, with the transmission rotational axis (g) of one of the two arm joints (1) and also with a radially outer end portion (962) slidably or

Rolling with the housing (3) of the one

Arm joint (1) and fixed to the housing (3) of the other arm joint (1) is connected.

24. Manipulator according to claim 21, d a du r c h

The two are not the same

Arm joints (1) to form a rotary guide (V3) of one arm joint (1) on the other arm joint (1) are connected by the transmission axes of rotation (g) of the two arm joints (1) via a radially inner as inner connector (92) formed Parallel connector (91) fixed and by the housing (3) of the two

Arm joints (1) via a radially outer outer connector (93) formed parallel connector (91) are connected, wherein the outer connector (93) twisted with the housing (3) of the one arm joint

(1) and slidably or rollably connected to the housing (3) of the other wrist joint (1).

25. Manipulator according to one of claims 18 to 24,

In the coupling position, the parallel connectors (91), insofar as they are formed, are in the connecting position torque

transfer-effective in one of the mutually facing central openings or in both facing central openings engage, for the respective engagement an end portion with an external thread (27)

in which the parallel connectors (91) in the connecting position in the internal thread (25) of the each associated with the central opening (24) engage.

26. Manipulator according to claim 25, d a du r c h

For the play-free threaded engagement of internal threads (25) of the central opening (24) and external threads (95) of the end section, at least one blocking element (68), such as a bolt or screw element (681), is provided

Blocking element (68) with respect to the transmission rotational axis (g) is introduced axially between the two intermeshing thread (25; 95).

27. Manipulator according to one of the preceding claims,

The arm joint (1) and the motor (M) associated with the wrist joint (1) are spaced apart from one another. 28. Manipulator according to one of the preceding claims,

It can be constructed in a modular manner and can be assembled from individual modules in accordance with a modular principle.