Drive arrangement and robot with drive assembly comprising light-stable dynamic material

Abstract

The invention relates to a drive arrangement having at least one motor (M1-M6) and at least one further drive assembly (20) selected from the group of a transmission (25), a torque converter (24), a coupling (23) and / or a brake (22), wherein at least one motor (M1-M6) and / or at least one further drive assembly (20) has a control device (21) for changing the torque transmission, which control device comprises at least one light-emitting element (21.1) and a substance (21.2) which influences the torque transmission, which substance has at least one light-stable dynamic material (LSDM), wherein the control device (21) is designed to change the torque transmission by operating the light-emitting element (21.1) which impinges on the light-stable dynamic material (LSDM). The invention also relates to a robot having at least one such drive arrangement.

Description

TECHNICAL FIELD

[0001] The invention relates to a drive arrangement having at least one motor and at least one further drive assembly selected from the group of transmissions, torque converters, couplings and / or brakes, and also having a control device which is configured for automatic actuation of the at least one motor. The invention also relates to a robot having at least one such drive arrangement. BACKGROUND

[0002] The patent document WO 2015 / 067623 A2 describes an industrial robot having a robot controller which is configured and / or set up for executing a robot program and a manipulator arm with a plurality of segments which are connected by joints which can be adjusted automatically according to the robot program or in a manual mode of operation or can be adjusted automatically in a manual mode of operation and at least one electric drive which can be actuated by the robot controller and which is configured to adjust at least one joint. Here, the electric drive has an electric motor which comprises a motor housing, a drive shaft which is mounted rotatably by at least two rolling bearings, a stator which is fixed in the motor housing, and a rotor which is connected to the drive shaft and is rotatable in the motor housing, and a stress shaft transmission which comprises a transmission housing, a rigid outer ring with internal toothing, a flexible driven sleeve with external toothing, and an axle generator which is rotatable in the transmission housing and rolls on the flexible driven sleeve, wherein the external toothing of the flexible driven sleeve meshes with the internal toothing of the rigid outer ring according to the rotational movement of the axle generator, and wherein the rotor is fastened on the drive shaft and a first rolling bearing of the at least two rolling bearings is arranged inside the flexible driven sleeve and is configured to mount the drive shaft rotatably in the transmission housing. SUMMARY

[0003] It is an object of the invention to provide a drive arrangement or a robot having at least one such drive arrangement which enables an energy-saving operation with particularly low wear.

[0004] The object of the present application is achieved by a drive arrangement having at least one motor and at least one further drive assembly selected from the group of gear units, torque converters, couplings and / or brakes; and having a control device configured for automatic control of the at least one motor, wherein the at least one motor and / or the at least one further drive assembly has a control means for changing the torque transmission, which control means comprises at least one light emitting element and a substance influencing the torque transmission, which substance has at least one light stable dynamic material (LSDM), wherein the control means is designed to change the torque transmission by operating the light emitting element irradiating the light stable dynamic material (LSDM).

[0005] The at least one further drive assembly can be at least one gear unit, at least one torque converter, at least one coupling and / or at least one brake. The drive arrangement according to the present application can be used individually or in various forms on any device, machine or apparatus to be driven.

[0006] In a possible embodiment, a device which can be particularly suitably used with at least one such drive arrangement according to the present application can be in particular a robot. According to this, the robot can comprise a robot arm, a robot controller and at least one drive arrangement according to the present application.

[0007] Generally, each joint of a robot arm is assigned a set of drive assemblies, that is to say that each joint of a robot arm can have at least one of the drive assemblies or a plurality of different or identical types of drive assemblies from among the drive assemblies. For example, one joint or a plurality of joints of a robot arm can have a motor connected to a gear unit, wherein the joint, the gear unit and / or the motor can be equipped with a brake. The gear unit can also have a coupling and / or a torque converter, if necessary.

[0008] The control means for changing the torque transmission according to the present application can be selectively applied to one of the drive assemblies, to a plurality of the drive assemblies, in particular to different drive assemblies, or even to all existing drive assemblies, without loss of generality, in all applicable devices.

[0009] In a basic embodiment variant, the control means for changing the torque transmission can be configured to completely permit torque transmission in the first switching state and to completely inhibit torque transmission in the second switching state. In the case of a coupling or torque converter, inhibiting torque transmission can be a complete disconnection (Trennen), so that in this state no torque is transmitted at all. Alternatively, however, inhibiting torque transmission can also be understood in the sense of locking torque transmission, for example in the case of a brake, by means of which torque transmission is inhibited in that the shaft actually used to transmit, i.e. conduct, torque is locked, i.e. is brought to a standstill (festgestellt) or clamped (festgehalten), so that the shaft can no longer rotate and thus can no longer transmit torque. In this case, the torque is taken up (abgestützt) by the housing, for example.

[0010] The control means for changing the torque transmission can for example have exactly two switching states, namely the described state of completely transmitting torque and the state of completely inhibiting torque transmission.

[0011] Alternatively, the control means for changing the torque transmission can also have more than two states, in particular the torque transmission state can also be changed continuously or linearly and thus be continuously variable. In this case, the control means can change the size of the torque to be transmitted.

[0012] The light-emitting element can be switched on or off selectively in order to change or shift the torque transmission state. However, the light-emitting element can also be configured to change the size of its luminosity or brightness variably. In this regard, the light-emitting element can be configured to be dimmable. According to this, the light-emitting element can be switched on selectively to emit light strongly, weakly or not at all.

[0013] In order to be able to influence the torque transmission by means of the at least one light-emitting element, according to the application a substance for influencing torque transmission is provided, which has at least one light-stabilised dynamic material (LSDM).

[0014] Light-stabilised dynamic materials (LSDM) are known. For example, the authors Hannes A. Houck, Eva Blasco, Filip E. Du Prez and Christopher Barner-Kowollik describe compounds and compositions having this property in a publication entitled "Light-Stabilised Dynamic Materials" ("Supporting Information File") and such compounds and compositions have already been referred to in the art as "light-stabilised dynamic materials (LSDM)".

[0015] The optically activated polymers can be converted from the liquid phase into a stable solid phase, for example, by means of UV light. In research, these processes have already been reversible in the laboratory. As soon as the light source is deactivated, the material liquefies again. The reverse process is also being developed in the laboratory, in which the liquid material is solidified under the action of light.

[0016] According to the application, by means of this optically activatable substance, it is possible to develop, in general in drive technology and in particular in robotics, for example, a new type of brake which has an incomparably lower wear at least for holding tasks (Halteaufgaben) and which achieves new dimensions of availability and durability. Furthermore, the used brake enables energy can be significantly lower.

[0017] The light-emitting element can preferably be electrically actuated. Furthermore, it can be preferable to use a light-emitting element which emits light electrically. The actuation of the light-emitting element can also take place by means of the light-emitting element being supplied with electricity so that it emits light or being de-energized so that it no longer emits light.

[0018] Thus, in the case of the light-stable dynamic material (LSDM), the substance remains solid as soon as it is illuminated with light. However, if the light-emitting element is switched off, i.e. the light-stable dynamic material (LSDM) is no longer illuminated with light, it liquefies again. This process can be alternated between solidification and liquefaction without limit.

[0019] According to the application, there is a general need for a housing in which a light-stable dynamic material (LSDM) is present. At least one shaft or a plurality of shafts which are provided for transmitting torque protrude into such a space or chamber which is filled with the light-stable dynamic material (LSDM). The at least one shaft or the plurality of shafts and, if necessary, also the housing or the space or the chamber carry a transmission structure which sinks into the light-stable dynamic material (LSDM). If the light-stable dynamic material (LSDM) is in its liquid state due to a lack of light, the transmission structure can move in the liquid and the transmission of the introduced torque can no longer take place or only to a limited extent. If the light-stable dynamic material (LSDM) is in its solid state due to the occurrence of light, the transmission structure can no longer move therein and thus connects in form-fitting manner with the solidified, i.e. now rigid, light-stable dynamic material (LSDM). The transmission of the introduced torque can thus take place without restriction in this state. In particular in embodiments as a coupling or torque converter, the transition state of the light-stable dynamic material (LSDM) between the solid state and the liquid state can be utilized in order to be able to transmit the torque in a controlled size and / or to be able to allow a controlled increase or decrease in the torque.

[0020] The control means for changing the torque transmission can be assigned to at least one brake, wherein the brake has a brake member which is torque-coupled to the corresponding motor and is rotatably mounted in a brake housing of the brake, which brake member has a first brake transmission structure and the brake housing has a second brake transmission structure, wherein the first brake transmission structure is in contact with the second brake transmission structure by means of a substance having at least one light-stable dynamic material (LSDM) in order to control the torque transmission between the first brake transmission structure and the second brake transmission structure as a function of light which is irradiated by the light-emitting element into the light-stable dynamic material (LSDM).

[0021] The rotatably mounted brake member can for example be a part of a shaft which is to be controlled-braked. This shaft can for example be coupled with a motor shaft of a motor, in particular of a motor of a robot arm, or the shaft can directly be a motor shaft. In this regard, the rotatably mounted brake member can be configured like a brake disc and have a first brake transmission structure.

[0022] The first brake transmission structure should be configured and arranged in such a way that, in the liquid state of the light-stable dynamic material (LSDM), the first brake transmission structure allows the brake member to rotate at least largely or even completely freely, and in the solid state of the light-stable dynamic material (LSDM), the first brake transmission structure is at least largely or completely form-fittingly connected with the solid light-stable dynamic material (LSDM). In this regard, the first brake transmission structure can for example consist of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0023] The second brake transmission structure can be arranged in the inner wall of the brake housing. In this regard, they extend like the first brake transmission structure into the light-stable dynamic material (LSDM). The second brake transmission structure should likewise be configured and arranged in such a way that, in the liquid state of the light-stable dynamic material (LSDM), the second brake transmission structure allows the brake member to rotate at least largely or even completely freely, and in the solid state of the light-stable dynamic material (LSDM), the second brake transmission structure is at least largely or completely form-fittingly connected with the solid light-stable dynamic material (LSDM). In this regard, the second brake transmission structure can for example consist of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0024] The control means for changing the torque transmission can be assigned to at least one coupling of a drive device, in particular of a robot, wherein the coupling has a first coupling member which is torque-coupled to a corresponding motor and is rotatably mounted in a coupling housing of the coupling, the first coupling member having a first coupling transmission structure; and the coupling has a second coupling member which is rotatably mounted in the coupling housing of the coupling, the second coupling member having a second coupling transmission structure, wherein the first coupling transmission structure and the second coupling transmission structure are in contact with a substance having at least one light-stable dynamic material (LSDM) in order to control the torque transmission between the first coupling transmission structure and the second coupling transmission structure as a function of light which is irradiated by a light-emitting element into the light-stable dynamic material (LSDM).

[0025] The first coupling transmission structure and the second coupling transmission structure should be constructed and arranged in such a way that, in the liquid state of the light-stable dynamic material (LSDM), the first coupling transmission structure and the second coupling transmission structure allow the first coupling member and the second coupling member to rotate at least largely or even completely freely; and in the solid state of the light-stable dynamic material (LSDM), the first coupling transmission structure and the second coupling transmission structure are at least largely or completely form-fittingly connected with the light-stable dynamic material (LSDM) in the solid state. In this regard, the first coupling transmission structure and the second coupling transmission structure can be composed, for example, of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0026] The control means for changing the torque transmission can be assigned to at least one torque converter of a drive device, in particular of a robot, wherein the torque converter has a first converter member which is torque-coupled to a corresponding motor and is rotatably mounted in a converter housing of the torque converter, the first converter member having a first converter transmission structure; and the torque converter has a second converter member which is rotatably mounted in the converter housing of the torque converter, the second converter member having a second converter transmission structure; and the converter housing has a third converter transmission structure, wherein the first converter transmission structure is in contact with the second converter transmission structure and the third converter transmission structure by means of a substance having at least one light-stable dynamic material (LSDM) in order to control the torque transmission between the first converter transmission structure and the second converter transmission structure as a function of light which is irradiated by a light-emitting element into the light-stable dynamic material (LSDM).

[0027] The first, second and third torque transmission structures should be constructed and arranged such that, in the liquid state of the light-stable dynamic material (LSDM), the first and second torque transmission structures allow the first and second torque members to rotate at least largely or even completely freely, and in the solid state of the light-stable dynamic material (LSDM), the first, second and third torque transmission structures are at least largely or completely form-fittingly connected with the light-stable dynamic material (LSDM) in the solid state. In this regard, the first, second and third torque transmission structures can be composed, for example, of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0028] The control device for changing the torque transmission can be assigned to at least one transmission of a drive device, in particular of a robot, wherein the transmission has a transmission member which is torque-coupled to a corresponding motor and is mounted rotatably in a transmission housing of the transmission, which has a first transmission structure, and at least one transmission stage is arranged in the transmission housing The transmission stage has a second transmission structure, wherein the first transmission structure and the second transmission structure are in contact with a substance having at least one light-stable dynamic material (LSDM) in order to control the torque transmission between the first transmission structure and the second transmission structure as a function of light which is irradiated by a light-emitting element into the light-stable dynamic material (LSDM).

[0029] The first and second transmission structures should be constructed and arranged such that, in the liquid state of the light-stable dynamic material (LSDM), the first and second transmission structures allow the corresponding transmission members to rotate at least largely or even completely freely, and in the solid state of the light-stable dynamic material (LSDM), the first and second transmission structures are at least largely or completely form-fittingly connected with the light-stable dynamic material (LSDM) in the solid state. In this regard, the first and second transmission structures can be composed, for example, of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0030] The control means for changing the torque transmission can be assigned to at least one motor, wherein the at least one motor has a torque member which is torque-coupled to a corresponding motor shaft and is rotatably mounted in a motor housing of the motor, the torque member having a first motor torque transmission structure and the motor shaft having a second motor torque transmission structure, wherein the first motor torque transmission structure is in contact with the second motor torque transmission structure by means of a substance having at least one light-stable dynamic material (LSDM) in order to control the torque transmission between the first motor torque transmission structure and the second motor torque transmission structure as a function of light which is irradiated into the light-stable dynamic material (LSDM) by a light-emitting element.

[0031] The first motor torque transmission structure and the second motor torque transmission structure should be constructed and arranged in such a way that, in the liquid state of the light-stable dynamic material (LSDM), the first motor torque transmission structure and the second motor torque transmission structure allow the corresponding torque member to rotate at least largely or even completely freely, and in the solid state of the light-stable dynamic material (LSDM), the first motor torque transmission structure and the second motor torque transmission structure are at least largely or completely form-fittingly connected with the solid light-stable dynamic material (LSDM). In this regard, the first motor torque transmission structure and the second motor torque transmission structure can be composed, for example, of tab-like, rib-like, wave-like and / or blade-like protrusions.

[0032] In all embodiments of the drive assembly, the at least one light-emitting element can be a LED which is arranged inside the brake housing, inside the coupling housing, inside the variator housing, inside the transmission housing and / or inside the motor housing, respectively, and is electrically actuated from the outside.

[0033] The light-emitting elements, in particular LEDs, can be arranged in groups, for example in rows, in lines or in clusters, and in particular in terms of their number, position and arrangement are matched to the corresponding transmission structures, i.e. the first and second brake transmission structures, the first and second coupling transmission structures, the first, second and third variator transmission structures, the first and second transmission transmission structures and / or the first and second motor torque transmission structures.

[0034] In all embodiments of the drive assembly, the at least one light-emitting element can be a LED which is arranged outside the light-transmissive brake housing, outside the light-transmissive coupling housing, outside the light-transmissive variator housing, outside the light-transmissive transmission housing and / or outside the light-transmissive motor housing, respectively, and in this case light emitted by the at least one LED is irradiated from the outside into the light-stable dynamic material (LSDM).

[0035] In the case of external light-emitting elements, in particular LEDs, these can be arranged in groups, for example in rows, in lines or in clusters, and in particular in terms of their number, position and arrangement match the respective transmission structures, i.e. the first and second brake transmission structures, the first and second coupling transmission structures, the first, second and third conversion transmission structures, the first and second drive transmission structures and / or the first and second motor torque transmission structures.

[0036] If the light-emitting elements, in particular LEDs, are arranged externally to the light-stable dynamic material (LSDM), it is no longer necessary to have to lead electrical conductors into the light-stable dynamic material (LSDM). Otherwise, the necessary passage from the outside to the inside required for the electrical conductors can also be omitted.

[0037] In all embodiments of the drive assembly, the first and second brake transmission structures, the first and second coupling transmission structures, the first, second and third conversion transmission structures, the first and second drive transmission structures and / or the first and second motor torque transmission structures can respectively have protrusions, in particular leaf-like or wave-like protrusions, which protrude into the light-stable dynamic material (LSDM).

[0038] Such protrusions can be configured to improve the form-fit connection with the light-stable dynamic material (LSDM) in the solid state. Alternatively or additionally, such protrusions can be configured to as little as possible hinder the free movement of the respective transmission structure in the light-stable dynamic material (LSDM) in the liquid state.

[0039] In all embodiments of the drive assembly, the brake housing, the coupling housing, the converter housing, the drive device housing, the motor housing and / or other chambers that enclose the light-stable dynamic material (LSDM) therein can respectively be equipped with cooling ribs that extend outward, or cooling channels formed in the chamber walls of the chambers or in the housing walls of the respective housings, in which cooling channels a cooling liquid is circulated.

[0040] The cooling ribs and / or the cooling channels with the cooling liquid can be configured to expel any unwanted thermal energy from the light-stable dynamic material (LSDM) outward.

[0041] The object of the present application is also achieved by a robot having a robot arm having a plurality of joints and a plurality of segments, which segments can be adjusted relative to one another by movement of the joints of the robot arm, wherein for each driven joint a drive device according to one or more embodiments of the present application is assigned, and each drive device is configured to adjust the joint of the robot arm assigned to it by corresponding automatic actuation of the motor of the respective drive device, wherein the control device comprises a robot controller configured to automatically actuate the motors in order to automatically and individually relative to one another adjust the segments of the robot arm by driven movement of the joints.

[0042] Accordingly, the object of the present application is achieved by a robot having: a robot arm having a plurality of joints and a plurality of segments, which segments can be adjusted relative to one another by movement of the joints of the robot arm, wherein for each driven joint a motor and at least one further drive component are assigned, the further drive component being selected from the group of transmission devices, torque converters, couplings and / or brakes, wherein each motor is configured to adjust the joint assigned to it by automatic actuation of the motor, and having a robot controller configured to automatically actuate the motors in order to automatically and individually relative to one another adjust the segments of the robot arm by driven movement of the joints, wherein the motor and / or the at least one further drive component has a control means for changing the torque transmission, the control means having at least one of the above-mentioned light-emitting elements and the above-mentioned substance influencing the torque transmission, the substance having at least one light-stable dynamic material (LSDM), wherein the control means is designed to change the torque transmission by actuating the light-emitting elements irradiating the light-stable dynamic material (LSDM). BRIEF DESCRIPTION OF DRAWINGS

[0043] In the following description specific embodiments of the present application will be explained in detail with reference to the accompanying drawings. Specific features of these exemplary embodiments can be considered individually or in combination, if necessary, as general features of the present application, independently of where they are specifically mentioned in the context. In the following the present application will be described by means of specific embodiments of a robot. As set out in the general description section, individual drive devices or multiple drive devices can also be provided in other devices, machines and apparatuses than robots. In this connection, features described in the following description of the drawings should not be directly and exclusively understood as robot features, but as general features of drive devices, which can also be used in connection with other devices, machines and apparatuses. Among others:

[0044] Figure 1 An exemplary robot and associated drive components are shown in a schematic view, the robot having a robot arm and a robot controller;

[0045] Figure 2 An exemplary drive assembly according to the application in an embodiment of a brake with a light-stable dynamic material is shown in a schematic view;

[0046] Figure 3 An exemplary drive assembly according to the application in an embodiment of a coupling with a light-stable dynamic material is shown in a schematic view;

[0047] Figure 4 An exemplary drive assembly according to the application in an embodiment of a torque converter with a light-stable dynamic material is shown in a schematic view;

[0048] Figure 5 An exemplary drive assembly according to the application in an embodiment of a transmission with a light-stable dynamic material is shown in a schematic view; and

[0049] Figure 6 An exemplary drive assembly according to the application in an embodiment of a motor with a light-stable dynamic material is shown in a schematic view. DETAILED DESCRIPTION

[0050] Figure 1 A robot 8 is shown, which has a robot arm 9 and a control device 10a configured as a robot controller 10. In the present embodiment, the robot arm 9 comprises a plurality of linkages G1 to G7 which are arranged in succession and are connected to one another rotatably by means of joints L1 to L6. In the embodiment shown, the robot 8 comprises a drive device 1 which is assigned to each joint L1 to L6.

[0051] The robot 8 has a robot controller 10 which is configured to execute a robot program and to move the linkages G1 to G7 and the joints L1 to L6 of the robot arm 9 automatically. One of the plurality of linkages G1 to G7 forms an end linkage (G7) of the robot arm 9, which has a tool flange 11.

[0052] The robot controller 10 of the robot 8 is configured or designed for executing a robot program by means of which the joints L1 to L6 of the robot arm 9 can be moved automatically according to the robot program or be adjusted or moved in a manual operation automatically. To this end, the robot controller 10 is connected to controllable electric drives, i.e. motors M1 to M6, which are configured to adjust the respective joints L1 to L6 of the robot arm 9.

[0053] In the present embodiment, the limb G1 to G7 comprises a robot base 13 and a turntable 14 rotatably mounted with respect to the robot base 13 about a vertically extending axis Al. The further limbs of the robot arm 9 comprise a swing arm 15, a boom 16 and a robot hand 17, preferably multi-axial, having a fastening means configured as a tool flange 11 for fastening a tool. The swing arm 15 is pivotably mounted on the turntable 14 about a preferably horizontal pivot axis A2 on a lower end, i.e. on a joint L2 of the swing arm 15, which can also be referred to as a swing arm bearing head.

[0054] On an upper end of the swing arm 15, on a joint L3 of the swing arm 15, the boom 16 is also pivotably mounted about a likewise preferably horizontal axis A3. The boom carries the robot hand 17 on the end side with its preferably three pivot axes A4, A5, A6. The joints L1 to L6 can be driven by a robot controller 10 programmatically by one electric motor M1 to M6 and can be braked by a brake belonging to the joints L1 to L6 or the motors M1 to M6 and can be locked in place.

[0055] In the robot arm 9, each driven joint L1-L6 is assigned one motor M1-M6 and at least one further drive assembly 20 selected from the group of transmission 25, torque converter 24, coupling 23 and / or brake 22, wherein the motor M1-M6 and / or the at least one further drive assembly 20 has a control device 21 for changing the torque transmission, which comprises at least one light-emitting element 21.1 and a substance 21.2 influencing the torque transmission, which has at least one light-stable dynamic material LSDM, and wherein the control device 21 is designed to change the torque transmission by actuating the light-emitting element 21.1 irradiating the light-stable dynamic material LSDM.

[0056] In Figure 2 the first embodiment brake 22, an exemplary drive assembly 20 according to the application is shown, wherein the control device 21 for changing the torque transmission is assigned to at least one brake 22 of the robot arm 9; wherein each brake 22 has a brake member 22b coupled to the corresponding motor M1-M6 by torque and rotatably mounted in a brake housing 22a of the brake 22, which has a first brake transmission structure 22c, and the brake housing 22a has a second brake transmission structure 22d; wherein the first brake transmission structure 22c and the second brake transmission structure 22d are in contact with the substance 21.2 having at least one light-stable dynamic material LSDM in order to control the torque transmission between the first brake transmission structure 22c and the second brake transmission structure 22d depending on the light irradiated by the light-emitting element 21.1 into the light-stable dynamic material LSDM.

[0057] InFigure 3 An exemplary drive assembly 20 according to the present application is shown in the second embodiment coupling 23, wherein the control means 21 for changing the torque transmission is assigned to at least one coupling 23 of the robot 8; wherein the coupling 23 has a first coupling member 23a which is torque-coupled to the corresponding motor M1-M6 and is rotatably mounted in a coupling housing 23e of the coupling 23, which first coupling member has a first coupling transmission structure 23c, and the coupling has a second coupling member 23b which is rotatably mounted in the coupling housing 23e of the coupling 23, which second coupling member has a second coupling transmission structure 23d; wherein the first coupling transmission structure 23c and the second coupling transmission structure 23d are in contact with a substance 21.2 having at least one light-stable dynamic material LSDM in order to control the torque transmission between the first coupling transmission structure 23c and the second coupling transmission structure 23d depending on the light irradiated by the light-emitting element 21.1 into the light-stable dynamic material LSDM.

[0058] In the case of the first and second embodiments shown in Figure 2 and Figure 3 the light-emitting element 21.1 is arranged inside the brake housing 22a( Figure 2 ) or inside the coupling housing 23e( Figure 3 ) and is electrically operated from the outside of the brake housing 22a( Figure 2 ) or the coupling housing 23e( Figure 3 ).

[0059] However, in the case of the third to fifth embodiments shown in Figures 4 to 6 the light-emitting element 21.1 can also be arranged, for example, inside the inverter housing 24g, inside the transmission housing 25e and / or inside the motor housing 26e and is electrically operated accordingly from the outside.

[0060] In the case of the first and second embodiments shown in Figure 4An exemplary drive assembly 20 according to the present application in a third embodiment of a torque converter 24 is shown in Fig. 3, wherein the control means 21 for changing the torque transmission is assigned to at least one torque converter 24 of the robot 8; and wherein the torque converter 24 has a first conversion member 24a torque-coupled to the corresponding motor M1-M6 and rotatably mounted in a converter housing 24f of the torque converter 24, which first conversion member has a first conversion transmission 24c, and the torque converter has a second conversion member 24b rotatably mounted in the converter housing 24f of the torque converter 24, which second conversion member has a second conversion transmission 24d, and the converter housing 24f has a third conversion transmission 24g; wherein the first conversion transmission 24c is in contact with the second conversion transmission 24d and the third conversion transmission 24g by means of a substance 21.2 having at least one light-stable dynamic material LSDM, in order to control the torque transmission between the first conversion transmission 24c and the second conversion transmission 24d depending on the light irradiated by the light-emitting element 21.1 into the light-stable dynamic material LSDM.

[0061] In a third embodiment according to Figure 4 , in a variant, the light-emitting element 21.1 is arranged outside the light-transmissive converter housing 24f, and the light emitted by the light-emitting element 21.1 irradiates from the outside into the light-stable dynamic material LSDM in the light-transmissive converter housing 24f.

[0062] Likewise, in other embodiments according to Figure 2 , Figure 3 and Figure 5 and Figure 6 , the light-emitting element 21.1 can also be arranged outside the light-transmissive brake housing 22a, outside the light-transmissive coupling housing 23e, outside the light-transmissive transmission housing 25e and / or outside the light-transmissive motor housing 26e, wherein the light emitted by the light-emitting element 21.1 irradiates from the outside into the light-stable dynamic material LSDM.

[0063] In Figure 5The diagram illustrates an exemplary drive assembly 20 according to the invention, located in a transmission device 25 of a fourth embodiment, wherein a control device 21 for changing torque transmission is assigned to at least one transmission device 25 of a robot 8; and wherein the transmission device 25 has a transmission member 25a that is torque-coupled to corresponding motors M1-M6 and rotatably mounted in a transmission device housing 25e of the transmission device 25, the transmission member having a first transmission structure 25b, and at least one transmission stage 25c having a second transmission structure 25d arranged in the transmission device housing 25e; wherein the first transmission structure 25b and the second transmission structure 25d are in contact through a substance 21.2 having at least one light-stabilized dynamic material LSDM, so as to control the torque transmission between the first transmission structure 25b and the second transmission structure 25d according to the light irradiated into the light-stabilized dynamic material LSDM by the light-emitting element 21.1.

[0064] According to Figure 5 In the fourth embodiment, a transmission housing 25e in which a light-stable dynamic material LSDM is enclosed is provided, the transmission housing having a housing wall in which cooling channels 30 are constructed, and coolant circulates in the cooling channels (arrows P1, P2).

[0065] Similarly, in other embodiments, in variations of these embodiments, the brake housing 22a, connector housing 23e, converter housing 24f, motor housing 26e and / or other enclosed chambers of light-stabilized dynamic material (LSDM) can have cooling channels 30 formed in the chamber walls of the chambers or in the housing walls of the respective housings, in which coolant circulates.

[0066] exist Figure 6 An exemplary drive assembly 20 according to the invention is shown in motors M1-M6 of the fifth embodiment, wherein a control device 21 for changing torque transmission is assigned to at least one motor M1-M6; wherein the motors M1-M6 have torque members 26b that are torque-coupled to corresponding motor shafts 26a and rotatably mounted in motor housings 26e of the motors M1-M6, the torque members having a first motor torque transmission structure 26c, and the motor shafts 26a having a second motor torque transmission structure 26d; wherein the first motor torque transmission structure 26c and the second motor torque transmission structure 26d are in contact through a substance 21.2 having at least one light-stabilized dynamic material LSDM, so as to control the torque transmission between the first motor torque transmission structure 26c and the second motor torque transmission structure 26d according to the light irradiated into the light-stabilized dynamic material LSDM by the light-emitting element 21.1.

[0067] According to Figure 6In the fifth embodiment, a motor housing 26e is exemplarily provided with cooling ribs 31 extending outwardly.

[0068] However, in other embodiments, in variants of these embodiments, the brake housing 22a, the coupling housing 23e, the inverter housing 24f, the transmission housing 25e and / or other chambers enclosing a light-stable dynamic material LSDM can be provided with cooling ribs 31 extending outwardly.

Claims

1. A drive device comprising: at least one motor (M1-M6) and at least one additional drive component selected from the group consisting of transmission devices, torque converters, couplings and / or brakes (B1-B6); and a control device (10a) configured to automatically operate the at least one motor (M1-M6), characterized in that, The at least one motor (M1-M6) and / or the at least one additional drive assembly (20) have a control device (21) for changing torque transmission, the control device comprising at least one light-emitting element (21.1) and a substance (21.2) that affects torque transmission, the substance having at least one light-stabilized dynamic material (LSDM), wherein the control device (21) is configured to change the torque transmission by manipulating the light-emitting element irradiated onto the light-stabilized dynamic material (LSDM).

2. The driving device according to claim 1, characterized in that, The control device (21) for changing torque transmission is associated with at least one brake (22) of the drive device (1), wherein each brake (22) has a brake member (22b) that is torque-coupled to a corresponding motor (M1-M6) and rotatably mounted in a brake housing (22a) of the brake (22), the brake member having a first brake transmission structure (22c), and the brake housing (22a) having a second brake transmission structure (22d), wherein the first brake transmission structure (22c) is in contact with the second brake transmission structure (22d) through a substance having at least one light-stabilized dynamic material (LSDM) so as to control the torque transmission between the first brake transmission structure (22c) and the second brake transmission structure (22d) according to the light irradiated by the light-emitting element (21.1) into the light-stabilized dynamic material (LSDM).

3. The driving device according to claim 2, characterized in that, The control device (21) for changing torque transmission is associated with at least one connector (23) of the drive device (1), wherein the connector (23) has a first connecting member (23a) that is torque-coupled to the corresponding motor (M1-M6) and rotatably mounted in the connector housing (23e) of the connector (23), the first connecting member having a first connecting transmission structure (23c), and the connector having a second connecting member (23b) rotatably mounted in the connector housing (23e) of the connector (23), the second connecting member having a second connecting transmission structure (23d), wherein the first connecting transmission structure (23c) and the second connecting transmission structure (23d) are in contact through a substance (21.2) having at least one light-stabilized dynamic material (LSDM) so as to control the torque transmission between the first connecting transmission structure (23c) and the second connecting transmission structure (23d) according to the light irradiated by the light-emitting element (21.1) into the light-stabilized dynamic material (LSDM).

4. The driving device according to claim 3, characterized in that, The control device (21) for changing torque transmission is associated with at least one torque converter (24) of the drive device (1), wherein the torque converter (24) has a first conversion member (24a) that is torque-coupled to the corresponding motors (M1-M6) and rotatably mounted in the converter housing (24f) of the torque converter (24), the first conversion member having a first conversion transmission structure (24c), and the torque converter having a second conversion member (24b) rotatably mounted in the converter housing (24f) of the torque converter (24), the second The conversion component has a second conversion transmission structure (24d), and the converter housing (24f) has a third conversion transmission structure (24g), wherein the first conversion transmission structure (24c) is in contact with the second conversion transmission structure (24d) and the third conversion transmission structure (24g) through a material having at least one light-stabilized dynamic material (LSDM) so as to control the torque transmission between the first conversion transmission structure (24c) and the second conversion transmission structure (24d) according to the light irradiated by the light-emitting element (21.1) into the light-stabilized dynamic material (LSDM).

5. The driving device according to claim 4, characterized in that, The control device (21) for changing torque transmission is associated with at least one transmission device (25) of the drive device (1), wherein the transmission device (25) has a transmission component (25a) that is torque-coupled to a corresponding motor (M1-M6) and rotatably mounted in a transmission device housing (25e) of the transmission device (25), the transmission component having a first transmission structure (25b), and at least one transmission stage (25c) arranged in the transmission device housing (25e), the transmission stage having a second transmission structure (25d), wherein the first transmission structure (25b) and the second transmission structure (25d) are in contact through a substance (21.2) having at least one light-stabilized dynamic material (LSDM) so as to control the torque transmission between the first transmission structure (25b) and the second transmission structure (25d) according to the light irradiated by the light-emitting element (21.1) into the light-stabilized dynamic material (LSDM).

6. The driving device according to claim 5, characterized in that, The control device (21) for changing torque transmission is associated with at least one motor (M1-M6), wherein the at least one motor (M1-M6) has a torque member (26b) that is torque-coupled to a corresponding motor shaft (26a) and rotatably mounted in a motor housing (26e) of the motor (M1-M6), the torque member having a first motor torque transmission structure (26c), and the motor shaft (26a) having a second motor torque transmission structure (26d), wherein the first motor torque transmission structure (26c) and the second motor torque transmission structure (26d) are in contact through a substance (21.2) having at least one light-stabilized dynamic material (LSDM) so as to control the torque transmission between the first motor torque transmission structure (26c) and the second motor torque transmission structure (26d) according to the light irradiated by the light-emitting element (21.1) into the light-stabilized dynamic material (LSDM).

7. The driving device according to claim 6, characterized in that, The at least one light-emitting element (21.1) is an LED disposed inside the brake housing (22a), the connector housing (23e), the converter housing (24f), the transmission housing (25e), and / or the motor housing (26e), and the LED is electrically controlled from the outside.

8. The driving device according to any one of claims 1 to 6, characterized in that, The at least one light-emitting element (21.1) is an LED disposed outside the light-transmitting brake housing (22a), outside the light-transmitting connector housing (23e), outside the light-transmitting transducer housing (24f), outside the light-transmitting transmission housing (25e), and / or outside the light-transmitting motor housing (26e), wherein light emitted by at least one of the LEDs illuminates the light-stabilized dynamic material (LSDM) from the outside.

9. The driving device according to claim 6, characterized in that, The first braking transmission structure and the second braking transmission structure, the first connecting transmission structure and the second connecting transmission structure, the first transformation transmission structure, the second transformation transmission structure and the third transformation transmission structure, the first transmission transmission structure and the second transmission transmission structure, and / or the first motor torque transmission structure and the second motor torque transmission structure have protrusions that extend into the light-stabilized dynamic material (LSDM).

10. The driving device according to claim 9, characterized in that, The protrusion is a leaf-shaped or wavy protrusion.

11. The driving device according to claim 6, characterized in that, The brake housing (22a), the connector housing (23e), the converter housing (24f), the transmission housing (25e), the motor housing (26e), and / or other chambers enclosed with light-stabilized dynamic material (LSDM) are provided with outwardly extending cooling ribs (31), or cooling channels (30) are constructed in the chamber walls of the chambers or in the housing walls of the respective housings, in which coolant circulates.

12. A robot comprising: a robotic arm having a plurality of joints (L1-L6) and a plurality of limbs (G1-G7), the plurality of limbs being adjustable relative to each other by movement of the joints (L1-L6) of the robotic arm (9), wherein, Each driven joint (L1-L6) is associated with a drive device (1) according to any one of claims 1 to 10, and each drive device (1) is configured to adjust the joint (L1-L6) of the robot arm (9) associated with the motor by automatically manipulating the motor (M1-M6) of the respective drive device (1), wherein the control device includes a robot controller configured to automatically manipulate the motor (M1-M6) to automatically and individually adjust the limbs (G1-G7) of the robot arm (9) relative to each other by the driven movement of the joints (L1-L6).

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