Robotic arm and method for assembling a robotic arm

Abstract

The present invention relates to a robotic arm (1) having a plurality of segments (2) and a plurality of joints (3) adjustablely connecting the segments (2) relative to each other, wherein at least one first segment (2.1) of the segments (2) has a first bearing neck (4.1) and a second bearing neck (4.2) opposite to the first bearing neck (4.1), and the second segment (2.2) hinged to the first segment (2.1) by a joint (3) has a first bearing flange (5.1), the first bearing neck (4.1) of the first segment (2.1) being rotatably supported on the first bearing flange and having a second bearing flange (5.2), the second bearing neck (4.2) of the first segment (2.1) being rotatably supported on the second bearing flange, wherein the second segment The first bearing flange (5.1) of the second segment (2.2) has a circumferentially closed opening (6a) accommodating the first bearing neck (4.1) of the first segment (2.1), and the second bearing flange (5.2) of the second segment (2.2) has a circumferentially open opening (6b) accommodating the second bearing neck (4.2) of the first segment (2.1), wherein the opening width (W) of the opening (7) of the circumferentially open opening (6b) is greater than the width of the second bearing neck (4.2) of the first segment (2.1), and the second bearing flange (5.2) has a locking fastener (8) by which the second bearing neck (4.2) of the first segment (2.1) is secured to the circumferentially open opening (6b) of the second bearing flange (5.2). The invention also relates to a method for assembling such a robotic arm (1).

Description

Technical Field

[0001] The present invention relates to a robotic arm having a plurality of segments and a plurality of joints that adjustably connect these segments relative to each other, and a method for assembling the robotic arm. Background Technology

[0002] Patent document DE102018219447A1 describes a robot structure having a plurality of limbs and joints connecting these limbs to each other, wherein at least one of these limbs includes a first tube having a first protective outer wall and a second tube having a second protective outer wall, wherein the second tube is arranged such that its longitudinal extension forms an angle with the longitudinal extension of the first tube, such that the second tube is inserted into two opposing tube cuts in the first tube, wherein the second tube passes through the first protective outer wall of the first tube on opposite sides, and wherein the second tube is rigidly connected to the first tube by a first connecting element and a second connecting element. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm that can be easily and economically assembled into a complete robotic arm using pre-assembled structural components (Baugruppen).

[0004] According to the invention, this objective is achieved by a robotic arm having a plurality of segments and a plurality of joints that adjustably connect these segments relative to each other, wherein at least a first segment has a first bearing neck and a second bearing neck opposite to the first bearing neck, and a second segment hinged to the first segment by a joint has a first bearing flange, the first bearing neck of the first segment being rotatably supported on the first bearing flange and having a second bearing flange, the second bearing neck of the first segment being rotatably supported on the second bearing flange, wherein the first bearing flange of the second segment has a circumferentially closed opening (Aussparung) accommodating the first bearing neck of the first segment, and the second bearing flange of the second segment has a circumferentially open opening accommodating the second bearing neck of the first segment, wherein the opening width of the circumferentially open opening is greater than the width of the second bearing neck of the first segment, and the second bearing flange has a locking fastener (Sicherungsmittel) by which the second bearing neck of the first segment is fixed to the circumferentially open opening of the second bearing flange.

[0005] The robotic arm may have, for example, a robotic structure comprising multiple segments and joints connecting these segments to each other. At least one of these segments includes a first tube having a first outer wall and a second tube having a second outer wall. The second tube is arranged at an angle to the longitudinal extension of the first tube, such that the second tube is inserted into two opposing tube cuts in the first tube. The second tube passes through the first outer wall of the first tube on opposite sides. The second tube is rigidly connected to the first tube by a first connecting element and a second connecting element. For this purpose, the first connecting element has a first annular section whose first annular inner wall is flush with the second outer wall of the second tube. The first connecting element has a first annular outer protective wall flush against the first cut edge of a pipe slit in the first pipe fitting, and the first connecting element has a connecting piece section (Laschenabschnitt) connected to the first annular section, the connecting piece section extending along the longitudinal extension of the first pipe fitting flush against the first protective outer wall of the first pipe fitting. For this purpose, the second connecting element has a second annular section, the second annular section flush against the second protective outer wall of the second pipe fitting with its second annular inner protective wall, and flush against the second cut edge of another pipe slit in the first pipe fitting with its second annular outer protective wall. The second connecting element also has a cylindrical protective section connected to the second annular section, the cylindrical protective section flush against the inner wall of the first pipe fitting.

[0006] Here, the second pipe fitting can be inserted into the first pipe fitting at a right angle to the longitudinal extension of the first pipe fitting, so that the second pipe fitting is arranged perpendicular to the first pipe fitting.

[0007] The first connecting element and / or the second connecting element may each be constructed as a one-piece plastic body.

[0008] The first bearing journal and the second bearing journal opposite to the first bearing journal can be constructed as journals, with their axes of rotation aligned with each other. In this respect, the first bearing journal and the second bearing journal can form a common axis of rotation, and the first segment is pivotally mounted relative to the second segment about this axis of rotation.

[0009] In this regard, the joint that rotatably connects the first and second limbs can be configured as a rotary joint. The robotic arm may have only one such joint that, according to the invention, rotatably connects the first and second limbs. Alternatively, two or more such joints may be provided on the robotic arm, which, according to the invention, rotatably connect the first and second limbs in pairs. This may mean that the robotic arm includes not only the limbs and joints of the first and second structural components, but also the limbs and joints of the third and / or other structural components.

[0010] The first and second bearing flanges can surround the first segmental limb, or the first bearing neck of the first segmental limb and the opposite second bearing neck, from opposite sides. In this respect, the first and second bearing flanges are aligned with the first and second bearing necks. In a basic configuration of the robotic arm determined by its structural form, the first bearing neck and the opposite second bearing neck can be arranged vertically, particularly in all rotational positions of the joint that rotatably connects the first and second segments. Accordingly, the first and second bearing flanges can overlap each other, particularly in all rotational positions of the joint that rotatably connects the first and second segments. In this respect, the joint can be constructed as one of the first three joints in the kinematic chain of a SCARA robot.

[0011] The circumferentially closed opening of the first bearing flange can be a hole in a first flange plate that is at least substantially flat. The first flange plate can be formed of a first metal plate (Blech). The first metal plate may be provided with ribs, rib plates, and / or flanges for reinforcement. The first flange plate can be part of the carriage of a linear shaft.

[0012] The circumferential opening of the second bearing flange can be an edge-opening hole in a second flange plate that is at least substantially flat. The second metal plate can be configured with ribs, slats, and / or flanges for reinforcement. The first flange plate can be part of the carriage of the linear shaft.

[0013] The circumferentially open, vacant opening can be formed by an edge-opening ausbruch in the second bearing flange or the second flange plate. The width of this opening must be determined such that the second bearing neck can move radially from the outside of the second bearing flange into the circumferentially open, vacant opening. That is, according to the invention, the second bearing neck is not inserted into the circumferentially open vacant in the axial direction, i.e., in the direction of the rotation axis of the joint rotatably connecting the first and second segments, but rather from the side, i.e., radially relative to the rotation axis of the joint rotatably connecting the first and second segments, into the circumferentially open vacant.

[0014] Therefore, the width of the opening must be at least slightly larger than the width of the second bearing journal. If the second bearing journal is cylindrical, its width is defined by its diameter. In this respect, if the second bearing journal is cylindrical, the width of the opening must be at least slightly larger than the diameter of the second bearing journal.

[0015] By having a first bearing flange of the second segment have a circumferentially closed opening that accommodates the first bearing neck of the first segment, and a second bearing flange of the second segment have a circumferentially open opening that accommodates the second bearing neck of the first segment, wherein the opening width of the circumferentially open opening is greater than the width of the second bearing neck of the first segment, and the second bearing flange has a fastener capable of securing the second bearing neck of the first segment to the circumferentially open opening of the second bearing flange, a robot arm can be provided that can be ultimately assembled into a complete robot arm in a simple and economical manner from pre-assembled structural components.

[0016] The conventional structure of a robotic arm is designed to be built and assembled step-by-step, joint by joint. In its simplest form, the structural segments are movably interconnected via joint units, which may include actuators, transmissions, sensors, brakes, and bearings. Bolted connections are common on both the driving and driven sides.

[0017] If there are no joint units for connection, the corresponding components must be connected to the structural elements individually. This usually means more complex construction or more laborious assembly.

[0018] Therefore, robotic arms have so far had to be built and assembled step by step. Pre-assembly of subgroups, particularly subgroups of the entire arm, is currently not possible, especially because the engagement of axes can be problematic. This is particularly true when axes are held in a rigid, fixed-release arrangement with wide support spacing, for example, not by crossed roller bearings. However, if the joints are not built piece by piece as described in this invention, but rather by two pre-assembled structural components, then in known types of arthros and joints, the engagement of axes through multiple components is critical, as extrusion or bonding are preferred engagement methods for cost and weight reasons.

[0019] This invention, based on the joint construction according to the invention, solves the dilemma between cost-effective pre-assembly of structural components and slender, lightweight and integrated joint structures, particularly in the field of cost-effective robotics for consumer applications.

[0020] Here, the present invention aims to achieve, on the one hand, the pre-assembly of a complete structural mechanical device, and on the other hand, the pre-assembly of a complete linear base with actuators and electronics, and to enable them to be easily connected under ideal loading conditions later.

[0021] The fastener used to secure the second bearing journal of the first segment to the circumferentially open opening of the second bearing flange is configured to close the opening when the second bearing journal is inserted or pivoted into the circumferentially open opening. In this respect, after the second bearing journal is inserted or pivoted into the opening, the fastener prevents the second bearing journal from being accidentally squeezed out or pivoted out of the circumferentially open opening of the second bearing flange. The fastener can be detachably connected to the second bearing flange. The fastener can be detachably connected to the second bearing flange, particularly by a detachable fastener. This detachable fastener can be, for example, a bolt. Alternatively, the fastener can be non-detachably connected to the second bearing flange, i.e., it cannot be released without damage under any circumstances. Such a non-detachable fastener can include, for example, rivets, locking elements, adhesive connections, and / or welded connections.

[0022] The locking fastener can be a first bearing support ring that is detachably connected to the second bearing flange of the second segment. The first bearing support ring is formed as a first support for the first bearing, which rotatably supports the second bearing journal of the first segment on the second bearing flange of the second segment.

[0023] The first bearing support ring may include a first support ring having a first fastening flange portion pointing outward in the circumferential direction, which can be used to fasten the first bearing support ring to the second bearing flange of the second segment. Here, the first bearing support ring may have an inwardly pointing first support, which is configured to accommodate the bearing, particularly the outer race of a rolling bearing.

[0024] Compared to conventional prior art, according to the present invention, the assembly of the exemplary shaft is not achieved by axially pushing individual components together, but by pivoting or enlarging the first segment into the second segment so that the first bearing journal sinks into the circumferentially closed gap of the first bearing flange. The bearing ring support can follow the slight tilting posture of the first segment and the subsequent pivoting movement, because at this time the bearing ring support is not yet fixedly connected to the bearing flange, but is merely placed in the hole. Fixing is performed in a subsequent step, in the fully engaged state.

[0025] The pivoting movement of the first segment is only possible because the second bearing flange has a circumferentially open opening, in which the second bearing flange has an opening or gap forward, i.e., in the direction facing the robot arm, allowing the second bearing journal to pivot through the second bearing flange. In a preferred embodiment, this opening is located on the lower bearing. The first bearing support ring is secured to the second bearing flange after the pivoting movement of the first segment, allowing the first segment to be pivotally mounted on the second segment.

[0026] The first bearing support ring and the second bearing support ring are respectively connected to the second segment via their respective first bearing flange or second bearing flange, for example by bolting, bonding, or latching.

[0027] In one particular embodiment, a key feature is that the upper first bearing support ring fully contacts the first bearing flange along its circumference, while the lower second bearing support ring contacts the second bearing flange only within a range smaller than its total circumference, specifically, for example, only at three-quarters or half of its total circumference. Crucially, the cylindrical outer circumferential surface of the lower second bearing support ring is supported on the side opposite the opening of the second bearing flange on the circumferentially open, open cylindrical inner circumferential surface of the second bearing flange, allowing all pressure generated by the tilting moment due to gravity in the joint connecting the first and second segments to be transmitted.

[0028] Therefore, as long as the main load is directed vertically downwards toward the robot arm and its end effector, all forces will be transmitted directly and optimally from the axis through bearings and rings to the frame, without the need for bolts.

[0029] If the arm is still to be pulled upward or bent upward, the lower bearing structure, bolted to the second bearing flange via the first bearing support ring, is sufficiently stable and capable of absorbing the load.

[0030] As an alternative bearing variant, there may also be a grip-loose-bearing structure (Fist-Los-Lagerung) or an adjusting bearing structure (angestellte Lagerung), in which the upper bearing absorbs the upward axial force and the lower bearing absorbs the downward axial force.

[0031] The first bearing flange of the second segment may have a second bearing support ring that is releasably fastened, the second bearing support ring forming a second support for the second bearing, the second bearing rotatably supporting the first bearing neck of the first segment on the first bearing flange of the second segment, wherein the first bearing flange of the second segment has an assembly space whose dimensions are determined such that the second bearing support ring, when released from the first bearing flange, can pivot within the assembly space about a pivot axis that extends at least substantially perpendicular to the axis of rotation of the joint rotatably connecting the first segment and the second segment.

[0032] The second bearing support ring may include a second support ring having a second fastening flange portion pointing outward in the circumferential direction, which can be used to fasten the second bearing support ring to the first bearing flange of the first segment. Here, the second bearing support ring may have an inwardly pointing second support, which is configured to accommodate the outer race of the bearing, particularly a rolling bearing.

[0033] The assembly space can be defined by the raised, particularly curved, edge portion of the first bearing flange. In this respect, the laterally raised, particularly curved, edge portion of the first bearing flange laterally defines the assembly space. The lower side of the assembly space can be formed by the main surface of the first bearing flange, i.e., by a flange surface with a circumferentially closed opening therein. The assembly space can be configured to be upwardly open.

[0034] The second bearing support ring is pivotable within the assembly space. This pivotability of the second bearing support ring must be achieved only to such an extent that, at the maximum pivot position of the first segment, particularly the first bearing journal of the first segment (which is necessary for the final assembly according to the invention), the first bearing journal of the first segment can be inserted into the second bearing support ring. Accordingly, at the maximum pivot position of the second bearing support ring, the second bearing support ring extends at a height lower than the structural height of the assembly space or lower than the structural height of the raised, particularly curved, edge portion of the first bearing flange.

[0035] The fastener can be formed by a first bearing support ring detachably connected to the second bearing flange of the second segment, the first bearing support ring forming a first support of the first bearing, the first bearing rotatably supporting the second bearing neck of the first segment on the second bearing flange of the second segment, wherein the second bearing flange is arranged below the first bearing flange in the direction of gravity in the basic structure of the robot arm, and the first bearing flange of the second segment can here have a second bearing support ring detachably fastened, the second bearing support ring forming a second support of the second bearing, the second bearing rotatably supporting the first bearing neck of the first segment on the first bearing flange of the second segment, wherein the first bearing flange is arranged above the second bearing flange in the direction of gravity in the basic structure of the robot arm.

[0036] In this basic structure of the robotic arm, the first bearing journal and the opposing second bearing journal can be arranged vertically aligned, particularly in all rotational positions of the joint that rotatably connects the first and second segments. Correspondingly, the first and second bearing flanges can be arranged overlapping each other, particularly in all rotational positions of the joint that rotatably connects the first and second segments. In this respect, the joint can be constructed according to one of the first three joints in the kinematic chain of a SCARA robot.

[0037] The joint formed by the first and second segments can have a pivot angle of less than 360 degrees, particularly less than 270 degrees, or only 180 degrees, which is structurally limited. The circumferentially open recess on the second bearing flange is arranged such that the first segment extending from the joint extends within the angular range of the circumferentially open recess at the intermediate pivot position of the joint, and the recess has a pressure support on the edge portion opposite to the diameter of the recess.

[0038] In one particular embodiment, the second segment can form a carriage with a linear axis, which can be configured, for example, to be linearly height-adjustable in a vertical direction. The second segment, or carriage, can therefore have one or more sliders (Gleitsteine) through which the second segment or carriage is linearly height-adjustable on a track. The track can be, for example, secured to a fixed wall or a fixed support.

[0039] The second segment can be composed of multiple metal plates, one of which can form a first bearing flange and another metal plate can form a second bearing flange.

[0040] A first motor, particularly a first electric motor, can be arranged on the second segment. The first motor may have a first motor shaft. The first motor shaft may, for example, have a first pinion on which a first belt is tensioned. Here, the first belt drives a first driven pulley, which is fixedly connected to the first segment. In this embodiment, driven by the first motor, the first belt drives the first driven pulley, thereby allowing the first segment to pivot automatically relative to the second segment due to its fixed connection with the first segment.

[0041] Furthermore, a second motor, particularly a second electric motor, can optionally be arranged on the second segment. The second motor may have a second motor shaft. The second motor shaft may, for example, have a second pinion on which a second belt is tensioned. In this case, the second belt drives a second driven wheel, which is rotatably supported on the first segment. In this embodiment, driven by the second motor, the second belt drives the second driven wheel, thereby allowing the second driven wheel to rotate automatically relative to the first segment due to this rotatable connection of the second driven wheel on the first segment. In this embodiment, this rotational motion is transmitted to a third belt, which is guided along the first segment to a more distal additional joint. Here, the third belt wraps around a third driven wheel, which is fixedly connected to the third segment of the robot arm, or rather, the second structural component of the robot arm. Driven by the second motor, the second belt drives the second driven wheel, and the second driven wheel drives the third driven wheel via the third belt, thereby allowing the third segment to move automatically relative to the first segment, particularly to pivot, due to the fixed connection of the third driven wheel to the third segment. The third belt can be pre-tensioned using a belt tensioner.

[0042] The object of the invention is also achieved by a method for assembling a robotic arm, particularly by a method for assembling a robotic arm according to one or more embodiments as described above, the method comprising the following steps:

[0043] - A first structural assembly of the limbs and joints of a pre-assembled robotic arm, wherein one of the limbs of the first structural assembly has a first limb having a first bearing neck and a second bearing neck opposite to the first bearing neck.

[0044] - A second structural assembly of the limbs and joints of a pre-assembled robotic arm, wherein one of the limbs of the second structural assembly has a second limb having a first bearing flange designed to rotatably accommodate a first bearing journal of the first limb, and the second limb has a second bearing flange designed to rotatably accommodate a second bearing journal of the first limb.

[0045] The first bearing flange of the second segment has a circumferentially closed opening, and the second bearing flange of the second segment has a circumferentially open opening, wherein the opening width of the circumferentially open opening is greater than the width of the second bearing journal of the first segment.

[0046] - By combining the pre-assembled first and second structural components, a robotic arm is finally assembled, wherein, firstly, the first bearing journal of the first segment is obliquely introduced into the circumferentially closed opening of the second segment; then, the first segment is pivoted to its mounting position aligned with the rotation axis of the joint, wherein the second bearing journal of the first segment moves radially through the circumferentially open opening of the second support flange of the second segment; finally, the circumferentially open opening of the second support flange is closed by a fastener, which is fastened to the second bearing flange to secure the second bearing journal of the first segment to the second bearing flange.

[0047] To perform this method, the fastener may be formed of a first bearing support ring, which forms a first support for a first bearing, the first bearing being designed to rotatably support a second bearing neck of a first segment on a second support flange of the second segment, wherein the second bearing neck of the first segment is secured to the second bearing flange in such a way that, after the first segment is pivoted to the mounting position and after the second bearing neck moves through a circumferentially open, vacant opening of the second support flange, the first bearing support ring is fastened to the second bearing flange.

[0048] To perform this method, a second bearing support ring may be provided having a second support for a second bearing, the second bearing being designed to rotatably support a first bearing neck of a first segment on a first bearing flange of a second segment, wherein the first bearing flange of the second segment has an assembly space sized such that the second bearing support ring, in a released state from the first bearing flange, can pivot about a pivot axis extending at least substantially perpendicular to the axis of rotation of the joint rotatably connecting the first and second segments, comprising the steps of: obliquely introducing the first bearing neck of the first segment into a circumferentially closed space of the second segment, and introducing the first bearing neck of the first segment into the second bearing support ring in a released state from the first bearing flange, and securing the second bearing support ring to the first bearing flange after the first segment has pivoted to its mounting position aligned with the axis of rotation of the joint.

[0049] Optionally, after the first segmental limb is pivoted to its mounting position aligned with the axis of rotation of the joint, the first bearing support ring can be fastened to the second bearing flange first after the second bearing neck passes through the circumferentially open, unsupported opening of the second bearing flange, and then the second bearing support ring can be fastened to the first bearing flange.

[0050] Optionally, a first rolling bearing may be inserted between the first bearing journal and the circumferentially closed space or the second bearing support ring before the first bearing journal of the first segment is introduced into the circumferentially open space of the second segment, particularly before it is introduced into the bearing support ring, and / or a second rolling bearing may be inserted between the second bearing journal and the circumferentially open space or the circumferentially open space of the first bearing support ring before the second bearing journal of the first segment is introduced into the circumferentially open space of the second segment, particularly before it is introduced into the first bearing support ring. Attached Figure Description

[0051] Specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The specific features of these exemplary embodiments may constitute the general features of the present invention, regardless of where they are specifically mentioned herein, and may be considered individually or in combination as necessary. Wherein:

[0052] Figure 1 An exemplary robotic arm is shown in a top view, having a first pre-assembled structural component and a second pre-assembled structural component in a separated state that has not yet been fully assembled.

[0053] Figure 2 The diagram is shown in bottom view according to Figure 1 The robotic arm has a first pre-assembled structural component and a second pre-assembled structural component in a separated state that has not yet been fully assembled.

[0054] Figure 3 It shows according to Figure 1 and Figure 2 A magnified partial view of the robotic arm in the first and second segment regions before engagement.

[0055] Figure 4 It shows according to Figure 1 and Figure 2 A magnified view of the robotic arm in the first and second segment regions during engagement.

[0056] Figure 5 It shows according to Figure 1 and Figure 2 A magnified view of the robotic arm in the first and second segment regions after engagement, and

[0057] Figure 6 An exemplary flowchart of the method according to the present invention is shown. Detailed Implementation

[0058] exist Figure 1An exemplary robotic arm 1 is shown in a disassembled state before final assembly, which includes a first pre-assembled structural component 1a and a second pre-assembled structural component 1b.

[0059] The robotic arm 1 has a plurality of segments 2 and a plurality of joints 3 that are adjustablely connected relative to each other, wherein at least one of the segments 2, a first segment 2.1, has a first bearing neck 4.1 and a second bearing neck 4.2 opposite to the first bearing neck 4.1.

[0060] The robotic arm 1 also has a second segment 2.2 hinged to the first segment 2.1 via a joint 3. The second segment has a first bearing flange 5.1, on which the first bearing neck 4.1 of the first segment 2.1 is rotatably supported in the final assembled state. The second segment 2.2 additionally has a second bearing flange 5.2, on which the second bearing neck 4.2 of the first segment 2.1 is rotatably supported.

[0061] As shown in the figure, the first bearing journal 4.1 and the second bearing journal 4.2 opposite to the first bearing journal 4.1 can be constructed as journals with their axes of rotation aligned with each other. In this respect, the first bearing journal 4.1 and the second bearing journal 4.2 can form a common axis of rotation, and the first segment 2.1 is pivotally mounted relative to the second segment 2.2 about this axis of rotation.

[0062] Especially as Figure 5 As shown in detail, the first bearing flange 5.1 of the second segment 2.2 has a circumferentially closed recess 6a, in which the first bearing neck 4.1 of the first segment 2.1 is accommodated. The second bearing flange 5.2 of the second segment 2.2 has a circumferentially open recess 6b, in which the second bearing neck 4.2 of the first segment 2.1 is accommodated in the final assembled assembly.

[0063] The opening 7 of the circumferentially open recess 7b has an opening width W, which is greater than the width of the second bearing neck 4.2 of the first segment 2.1. The second bearing flange 2.2 has a locking fastener 8, by which the second bearing neck 4.2 of the first segment 2.1 is fixed to the circumferentially open recess 7b of the second bearing flange 5.2.

[0064] In this embodiment, the fastener 8 is formed by a first bearing support ring 9.1 that is detachably connected to the second bearing flange 5.2 of the second segment 2.2. This first bearing support ring forms a first support 10.1 for the first bearing, which rotatably supports the second bearing neck 4.2 of the first segment 2.1 on the second bearing flange 5.2 of the second segment 2.2. The first bearing may be a first rolling bearing or a first rolling bearing structure (erste). ).

[0065] In this embodiment, the first bearing flange 5.1 of the second segment 2.2 has a second bearing support ring 9.2 that is releasably fastened. This second bearing support ring forms a second support 10.2 for a second bearing, which rotatably supports the first bearing neck 4.1 of the first segment 2.1 on the first bearing flange 5.1 of the second segment 2.2. Here, the first bearing flange 5.1 of the second segment 2.2 has an assembly space 11, the size of which is determined such that the second bearing support ring 9.2, in the state of being released from the first bearing flange 5.1 ( Figure 5 It is capable of pivoting within the assembly space 11 about a pivot axis S that extends at least substantially perpendicular to the axis of rotation D of the joint 3 that rotatably connects the first segment 2.1 and the second segment 2.2.

[0066] If the locking fastener 8 is formed by a first bearing support ring 9.1 detachably connected to the second bearing flange 5.2 of the second segment 2.2, the first bearing support ring forms a first support 10.1 for the first bearing, which rotatably supports the second bearing neck 4.2 of the first segment 2.1 on the second bearing flange 5.2 of the second segment 2.2, wherein the second bearing flange 5.2 is arranged below the first bearing flange 5.1 in the direction of gravity in the basic structure of the robot arm 1, as... Figures 3 to 5 As exemplarily shown, in this embodiment, the first bearing flange 5.1 of the second segment 2.2 may also have a second bearing support ring 9.2 that is releasably fastened, which forms a second support 10 for the second bearing, which rotatably supports the first bearing neck 4.1 of the first segment 2.1 on the first bearing flange 5.1 of the second segment 2.2, wherein the first bearing flange 5.1 is arranged above the second bearing flange 5.2 in the direction of gravity in the basic structure of the robot arm 1.

[0067] Figure 3 This illustrates how the joint 3 formed by the first segment 2.1 and the second segment 2.2 has a structurally limited pivot angle SW of less than 360 degrees. In the case of this embodiment, the pivot angle SW is, for example, less than 270 degrees.

[0068] Such as especially by Figure 3 As can be seen, the opening 7 of the circumferentially open recess 6b is arranged on the second bearing flange 5.2 such that the first segment 2.1 extending from the joint 3 is in the middle pivot position of the joint 3, corresponding to Figures 3 to 5The first segment 2.1, as shown, extends in the angular region of the opening 7 of the circumferentially open recess 6b relative to the direction of the second segment 2.2, and the recess 6b has a pressure support portion 12 on the edge portion opposite to the diameter of the opening 7. Figure 3 , Figure 4 ).

[0069] In this embodiment, the second segment 2.2 forms a carriage with a linear axis, which can be configured, for example, to be linearly height-adjustable along the vertical direction R. For this purpose, the second segment 2.2, or carriage, can have one or more sliders 13, through which the height of the second segment 2.2, or carriage, can be linearly adjusted on a track 14 (shown only schematically) via these sliders. The track 14 can be, for example, secured to a fixed wall or a fixed support.

[0070] The second segment 2.2 can be composed of multiple metal plates, one of which can form the first bearing flange 5.1, and the other can form the second bearing flange 5.2.

[0071] A first motor 15.1, particularly a first electric motor, can be arranged on the second segment 2.2. The first motor 15.1 has a first motor shaft 16.1. The first motor shaft 16.1 may, for example, have a first pinion 17.1 on which a first belt 18.1 is tensioned. The first belt 18.1 drives a first driven pulley 19.1, which is fixedly connected to the first segment 2.1. Driven by the first motor 15.1, the first belt 18.1 drives the first driven pulley 19.1, thereby allowing the first segment 2.1 to automatically pivot relative to the second segment 2.2 due to its fixed connection with the first segment 2.1.

[0072] A second motor 15.2, particularly a second electric motor, may optionally be arranged on the second segment 2.2. The second motor 15.2 has a second motor shaft 16.2. The second motor shaft 16.2 may, for example, have a second pinion 17.2 on which a second belt 18.2 is tensioned. The second belt 18.2 drives a second driven pulley 19.2, which is rotatably supported on the first segment 2.1. Driven by the second motor 15.2, the second belt 18.2 drives the second driven pulley 19.2, thereby allowing the second driven pulley 19.2 to rotate automatically relative to the first segment 2.1, since the second driven pulley 19.2 is rotatably mounted on the first segment 2.1. This rotational motion is transmitted to a third belt 18.3, which is guided along the first segment 2.1 to an additional joint 2 further away on the distal side, particularly such as... Figure 1 and Figure 2 As shown in the diagram. The third belt 18.3 is wound around the third driven pulley 19.3. Figure 1 and Figure 2 The third driven wheel is fixedly connected to the third segment 2.3 of the robot arm 1 or the second structural component 1b of the robot arm 1. Driven by the second motor 15.2, the second belt 18.2 drives the second driven wheel 19.2, which in turn drives the third driven wheel 19.3 via the third belt 18.3. Thus, due to the fixed connection between the third driven wheel 19.3 and the third segment 2.3, the third segment 2.3 can move automatically relative to the first segment 2.1, particularly pivoting. The third belt 18.3 can be pre-tensioned by the belt tensioner 20.

[0073] Used for assembling robotic arms, especially for assembling such as Figures 1 to 5 The method of the robot arm 1 shown includes Figure 6 The steps are illustrated schematically.

[0074] In the first step S1, the first structural component 1a of the limbs 2 and joints 3 of the robot arm 1 is pre-assembled, wherein one limb 2 of the first structural component 1a has a first limb 2.1, which has a first bearing neck 4.1 and a second bearing neck 4.2 opposite to the first bearing neck 4.1.

[0075] In the second step S2, the second structural assembly 1b of the limbs 2 and joints 3 of the robot arm 1 is pre-assembled, wherein one limb 2 of the second structural assembly 1b has a second limb 2.2, which has: a first bearing flange 5.1 designed to rotatably accommodate the first bearing neck 4.1 of the first limb 2.1; and a second bearing flange 5.2 designed to rotatably accommodate the second bearing neck 4.2 of the first limb 2.1.

[0076] Here, the first bearing flange 5.1 of the second segment 2.2 has a circumferentially closed clearance 6a, the second bearing flange 5.2 of the second segment 2.2 has a circumferentially open clearance 6b, and the opening 7 of the circumferentially open clearance 6b has an opening width W, which is greater than the width of the second bearing neck 4.2 of the first segment 2.1.

[0077] In the subsequent final assembly of the robot arm 1 by combining the pre-assembled first structural component 1a and the second structural component 1b, the first bearing neck 4.1 of the first segment 2.1 is first introduced obliquely into the circumferentially closed gap 6a of the second segment 2.2 in the third step S3.

[0078] Then, in the fourth step S4, the first segment 2.1 is pivoted to its mounting position aligned with the rotation axis D of the joint 3, wherein the second bearing neck 4.2 of the first segment 2.1 moves radially through the opening 7 of the circumferentially open recess 6b of the second bearing flange 5.2 of the second segment 2.2.

[0079] In the final fifth step S5, the opening 7 of the circumferentially open recess 6b of the second bearing flange 5.2 is closed by the fastener 8, which is fastened to the second bearing flange 5.2 so as to fix the second bearing neck 4.2 of the first segment 2.1 to the second bearing flange 5.2.

[0080] In the illustrated embodiment, the fastener 8 is formed by a first bearing support ring 9.1, which forms a first support 10.1 for a first bearing designed to rotatably support the second bearing neck 4.2 of the first segment 2.1 on the second support flange 5.2 of the second segment 2.2. Here, the second bearing neck 4.2 of the first segment 2.1 is secured to the second bearing flange 5.2 in such a way that after the first segment 2.1 is pivoted to the mounting position and after the second bearing support ring 4.2 moves through the opening 7 of the circumferentially open recess 6b of the second bearing support ring 5.2, the first bearing support ring 9.1 is fastened to the second bearing flange 5.2.

[0081] A second bearing support ring 9.2 is provided, having a second support 10.2 for a second bearing designed to rotatably support the first bearing neck 4.1 of the first segment 2.1 on the first bearing flange 5.1 of the second segment 2.2. Here, the first bearing flange 5.1 of the second segment 2.2 has a mounting space 11, the dimensions of which are determined such that the second bearing support ring 9.2, in a released state from the first bearing flange 5.1, can pivot about a pivot axis S extending at least substantially perpendicular to the rotation axis D of the joint 3 rotatably connecting the first segment 2.1 and the second segment 2.2.

[0082] In this exemplary embodiment, the method includes: in an additional sixth step S6, obliquely inserting the first bearing neck 5.1 of the first segment 2.1 into the circumferentially closed clearance 6a of the second segment 2.2, and inserting the first bearing neck 4.1 of the first segment 2.1 into the second bearing support ring 9.2 with the second bearing support ring 9.2 loosened from the first bearing flange 5.1; and in an additional seventh step S7, after the first segment 2.1 is pivoted to its mounting position aligned with the rotation axis D of the joint 3, fastening the second bearing support ring 9.2 onto the first bearing flange 5.1.

[0083] After the first segment 2.1 pivots to its mounting position aligned with the rotation axis D of the joint 3, the first bearing support ring 9.1 can be fastened to the second bearing flange 5.2 firstly after the second bearing neck 4.2 moves through the opening 7 of the circumferentially open recess 6b of the second bearing flange 5.2, and then the second bearing support ring 9.2 is fastened to the first bearing flange 5.1.

[0084] Before introducing the first bearing neck 4.1 of the first segment 2.1 into the circumferentially closed recess 6a of the second segment 2.2, particularly into the second bearing support ring 9.2, a first rolling bearing can be connected between the first bearing neck 4.1 and the circumferentially closed recess 6a or the second bearing support ring 9.2. Furthermore, before introducing the second bearing neck 4.2 of the first segment 2.1 into the circumferentially open recess 6b of the second segment 2.2, particularly into the first bearing support ring 9.1, a second rolling bearing can be connected between the second bearing neck 4.2 and the circumferentially open recess 7 or the first bearing support ring 9.1.

Claims

1. A robotic arm having a plurality of segments (2) and a plurality of joints (3) adjustablely connecting the segments (2) relative to each other, wherein at least one first segment (2.1) of the segments (2) has a first bearing neck (4.1) and a second bearing neck (4.2) opposite to the first bearing neck (4.1), and the second segment (2.2) hinged to the first segment (2.1) via a joint (3) has a first bearing flange (5.1), the first bearing neck (4.1) of the first segment (2.1) being rotatably supported on the first bearing flange and having a second bearing flange (5.2), the second bearing neck (4.2) of the first segment (2.1) being rotatably supported on the second bearing flange, characterized in that, The first bearing flange (5.1) of the second segment (2.2) has a circumferentially closed opening (6a), in which the first bearing neck (4.1) of the first segment (2.1) is accommodated; and the second bearing flange (5.2) of the second segment (2.2) has a circumferentially open opening (6b), in which the second bearing neck (4.2) of the first segment (2.1) is accommodated, wherein the opening (7) of the circumferentially open opening (6b) has an opening width (W) greater than the width of the second bearing neck (4.2) of the first segment (2.1); and the second bearing flange (5.2) has a locking fastener (8), in which the second bearing neck (4.2) of the first segment (2.1) is fixed to the circumferentially open opening (6b) of the second bearing flange (5.2) by means of the locking fastener.

2. The robotic arm according to claim 1, characterized in that, The locking fastener (8) is formed by a first bearing support ring (9.1) that is detachably connected to the second bearing flange (5.2) of the second segment (2.2), the first bearing support ring forming a first support (10.1) for the first bearing, the first bearing rotatably supporting the second bearing neck (4.2) of the first segment (2.1) on the second bearing flange (5.2) of the second segment (2.2).

3. The robotic arm according to claim 1, characterized in that, The first bearing flange (5.1) of the second segment (2.2) has a second bearing support ring (9.2) that can be loosely fastened, the second bearing support ring forming a second support (10.2) for the second bearing, the second bearing rotatably supporting the first bearing neck (4.1) of the first segment (2.1) on the first bearing flange (5.1) of the second segment (2.2), wherein the first bearing flange (5.1) of the second segment (2.2) has an assembly space (11) sized such that the second bearing support ring (9.2) can pivot within the assembly space (11) about a pivot axis (S) extending at least substantially perpendicular to the axis of rotation (D) of the joint (3) that rotatably connects the first segment (2.1) and the second segment (2.2).

4. The robotic arm according to claim 2, characterized in that, The first bearing flange (5.1) of the second segment (2.2) has a second bearing support ring (9.2) that can be loosely fastened, the second bearing support ring forming a second support (10.2) for the second bearing, the second bearing rotatably supporting the first bearing neck (4.1) of the first segment (2.1) on the first bearing flange (5.1) of the second segment (2.2), wherein the first bearing flange (5.1) of the second segment (2.2) has an assembly space (11) sized such that the second bearing support ring (9.2) can pivot within the assembly space (11) about a pivot axis (S) extending at least substantially perpendicular to the axis of rotation (D) of the joint (3) that rotatably connects the first segment (2.1) and the second segment (2.2).

5. The robotic arm according to claim 1, characterized in that, The locking fastener (8) is formed by a first bearing support ring (9.1) that is detachably connected to the second bearing flange (5.2) of the second segment (2.2). The first bearing support ring forms a first support (10.1) for the first bearing, which rotatably supports the second bearing neck (4.2) of the first segment (2.1) on the second bearing flange (5.2) of the second segment (2.2). The second bearing flange (5.2) is arranged along the direction of gravity on the first bearing flange (5.1) in the basic structure of the robot arm (1). Below, and the first bearing flange (5.1) of the second segment (2.2) has a second bearing support ring (9.2) that can be loosely fastened, the second bearing support ring forming a second support (10.2) for the second bearing, the second bearing rotatably supporting the first bearing neck (4.1) of the first segment (2.1) on the first bearing flange (5.1) of the second segment (2.2), wherein the first bearing flange (5.1) is arranged above the second bearing flange (5.2) in the direction of gravity in the basic structure of the robot arm (1).

6. The robotic arm according to any one of claims 1 to 5, characterized in that, The joint formed by the first segment (2.1) and the second segment (2.2) has a structurally limited pivot angle (SW) of less than 360 degrees, wherein the opening (7) of the circumferentially open recess (6b) is arranged on the second bearing flange (5.2) such that the first segment (2.1) extending from the joint (3) extends within the angular range of the opening (7) of the circumferentially open recess (6b) at the intermediate pivot position of the joint (3), and the recess (6b) has a pressure support (12) on the edge portion opposite to the diameter of the opening (7).

7. A method for assembling a robotic arm, comprising the following steps: - A first structural assembly (1a) pre-assembles the limbs (2) and joints (3) of the robot arm (1), wherein one limb (2) of the first structural assembly (1a) has a first limb (2.1), the first limb having a first bearing neck (4.1) and a second bearing neck (4.2) opposite to the first bearing neck (4.1). - A second structural assembly (1b) pre-assembles the limbs (2) and joints (3) of the robot arm (1), wherein one limb (2) of the second structural assembly (1b) has a second limb (2.2) having: a first bearing flange (5.1) designed to rotatably accommodate a first bearing neck (4.1) of the first limb (2.1); and a second bearing flange (5.2) designed to rotatably accommodate a second bearing neck (4.2) of the first limb (2.1). Wherein, the first bearing flange (5.1) of the second segment (2.2) has a circumferentially closed opening (6a), the second bearing flange (5.2) of the second segment (2.2) has a circumferentially open opening (6b), and the opening (7) of the circumferentially open opening (6b) has an opening width (W), which is greater than the width of the second bearing neck (4.2) of the first segment (2.1). - The robot arm (1) is finally assembled by combining the pre-assembled first structural component (1a) and second structural component (1b), wherein, firstly, the first bearing neck (4.1) of the first segment (2.1) is obliquely introduced into the circumferentially closed recess (6a) of the second segment (2.2); then the first segment (2.1) is pivoted to its mounting position aligned with the rotation axis (D) of the joint (3), wherein the second bearing neck (4.2) of the first segment (2.1) moves radially through the opening (7) of the circumferentially open recess (6b) of the second bearing flange (5.2) of the second segment (2.2); finally, the opening (7) of the circumferentially open recess (6b) of the second bearing flange (5.2) is closed by a fastener (8), which is fastened to the second bearing flange (5.2) to secure the second bearing neck (4.2) of the first segment (2.1) to the second bearing flange (5.2).

8. The method according to claim 7, characterized in that, The fastener (8) is formed by a first bearing support ring (9.1), which forms a first support (10.1) for a first bearing. The first bearing is designed to rotatably support the second bearing neck (4.2) of the first segment (2.1) on the second bearing flange (5.2) of the second segment (2.2), wherein the second bearing neck (4.2) of the first segment (2.1) is fixed to the second bearing flange (5.2) in such a way that the first bearing support ring (9.1) is fastened to the second bearing flange (5.2) after the first segment (2.1) pivots to the mounting position and after the second bearing neck (4.2) moves through the opening (7) of the circumferentially open recess (6b) of the second bearing flange (5.2).

9. The method according to claim 7, characterized in that, A second bearing support ring (9.2) is provided, having a second support (10.2) for a second bearing designed to rotatably support a first bearing neck (4.1) of the first segment (2.1) on a first bearing flange (5.1) of the second segment (2.2), wherein the first bearing flange (5.1) of the second segment (2.2) has an assembly space (11) sized such that the second bearing support ring (9.2), when disengaged from the first bearing flange (5.1), can revolve around at least substantially perpendicular to the joint (3) rotatably connecting the first segment (2.1) and the second segment (2.2). The pivoting of the pivot axis (S) extending from the rotation axis (D) of the joint (3) includes the following steps: obliquely introducing the first bearing neck (4.1) of the first segment (2.1) into the circumferentially closed clearance (6a) of the second segment (2.2), and introducing the first bearing neck (4.1) of the first segment (2.1) into the second bearing support ring (9.2) in the state of the second bearing support ring (9.2) being released from the first bearing flange (5.1), and after the first segment (2.1) pivots to its mounting position aligned with the rotation axis (D) of the joint (3), fastening the second bearing support ring (9.2) to the first bearing flange (5.1).

10. The method according to claim 8, characterized in that, A second bearing support ring (9.2) is provided, having a second support (10.2) for a second bearing designed to rotatably support a first bearing neck (4.1) of the first segment (2.1) on a first bearing flange (5.1) of the second segment (2.2), wherein the first bearing flange (5.1) of the second segment (2.2) has an assembly space (11) sized such that the second bearing support ring (9.2), when disengaged from the first bearing flange (5.1), can revolve around at least substantially perpendicular to the joint (3) rotatably connecting the first segment (2.1) and the second segment (2.2). The pivoting of the pivot axis (S) extending from the rotation axis (D) of the joint (3) includes the following steps: obliquely introducing the first bearing neck (4.1) of the first segment (2.1) into the circumferentially closed clearance (6a) of the second segment (2.2), and introducing the first bearing neck (4.1) of the first segment (2.1) into the second bearing support ring (9.2) in the state of the second bearing support ring (9.2) being released from the first bearing flange (5.1), and after the first segment (2.1) pivots to its mounting position aligned with the rotation axis (D) of the joint (3), fastening the second bearing support ring (9.2) to the first bearing flange (5.1).

11. The method according to claim 10, characterized in that, After the first segment (2.1) is pivoted to its mounting position aligned with the rotation axis (D) of the joint (3), the first bearing support ring (9.1) is first fastened to the second bearing flange (5.2) after the second bearing neck (4.2) passes through the opening (7) of the circumferentially open recess (6b) of the second bearing flange (5.2), and then the second bearing support ring (9.2) is fastened to the first bearing flange (5.1).

12. The method according to claim 10 or 11, characterized in that, Before introducing the first bearing neck (4.1) of the first segment (2.1) into the circumferentially closed recess (6a) of the second segment (2.2) and into the second bearing support ring (9.2), a first rolling bearing is connected between the first bearing neck (4.1) and the circumferentially closed recess (6a) or the second bearing support ring (9.2); and / or before introducing the second bearing neck (4.2) of the first segment (2.1) into the circumferentially open recess (6b) of the second segment (2.2) and into the first bearing support ring (9.1), a second rolling bearing is connected between the second bearing neck (4.2) and the circumferentially open recess (6b) or the first bearing support ring (9.1).

13. The method according to claim 7, characterized in that, The method is used to assemble the robot arm (1) according to any one of claims 1 to 6.

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