Sealing of radial gap between two limbs of robotic arm

Abstract

The invention relates to a robot arm, comprising: at least two elements (11, 12) which are connected to one another in a joint (13) so as to be rotatable relative to one another about an axis of rotation (D); and a sealing device, which has a sealing carrier (20), which is fastened to one of the two limbs, and an elastic seal (30), which is supported on the sealing carrier on the one hand and on the other of the two limbs, and a sealing means for sealing a radial gap (S) between the one limb and the other limb.

Description

Technical Field

[0001] The invention relates to sealing a radial gap between two segments of a robot arm. Background Art

[0002] A robot arm usually has a plurality of joints, wherein every two limbs of the robot arm are connected to each other so as to be rotatable relative to each other about the rotation axis of the corresponding joint.

[0003] Radial shaft sealing rings according to DIN 3760 are commonly used to seal radial gaps between components that can rotate relative to one another. However, these radial shaft sealing rings have fixed outer and inner diameters, as well as widths, so the components to be sealed must be adjusted accordingly based on the preselected dimensions of the radial shaft sealing ring. This can, in particular, result in housing components and / or shafts having to be made unnecessarily larger and / or heavier in order to accommodate the corresponding radial shaft sealing rings. Summary of the Invention

[0004] The object of the present invention is to improve the sealing of the radial gap between two segments of a robot arm in order to advantageously reduce, in particular avoid, the above-mentioned disadvantages.

[0005] The object of the invention is achieved by a robot arm having the features of claim 1. Claims 14 to 16 claim a corresponding sealing device or the use thereof, or a method for sealing at least one radial gap of a robot arm in the manner described herein, in particular using a corresponding sealing device or the use thereof. The dependent claims relate to preferred developments, wherein the features of the dependent claims referring to claim 1 can also form features of preferred developments of the subject matter of claims 14 to 16.

[0006] According to one embodiment of the invention, the robot arm has one or more limb pairs, each limb pair having two limbs, which are respectively connected to each other in a joint (of the corresponding limb pair) so that the limbs can rotate relative to each other around a rotation axis (of the corresponding limb pair or joint), wherein in one embodiment, the two limbs of one or more limb pairs can be rotated around the corresponding rotation axis (respectively) by a drive, preferably an electric motor. In this case, a limb of a limb pair can simultaneously be a limb of another limb pair of the robot arm. In one embodiment, the robot arm has at least three joints, in particular exactly or at least six joints, and in one embodiment exactly or at least seven joints.

[0007] According to one embodiment of the present invention, in order to seal the radial gap between one limb of one or more limb pairs (which, without loss of generality, is also (respectively) referred to as the first limb of the (respective) limb pair) and the other limb of the (respective) limb pair (which, without loss of generality, is (respectively) referred to as the second limb of the (respective) limb pair), a sealing device is (respectively) provided or used, which has a sealing carrier and an elastic sealing member, wherein the sealing carrier is fastened on the (respective) one or the first limb of the two limbs, wherein the elastic seal is supported on the sealing carrier on the one hand and on the (respective) other or the second limb on the other hand in order to seal the (respective) radial gap between the (respective) one or the first limb of the (respective) two limbs and the (respective) other limb or the second limb, preferably supported (at least) in the radial direction, in particular being tensioned or compressed between them (at least in the radial direction).

[0008] In one embodiment, by (correspondingly) configuring or using separate sealing carriers, in one embodiment, the dimensions of the two segments can advantageously be (more) freely set. Additionally or alternatively, in one embodiment, material and weight can thereby be reduced, in particular the weight on one side of the (corresponding) one or the first segment. Additionally or alternatively, in one embodiment, the sealing carrier and / or the seal can thus be (more) simply adapted without having to change one or the first segment and / or the other or the second segment. Additionally or alternatively, in one embodiment, the sealing carrier and / or the seal can thus be (more) simply installed, disassembled, maintained and / or inspected.

[0009] In particular, one or the first limb of one or more limb pairs can be in particular (respectively) a limb on the proximal side or the base side of the robot arm, while the other or the second limb of the one or more limb pairs can be a limb on the distal side or the end effector side of the robot arm. This is particularly advantageous because the limb on the distal side does not have to bear the weight of the sealing device to be described below. Similarly, one or the first limb of the one or more limb pairs can be a limb on the distal side or the end effector side of the robot arm, while the other or the second limb of the one or more limb pairs can be a limb on the proximal side or the base side of the robot arm. This can also be particularly advantageous for the present invention, in particular because the weight of the first limb can be reduced as described below.

[0010] In one embodiment, the seal carrier and / or the elastic seal are annular.

[0011] In one embodiment, the sealing effect and / or the assembly can thereby be improved.

[0012] In one embodiment, the seal carrier and / or the elastic seal (in each case) are constructed in one piece.

[0013] In this way, in one embodiment, the weight can be (further) reduced.

[0014] In one embodiment, the seal carrier and / or the elastic seal (in each case) are constructed in multiple parts.

[0015] In one embodiment, the assembly and / or the functionality can thereby be (further) improved.

[0016] In particular, it is also possible here to design the seal carrier in one piece and the elastic seal in multiple pieces, or vice versa, to design the seal carrier in multiple pieces and the elastic seal in one piece.

[0017] In one embodiment, the one or more seal carriers are (respectively) fastened to the (respective) one or first member with a friction fit, in one embodiment by producing an interference fit between the seal carrier and the one or first member, and / or by press-fitting or press-fitting and / or heat-shrinking, preferably in the axial direction. "Axis" in this context is understood to be the (respective) axis of rotation, and "radial" accordingly refers to a direction perpendicular to and about the (respective) axis of rotation, or a rotational or circumferential direction, preferably pointing outwards from the (respective) axis of rotation.

[0018] In this way, in one embodiment, an advantageous, preferably low-vibration fastening can be achieved.

[0019] Additionally or alternatively, in one embodiment, one or more sealing carriers and / or one or more further sealing carriers are (respectively) fastened in a form-fitting manner to the (corresponding) one or first limb, and in one embodiment are locked (gesichert), preferably fixed (fixiert) or set (festgelegt) in the axial, radial and / or circumferential direction.

[0020] In this way, in one embodiment, an advantageous, preferably (more) robust fastening can be achieved.

[0021] Additionally or alternatively to the form-fitting and / or friction-fitting fastening, the seal carrier or seal carriers are (in each case) materially fastened to one or the first limb, in one embodiment by gluing and / or welding.

[0022] In this way, in one embodiment, an advantageous, preferably (more) reliable fastening can be achieved.

[0023] Particularly preferred is a combination of adhesive bonding with press-fitting or force-fitting and / or heat-tightening, whereby, as described above, a particularly reliable and simultaneously low-vibration fastening can be achieved.

[0024] In one embodiment, one or more sealing carriers are (respectively) fastened in a radial recess in the wall of a (corresponding) one or first segment, preferably in an area of ​​a thin-walled wall, preferably in a recess arranged on the end side, preferably in an annular recess that is open toward the end side of the wall.

[0025] Thereby, in one embodiment, the seal carrier can be positioned in a (more) reliable, (more) compact, (more) simple and / or (more) protected manner.

[0026] In one embodiment, one or more seal carriers are (in each case) arranged on the inner side of a (respective) one or the first limb.

[0027] Thereby, in one embodiment, the seal carrier can be positioned (more) reliably, (more) compactly and / or (more) protected.

[0028] In one embodiment, one or more seal carriers are (in each case) arranged on the outer side of a (respective) one or the first limb.

[0029] As a result, in one embodiment, the seal carrier can be positioned (more) simply and / or the member can be advantageously dimensioned.

[0030] In one embodiment, one or more elastic seals are (respectively) arranged on the inner side of the (respective) further or second limb.

[0031] Thereby, in one embodiment, the seal can be positioned (more) reliably, (more) compactly and / or (more) protected.

[0032] In one embodiment, one or more elastic seals are (respectively) arranged on the outer side of the (respective) other or second limb.

[0033] Thus, in one embodiment, the seal can be positioned and / or maintained (more) simply.

[0034] In one embodiment, one or more elastic seals are (respectively) supported in a radial recess in the wall of (corresponding) another or second segment, preferably in an area of ​​a thin-walled wall, preferably in a recess arranged on the end side, preferably in an annular recess that is open toward the end side of the wall.

[0035] Thus, in one embodiment, the seal can be (more) simply assembled and / or maintained.

[0036] In one embodiment, one or more seal carriers have (each) a radial depression, in a further development a radial groove, in which the (corresponding) seal is supported and, in one embodiment, is fixed axially on one or both sides.

[0037] Thus, in one embodiment, the seal can be positioned (more) securely and / or (more) compactly and / or (more) protected.

[0038] In one embodiment, one or more of the one or first members (respectively) are one-piece or multi-piece metal components and / or castings.

[0039] This is particularly advantageous for robot arm members, in particular due to their shape and stability requirements. In particular, the invention can be used particularly advantageously for (metal) castings, since such one or more sealing carriers can significantly save material and reduce weight, or the casting can be dimensioned (more) advantageously.

[0040] Additionally or alternatively, in one embodiment, one or more seal carriers can (respectively) be a one-piece or multi-piece metal component. Thus, in one embodiment, the relevant seal can be (more) reliably supported.

[0041] Additionally or alternatively, in one embodiment, one or more of the first or the second member and the sealing carrier (respectively) fastened thereto are made of different materials. In one embodiment, one or more of the first or the second member and the sealing carrier (respectively) fastened thereto are made of the same material.

[0042] In one embodiment, the weight can be (further) reduced by producing the link and the seal carrier from different materials; in one embodiment, the connection between the link and the seal carrier can be improved by producing them from the same material.

[0043] Additionally or alternatively, in one embodiment, one or more seal carriers and (respectively) the seal supported thereon are (respectively) made of different materials and / or one or more seals are (respectively) a one-piece or multi-piece plastic component.

[0044] In this way, in one embodiment, the sealing effect can be improved.

[0045] In one embodiment, one or more of the first members and / or one or more of the seal carriers comprise aluminum, in particular at least one aluminum alloy.

[0046] In this way, in one embodiment, the weight can be (further) reduced.

[0047] In one embodiment, the sealing device or sealing devices are (respectively) designed such that the sealing achieved by the (respective) seal between two segments satisfies at least IP5 and / or IP54 protection class, in particular according to ISO 20653 and / or DIN EN 60529.

[0048] In one embodiment, the robot arm can thus be designed or used particularly advantageously.

[0049] As mentioned above, the present invention also relates to: the use of one or more sealing devices described herein for sealing a radial gap between two connected joints of a robotic arm that are rotatable relative to each other about a rotation axis in a joint; a sealing device having a sealing carrier and an elastic sealing element for sealing a radial gap between two connected joints of a robotic arm described herein that are rotatable relative to each other about a rotation axis in a joint; and a method for sealing a radial gap between one, or a first, joint and the other, or a second, joint of one or more joint pairs of robotic arms described herein. The aforementioned advantages also apply to this use, this sealing device, or this method.

[0050] In one embodiment, one or more seal carriers are (respectively) fastened to a (respective) first limb, and in this case or during this process, preferably by means of this fastening, the (respective) elastic seal is tensioned, preferably (at least) in the radial direction or compressed, in order to seal the radial gap between the seal carrier and the other or second limb. This simplifies the assembly of the seal in one embodiment.

[0051] In one embodiment, one or more seal carriers are (respectively) fastened to a (respective) first segment, and subsequently, or while the seal carriers are fastened, the (respective) elastic seal is preferably (at least) tensioned, in particular compressed, in the radial direction to seal the radial gap between the seal carrier and the other segment, in one embodiment, by assembling the (respective) other segment to the one segment, in one embodiment. Thus, in one embodiment, the segments can be simplified. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Further advantages and features are given by the dependent claims and the exemplary embodiments. To this end, in part schematically:

[0053] Figure 1shows a robotic arm according to one embodiment of the present invention; and

[0054] Figure 2 The joint details of the robot arm are shown in axial cross-section. DETAILED DESCRIPTION

[0055] Figure 1 A six-axis robot arm is shown as an example, which is preferably designed for collaboration with humans or designed or used for this purpose and / or, in one embodiment, is arranged on a mobile platform. Due to the corresponding common boundary conditions, the present invention is particularly advantageous for this purpose, but is not limited thereto.

[0056] exist Figure 2 The details of the base 11 and the turntable 12 are shown in an enlarged sectional view, which are rotatably connected to each other around a vertical rotation axis D in a rotary joint 13 on the proximal side. The present invention will be described below using this embodiment as an example, because this joint represents a particularly preferred application. Additionally or alternatively, the present invention can also be advantageously applied to other joints, such as subsequent joints with horizontal rotation axes. As mentioned above, without loss of generality, one limb (taking the base 11 as an example) is referred to as the "first limb" and the other limb (taking the turntable 12 as an example) is referred to as the "second limb", but it is particularly advantageous here that the corresponding proximal limb is the first limb.

[0057] Figure 2 A (part of) an annular sealing carrier 20 is shown, which has an axial flange 20A, which is pressed into an end-side radial recess 11B in the wall 11A of the base 11 and is additionally bonded therein and is thus arranged on the inner side of the base 11.

[0058] The annular elastic seal 30 is radially supported in the radial annular groove 20B of the seal carrier 20 on the one hand and in the radial recess 12B on the end side of the wall 12A of the rotary disk 12 on the other hand, and is compressed in the radial direction therebetween. By being supported in the annular groove 20B in this way, it can be compressed in the radial direction on both sides (at Figure 2 is axially locked.

[0059] Thereby, the radial gap S between the base 11 and the rotary disk 12 is advantageously sealed.

[0060] While the foregoing description describes exemplary embodiments, it should be noted that many variations are possible. Furthermore, it should be noted that the exemplary embodiments are merely illustrative and should not be construed as limiting the scope, application, or configuration of the present invention. Rather, the foregoing description provides guidance to those skilled in the art for implementing modifications to at least one exemplary embodiment, wherein various variations, particularly with respect to the functionality and arrangement of the components, may be implemented without departing from the scope of the present invention, such as may be achieved according to the claims and their equivalent feature combinations.

[0061] Reference Signs List

[0062] 10 Robotic Arm

[0063] 11 Base

[0064] 11A wall

[0065] 11B Radial depression

[0066] 12 turntables

[0067] 12A wall

[0068] 12B Radial Depression

[0069] 13 joints

[0070] 20 Seal carrier

[0071] 20A flange

[0072] 20B radial groove

[0073] 30 elastic seal

[0074] D Rotation axis

[0075] S radial clearance.

Claims

1. A robot arm comprising: at least two limbs (11, 12), which are rotatably connected to each other in a joint (13) around a rotation axis (D); and a sealing device, which has a sealing carrier (20) and an elastic seal (30), wherein the sealing carrier is fastened to one of the two limbs, wherein the seal is supported on the one hand on the sealing carrier and on the other hand on the other limb of the two limbs to seal a radial gap (S) between the one limb and the other limb.

2. The robot arm according to claim 1, characterized in that: The seal carrier is fastened to the one limb in a friction-fitting, form-fitting and / or materially bonding manner.

3. A robot arm according to any one of the preceding claims, characterized in that The seal carrier is secured in a radial recess (11B) in a wall (11A) of the one segment and / or an interference fit is formed between the seal carrier and the one segment.

4. A robot arm according to any one of the preceding claims, characterised in that The seal carrier is arranged on the inner side of the one member.

5. The robot arm according to any one of the preceding claims 1 to 3, characterized in that The seal carrier is arranged on the outer side of the one member.

6. A robot arm according to any one of the preceding claims, characterised in that The seal is arranged on the inner side of the further member.

7. The robot arm according to any one of the preceding claims 1 to 5, characterized in that The seal is arranged on the outer side of the other member.

8. A robot arm according to any one of the preceding claims, characterised in that The seal is supported in a radial recess (12B) in the wall (12A) of the other segment.

9. A robot arm according to any one of the preceding claims, characterised in that The seal carrier has a radial depression, in particular a groove (20B), in which the seal is supported, in particular axially locked.

10. A robot arm according to any one of the preceding claims, characterised in that The one joint is a one-piece or multi-piece metal component and / or a casting, and / or the seal carrier is a one-piece or multi-piece metal component, and / or the seal is a one-piece or multi-piece plastic component, and / or the seal carrier and the seal are made of different materials.

11. A robot arm according to any one of the preceding claims, characterised in that The seal carrier and the one member are made of different materials.

12. The robot arm according to any one of the preceding claims 1 to 10, characterized in that The seal carrier and the one limb are made of the same material.

13. A robot arm according to any one of the preceding claims, characterised in that The sealing between the two members by the seal at least satisfies protection class IP5 and / or IP54.

14. A sealing device having a sealing carrier (20) and an elastic seal (30) is used to seal a radial gap (S) between two limbs (11, 12) of a robot arm (10) according to any of the preceding claims, wherein the two limbs are rotatably connected to each other around a rotation axis (D) in a joint (13).

15. A sealing device having a sealing carrier (20) and an elastic seal (30) for sealing a radial gap (S) between two joints (11, 12) of a robot arm (10) according to any of the preceding claims, wherein the two joints are rotatably connected to each other around a rotation axis (D) in a joint (13).

16. A method for sealing a radial gap (S) between one of two segments (11, 12) of at least one segment pair of a robot arm (10), in particular according to any one of the preceding claims 1 to 13, wherein the two segments are rotatably connected to each other in a joint (13) about a rotation axis (D), wherein: A sealing carrier (20), in particular a sealing carrier of a sealing device according to claim 15, is fastened to the one limb, and in this case or thereafter an elastic seal (30), in particular a sealing carrier of a sealing device according to claim 15, is tensioned to seal the radial gap between the sealing carrier and the other limb.

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