Robot transmission mechanism and robot arm having such robot transmission mechanism

Abstract

The present invention relates to a robot transmission mechanism (1) having an annular space (9) in which a cable (8) forming a cable loop (8a) is guided, wherein the annular space (9) is formed radially inward by at least one inner wall (10.1, 10.2) of two housing portions (6.1, 6.2), and radially outward by at least one outer wall (11.1, 11.2), wherein flanges (12.1, 12.2) are arranged on the outer walls (11.1, 11.2), the flanges being designed for axially connecting the segments (13) of a robot arm (14), and the annular space (9) having at least one axial opening (15.1, 15.2) constructed in at least one housing portion (6.1, 6.2) to allow the cable (8) to be axially led out from the robot transmission mechanism (1). The invention also relates to a robot arm (14) having such a robot transmission mechanism (1).

Description

Technical Field

[0001] The present invention relates to a robot transmission mechanism comprising: a transmission component assembly having a plurality of transmission components and a driven end component; a drive-side first housing portion having a drive-side first connecting portion for connecting one of the transmission components of the transmission component assembly; a driven-side second housing portion having a driven-side second connecting portion for connecting the driven end component of the transmission component assembly; and an annular space designed for guiding a cable loop, wherein a cable forming the cable loop is guided in the annular space. Background Technology

[0002] US 9802327B2 describes a robotic arm comprising a plurality of rotatably connected arms. Each of the plurality of arms includes a plurality of segments and an actuator for rotating the segments, wherein the actuator includes a cover disposed on an outer surface of the actuator. The actuator includes a motor for rotating the plurality of segments, and the motor has a motor housing. A collar is fixedly mounted on a reduction gear for slowing the rotation of the motor and outputting torque. A conduit element includes at least one wire or tube, wherein at least a portion of the conduit element is disposed between a surface comprising a first body segment formed by the motor housing and the collar and a surface comprising a second body segment comprising the cover. The first and second body segments are configured in an hourglass shape. Summary of the Invention

[0003] The object of this invention is to provide a robot transmission mechanism that is very compact and easy to install. Another object of this invention is to provide a robot arm that is slender and can be easily assembled from pre-assembled components.

[0004] The objective of this invention is achieved through a robot transmission mechanism, which has the following features: - A transmission component assembly, comprising multiple transmission components and a driven-side end component. - The drive-side first housing portion has a drive-side first connecting portion for connecting one of the transmission components of the transmission component assembly. - The driven-side second housing portion has a driven-side second connecting portion for connecting the driven-side end member of the transmission member assembly. - An annular space designed to guide the cable loop, within which the cable forming the cable loop is guided, wherein... - The annular space is formed radially inward by the first inner wall of the first housing portion on the driving side and / or by the second inner wall of the second housing portion on the driven side, and - The annular space is formed radially outward by the first outer wall of the first housing portion on the driving side and / or by the second outer wall of the second housing portion on the driven side, wherein... - A first flange is arranged on the first outer wall of the first housing portion on the drive side, the first flange being designed for axially connecting the first segment of the robot arm on the drive side; and / or a second flange is arranged on the second outer wall of the second housing portion on the driven side, the second flange being designed for axially connecting the second segment of the robot arm on the driven side, and - The annular space has an axial first opening, which is constructed in the first housing portion on the drive side so as to allow the cable to be axially led out from the robot transmission mechanism; and / or the annular space has an axial second opening, which is constructed in the second housing portion on the driven side so as to allow the cable to be axially led out from the robot transmission mechanism.

[0005] The robot transmission mechanism can be specifically designed as a gear transmission mechanism. The robot transmission mechanism can particularly have at least one planetary gear set and / or at least one stress wave transmission mechanism. The robot transmission mechanism is designed as a combined transmission mechanism with rotary bearings for forming the robot's rotary joints. The robot transmission mechanism has at least two housing parts, particularly transmission mechanism housing halves. In this regard, the at least two housing parts can complement each other to form a closed transmission mechanism housing. The at least two housing parts can enclose the transmission mechanism such that, on the one hand, no oil or grease can escape from the inside of the transmission mechanism housing of the robot transmission mechanism, and on the other hand, no dirt, dust, or moisture can penetrate the inside of the transmission mechanism housing of the robot transmission mechanism. For this purpose, the robot transmission mechanism can have corresponding dynamic and static seals. The robot transmission mechanism, particularly the at least two housing parts, can form part of the load-bearing structure of the robot arm, so that all static and dynamic forces and / or torques to be transmitted through the kinematic chains of the robot arm's segments and joints can be transmitted through the robot transmission mechanism, and particularly also through the at least two housing parts of the robot transmission mechanism.

[0006] A transmission assembly having multiple drive members and a driven end member, for example in the case of a gear transmission mechanism, may have multiple gears in corresponding meshing states to enable the robot transmission mechanism to achieve the desired deceleration. The drive end member of the transmission assembly may be connected to or coupled to the motor shaft of a drive motor. The driven end member may be connected to or coupled to a segment of the robot arm that follows the robot transmission mechanism in the robot arm's kinematic chain. The driven end member may be constituted, in particular, a housing portion of the robot transmission mechanism, especially a second housing portion as detailed below. The torque to be transmitted through the robot transmission mechanism is introduced into the transmission assembly via the drive end member, and the torque already converted within the robot transmission mechanism is extracted from the transmission assembly via the driven end member.

[0007] The robot transmission mechanism has a drive-side first housing portion, which has a drive-side first connecting portion for connecting one of the transmission members of the transmission component assembly. A drive motor, such as an electric motor, connected to the robot transmission mechanism can be fixed to the first housing portion using its motor housing. The motor shaft is coupled to the drive-side end member of the transmission component assembly. The drive motor can be arranged coaxially with the robot transmission mechanism, specifically along its axis of symmetry, i.e., its motor shaft axis. The drive-side first connecting portion for connecting one of the transmission members of the transmission component assembly can be constructed as a connecting flange to which a transmission member of the transmission component assembly is connected. The supporting torque of the transmission mechanism can be exported to the transmission mechanism housing, i.e., to the first housing portion, through this transmission member. In the case of a planetary transmission mechanism, which has a sun gear as the drive-side end member and a planet carrier as the driven-side end member, for example, the ring gear of the planetary transmission mechanism can be connected to the drive-side first connecting portion of the first housing portion, thus forming a torque support member of the transmission component assembly. In the case of a stress wave transmission mechanism, where, for example, a wave generator forms a drive-side end member, a driven sleeve (flexible spline) forms a driven-side end member connected to the driven-side second housing portion of the robot transmission mechanism, and the inner gear outer ring (circular spline) of the stress wave transmission mechanism can be connected to the drive-side first connecting portion of the first housing portion, thereby forming a torque support member of the transmission mechanism. The drive-side first housing portion specifically refers to the housing portion of the robot transmission mechanism facing the drive motor connected to the robot transmission mechanism.

[0008] Therefore, the robot transmission mechanism also has a driven-side second housing portion, which has a driven-side second connecting portion for connecting the driven-side end member of the transmission component assembly. Thus, in the case of a stress wave transmission mechanism, a driven sleeve (flexible spline) can be formed as a driven-side end member connected to the driven-side second housing portion of the robot transmission mechanism. The driven-side second housing portion can be sealed relative to the drive-side first housing portion by means of a dynamic seal, particularly a radial shaft sealing ring. The driven-side second housing portion specifically refers to the housing portion of the robot transmission mechanism that faces away from the drive motor to which the robot transmission mechanism is connected.

[0009] Furthermore, the robot transmission mechanism also has an annular space designed to guide the cable loop, within which the cable forming the loop is guided. The cable passing through the robot transmission mechanism is guided inside the annular space. This is particularly necessary so that the first housing portion can perform rotational movement relative to the second housing portion, and the cable guided in the annular space can compensate for this relative rotational movement, especially preventing undesirable bending, twisting, or even breakage during this process. To this end, the cable forms a cable loop inside the annular space, which in turn forms a cable allowance stored in the annular space. This allowance compensates for changes in the cable's position or state (Lage) in the axial first opening region of the annular space relative to its position or state in the axial second opening region of the annular space. Depending on the relative rotational position of the first housing portion relative to the second housing portion, sections of the cable loop are wound more or less around a portion of the circumference of the annular space in single or double turns.

[0010] The cable can be axially led out of the robot drive mechanism by means that the cable end section is loosely led out mechanically and electrically from the annular space through a first axial opening in the first housing and / or a second axial opening in the second housing. Alternatively, the cable can also be axially led out of the robot drive mechanism by means that the cable end section is led out of the annular space, not mechanically but electrically, through the corresponding electrical contacts of the first and / or second connectors, through a first connector located at the first axial opening in the first housing and / or a second connector located at the second axial opening in the second housing.

[0011] The annular space is formed radially inward by the first inner wall of the first housing portion on the driving side and / or by the second inner wall of the second housing portion on the driven side. Furthermore, the annular space is formed radially outward by the first outer wall of the first housing portion on the driving side and / or by the second outer wall of the second housing portion on the driven side.

[0012] If the transmission housing of the robot's transmission mechanism is formed by at least two housing halves of approximately the same size, then the annular space is formed radially inward by a first inner wall of the driving-side first housing half and a second inner wall of the driven-side second housing half, wherein these two inner walls have at least approximately the same axial depth in the axial direction. In the same sense, the annular space is then formed radially outward by a first outer wall of the driving-side first housing half and a second outer wall of the driven-side second housing half, wherein these two outer walls have at least approximately the same axial depth in the axial direction. The axial depth of the inner wall can correspond to, or be at least approximately equal to, the axial depth of the outer wall.

[0013] Alternatively, the first and second housing portions can have significantly different sizes, for example, when the parting plane (Teilungsebene) of the housing half is not axially centered. Therefore, one housing portion can be constructed to be significantly smaller in the axial direction than the other. In an extreme design, one housing half can, for example, be reduced to a purely disc-shaped end cap, while the other housing half at least approximately completely has an outer and inner wall of an annular space. This other housing half, at least approximately completely having an outer and inner wall of an annular space, can optionally be either the first or the second housing portion.

[0014] A first flange is arranged on the first outer side wall of the first housing portion on the drive side, the first flange being designed for axially connecting the first segment of the robot arm on the drive side; and / or a second flange is arranged on the second outer side wall of the second housing portion on the driven side, the second flange being designed for axially connecting the second segment of the robot arm on the driven side.

[0015] The first flange is designed to detachably fasten the first segment of the robot arm. The second flange is designed to detachably fasten the second segment of the robot arm, wherein the first and second segments of the robot arm are connected by a robot transmission mechanism that forms a robot arm joint directly connecting the first and second segments. The first and second flanges are spaced apart from each other in the axial direction such that at least one of the robot transmission mechanisms is located on the outer wall between the first and second flanges, i.e., outside the first and / or second housing portions, and may form part of the outer surface of the robot arm if necessary. Therefore, in this case, the robot transmission mechanism is not housed inside the cavity of a separate housing of the robot arm segment, but rather forms more of a load-bearing component of the robot arm, in such a way that static and dynamic forces and / or torques to be transmitted due to the weight of the robot arm and / or due to dynamic forces originating from the movement of the robot arm are transmitted through the first and / or second housing portions of the robot transmission mechanism.

[0016] The first flange may, for example, have multiple first axial holes, which are evenly distributed along a common circumference. First axial bolts can be inserted through these first axial holes and screwed into the corresponding internal threads on a segment of the robot arm to be connected, so as to detachably connect the segment to the first housing portion of the robot transmission mechanism. Similarly, the second flange may, for example, have multiple second axial holes, which are evenly distributed along a common circumference. Second axial bolts can be inserted through these second axial holes and screwed into the corresponding internal threads on another segment of the robot arm to be connected, so as to detachably connect the other segment to the second housing portion of the robot transmission mechanism.

[0017] The annular space has a first axial opening constructed in the first housing portion on the drive side to allow the cable to be axially led out from the robot transmission mechanism; and / or the annular space has a second axial opening constructed in the second housing portion on the driven side to allow the cable to be axially led out from the robot transmission mechanism. In this regard, the first opening may be located in an end-side annular sector of the first housing portion, located between the first outer side wall and the first inner side wall. Similarly, the second opening may be located in an end-side annular sector of the second housing portion, located between the second outer side wall and the second inner side wall.

[0018] The axial first opening is located on the drive-side first housing portion, within a circumferential region of the first flange, such that the cable is led out from the robot drive mechanism through the first opening in such a way that the cable is introduced into the cavity of the first segment of the robot arm connected to the first flange of the first housing portion. If necessary, the cable can be further guided from there to other segments of the robot arm.

[0019] Similarly, the axial second opening on the drive-side second housing portion can be located within a circumferential area of ​​the second flange, allowing the cable to be led out from the robot drive unit through the second opening such that the cable is introduced into the cavity of the second segment of the robot arm connected to the second flange of the second housing portion. If necessary, the cable can be further guided from there to other segments of the robot arm.

[0020] The first outer sidewall may form part of the outer surface of the robot arm. Alternatively or additionally, the second outer sidewall may form part of the outer surface of the robot arm.

[0021] Therefore, in this embodiment, the robot transmission mechanism is not housed inside the cavity of a separate housing of the robot arm's segments, but rather forms a load-bearing component of the robot arm, in such a way that static and dynamic forces and / or torques that need to be transmitted due to the robot arm's gravity and / or due to dynamic forces originating from the robot arm's movement are transmitted through the first housing portion and / or the second housing portion of the robot transmission mechanism.

[0022] A radial shaft sealing ring may be arranged between the first housing portion on the driving side and the second housing portion on the driven side.

[0023] Radial shaft seals provide dust and splash protection for robot drive mechanisms. They are particularly available in models that meet IP54 protection standards.

[0024] In the first embodiment, the first housing portion may have a support for the radial shaft sealing ring, and the second housing portion may have a circumferential sealing surface on which the sealing lip of the radial shaft sealing ring contacts.

[0025] In an optional second embodiment, the second housing portion may have a support for the radial shaft sealing ring, and the first housing portion may have a circumferential sealing surface on which the sealing lip of the radial shaft sealing ring contacts.

[0026] The radial shaft seal ring can be optionally designed as a radially inward sealing radial shaft seal ring, wherein the sealing lip is radially inward. Alternatively, the radial shaft seal ring can be designed as a radially outward sealing radial shaft seal ring, wherein the sealing lip is radially outward.

[0027] The radial shaft seal ring may optionally be covered on the circumferential side by an axial annular protrusion of either the first or second housing portion, wherein the axial annular protrusion of the housing portion forms an additional gap seal with the other housing portion. For this purpose, a circumferentially narrowed shoulder on the housing portion may overlap axially with the annular protrusion of the other housing portion.

[0028] The first outer wall of the drive-side first housing portion may have a first support for the radial shaft seal ring, and the second outer wall of the driven-side second housing portion may here carry the first raceway (Laufbahn) for the sealing lip of the radial shaft seal ring. Alternatively, the second outer wall of the driven-side second housing portion may have a second support for the radial shaft seal ring, and the first outer wall of the drive-side first housing portion may here carry the second raceway for the sealing lip of the radial shaft seal ring.

[0029] The first flange of the first housing portion may be provided with a first cylindrical mating surface having a mating dimension that matches the first robot connecting segment. The first cylindrical mating surface may be formed by a radially outer first annular side surface. A corresponding radially inner first mating annular side surface may be provided on the first robot connecting segment. Due to the matching first annular side surface and the first mating annular side surface, the first robot connecting segment can be fitted onto the first flange of the first housing portion with high positional accuracy and tightened thereby with bolts. The first annular side surface may have a first groove in which a surrounding O-ring seal can be placed. With the aid of this O-ring seal, the first housing portion can be statically sealed relative to the first robot connecting segment.

[0030] Alternatively or supplementarily, the second flange of the second housing portion may be provided with a second cylindrical mating surface having a mating dimension that matches the second robot connecting segment. The second cylindrical mating surface may be formed by a radially outer second annular side surface. A corresponding radially inner second mating annular side surface may be provided on the second robot connecting segment. With the adapted second annular side surface and the mating annular side surface, the second robot connecting segment can be fitted onto the second flange of the second housing portion with high positional accuracy and tightened thereby by bolts. The second annular side surface may have a second groove in which an circumferential O-ring seal can be placed. With the aid of this O-ring seal, the second housing portion can be statically sealed relative to the second robot connecting segment.

[0031] Therefore, the first cylindrical mating surface can be equipped with a first static sealing ring. Alternatively or supplementarily, the second cylindrical mating surface can be equipped with a second static sealing ring.

[0032] The first flange of the first housing portion may have first axial holes or first axial threaded holes evenly distributed circumferentially on the robot transmission mechanism, these holes being designed for releasably screwing the first robot connecting segment onto the first housing portion. Alternatively or additionally, the second flange of the second housing portion may have second axial holes or second axial threaded holes evenly distributed circumferentially on the robot transmission mechanism, these holes being designed for releasably screwing the second robot connecting segment onto the second housing portion.

[0033] The first flange may, for example, have multiple first axial holes evenly distributed along a common circumference. First axial bolts can be inserted through these first axial holes and screwed into corresponding internal threads on a segment of the robot arm to be connected, so as to detachably connect that segment to the first housing portion of the robot transmission mechanism. Similarly, the second flange may, for example, have multiple second axial holes evenly distributed along a common circumference. Second axial bolts can be inserted through these second axial holes and screwed into corresponding internal threads on another segment of the robot arm to be connected, so as to detachably connect that other segment to the second housing portion of the robot transmission mechanism.

[0034] The cable may have a first cable end section that extends from the structural unit of the robot transmission mechanism through a first opening in the first housing portion on the drive side. Alternatively or supplementarily, the cable may have a second cable end section that extends from the structural unit of the robot transmission mechanism through a second opening in the second housing portion on the driven side.

[0035] The robot transmission mechanism can be configured as a pre-assembled structural unit, comprising at least one first housing portion, at least one second housing portion, a transmission component, an annular space, and a cable pre-assembled within the annular space. This pre-assembled structural unit of the robot transmission mechanism can be easily and cost-effectively assembled with other structural units of the robot arm during subsequent final assembly. This can be achieved essentially simply by electrically connecting a first cable end section to a first follower cable (Folgekabel) of the remainder of the robot arm. Similarly, a second cable end section can be electrically connected to a second follower cable of the remainder of the robot arm. The first cable end section may have a first connector that can be plugged into a corresponding first mating connector of the first follower cable. The mating of the first connector and the first mating connector may include a first electrical plug and a first electrical socket, or a first electrical coupler. The second cable end section may have a second connector that can be plugged into a corresponding second mating connector of the second follower cable. The pairing of the second connector and the second mating connector may include a second electrical plug and a second electrical socket, or a second electrical coupler. Each of the first connector and / or the second connector may be loosely fastened to the cable, wherein a cable segment of the first cable end section or the second cable end section may extend from the housing of the robot transmission mechanism.

[0036] The cable end section can be secured to the drive-side first housing portion in a direction that is at least substantially axially oriented using a first cable clamp. Alternatively or supplementarily, the cable end section can be secured to the driven-side second housing portion in a direction that is at least substantially axially oriented using a second cable clamp.

[0037] By fixing the first cable end segment and / or the second cable end segment in a substantially axially oriented direction, the first cable end segment and / or the second cable end segment can be inserted into the robot connecting segment and electrically connected therein during final assembly with particular ease. This is particularly suitable for situations where the robot transmission mechanism or its transmission mechanism housing constitutes a sub-segment of the robot structure, wherein this sub-segment transmits static and dynamic forces and / or torques that need to be transmitted due to the gravity of the robot arm and / or the dynamic forces due to the movement of the robot arm, through the first housing portion and / or the second housing portion of the robot transmission mechanism.

[0038] The first opening of the first housing portion on the drive side may be provided with at least one first connector, to which the cable makes electrical contact. Alternatively or supplementarily, the second opening of the second housing portion on the driven side may be provided with at least one second connector, to which the cable makes electrical contact.

[0039] In this implementation, the first cable end section and / or the second cable end section are not loosely led out from the housing of the robot drive mechanism, but rather the cables are entirely located inside the annular space of the robot drive mechanism, and on the end side of the housing of the robot drive mechanism: only the first connector can be accessed from the outside to electrically connect the first follower cable of the rest of the robot arm, in that the first follower cable is plugged into the first connector with its first mating connector; and / or only the second connector can be accessed from the outside to electrically connect the second follower cable of the rest of the robot arm, in that the second follower cable is plugged into the second connector with its second mating connector.

[0040] In one variation, it may be specified that, if necessary, only one plug is provided on the robot transmission mechanism, which closes the first or second opening, and the corresponding other end section of the cable is loosely led out from the annular space, and another electrical connector is loosely secured to the loose cable end only.

[0041] The first connector can completely close the first opening of the annular space and can be securely fastened to the first housing portion by means of the first seal. Alternatively or supplementarily, the second connector can completely close the second opening of the annular space and can be securely fastened to the second housing portion by means of the second seal. This has the advantage that the annular space can be encapsulated in a dustproof and / or splashproof manner, and is already in a pre-assembled component or structural unit state before the final assembly of the robot arm.

[0042] The object of the invention is also achieved by a robotic arm having a plurality of segments and a plurality of joints that are adjustablely connected relative to each other, wherein at least one joint is configured as a rotary joint having a robotic transmission mechanism according to one of the embodiments.

[0043] Optionally, all joints of the robotic arm may be equipped with a robot transmission mechanism according to one of the above embodiments, or only a portion of the joints may be equipped with a robot transmission mechanism according to one of the above embodiments. In a simple embodiment, the robotic arm may, if necessary, have only one unique joint equipped with a robot transmission mechanism according to one of the above embodiments, while the other joints of the robotic arm may be equipped with conventional transmission mechanisms.

[0044] Therefore, the first housing portion of the robot transmission mechanism can constitute a first sub-section of the robot structure, which can be connected, in particular screwed, to a first robot connecting segment. Similarly, the second housing portion of the robot transmission mechanism can constitute a second sub-section of the robot structure, which can be connected, in particular screwed, to a second robot connecting segment. Attached Figure Description

[0045] Specific embodiments of the invention will be described in detail below with reference to the accompanying drawings. Specific features of these exemplary embodiments may be considered individually or in combination as necessary to represent the general features of the invention, regardless of where they are specifically mentioned herein. Wherein: Figure 1 The previous perspective view shows a first embodiment of the robot transmission mechanism according to the invention, which has a cable end section and a motor connected by a flange. Figure 2 The rear perspective view shows a first embodiment of the robot transmission mechanism according to the invention, which has a lead-out cable end section. Figure 3 The side view shows the results according to Figure 1 and Figure 2 The first embodiment of the robot transmission mechanism, Figure 4The longitudinal sectional view shows the results according to Figure 1 and Figure 2 The first embodiment of the robot transmission mechanism, Figure 5 The previous perspective view shows a second embodiment of the robot transmission mechanism according to the invention, which has a connector and a motor connected by a flange. Figure 6 The rear perspective view shows a second embodiment of the robot transmission mechanism according to the invention, which has a connector. Figure 7 The side view shows the results according to Figure 5 and Figure 6 The second embodiment of the robot transmission mechanism, Figure 8 The longitudinal sectional view shows the results according to Figure 5 and Figure 6 The second embodiment of the robot transmission mechanism, Figure 9 The following perspective view shows a second embodiment of the robot transmission mechanism according to the invention, which has a connector but no motor. Figure 10 The longitudinal sectional view shows the results according to Figure 9 The second implementation method does not include a motor. Figure 11 A partial perspective view of an exemplary robot arm in a joint region is shown, which includes a robot transmission mechanism according to the invention. Figure 12 It shows that according to Figure 11 A partial cross-sectional view of an exemplary robotic arm. Detailed Implementation

[0046] exist Figure 1 The figure shows a specific embodiment of the robot transmission mechanism 1 according to the present invention.

[0047] The robot transmission mechanism 1 includes a transmission component group 2, which has multiple transmission components 3, as in, for example... Figure 4 As shown in detail in the sectional view, the transmission assembly 2 has a drive-side end member 4.1 and a driven-side end member 4.2. The drive-side end member 4.1 of the transmission assembly 2 can be connected or coupled to the motor shaft 5a of the drive motor 5.

[0048] The robot transmission mechanism 1 includes: a drive-side first housing portion 6.1 having a drive-side first connecting portion 7.1 for connecting one of the transmission members 3 of the transmission member assembly 2; and a driven-side second housing portion 6.2 having a driven-side second connecting portion 7.2 for connecting the driven-side end member 4.2 of the transmission member assembly.

[0049] In addition, the robot transmission mechanism 1 also has an annular space 9 designed to guide the cable loop 8a, in which the cable 8 forming the cable loop is guided.

[0050] In this embodiment, the annular space 9 is formed radially inward by the first inner wall 10.1 of the driving side first housing portion 6.1 and the second inner wall 10.2 of the driven side second housing portion 6.2, and radially outward by the first outer wall 11.1 of the driving side first housing portion 6.1 and the second outer wall 11.2 of the driven side second housing portion 6.2.

[0051] Especially as Figures 1 to 3 As shown, a first flange 12.1 is arranged on the first outer side wall 11.1 of the first housing portion 6.1 on the drive side. This first flange is designed for axial connection of the first segment 13.1 on the drive side of the robot arm 14. Figure 11 and Figure 12 Furthermore, a second flange 12.2 is arranged on the second outer side wall 11.2 of the driven side second housing portion 6.2, which is designed to axially connect the driven side second segment 13.2 of the robot arm 14.

[0052] The annular space 9 has a first axial opening 15.1 ( Figure 2 The axial first opening is constructed in the drive-side first housing portion 6.1 to allow at least one cable 8 to be axially led out from the robot transmission mechanism 1. In this embodiment, the annular space 9 also has an axial second opening 15.2. Figure 1 The second axial opening is constructed in the driven-side second housing portion 6.2 so that at least one cable 8 can be axially led out from the robot transmission mechanism 1. In this embodiment, for example, there are two cables 8.

[0053] The cable 8 has at least one first cable end section 23.1, which extends from the structural unit of the robot transmission mechanism 1 through a first opening 15.1 in the drive-side first housing portion 6.1. In this embodiment, the cable 8 also has a second cable end section 23.2, which extends from the structural unit of the robot transmission mechanism 1 through a second opening 15.2 in the driven-side second housing portion 6.2.

[0054] Especially Figure 1 and Figure 2As seen in the image, the first cable end section 23.1 of the cable 8 is fixed to the drive-side first housing portion 6.1 in a direction that is at least substantially axially oriented by means of the first cable clamp 24.1. In a similar manner, the second cable end section 23.2 of the cable 8 is also fixed to the driven-side second housing portion 6.2 in a direction that is at least substantially axially oriented by means of the second cable clamp 24.2.

[0055] The first outer wall 11.1 and the second outer wall 11.2 form part of the outer surface of the robot arm 14.

[0056] A radial shaft sealing ring 16 is arranged between the first housing portion 6.1 on the driving side and the second housing portion 6.2 on the driven side. Figure 4 ).

[0057] The radial shaft sealing ring 16 may optionally be covered on the circumferential side by an axial annular protrusion of the first housing portion 6.1 or the second housing portion 6.2, wherein the axial annular protrusion of the first housing portion 6.1 and the second housing portion 6.2 form an additional gap seal 17. For this purpose, a circumferentially narrowed shoulder on the second housing portion 6.2 may overlap axially with the annular protrusion of the first housing portion 6.1.

[0058] In this embodiment, the second outer wall 11.2 of the driven side second housing portion 6.2 has a support 29 for the radial shaft sealing ring 16, and the first outer wall 11.1 of the drive side first housing portion 6.1 carries the raceway 18 for the sealing lip of the radial shaft sealing ring 16.

[0059] Especially as Figure 3 and Figure 4 As can be seen, the first flange 12.1 of the first housing portion 6.1 is provided with a first cylindrical mating surface 19.1, which has a mating dimension that matches the first robot connecting segment 13a.1. The first cylindrical mating surface 19.1 can be formed by a radially outer first annular side surface. A corresponding radially inner first mating annular side surface can be provided on the first robot connecting segment 13a.1. Due to the matching first annular side surface and the first mating annular side surface, the first robot connecting segment a.1 can be fitted onto the first flange 12.1 of the first housing portion 6.1 with high positional accuracy and tightened there by means of bolts 20. The first annular side surface can have a first groove 21.1 ( Figure 4 The first O-ring seal 22.1 can be placed in the first groove. With the aid of the first O-ring seal 22.1, the first housing portion 6.1 can be statically sealed relative to the first robot connecting segment 13a.1.

[0060] Similarly, the second flange 12.2 of the second housing portion 6.2 can be provided with a second cylindrical mating surface having a mating dimension that matches the second robot connecting segment 13a.2. The second cylindrical mating surface can be formed by a radially outer second annular side surface. A corresponding radially inner second mating annular side surface can be provided on the second robot connecting segment 13a.2. Due to the matching second annular side surface and the second mating annular side surface, the second robot connecting segment 13a.2 can be fitted onto the second flange 12.2 of the second housing portion 6.2 with high positional accuracy and tightened therewith by means of bolts 20. The second annular side surface can have a second groove 21.2 in which a surrounding second O-ring seal 22.2 can be placed. By means of the second O-ring seal 22.2, the second housing portion 6.2 can be statically sealed relative to the second robot connecting segment 13a.2.

[0061] In this embodiment, the first flange 12.1 of the first housing portion 6.1 has first axial holes or first axial threaded holes evenly distributed in the circumferential direction of the robot transmission mechanism 1. These holes are designed to releasably screw the first robot connecting segment 13a.1 onto the first housing portion 6.1. For this purpose, bolts 20 can be provided in a number corresponding to the number of first axial holes or first axial threaded holes.

[0062] Similarly, the second flange 12.2 of the second housing portion 6.2 may have second axial holes or second axial threaded holes evenly distributed circumferentially along the robot transmission mechanism 1. These holes are designed to allow the second robot connecting segment 13a.2 to be releasably screwed onto the second housing portion 6.2. For this purpose, a number of bolts 20 corresponding to the number of second axial holes or second axial threaded holes may also be provided.

[0063] The first flange 12.1 may, for example, have a plurality of first axial holes evenly distributed along a common circumference. First axial bolts can be inserted through these first axial holes and screwed into corresponding internal threads on a robot connecting segment 13a.1, 13a.2 of the robot arm 14 to be connected, so as to detachably connect the robot connecting segment 13a.1, 13a.2 to the first housing portion 6.1 of the robot transmission mechanism 1. Similarly, the second flange 12.2 may, for example, have a plurality of second axial holes evenly distributed along a common circumference. Second axial bolts can be inserted through these second axial holes and screwed into corresponding internal threads on another robot connecting segment 13a.1, 13a.2 of the robot arm 14 to be connected, so as to detachably connect the other robot connecting segment 13a.1, 13a.2 to the second housing portion 6.2 of the robot transmission mechanism 1.

[0064] In a variant embodiment of the robot transmission mechanism 1, the first cable end section 23.1 and the second cable end section 23.2 of the cable 8 are not led out from the robot transmission mechanism 1, but are instead equipped with at least one first connector 25.1 for the first opening 15.1 of the first housing portion 6.1 on the drive side. Figure 6 Cable 8 is in electrical contact with the first connector inside the robot transmission mechanism 1. Figures 5 to 7 In the illustrated embodiment, the second opening 15.2 of the driven side second housing portion 6.2 is also equipped with at least one second connector 25.2. Figure 5 The cable 8 makes electrical contact with the second connector inside the robot transmission mechanism 1.

[0065] The first connector 25.1 can completely close the first opening 15.1 of the annular space 9 and can be securely fastened to the first housing portion 6.1 by means of the first seal. The second connector 25.2 can also completely close the second opening 15.2 of the annular space 9 and can be securely fastened to the second housing portion 6.2 by means of the second seal.

[0066] Figure 9 and Figure 10 The robot transmission mechanism 1 is shown separately, without the motor 5 coupled to it. In the coupled state of the robot transmission mechanism 1 and the motor 5, as follows... Figures 1 to 8 As shown, the drive unit consists of robot transmission mechanism 1 and motor 5.

[0067] Especially as Figure 10 As shown, in this embodiment, the robot transmission mechanism 1 is designed as a stress wave transmission mechanism.

[0068] In this stress wave transmission mechanism, the wave generator 26 constitutes the drive-side end member 4.1, and the driven sleeve 27 (flexible spline) constitutes the driven-side end member 4.2, which is connected to the driven-side second housing portion 6.2 of the robot transmission mechanism 1. Here, the inner tooth outer ring 28 (circular spline) of the stress wave transmission mechanism is connected to the drive-side first connecting portion 7.1 of the first housing portion 6.1, and the driven sleeve 27 is connected to the second housing portion 6.2 via the second connecting portion 7.2. The drive-side first housing portion 6.1 specifically refers to the housing portion of the robot transmission mechanism 1 facing the motor 5 connected to the robot transmission mechanism 1. The driven-side second housing portion 6.2 specifically refers to the housing portion of the robot transmission mechanism 1 facing away from the motor 5 connected to the robot transmission mechanism 1.

[0069] Figure 11 and Figure 12A sub-segment of the robotic arm 14 is shown, having a plurality of limbs 13 and a plurality of joints that adjustably connect the limbs 13 relative to each other, wherein at least one joint is configured as a rotary joint having a robot transmission mechanism 1 according to one of the embodiments described. The corresponding joint is formed by the robot transmission mechanism 1 according to the invention.

[0070] Optionally, all joints of the robotic arm 14 may be equipped with a robot transmission mechanism 1 according to one of the embodiments, or only a portion of the joints may be equipped with a robot transmission mechanism 1 according to one of the embodiments. In a simple embodiment, the robotic arm 14 may also have only one joint equipped with a robot transmission mechanism 1 according to one of the embodiments, wherein the other joints of the robotic arm 14 may be equipped with conventional transmission mechanisms.

[0071] Accordingly, the first housing portion 6.1 of the robot transmission mechanism 1 can constitute a first sub-section of the robot structure, which can be connected, in particular screwed, to the first robot connecting segment 13a.1. In the same manner, the second housing portion 6.2 of the robot transmission mechanism 1 can constitute a second sub-section of the robot structure, which can be connected, in particular screwed, to the second robot connecting segment 13a.2.

Claims

1. A robot transmission mechanism, comprising: - Transmission component group (2), having multiple transmission components (3) and driven end components (4.2). - The first housing portion (6.1) on the drive side has a first connecting portion (7.1) on the drive side for connecting one of the transmission members (3) of the transmission member group (2). - The driven side second housing part (6.2) has a driven side second connecting part (7.2) for connecting the driven side end member (4.2) of the transmission member assembly (2). - An annular space (9) designed to guide the cable loop (8a), in which the cable (8) forming the cable loop (8a) is guided. - The annular space (9) is formed radially inward by the first inner wall (10.1) of the driving-side first housing portion (6.1) and / or by the second inner wall (10.2) of the driven-side second housing portion (6.2), and - The annular space (9) is formed radially outward by the first outer wall (11.1) of the driving-side first housing portion (6.1) and / or by the second outer wall (11.2) of the driven-side second housing portion (6.2), wherein, - A first flange (12.1) is arranged on the first outer wall (11.1) of the first housing portion (6.1) on the drive side, the first flange being designed for axial connection of the first segment (13.1) on the drive side of the robot arm (14); and / or a second flange (12.2) is arranged on the second outer wall (11.2) of the second housing portion (6.2) on the driven side, the second flange being designed for axial connection of the second segment (13.2) on the driven side of the robot arm (14), and - The annular space (9) has an axial first opening (15.1) which is constructed in the first housing portion (6.1) on the drive side so that the cable (8) can be axially led out from the robot transmission mechanism (1); and / or the annular space (9) has an axial second opening (15.2) which is constructed in the second housing portion (6.2) on the driven side so that the cable (8) can be axially led out from the robot transmission mechanism (1).

2. The robot transmission mechanism according to claim 1, characterized in that, The first outer sidewall (11.1) forms part of the outer surface of the robot arm (14), and / or the second outer sidewall (11.2) forms part of the outer surface of the robot arm (14).

3. The robot transmission mechanism according to claim 1 or 2, characterized in that, A radial shaft sealing ring (16) is arranged between the first housing portion (6.1) on the driving side and the second housing portion (6.2) on the driven side.

4. The robot transmission mechanism according to claim 3, characterized in that, The first outer wall (11.1) of the drive-side first housing portion (6.1) has a first support for the radial shaft sealing ring (16), and the second outer wall (11.2) of the driven-side second housing portion (6.2) carries a first raceway for the sealing lip of the radial shaft sealing ring (16); or the second outer wall (11.2) of the driven-side second housing portion (6.2) has a second support (29) for the radial shaft sealing ring (16), and the first outer wall (11.1) of the drive-side first housing portion (6.1) carries a second raceway (18) for the sealing lip of the radial shaft sealing ring (16).

5. The robot transmission mechanism according to any one of claims 1 to 4, characterized in that, The first flange (12.1) of the first housing part (6.1) is provided with a first cylindrical mating surface (19.1), the first cylindrical mating surface having a mating dimension that matches the first robot connecting segment (13a.1); and / or the second flange (12.2) of the second housing part (6.2) is provided with a second cylindrical mating surface (19.2), the second cylindrical mating surface having a mating dimension that matches the second robot connecting segment (13a.2).

6. The robot transmission mechanism according to claim 5, characterized in that, The first cylindrical mating surface (19.1) is provided with a first static sealing ring, and / or the second cylindrical mating surface (19.2) is provided with a second static sealing ring.

7. The robot transmission mechanism according to any one of claims 1 to 6, characterized in that, The first flange (12.1) of the first housing part (6.1) has a first axial hole or a first axial threaded hole evenly distributed in the circumferential direction of the robot transmission mechanism (1), the first axial hole or the first axial threaded hole being designed to loosely screw the first robot connecting segment (13a.1) onto the first housing part (6.1); and / or the second flange (12.2) of the second housing part (6.2) has a second axial hole or a second axial threaded hole evenly distributed in the circumferential direction of the robot transmission mechanism (1), the second axial hole or the second axial threaded hole being designed to loosely screw the second robot connecting segment (13a.2) onto the second housing part (6.2).

8. The robot transmission mechanism according to any one of claims 1 to 7, characterized in that, The cable (8) has a first cable end section (23.1) which is led out from the structural unit of the robot transmission mechanism (1) through a first opening (15.1) in the first housing part (6.1) on the drive side; and / or the cable (8) has a second cable end section (23.2) which is led out from the structural unit of the robot transmission mechanism (1) through a second opening (15.2) in the second housing part (6.2) on the driven side.

9. The robot transmission mechanism according to claim 8, characterized in that, The first cable end section (23.1) of the cable (8) is fixed to the first housing part (6.1) on the drive side by means of a first cable clamp (24.1) in a direction that is at least substantially axially oriented; and / or the second cable end section (23.2) of the cable (8) is fixed to the second housing part (6.2) on the driven side by means of a second cable clamp (24.2) in a direction that is at least substantially axially oriented.

10. The robot transmission mechanism according to any one of claims 1 to 7, characterized in that, The first opening (15.1) of the first housing portion (6.1) on the drive side is provided with at least one first connector (25.1), and the cable (8) is electrically contacted to the first connector; and / or the second opening (15.2) of the second housing portion (6.2) on the driven side is provided with at least one second connector (25.2), and the cable (8) is electrically contacted to the second connector.

11. The robot transmission mechanism according to claim 10, characterized in that, The first connector (25.1) completely closes the first opening (15.1) of the annular space (9) and is securely fastened to the first housing portion (6.1) by means of a first seal; and / or the second connector (25.2) completely closes the second opening (15.2) of the annular space (9) and is securely fastened to the second housing portion (6.2) by means of a second seal.

12. A robotic arm having a plurality of limbs (13) and a plurality of joints that are adjustablely connected relative to each other, wherein at least one joint is designed as a rotary joint having a robotic transmission mechanism (1) according to any one of claims 1 to 11.

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