Robotic arm having a transmission with at least two transmission inputs

Abstract

A robot arm has a plurality of links and joints which adjustably connect the links relative to one another, a first link located at the start of a kinematic chain of links of the robot arm forms a base of the robot arm, a second link immediately following the base in the kinematic chain of links forms a turntable of the robot arm, the turntable is rotatably drivingly supported on the base about a vertical axis of rotation forming a first joint of the robot arm, in particular by means of a rolling bearing, a transmission and a drive, the transmission has at least one first transmission input and at least one second transmission input, a first drive is connected to the first transmission input and a second drive is connected to the second transmission input, the first transmission input and the second transmission input engage with a common output, the torque introduced into the transmission by the at least one first drive and the at least one second drive is introduced into the first joint via the common output in order to move the turntable relative to the base.

Description

Technical Field

[0001] The present invention relates to a robotic arm having a plurality of segments and joints that allow the segments to be adjusted relative to each other, wherein a first segment located at the starting point of the kinetic chain of the robotic arm forms a base for the robotic arm, a second segment immediately following the base in the kinetic chain forms a turntable for the robotic arm, and the turntable is rotatably supported on the base about a vertical axis of rotation forming the first joint of the robotic arm, specifically supported by rolling bearings, a transmission mechanism and a drive mechanism. Background Technology

[0002] Patent document EP2024145B1 describes an articulated robot having robotic limbs connected by joints and functional elements acting on the joints. At least the stopping brake, serving as a functional element, is redundantly designed in such a way that, in addition to a brake acting on the drive shaft of a drive motor, a brake is also provided that acts directly on the input shaft of a transmission device connected to the drive shaft and driven by the motor. Here, for the robot's safety, the stopping brake, as a functional element, is monitored. Furthermore, the described articulated robot also has a rocker arm equipped with a first motor and a second motor, each motor having its own independent transmission device; therefore, these drive elements are also designed in a dual and thus redundant manner. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic arm in which the support and drive of the first vertical rotation axis of the robotic arm are particularly effective on the one hand, and constructed as simply and cost-effectively as possible on the other.

[0004] The object of the present invention is achieved by a robotic arm having a plurality of segments and joints that allow the segments to be adjusted relative to each other. A first segment at the beginning of the segmental kinematic chain of the robotic arm forms a base for the robotic arm. A second segment immediately following the base in the segmental kinematic chain forms a turntable for the robotic arm. The turntable is rotatably supported on the base about a vertical axis of rotation forming a first joint of the robotic arm, specifically by means of rolling bearings, a transmission mechanism, and a drive mechanism. The transmission mechanism has at least one first transmission input and at least one second transmission input. A first driver is connected to the first transmission input, and a second driver is connected to the second transmission input. The first and second transmission inputs engage with a common follower. Torque introduced into the transmission mechanism by the at least one first driver and the at least one second driver is introduced into the first joint through the common follower to move the turntable relative to the base.

[0005] A rolling bearing, rotatably supported on a base around the vertical axis of rotation of the first joint of the robot arm, forms the main bearing of the first joint of the robot arm. This rolling bearing, i.e., the main bearing, can be, for example, a crossed roller bearing, which has an inner ring and an outer ring, as well as rollers arranged between the inner and outer rings.

[0006] In the robotic arm according to the invention, the drive mechanism of the first joint, i.e., the drive mechanism for driving the turntable to rotate relative to the base, includes at least one first driver and at least one second driver. Here, the first and second drivers are constructed and configured to jointly provide the drive torque required by the design. In this respect, they are not redundant drivers, where it is stipulated that if one driver fails, the other driver, which remains operationally ready, can provide the drive torque required by the design. Therefore, the drive mechanism according to the invention does not have at least one first driver and at least one second driver for safety reasons, but rather is arranged in consideration of the transmission mechanism according to the invention so that the required drive torque can be introduced into the transmission mechanism at at least two different locations.

[0007] Therefore, the transmission has at least one first transmission input and at least one second transmission input. In this respect, each transmission input of the transmission is equipped with its own independent driver. For example, the transmission may have exactly two transmission inputs, which are driven by exactly two drivers. Alternatively, the transmission may also have, for example, three, four, or more transmission inputs, which are then driven by three, four, or more drivers. Thus, the at least one first driver and the at least one second driver direct their driving torque into the same shared transmission.

[0008] Inside the transmission mechanism, all sub-torque flows introduced through multiple transmission inputs are converged onto a single common transmission output. This single common transmission output ultimately directs the total torque into the first joint of the robot arm to drive the turntable to rotate relative to the base.

[0009] Therefore, the transmission device has at least one transmission stage, which is formed by at least one first transmission input, at least one second transmission input, and a transmission output. Thus, the corresponding transmission input does not necessarily have to be a transmission input extending from the transmission housing of the transmission device. Similarly, the transmission output does not necessarily have to be a transmission output extending from the transmission housing of the transmission device. For example, the first drive may utilize its first drive shaft not to be directly connected to the first transmission input, but indirectly connected to it via an additional first intermediate transmission stage or a first steering element. In the same manner, the second drive may utilize its second drive shaft not to be directly connected to the second transmission input, but indirectly connected to it via an additional second intermediate transmission stage or a second steering element. However, the common driven element of this transmission device is formed by the same meshing member, which, depending on the structural form, is either fixedly connected to the base or fixedly connected to the turntable.

[0010] In its simplest form, the first driver may consist only of a first motor having a first motor shaft to which a first transmission input is connected. In its simplest form, the second driver may also consist only of a second motor having a second motor shaft to which a second transmission input is connected.

[0011] Alternatively, the first driver may have a first motor with a first motor shaft connected to the input of a first pre-stage drive unit. The output of the first pre-stage drive unit then forms a first drive shaft for the first driver, which can be connected to a first transmission input of the drive unit. The second driver may also have a second motor with a second motor shaft connected to the input of a second pre-stage drive unit. The output of the second pre-stage drive unit then forms a second drive shaft for the second driver, which can be connected to a second transmission input of the drive unit.

[0012] The corresponding pre-stage drive can be, for example, a planetary drive, a cycloidal drive, or a harmonic drive. The corresponding pre-stage drive can also be referred to as a compact drive.

[0013] With exactly one first driver and one second driver positioned on the turntable, these two drivers can be arranged in different ways. Therefore, in a first variation, the two drivers can be arranged exactly opposite each other about the rotation axis of the robot arm's first joint; specifically, they are oriented such that the virtual shortest connecting line between the drive axes of the first and second drivers is oriented parallel to and offset from the rotation axis of the immediately following second joint of the robot arm. In this respect, the rocker arm of the robot arm is pivotally supported about this second joint relative to the turntable.

[0014] In another second variant, the two actuators can be arranged exactly opposite each other about the rotation axis of the first joint of the robot arm. Specifically, they are oriented such that the virtual shortest connecting line between the drive axis of the first actuator and the drive axis of the second actuator is perpendicular to the rotation axis orientation of the immediately following second joint of the robot arm.

[0015] In the case of using a first driver and a separately operable second driver, especially an electric driver, a control device can be provided for the robot arm. This control device is constructed and designed to operate the first driver in a manner different from the second driver, so that the first driver and the second driver generate different driving torques. Through these different driving torques, active tensioning of the common transmission output can be achieved. In this active tensioning, the transmission stage formed by the two transmission inputs and transmission outputs can be adjusted and manipulated without clearance.

[0016] At least one first transmission input introduces a first sub-torque into a transmission output, and at least one second transmission input introduces a second sub-torque into the transmission output. The sum of the first and second sub-torques is then introduced as a total torque into the first joint of the robot arm by the transmission output to drive the turntable to move relative to the base.

[0017] The transmission can be configured as a spur gear stage having a driven member configured as a ring gear (Hohlrad), a first pinion forming a first transmission input, and a second pinion forming a second transmission input, wherein the first and second pinions are engaged with a common ring gear.

[0018] The gear ring may, for example, have an external toothed portion on which the first pinion and the second pinion mesh.

[0019] However, in one particular embodiment, the gear ring has internal teeth on which the first and second pinions mesh. Accordingly, the first and second pinions can be arranged inside the gear ring. In this case, the rotation axes of the first and second pinions are located within the pitch circle of the gear ring. The rotation axes of the first and second pinions extend parallel to the vertical rotation axis of the first joint of the robot arm, that is, parallel to the vertical rotation axis around which the turntable rotates relative to the base.

[0020] The gear ring of the spur gear stage of the transmission device can also form the inner ring of the rolling bearing, which forms the main bearing of the first joint, allowing the turntable to be rotatably supported on the base.

[0021] In this respect, the rolling bearing forms the main bearing, through which the turntable is rotatably supported on the base. Therefore, the gear ring of the spur gear stage of the transmission and the inner ring of the rolling bearing can be manufactured as a single component. This component thus forms a ring, the inner wall of which carries the tooth profile of the gear ring of the spur gear stage of the transmission, and the outer wall of which carries the inner raceway for the rolling elements of the rolling bearing.

[0022] By incorporating the ring gear of the spur gear stage of the transmission into the inner ring of a rolling bearing, which forms the main bearing of the first joint that rotatably supports the turntable on the base, a particularly compact structure with high rigidity is achieved. Furthermore, assembly is simplified.

[0023] Rolling bearings can be specifically constructed as crossed roller bearings. If the component has an inner ring wall with a tooth profile of the gear ring of a spur gear stage carrying a transmission device, then in this type of rolling bearing, to form the two inner raceways for the rollers of the crossed roller bearing, the outer ring wall can have a circumferential V-shaped notch with a 90-degree angle, such that the first inner raceway is formed by one notch wall and the second inner raceway by the other notch wall. Therefore, each second roller rolls on the first inner raceway of the component, while the other rollers roll on the second inner raceway of the component. In this embodiment, the outer ring of the crossed roller bearing can preferably be made in a split configuration.

[0024] The inner ring of the rolling bearing can be connected to the base, and the outer ring of the rolling bearing can be connected to the turntable. Therefore, in this type of support, the turntable is positioned on the base in a dome-like manner. In a variant embodiment where the gear ring of the transmission is integrally formed with the inner ring of the rolling bearing, the gear ring of the transmission is also connected to the base. Accordingly, at least two transmission inputs and at least two actuators can be supported on the turntable. Therefore, the at least two transmission inputs and the at least two actuators are configured to rotate together with the turntable, wherein the gear ring of the transmission is configured to be fixed.

[0025] The base can form the lower half of the transmission housing of the transmission device, and the bottom wall of the base can have an annular recess arranged coaxially with the vertical rotation axis of the first joint. The first pinion and the second pinion extend into the recess from above, and the recess forms a receiving chamber for transmission oil.

[0026] The recess can be defined by an outer wall extending coaxially with the vertical rotation axis and by an inner wall formed by the outer wall of the central dome of the base bottom wall. The dome may have a central through-hole through which energy lines, particularly electrical wires, can pass. The outer wall of the recess may be formed at least partially or completely by the gear ring of the transmission or the inner ring of the rolling bearing. A static seal may be provided between the base and the gear ring of the transmission or the inner ring of the rolling bearing, which seals the recess or the oil chamber formed by the recess relative to the outside of the base.

[0027] Therefore, the recess is filled with transmission oil, and at least one first pinion and at least one second pinion are immersed in the recess, or may be completely located within the recess. When at rest, the recess may be at least partially filled with transmission oil, such that at least one first pinion and at least one second pinion are also at least partially immersed in the transmission oil.

[0028] The bottom wall or recessed section of the base can be designed, in particular, to slope downwards, so that the transmission oil present in the recess can preferably flow to a predetermined location during oil changes, where it can flow out from the transmission oil chamber through an oil drain port located at the lowest point of the bottom wall. Therefore, the base can have an oil drain channel extending from the recess and an oil drain port that can be sealed with a drain bolt.

[0029] The transmission device may have at least one dynamic seal or labyrinth seal arranged vertically above the gear ring.

[0030] This arrangement of the dynamic seal ensures that it remains above the oil level in the transmission oil chamber within the recess. Therefore, even when the turntable is stationary, the dynamic seal will not be subjected to continuous loading of the transmission oil.

[0031] The first dynamic seal can be constructed on a carrier ring, which can be centrally connected between the turntable and the outer ring of the rolling bearing. The dynamic seal on the carrier ring can provide a seal relative to the sealing surface on the inner ring of the rolling bearing.

[0032] The second dynamic seal seals the gap between the upper half of the transmission housing formed by the turntable and the dome of the base, which can form the lower half of the transmission housing. The dome, or a pipe fitting connected to it, can extend vertically through the opening in the upper half of the transmission housing, i.e., through the turntable. The dome, or the pipe fitting connected to it, can have an outer wall forming a surrounding sliding surface (Lauffläche) for the sealing lip of the second dynamic seal. Here, the opening in the upper half of the transmission housing is designed to be circular and arranged coaxially with the rotation axis of the first joint of the robot arm, i.e., the rotation axis around which the turntable rotates relative to the base. A seat can be constructed on the inner edge of the opening in the turntable, on which, for example, a radial shaft sealing ring is mounted.

[0033] Therefore, the transmission device may have at least one dynamic seal arranged vertically above the rolling bearing.

[0034] The first driver may have a first hollow drive shaft that carries a first transmission input, wherein the first transmission input is also configured as a first hollow transmission input such that the first hollow drive shaft and the first hollow transmission input form a first flow channel that is in fluid connection with the oil chamber of the transmission device, thereby allowing transmission device oil to be introduced into the oil chamber of the transmission device via the first hollow drive shaft and the first hollow transmission input.

[0035] In one particular embodiment, the first driver may include a first motor having a first motor shaft connected to the input of a first pre-stage drive. In a first variation, the first motor shaft may be a first hollow motor shaft aligned with the hollow input shaft of the first pre-stage drive, such that the first hollow motor shaft and the hollow input shaft together form a hollow drive shaft. In a second variation, the first motor shaft may be arranged offset, for example, parallel offset, relative to the first input shaft of the first pre-stage drive, wherein only the first input shaft of the first pre-stage drive is constructed to be hollow, and the hollow input shaft of the first pre-stage drive forms the first hollow drive shaft only by fluid connection (not mechanical connection) with the first hollow output shaft of the first pre-stage drive; that is, there is no first motor shaft. The first pre-stage drive has its own, independent first oil chamber, which is designed separately from the oil chamber of the drive unit (main drive) during robot arm operation and contains a dedicated amount of oil supplied for the first pre-stage drive.

[0036] Similarly, the second drive may also include a second motor having a second motor shaft connected to the input of the second pre-drive unit. In a first variation, the second motor shaft may be a second hollow motor shaft aligned with the hollow input shaft of the second pre-drive unit, such that the second hollow motor shaft and the hollow input shaft together form a hollow drive shaft. In a second variation, the second motor shaft may be arranged offset, for example, parallel offset, relative to the second input shaft of the second pre-drive unit, wherein only the second input shaft of the second pre-drive unit is constructed to be hollow, and the hollow input shaft of the second pre-drive unit forms the second hollow drive shaft only by fluid connection (not mechanical connection) with the second hollow output shaft of the second pre-drive unit; that is, there is no second motor shaft. The second front-stage drive also has its own independent second oil chamber, which is designed separately from the oil chamber of the drive (main drive) during robot arm operation, and is also designed separately from the oil chamber of the first front-stage drive, and contains a dedicated amount of oil supplied for the second front-stage drive.

[0037] By forming a first flow channel between the first hollow drive shaft and the first hollow transmission input, which is in fluid connection with the oil chamber of the transmission device, transmission oil can be introduced into the oil chamber of the transmission device via the first hollow drive shaft and the first hollow transmission input. The transmission oil of the first pre-stage transmission device can be discharged from the oil chamber of the first pre-stage transmission device by first introducing the transmission oil of the first pre-stage transmission device into the oil chamber of the transmission device (main transmission device), and from there, for example, together with the transmission oil of the main transmission device, through another drain port of the transmission device, for example, a drain port on the base that forms the lower half of the transmission device housing. The drain channel on the lower half of the transmission device housing can form this drain port, which can be closed, for example, using its own drain bolt.

[0038] Correspondingly, each pre-drive unit can also be oil-lubricated like the main drive unit. In this regard, each pre-drive unit can have its own oil chamber, which can be filled with pre-drive unit oil.

[0039] Therefore, instead of or attached to the first driver, the second driver may also have a second hollow drive shaft in the same manner, which carries a second transmission input, wherein the second transmission input is also configured as a second hollow transmission input, such that the second hollow drive shaft and the second hollow transmission input form a second flow channel, which is in fluid connection with the oil chamber of the transmission device, so that transmission device oil can be introduced into the oil chamber of the transmission device via the second hollow drive shaft and the second hollow transmission input.

[0040] In the second front-stage transmission, the transmission oil of the second front-stage transmission can also be discharged from the oil chamber of the second front-stage transmission in the following manner: first, the transmission oil of the second front-stage transmission is introduced into the oil chamber of the transmission (main transmission), and from there, for example, together with the transmission oil of the main transmission, it is discharged through another drain port of the transmission, for example, on the drain port on the base that is the lower half of the transmission housing. Therefore, the drain channel on the lower half of the transmission housing can also form a drain port for the front-stage transmission oil of the second front-stage transmission, which can be closed, for example, by its own drain bolt.

[0041] The first hollow drive shaft can be connected to the first hollow transmission input via a first separator, specifically by means of a fluid connection (rather than a mechanical connection). The first separator has a first through-threaded hole for a first drain bolt, and the first drain bolt may have a first threaded portion designed to screw the first drain bolt into the first through-threaded hole of the first separator. The first drain bolt has a first extension on its first bolt head that extends through the first hollow drive shaft to its upper end face, where it has a first operating profile configured to loosen and / or tighten the first drain bolt on the first separator. Alternatively, a first drain plug may be optionally provided, for example, with one or more O-rings, wherein the first drain plug can be inserted into a first mating hole in the first separator and pulled out therefore to open.

[0042] Alternatively or additionally, the second hollow drive shaft may also be connected to the second hollow transmission input via a second separator, particularly by a fluid connection (rather than a mechanical connection). This second separator has a second through-threaded hole for a second drain bolt, and the second drain bolt may have a second threaded portion configured to screw the second drain bolt into the second through-threaded hole of the second separator. The second drain bolt has a second extension on its second bolt head that extends through the second hollow drive shaft to its upper end face, where it has a second operating surface configured to loosen and / or tighten the second drain bolt on the second separator. Alternatively, in addition to the second drain bolt and the second through-threaded hole, a second drain plug may be optionally provided, for example, with one or more O-rings. This second drain plug is insertable into a second mating hole in the second separator and can be pulled out to open.

[0043] Rolling bearings, especially the main bearings of the first joints that rotatably support the turntable on the base, can be grease-lubricated and sealed relative to the oil chamber of the transmission.

[0044] The sealing of the grease chamber in a rolling bearing can be achieved, for example, by integrating a shaft seal ring into the rolling bearing. In this regard, the rolling bearing can be a double-sided sealed bearing. The corresponding shaft seal ring can be integrated into the inner and / or outer rings of the rolling bearing. The inner cavity of the grease-lubricated rolling bearing is thus also sealed relative to the oil chamber of the transmission.

[0045] The turntable can form the upper half of the transmission housing of the transmission device, and the top wall of the turntable can have a first open flange. The first driver is fastened to the first open flange outside the transmission device, such that the first transmission input connected to the first driver extends into the transmission device. The first driver can be, in particular, a combination of the aforementioned first motor and first pre-stage transmission. The first motor and the first pre-stage transmission can be pre-assembled as a combined first driver and filled with pre-stage transmission oil before being installed together on the turntable. The mating seat of the first driver can cooperate with the corresponding mating seat on the first open flange to accurately position the first driver on the transmission device, in particular to connect it to the driven member of the transmission device. The first transmission input of the transmission device can be pre-assembled on its first drive shaft together with the first driver.

[0046] Alternatively or additionally, the top wall of the turntable may also have a second open flange, to which the second drive is externally fastened, such that the second transmission input connected to the second drive extends into the transmission. The second drive may here be, in particular, a combination of the aforementioned second motor and second pre-stage transmission. The second motor and the second pre-stage transmission may here be pre-assembled as a combined second drive and filled with pre-stage transmission oil, and then mounted together on the turntable. The mating seat of the second drive may cooperate with a corresponding mating seat on the second open flange to accurately position the second drive on the transmission, particularly to connect it to the driven element of the transmission. The second transmission input of the transmission may here be pre-assembled together with the second drive on its second drive shaft.

[0047] A first adjusting device may be intermediately connected between the first driver and the first open flange. This first adjusting device is designed to adjust the relative position of the rotation shaft of the first transmission input member with respect to the rotation shaft of the driven member of the transmission device.

[0048] Alternatively or additionally, a second adjusting device may be intermediately connected between the second drive and the second open flange. This second adjusting device is designed to adjust the relative position of the rotation shaft of the second transmission input relative to the rotation shaft of the driven component of the transmission.

[0049] The corresponding first and / or second adjusting devices can be centering rings or eccentric components. Therefore, during the assembly of the corresponding first and / or second drivers, the relevant drivers can be installed into the open flanges via centering rings or eccentric components, and by rotating the first or second driver, the distance between the corresponding transmission input component or transmission input gear located on the drive shaft and the teeth of the transmission output component, particularly the gear ring, can be individually adapted, i.e., adjusted.

[0050] As previously mentioned, the first driver may have a first motor, particularly a first electric motor, and a first pre-drive transmission that connects the first motor shaft of the first motor to the first transmission input while providing a reduction gear ratio.

[0051] In the same manner, the second drive may have a second motor, particularly a second electric motor, and a second pre-drive transmission as described above, which connects the second motor shaft of the second motor to the second transmission input while providing a reduction gear ratio. Attached Figure Description

[0052] Specific embodiments of the invention will be described in detail below with reference to the accompanying drawings. Individual features or combinations of features of these exemplary embodiments may be considered individually or in combination as necessary to represent advantageous features of alternative variations of the invention, regardless of where they are specifically mentioned herein.

[0053] Figure 1 A side view of an exemplary robotic arm is shown, which has multiple segments and joints that allow the segments to be adjustablely connected relative to each other, wherein a first segment located at the starting point of the segmental kinetic chain of the robotic arm forms the base of the robotic arm, and a second segment immediately following the base in the segmental kinetic chain forms the turntable of the robotic arm.

[0054] Figure 2 A cross-sectional view of an exemplary base and turntable according to the invention is shown, wherein the turntable is rotatably supported on the base about a vertical axis of rotation forming a first joint of the robot arm, specifically by means of rolling bearings, a transmission device according to the invention, and two actuators.

[0055] Figure 3 It shows according to Figure 2 An enlarged partial sectional view of the transmission device.

[0056] Figure 4 The vertical half-section view shows the results according to Figure 3 A further enlarged partial cross-sectional view of the transmission device.

[0057] Figure 5 It shows according to Figure 3 A further enlarged partial cross-sectional view of the transmission unit in the area from one of the two pre-stage transmission units to the drain port of the main transmission unit. Detailed Implementation

[0058] Figure 1 An exemplary robotic arm 2 is shown.

[0059] The robotic arm 2 has multiple segments 3 and joints 4 that allow the segments 3 to be adjusted relative to each other. The first segment 3.1 located at the starting point of the kinetic chain of the segment 3 of the robotic arm 2 forms the base 5 of the robotic arm 2, and the second segment 3.2 immediately following the base 5 in the kinetic chain of the segment 3 forms the turntable 6 of the robotic arm 2.

[0060] The turntable 6 is rotatably supported on the base 5 about the vertical rotation axis D1 that forms the first joint 4.1 of the robot arm 2. Specifically, it is supported by rolling bearings 7, a transmission device 8, and a drive device 1. In this embodiment, the drive device includes a first driver 1.1 and a second driver 1.2, such as... Figure 2 As shown.

[0061] The transmission device 8 has at least one first transmission input 9.1 and at least one second transmission input 9.2, wherein a first driver 1.1 is connected to the first transmission input and a second driver 1.2 is connected to the second transmission input.

[0062] The first transmission input 9.1 and the second transmission input 9.2 both engage with a common driven member 10 of the transmission device 8. The torque introduced into the transmission device 8 by at least one first driver 1.1 and at least one second driver 1.2 is introduced together into the first joint 4.1 through the common driven member so that the turntable 6 moves relative to the base 5.

[0063] In this embodiment, the transmission device 8 is configured as a spur gear stage, having a driven member 10 configured as a gear ring 10a, a first pinion 9.1a forming a first transmission input member 9.1, and a second pinion 9.2a forming a second transmission input member 9.2, wherein both the first pinion 9.1a and the second pinion 9.2a are engaged with the common gear ring 10a.

[0064] In the illustrated embodiment, the gear ring 10a of the spur gear stage of the transmission device 8, in an integral embodiment, simultaneously forms the inner ring 7.1 of the rolling bearing 7, which forms the main bearing of the first joint 4.1, allowing the turntable 6 to be rotatably supported on the base 5.

[0065] The rolling bearing 7, i.e. the main bearing, may be, for example, a crossed roller bearing, having an inner ring 7.1 (inner ring of the rolling bearing) and an outer ring 7.2 (outer ring of the rolling bearing) and rollers 7.3 arranged between the inner ring 7.1 and the outer ring 7.2.

[0066] The inner ring 7.1 of the rolling bearing 7 can be connected to the base 5 as shown in the figure, and the outer ring 7.2 of the rolling bearing 7 can be connected to the turntable 6 as shown in the figure.

[0067] The base 5 forms the lower half 11a of the transmission housing of the transmission device 8, and the bottom wall of the base 5 may have an annular recess 12 arranged coaxially with the vertical rotation axis D1 of the first joint 4.1, as shown in this specific embodiment. The first pinion 9.1a and the second pinion 9.2a extend into the recess from above, and the recess forms a receiving chamber for transmission oil.

[0068] The transmission device 8 may have a first dynamic seal 13.1 and a second dynamic seal 13.2, which are arranged vertically above the gear ring 10a.

[0069] The first dynamic seal 13.1 and the second dynamic seal 13.2 can be arranged vertically above the rolling bearing 7.

[0070] In this embodiment, the first dynamic seal 13.1 is constructed on the support ring 14, which can be interposed between the turntable 6 and the outer ring 7.2 of the rolling bearing 7, for example, by bolts 15. Therefore, the first dynamic seal 13.1 on the support ring 14 can seal relative to the sealing surface on the inner ring 7.1 of the rolling bearing 7.

[0071] In this embodiment, the second dynamic seal 13.2 seals the gap between the upper half 11b of the transmission housing of the transmission device 8 formed by the turntable 6 and the dome 16 of the base 5 forming the lower half 11a of the transmission housing. The dome 16 or the pipe joint 17 connected to the dome 16 can extend vertically through the opening 18 in the upper half 11b of the transmission housing, i.e., through the turntable 6. The dome 16 or the pipe joint 17 connected to the dome 16 here has an outer wall that forms a sliding surface surrounding the sealing lip of the second dynamic seal 13.2. Here, the opening 18 of the upper half 11b of the transmission housing is designed to be circular and is arranged coaxially with the rotation axis D1 of the first joint 4.1 of the robot arm 2, i.e., the rotation axis D1 around which the turntable 6 rotates relative to the base 5. A seat can be constructed on the inner edge surrounding the opening 18 in the turntable 6, on which, for example, a radial shaft sealing ring is mounted.

[0072] The turntable 6 forms the upper half 11b of the transmission housing of the transmission device 8, and the top wall of the turntable 6 has a first open flange 19.1. A first driver 1.1 is fastened to the first open flange outside the transmission device 8, such that a first transmission input 9.1 connected to the first driver 1.1 extends into the transmission device 8. In the same structural form, the top wall of the turntable 6 has a second open flange 19.2, and a second driver 1.2 is fastened to the second open flange outside the transmission device 8, such that a second transmission input 9.2 connected to the second driver 1.2 extends into the transmission device 8.

[0073] Especially as Figure 2 and Figure 4 As shown, in this embodiment, the first driver 1.1 may have a first motor 20.1, particularly a first electric motor, and a first pre-stage transmission 22.1, which connects the first motor shaft 21.1 of the first motor 20.1 to the first transmission input 9.1, i.e., the first pinion 9.1a, while providing a reduction gear ratio.

[0074] In this embodiment, the second driver 1.2 also includes a second motor 20.2, particularly a second electric motor, and a second pre-drive transmission 22.2, which connects the second motor shaft 21.2 of the second motor 20.2 to the second transmission input 9.2, i.e., the second pinion 9.2a, while providing a reduction gear ratio. The first pre-drive transmission 22.1 and the second pre-drive transmission 22.2 have the same gear ratio; that is, the first pre-drive transmission 22.1 and the second pre-drive transmission 22.2 are preferably constructed identically.

[0075] In this embodiment, the first driver 1.1 has a first hollow drive shaft 23.1, which carries a first transmission input 9.1 or a first pinion 9.1a. The first pinion 9.1a is configured as the first hollow transmission input 9.1, such that the first hollow drive shaft 23.1 and the first hollow transmission input 9.1 form a first flow channel 24.1, which is in fluid connection with the oil chamber of the transmission device 8, so that transmission device oil can be introduced into the oil chamber of the transmission device 8 via the first hollow drive shaft 23.1 and the first hollow transmission input 9.1.

[0076] With the same structural form, the second actuator 1.2 has a second hollow drive shaft 23.2, which carries a second transmission input 9.2 or a second pinion 9.2a, wherein the second pinion 9.2a is also configured as a second hollow transmission input 9.2, such that the second hollow drive shaft 23.2 and the second hollow transmission input 9.2 form a second flow channel 24.2, which is in fluid connection with the oil chamber of the transmission device 8, so that transmission device oil can be introduced into the oil chamber of the transmission device 8 via the second hollow drive shaft 23.2 and the second hollow transmission input 9.2.

[0077] With the aid of the first flow channel 24.1 and the second flow channel 24.2, the transmission oil of the first pre-stage transmission 22.1 can be discharged from the oil chamber of the first pre-stage transmission 22.1 in the following manner: firstly, the transmission oil of the first pre-stage transmission is introduced into the oil chamber of the transmission 8 (main transmission), and from there, for example, together with the transmission oil of the transmission 8, it is discharged through another drain port of the transmission 8, for example, on the drain port on the base 5, which is the lower half 11a of the transmission housing. For this purpose, the drain channel 25 ( Figure 4 An oil drain port can be formed on the lower half 11a of the transmission housing, which can be closed, for example, by its own drain bolt 26.

[0078] Accordingly, the front-stage transmissions 22.1 and 22.2 can also be oil-lubricated like the transmission 8 (main transmission). In this regard, the corresponding front-stage transmissions 22.1 and 22.2 can have their own oil chambers, which can be filled with front-stage transmission oil.

[0079] Especially as Figure 5As seen in the enlarged view, in this embodiment, the first hollow drive shaft 23.1 is connected to the first hollow transmission input 9.1, i.e., the first hollow pinion 9.1a, via a first separator 27.1, specifically by means of a fluid connection (rather than a mechanical connection). The first separator has a first through-threaded hole 28.1 for the first drain bolt 29.1, and the first drain bolt 29.1 has a first threaded portion 30.1 designed for connecting the first drain bolt... The bolt 29.1 is screwed into the first through threaded hole 28.1 of the first separator 27.1, wherein the first drain bolt 29.1 has a first extension 32.1 on its first bolt head 31.1, which extends through the first hollow drive shaft 23.1 to the upper end face of the first hollow drive shaft 23.1, where the first extension 32.1 has a first operating surface 33.1, which is designed to loosen and / or tighten the first drain bolt 29.1 on the first separator 27.1.

[0080] pass Figure 5 The corresponding reference numerals in the accompanying drawings explain both the first hollow drive shaft 23.1 and the second hollow drive shaft 23.2.

[0081] In this regard, Figure 5 A second hollow drive shaft 23.2 is also shown, which is connected to a second hollow transmission input 9.2 via a second separator 27.2, specifically by a fluid connection (rather than a mechanical connection). The second separator has a second through threaded hole 28.2 for a second drain bolt 29.2, and the second drain bolt 29.2 has a second threaded portion 30.2 designed to screw the second drain bolt 29.2 into the second through threaded hole 28.2 of the second separator 27.2. The second drain bolt 29.2 has a second extension 32.2 on its second bolt head 31.2, which extends through the second hollow drive shaft 23.2 to the upper end face of the second hollow drive shaft 23.2. The second extension 32.2 has a second operating surface 33.2 there, which is designed to loosen and / or tighten the drain bolt 29.2 on the second separator 27.2.

[0082] The rolling bearing 7, especially the main bearing of the first joint 4.1 configured to rotatably support the turntable 6 on the base 5, is grease lubricated and sealed relative to the oil chamber of the transmission device 8.

Claims

1. A robotic arm (2) having a plurality of segments (3) and joints (4) that allow the segments (3) to be adjustably connected relative to each other, wherein, The first segment (3.1) located at the starting point of the kinetic chain of the segment (3) of the robot arm (2) forms the base (5) of the robot arm (2), and the second segment (3.2) immediately following the base (5) in the kinetic chain of the segment (3) forms the turntable (6) of the robot arm (2). The turntable (6) is rotatably supported on the base (5) about the vertical rotation axis (D1) of the first joint (4.1) of the robot arm (2), and is supported specifically by rolling bearings (7), transmission devices (8) and drive devices (1). The transmission device (8) is characterized in that it has at least one first transmission... The transmission device (8) has a drive input (9.1) and at least one second drive input (9.2), with a first driver (1.1) connected to the first drive input and a second driver (1.2) connected to the second drive input. Both the first drive input (9.1) and the second drive input (9.2) engage with a common follower (10). The torque introduced into the transmission device (8) by the at least one first driver (1.1) and the at least one second driver (1.2) is jointly introduced into the first joint (4.1) through the common follower to move the turntable (6) relative to the base (5).

2. The robotic arm (2) according to claim 1, characterized in that, The transmission device (8) is configured as a spur gear stage, which has a driven member (10) configured as a gear ring (10a) and a first pinion (9.1a) forming the first transmission input (9.1) and a second pinion (9.2a) forming the second transmission input (9.2), wherein the first pinion (9.1a) and the second pinion (9.2a) are both engaged with a common gear ring (10a).

3. The robotic arm (2) according to claim 2, characterized in that, The gear ring (10a) of the spur gear stage of the transmission device (8) together forms the inner ring (7.1) of the rolling bearing (7), which forms the main bearing of the first joint (4.1), and the main bearing rotatably supports the turntable (6) on the base (5).

4. The robotic arm (2) according to claim 3, characterized in that, The inner ring (7.1) of the rolling bearing (7) is connected to the base (5), and the outer ring (7.2) of the rolling bearing (7) is connected to the turntable (6).

5. The robotic arm (2) according to any one of claims 2 to 4, characterized in that, The base (5) forms the lower half (11a) of the transmission housing of the transmission device (8), and the bottom wall of the base (5) has an annular recess (12) arranged coaxially with the vertical rotation axis (D1) of the first joint (4.1), the first pinion (9.1a) and the second pinion (9.2a) extending into the recess from above, and the recess forms a receiving chamber for transmission oil.

6. The robotic arm (2) according to any one of claims 2 to 5, characterized in that, The transmission device (8) has at least one dynamic seal (13.1, 13.2) or labyrinth seal, which is arranged vertically above the gear ring (10a).

7. The robotic arm (2) according to any one of claims 2 to 6, characterized in that, The transmission device (8) has at least one dynamic seal (13.1, 13.2) arranged vertically above the rolling bearing (7).

8. The robotic arm (2) according to any one of claims 1 to 7, characterized in that, The first driver (1.1) has a first hollow drive shaft (23.1) that carries the first transmission input (9.1), wherein the first transmission input (9.1) is also configured as a first hollow transmission input (9.1) such that the first hollow drive shaft (23.1) and the first hollow transmission input (9.1) form a first flow channel (24.1), the first flow channel being in fluid connection with the oil chamber of the transmission device (8), such that transmission device oil can be introduced into the oil chamber of the transmission device (8) via the first hollow drive shaft (23.1) and the first hollow transmission input (9.1); and / Or the second driver (1.2) has a second hollow drive shaft (23.2) that carries the second transmission input (9.2), wherein the second transmission input (9.2) is also configured as a second hollow transmission input (9.2) such that the second hollow drive shaft (23.2) and the second hollow transmission input (9.2) form a second flow channel (24.2) which is in fluid connection with the oil chamber of the transmission device (8) such that transmission device oil can be introduced into the oil chamber of the transmission device (8) via the second hollow drive shaft (23.2) and the second hollow transmission input (9.2).

9. The robotic arm (2) according to claim 8, characterized in that, The first hollow drive shaft (23.1) is connected to the first hollow transmission input component (9.1) via a first separator (27.1). The first separator has a first through threaded hole (28.1) for a first drain bolt (29.1), and the first drain bolt (29.1) has a first threaded portion (30.1) designed to screw the first drain bolt (29.1) into the first through threaded hole (28.1) of the first separator (27.1). The first drain bolt (29.1) has a first extension (32.1) on its first bolt head (31.1), the first extension extending through the first hollow drive shaft (23.1) to the upper end face of the first hollow drive shaft (23.1), where the first extension (32.1) has a first operating surface (33.1) designed for loosening and / or tightening the first drain bolt (29.1) on the first separator (27.1); and Alternatively, the second hollow drive shaft (23.2) is connected to the second hollow transmission input (9.2) via a second separator (27.2), the second separator having a second through threaded hole (28.2) for a second drain bolt (29.2), and the second drain bolt (29.2) having a second threaded portion (30.2) designed to screw the second drain bolt (29.2) into the second through threaded hole (28.2) of the second separator (27.2). In the second drain bolt (29.2), the second bolt head (31.2) has a second extension (32.2) extending through the second hollow drive shaft (23.2) to the upper end face of the second hollow drive shaft (23.2), where the second extension (32.2) has a second operating surface (33.2) designed to loosen and / or tighten the second drain bolt (29.2) on the second separator (27.2).

10. The robotic arm (2) according to any one of claims 1 to 9, characterized in that, The rolling bearing (7), particularly the main bearing of the first joint (4.1) that rotatably supports the turntable (6) on the base (5), is grease-lubricated and sealed relative to the oil chamber of the transmission device (8).

11. The robotic arm (2) according to any one of claims 1 to 10, characterized in that, The turntable (6) forms the upper half (11b) of the transmission housing of the transmission device (8), and the top wall of the turntable (6) has a first open flange (19.1), the first driver (1.1) is fastened to the first open flange outside the transmission device (8) such that a first transmission input (9.1) connected to the first driver (1.1) extends into the transmission device (8), and / or the top wall of the turntable (6) has a second open flange (19.2), the second driver (1.2) is fastened to the second open flange (19.2) outside the transmission device (8) such that a second transmission input (9.2) connected to the second driver (1.2) extends into the transmission device (8).

12. The robotic arm (2) according to claim 11, characterized in that, A first adjusting device is connected between the first driver (1.1) and the first open flange (19.1), the first adjusting device being designed to adjust the relative position of the rotation shaft of the first transmission input (9.1) relative to the rotation shaft (D1) of the driven member (10) of the transmission device (8); and / or a second adjusting device is connected between the second driver (1.2) and the second open flange (19.2), the second adjusting device being designed to adjust the relative position of the rotation shaft of the second transmission input (9.2) relative to the rotation shaft (D1) of the driven member (10) of the transmission device (8).

13. The robotic arm (2) according to any one of claims 1 to 12, characterized in that, The first driver (1.1) has a first motor (20.1), particularly a first electric motor (20.1) and a first pre-drive (22.1) that connects the first motor shaft (21.1) of the first motor (20.1) to the first drive input (9.1) when providing a reduction gear ratio; and / or the second driver (1.2) has a second motor (20.2), particularly a second electric motor (20.2) and a second pre-drive (22.2) that connects the second motor shaft (21.2) of the second motor (20.2) to the second drive input (9.2) when providing a reduction gear ratio.

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