Shaft stop device and robot arm having such shaft stop device

Abstract

The shaft limiting device is provided with a movable stop body which is provided with a foot section and a head section; a first guide segment having a first groove, the first groove having a first groove track and adjustably supporting the foot section of the stop body along the first groove track and transversely supporting the foot section of the stop body in a limited manner; and a second guide segment having a guide surface on which a second groove is formed, the second groove having a second groove track and along which the head section of the stop body is adjustably supported and transversely to which the head section of the stop body is supported in a limited manner. The first and second guide elements are arranged opposite to each other in such a way that the stop body engages with the foot section with the first recess of the first element and with the head section with the second recess of the second element at the same time, such that when the first guide element is rotated relative to the second guide element about the axis of rotation, the stop body engages with the first recess of the first element. The stop body moves through the first groove track and moves around the rotation axis through the second groove track. The utility model further relates to a robot arm with the shaft limiting device.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of shaft limiting devices, for mechanically limit the maximum rotation angle at rotating joint, the rotating joint is directly rotatably connected with the first arthropod and second arthropod.The utility model further relates to a kind of robot arm with such shaft limiting device. BACKGROUND

[0002] Patent document EP2301725B1 describes an industrial robot with a multi-axis robot arm having a base, a turntable mounted rotatably about an axis relative to the base and a mechanical stop device for limiting the rotational movement of the turntable relative to the base, which stop device has a sliding slot arranged on the base, which is provided at an end with a stop, a drag stop arranged in the sliding slot and a follower arranged on the turntable, wherein the follower and the sliding slot are configured such that, upon a corresponding rotational movement of the turntable about the axis, the follower is introduced into the sliding slot and causes the drag stop to collide against the associated stop. The drag stop comprises a plastically deformable damping element for damping the turntable by plastic deformation of the damping element caused by the collision of the drag stop against the associated stop. SUMMARY

[0003] The object of the utility model is to provide a kind of shaft limiting devices and a kind of robot arm with such shaft limiting device, which can mechanically limit maximum rotation angle by simple and reliable hand section, and the maximum rotation angle is greater than 360 degrees.

[0004] Known shaft limiting devices that are able to mechanically limit a maximum rotation angle of more than 360 degrees mostly use so-called movable drag stops. Such drag stops are independent, movably mounted components that can be adjusted within a predefined angle range. In the event of a rotation of the relevant rotation joint, for example, more than 180 degrees in the clockwise direction, the stop body of the rotatable link is stopped at the 180 degree position by the drag stop and moved over the other link by a predefined angle range until the predefined drag stop is stopped at the end of the thus expanded angle range and thus mechanically limits the maximum rotation angle in the clockwise direction to an angle value of more than 180 degrees. In the event of a rotation of the rotation joint more than 180 degrees in the counterclockwise direction, the stop body is stopped at the opposite side of the drag stop and moved over the other link by a predefined angle range until the drag stop is stopped at the other end of the expanded angle range. However, the disadvantage of this design is that the drag stop and its movably mounted extension over the expanded angle range need to be designed separately. This not only results in a greater noise when the stop body is stopped by the movable drag stop, but also in a high wear and an increased risk of damage and operational faults. Furthermore, the known drag stops can only be moved within a predefined angle range that is far less than 360 degrees, mostly even less than 180 degrees, so that a shaft limiting that allows a maximum rotation angle of more than 720 degrees, for example, cannot be realized structurally with the known drag stops.

[0005] The object is achieved by a shaft limiting device for mechanically limiting a maximum rotation angle at a rotation joint, which rotation joint directly rotatably connects a first link with a second link, comprising

[0006] a movable stop body having a foot section and a head section,

[0007] a first guide link, which can be connected with the first link or is formed on the first link, has a first groove, which has a first groove track, the first groove being configured to adjustably support the foot section of the stop body along the first groove track and to support the foot section of the stop body limitedly transversely to the first groove track,

[0008] a second guide link, which can be connected with the second link or is formed on the second link, has a guide surface, on which a second groove is formed, which has a second groove track, which extends more than 360 degrees around the rotation axis, wherein the second groove is configured to adjustably support the head section of the stop body along the second groove track and to support the head section of the stop body limitedly transversely to the second groove track, wherein

[0009] - the first guide segment and the second guide segment are arranged relative to each other in such a way that the stop body engages with its foot section in the first recess of the first guide segment and with its head section in the second recess of the second guide segment at the same time, so that, when the first guide segment is relatively rotated about the rotation axis relative to the second guide segment, the stop body is moved not only by the first recess track of the first recess but also by the second recess track of the second recess about the rotation axis.

[0010] Thus, the shaft limiting device according to the application has two different recesses, namely a first recess in the first guide segment of the shaft limiting device and a second recess in the second guide segment of the shaft limiting device, the first recess having a first recess track and the second recess having a second recess track.

[0011] Here, the movable stop body is guided not only in the first recess but also in the second recess. To this end, the movable stop body has a foot section which is guided by the foot section in the first recess track of the first recess and the movable stop body has a head section which is guided by the head section in the second recess track of the second recess.

[0012] Over the entire maximum rotation angle, the first recess track of the first recess extends at least substantially perpendicularly to the second recess track of the second recess. The first recess can in particular have a first recess track which extends linearly. In contrast, the second recess has a second recess track which is at least substantially helical or a second recess track which is at least substantially coil-shaped . Due to the helical or coil-shaped configuration of the second recess track, it is possible to provide a second recess which can in particular also encircle the rotation axis at least two complete revolutions of 360 degrees each. Thus, if necessary, it is possible to realize a shaft limiting device which allows a maximum rotation angle of more than 720 degrees. Of course, even though such a shaft limiting device is used, the maximum rotation angle can also be limited to less than 720 degrees, for example by means of a stop insert which is installed in the second recess, which will be described in more detail below. Nevertheless, the option remains here of being able to extend the maximum rotation angle to more than 720 degrees if necessary.

[0013] Since the movable stop body is guided in the first recess and the second recess at all times simultaneously, the stop body obtains a contact guidance on the first guide segment and the second guide segment at each angular position of the rotary joint. As a result, the shaft stop device according to the utility model does not have a trailing stop body that is to be moved freely in one of the recesses. In this regard, a stop on a freely movable trailing stop body does not occur in the shaft stop device according to the utility model. Thereby, not only is a greater noise that can occur when the stop body stops the movable trailing stop body prevented, but also an increase in the risk of high wear and damage and operating faults is avoided. Therefore, in the shaft stop device according to the utility model, no moving component strikes another stationary component at high speed. Rather, the movable stop body according to the utility model is always in contact engagement with the first guide segment and the second guide segment.

[0014] In the first embodiment, the first recess can have a first recess track that extends at least substantially radially with respect to the rotary axis, the first recess being designed to support the foot section of the stop body radially adjustably along the first recess track and to support the foot section of the stop body limitedly in a circumferential direction about the rotary axis, wherein the guide face extends perpendicularly to the rotary axis, and at least a first recess track section of the second recess extends on an inner annular face section of the guide face, and at least a second recess track section of the second recess extends on an outer annular face section of the guide face that is different from the inner annular face section, wherein the second recess is designed to support the head section of the stop body adjustably along the second recess track and to support the head section of the stop body limitedly in a radial direction with respect to the rotary axis.

[0015] The first guide segment is arranged with respect to the second guide segment such that the first opening of the first recess and the second opening of the second recess are arranged in an overlapping orientation with respect to one another. Thus, the stop body can engage in the first recess track of the first recess and in the second recess track of the second recess at the same time. In this regard, the stop body is loosely inserted between the first recess and the second recess. The stop body is guided by the opposing first recess side walls of the first recess on the one hand and by the opposing second recess side walls of the second recess on the other hand and is held in its position. The foot section of the stop body can be guided in the first recess in a sliding bearing or a rolling bearing manner, as the case can be. Similarly, the head section of the stop body can be guided in the second recess in a sliding bearing or a rolling bearing manner, as the case can be.

[0016] The second groove track can in particular have a helical course. This means that in this embodiment the second groove encircles the central point on the axis of rotation several times, i.e. at least twice, and the radial distance of the second groove from the central point continuously changes here. Here, the second groove is always located in the same plane which extends perpendicular to the axis of rotation.

[0017] Instead of a helical course, in a variant the second groove can extend around the axis of rotation on a first circular track with a constant first radius by less than 360 degrees, for example 315 degrees, if necessary, and the second groove track is guided radially from the first circular track with a constant first radius to a second circular track with a constant second radius which differs from the first radius in an arcuate course before an end of the second groove is almost reached, so that the stop body guided therein can be switched from one circular track section to the other circular track section softly. In this regard, the second groove can have a plurality of circular annular groove sections which approximately encircle a circle, wherein two adjacent circular annular groove sections are connected by a shorter arcuate course to a continuous, multiply encircling second groove.

[0018] In an extension of the first embodiment, the second guide arthropod can be configured as a disc whose disc face forms the guide face in which the second groove is introduced.

[0019] Here, the disc can have a central point on the axis of rotation. The disc face is located in a plane which extends perpendicular to the axis of rotation. The second groove extends in the disc face, in particular in a helical form or in a multiply concentric form with an arcuate course.

[0020] In the second embodiment, the first groove can have a first groove track which extends at least substantially parallel to the axis of rotation, the first groove being designed for adjustably supporting a foot section of the stop body along the first groove track parallel to the axis of rotation and for supporting the foot section of the stop body in a limited manner along a circumferential direction around the axis of rotation, wherein the guide face is an inner cylindrical peripheral wall which extends concentrically to the axis of rotation and at least one first groove track section of the second groove extends on an upper cylindrical face section of the inner cylindrical peripheral wall of the guide face and at least one second groove track section of the second groove extends on a lower cylindrical face section of the guide face which differs from the upper cylindrical face section, wherein the second groove is designed for adjustably supporting a head section of the stop body along the second groove track and for supporting the head section of the stop body in a limited manner along a direction parallel to the axis of rotation.

[0021] In the second embodiment, the first guide segment is also arranged with respect to the second guide segment such that the first opening of the first recess and the second opening of the second recess are arranged in an overlapping orientation with respect to one another. Thus, the stop body can be engaged in the first recess track of the first recess and the second recess track of the second recess at the same time. In this regard, the stop body is loosely inserted between the first recess and the second recess. The stop body is guided by the opposing first recess side walls of the first recess on the one hand and by the opposing second recess side walls of the second recess on the other hand and is held in its position. The foot section of the stop body can be guided in the first recess in a sliding bearing or rolling bearing manner, as the case can be. Similarly, the head section of the stop body can be guided in the second recess in a sliding bearing or rolling bearing manner, as the case can be.

[0022] In the second embodiment, the second recess track can have a particularly coil-shaped course. This means that in this embodiment, the second recess is formed on a cylindrical peripheral wall, the rotational axis of which lies on the rotational axis. Thus, the second recess is screwed in the axial direction parallel to the rotational axis. Thus, the second recess can realize two or more complete thread revolutions. The cylindrical peripheral wall can generally be either configured as an inner cylindrical peripheral wall or as an outer cylindrical peripheral wall. The first recess can have a straight course. The first recess can particularly extend parallel to the rotational axis. In this case, the stop body is moved in the first recess parallel to the rotational axis in the axial direction of the rotational axis.

[0023] In an extension of the second embodiment, the second guide segment can be configured as a hollow cylindrical tube, the inner cylindrical peripheral wall of which forms the guide face in which the second recess is introduced.

[0024] Here, the hollow cylindrical tube has its rotational axis lying on the rotational axis. In this regard, the number of complete revolutions of the second recess on the inner cylindrical peripheral wall determines the required axial construction height of the hollow cylindrical tube.

[0025] In both embodiments, in order to limit the rotational angle in one rotational direction, the second recess can have a first counterstop face for the stop body at one end of the second recess track, and in order to limit the rotational angle in the opposite rotational direction, a second counterstop face for the stop body at the other end of the second recess track.

[0026] The head section of the stop body is guided in the second recess. If the head section has a cylindrical cross section, the first counterstop face and / or the second counterstop face can have a concave half-cylindrical shape that matches the cylindrical cross section of the head section.

[0027] The first counter-stop face of the second recess can have a first spring device configured to cushion the stopping of the stop body at the first counter-stop face, and / or the second counter-stop face of the second recess can have a second spring device configured to cushion the stopping of the stop body at the second counter-stop face.

[0028] The first spring device and / or the second spring device can be formed, for example, by a rubber-like coating or overlay.

[0029] The respective shaft stop device can have at least one stop-insert part configured to be inserted into the second recess in a releasable and / or adjustable manner at a location of the second recess track between one end of the second recess track and the other end of the second recess track, wherein the stop-insert part forms a third counter-stop face for the stop body on the side thereof facing the stop body.

[0030] By means of such a stop-insert part, the actual effective maximum angle of rotation can be reduced compared to the maximum angle of rotation without the stop-insert part. In the case of the second recess without the stop-insert part, the maximum angle of rotation is determined by the one end of the second recess and the other end of the second recess. The maximum recess length can be shortened by one or two stop-insert parts inserted into the second recess. This means that the effective maximum angle of rotation of the shaft stop device is reduced.

[0031] The stop-insert part can be clamped or tensioned in the second recess, for example. Alternatively, the stop-insert part can also be formed, for example, by a bolt or by a threaded shank of a bolt, which can be screwed radially into the recess track of the second recess via a lateral bore.

[0032] The third counter-stop face of the stop-insert part can have a third spring device configured to cushion the stopping of the stop body at the third counter-stop face. The third spring device can be formed, for example, by a rubber-like coating or overlay on the stop-insert part.

[0033] In all embodiments, the second recess can be supplemented by a second distance measuring system configured and designed to capture position information of the stop body at its instant location on the second recess track.

[0034] The term "second" distance measuring system is used to indicate that this distance measuring system belongs to the second recess. In this regard, in certain embodiment variants, the "second" distance measuring system can also be the only distance measuring system. The term "second" distance measuring system is also used to clearly distinguish from the "first" distance measuring system which will be described in detail below and which belongs to the first recess. In this regard, in certain embodiment variants, the "first" distance measuring system can also replace the "second" distance measuring system as the only distance measuring system, or the "first" distance measuring system can be implemented on the shaft limiting device together with the "second" distance measuring system.

[0035] The second distance measuring system can be an absolute distance measuring system. The second distance measuring system can detect the position of the stop body on the second recess track, for example, by means of an optical sensor, a magnetic sensor, a capacitive sensor or a resistive sensor.

[0036] In all embodiments, in order to limit the angle of rotation in one rotational direction, the first recess can have a first counter surface for the stop body at one end of the first recess track, and in order to limit the angle of rotation in the opposite rotational direction, a second counter surface for the stop body at the other end of the first recess track.

[0037] The foot section of the stop body is guided in the first recess. When the foot section has a rectangular or square cross section, the first counter stop surface and / or the second counter stop surface can have a flat shape which matches the foot section.

[0038] The first counter surface of the first recess can have a first spring device which is configured to cushion the stop of the stop body at the first counter surface, and / or the second counter surface of the first recess can have a second spring device which is configured to cushion the stop of the stop body at the second counter surface.

[0039] The first spring device and / or the second spring device can be formed, for example, by a rubber-like coating or cladding.

[0040] The respective shaft limiting device can have at least one stop element which is configured to be inserted releasably and / or adjustably into the first recess at a position of the first recess track which is located between one end of the first recess track and the other end of the first recess track, wherein the stop element forms a third counter surface for the stop body on its side facing the stop body.

[0041] With the aid of such a stop element, the actual effective maximum swivel angle can be reduced in comparison with the maximum swivel angle without the stop element. In the case of a first recess without a stop element, the maximum swivel angle is determined by the one end of the first recess and the other end of the first recess. The maximum recess length can be shortened by one or two stop elements inserted into the first recess. This means that the effective maximum swivel angle of the shaft stop is reduced.

[0042] A sensor, in particular an electrical switch, can be provided for each stop element and / or for each end of the first recess, which is able to electrically detect the contact or at least the immediate proximity of the stop body at the respective end of the stop element and / or of the first recess and to transmit this to a control unit, which can be designed in such a way that it stops the drive swivel of the swivel joint when the sensor or the electrical switch sends a corresponding signal. In this respect, a so-called software stop can be implemented, which technically causes the swivel of the swivel joint to be stopped when the stop body reaches the end position in the first recess. In this case, this stopping of the swivel joint is no longer dependent on a mechanical blocking at the end of the recess.

[0043] The stop element can be clamped or tensioned in the first recess, for example. Alternatively, the stop element can also be formed by a bolt or a threaded rod of a bolt, for example, which can be screwed radially into the recess track of the first recess via a lateral bore.

[0044] The third counter face of the stop element can have a third spring device, which is configured to cushion the stop of the stop body at the third counter face. The third spring device can be formed by a rubber-like coating or cladding on the stop element, for example.

[0045] In all embodiments, the first recess can also be supplemented by a first distance measuring system, which is configured and designed to capture the position information of the stop body at its instant location on the first recess track.

[0046] The term "first" distance measuring system is used to indicate that this distance measuring system belongs to the first recess. In this respect, the "first" distance measuring system can also be the only distance measuring system in certain embodiment variants. The term "first" distance measuring system is also used to clearly distinguish from the "second" distance measuring system described earlier, which belongs to the second recess. In this respect, the "first" distance measuring system can also replace the "second" distance measuring system as the only distance measuring system in certain embodiment variants, or the "first" distance measuring system can be implemented together with the "second" distance measuring system on the shaft stop.

[0047] The first distance measuring system can be an absolute distance measuring system. The first distance measuring system can detect the position of the stop body on the first recess track by means of an optical sensor, a magnetic sensor, a capacitive sensor or a resistive sensor, for example.

[0048] In all variants of embodiment, the stop body can be rigidly configured.

[0049] The head section of the stop body and / or the foot section of the stop body can be provided with a spring-elastic outer cover on their respective outer peripheral walls.

[0050] The stop body can generally be configured as a pin, wherein one pin half forms the head section of the stop body and the other pin half forms the foot section.

[0051] The head section can be configured as a pin section with a circular cross section, and the foot section can be configured as a pin section with a rectangular or square cross section.

[0052] If the head section is configured as a pin section with a circular cross section, the pin section can uniformly slide through the second groove track. By configuring the foot section as a pin section with a rectangular or square cross section, an anti-twist bearing of the stop body in the first groove is ensured.

[0053] The object is also achieved by a robot arm having a plurality of segments and joints for relative adjustment of the segments, wherein at least one joint is configured as a rotary joint, which rotatably connects a first segment of the robot arm to an immediately adjacent second segment of the robot arm, wherein the rotary joint has a shaft limiting device according to any one of the preceding embodiments.

[0054] Generally, the shaft limiting device according to the utility model can be arranged on any rotary shaft of the robot arm. In a specific embodiment, the shaft limiting device according to the utility model can preferably be arranged on a first shaft of a kinematic chain of the robot arm, i.e. on a rotary joint rotatably connecting a base of the robot arm to a rotary disc of the robot arm.

[0055] In a first variant, the first guide segment of the shaft limiting device can be configured as a component separate from the first segment of the robot arm and fastened to the first segment of the robot arm, and / or the second guide segment of the shaft limiting device can be configured as a component separate from the second segment of the robot arm and fastened to the second segment of the robot arm.

[0056] By configuring the first guide segment of the shaft limiting device as a component separate from the first segment of the robot arm and / or configuring the second guide segment of the shaft limiting device as a component separate from the second segment of the robot arm, the entire shaft limiting device can be manufactured independently of the robot arm. Thereby, the shaft limiting device according to the utility model can also be retrofitted on a robot arm if necessary.

[0057] Alternatively, in a second variant, the first guide segment of the shaft stop device is configured as a one-piece component together with the first segment of the robot arm, and / or the second guide segment of the shaft stop device is configured as a one-piece component together with the second segment of the robot arm.

[0058] In this embodiment variant, the shaft stop device has been structurally integrated together during the manufacture of the robot arm. This is particularly advantageous in the case of a robot arm which is designed as a lightweight robot, which should have as low a self-weight as possible.

[0059] The present invention relates to a shaft stop device for mechanically limiting a maximum rotation angle at a rotary joint, which directly rotatably connects a first segment with a second segment, wherein the shaft stop device has:

[0060] a movable stop body having a foot section and a head section,

[0061] a first guide segment, which can be connected to the first segment or is formed on the first segment, the first guide segment having a first groove, which has a first groove track, the first groove being configured to adjustably support the foot section of the stop body along the first groove track and to support the foot section of the stop body with limitation transversely to the first groove track,

[0062] a second guide segment, which can be connected to the second segment or is formed on the second guide segment, the second guide segment having a guide surface on which a second groove is formed, the second groove having a second groove track, which extends more than 360 degrees around the rotation axis, wherein the second groove is configured to adjustably support the head section of the stop body along the second groove track and to support the head section of the stop body with limitation transversely to the second groove track, wherein

[0063] the first guide segment and the second guide segment are arranged relative to each other such that the stop body simultaneously engages with its foot section in the first groove of the first segment and with its head section in the second groove of the second segment, so that, when the first guide segment is relatively rotated relative to the second guide segment around the rotation axis, the stop body is moved not only by the first groove track of the first groove but also by the second groove track of the second groove around the rotation axis.

[0064] In some embodiments, the first recess has a first recess track which extends at least substantially radially with respect to the axis of rotation, the first recess is configured to adjustably support the foot section of the stop body along the first recess track and to limit the foot section of the stop body in a circumferential direction about the axis of rotation, and the guide face extends perpendicularly to the axis of rotation, and at least one first recess track section of the second recess extends on an inner annular face section of the guide face, and at least one second recess track section of the second recess extends on an outer annular face section of the guide face which is different from the inner annular face section, wherein the second recess is configured to adjustably support the head section of the stop body along the second recess track and to limit the head section of the stop body in a radial direction with respect to the axis of rotation.

[0065] In some embodiments, the second guide segment is configured as a disc whose disc face forms the guide face in which the second recess is introduced.

[0066] In some embodiments, the second recess track has a helical course.

[0067] In some embodiments, the first recess has a first recess track which extends at least substantially parallel to the axis of rotation, the first recess is configured to adjustably support the foot section of the stop body along the first recess track parallel to the axis of rotation and to limit the foot section of the stop body in a circumferential direction about the axis of rotation, and the guide face is an inner cylindrical peripheral wall which extends concentrically to the axis of rotation, and at least one first recess track section of the second recess extends on an upper cylindrical face section of the inner cylindrical peripheral wall, and at least one second recess track section of the second recess extends on a lower cylindrical face section of the guide face which is different from the upper cylindrical face section, wherein the second recess is configured to adjustably support the head section of the stop body along the second recess track and to limit the head section of the stop body in a direction parallel to the axis of rotation.

[0068] In some embodiments, the second guide segment is configured as a hollow cylindrical tube whose inner cylindrical peripheral wall forms the guide face in which the second recess is introduced.

[0069] In some embodiments, the second recess track has a helical course.

[0070] In some embodiments, in order to limit the angle of rotation in one rotational direction, the second groove has a first counter-stop face for the stop body at one end of the second groove track, and in order to limit the angle of rotation in the opposite rotational direction, the second groove has a second counter-stop face for the stop body at the other end of the second groove track.

[0071] In some embodiments, the first counter-stop face of the second groove has a first spring device configured to cushion the stop of the stop body at the first counter-stop face, and / or the second counter-stop face of the second groove has a second spring device configured to cushion the stop of the stop body at the second counter-stop face.

[0072] In some embodiments, the shaft limiting device has at least one stop-insert, which is configured to be releasably and / or adjustably inserted into the second groove at a position of the second groove track between one end of the second groove track and the other end of the second groove track, wherein the stop-insert forms a third counter-stop face for the stop body on the side of the stop-insert facing the stop body.

[0073] In some embodiments, the third counter-stop face of the stop-insert has a third spring device configured to cushion the stop of the stop body at the third counter-stop face.

[0074] In some embodiments, a second distance measuring system is configured for the second groove, which is configured and designed to capture position information of the stop body at its instant location on the second groove track.

[0075] In some embodiments, in order to limit the angle of rotation in one rotational direction, the first groove has a first counter-face for the stop body at one end of the first groove track, and in order to limit the angle of rotation in the opposite rotational direction, the first groove has a second counter-face for the stop body at the other end of the first groove track.

[0076] In some embodiments, the first counter-face of the first groove has a first spring device configured to cushion the stop of the stop body on the first counter-face, and / or the second counter-face of the first groove has a second spring device configured to cushion the stop of the stop body at the second counter-face.

[0077] In some embodiments, the shaft limiting device has at least one stop element which is configured to be inserted releasably and / or adjustably into the first recess at a position of the first recess track which is located between one end of the first recess track and the other end of the first recess track, wherein the stop element forms a third counter surface for the stop body on the side thereof which faces the stop body.

[0078] In some embodiments, the third counter surface of the stop element has a third spring device which is configured to cushion the stop of the stop body thereon.

[0079] In some embodiments, a first distance measuring system is provided for the first recess, which is configured and designed to capture the position information of the stop body at its instant location on the first recess track.

[0080] In some embodiments, the stop body is configured to be rigid.

[0081] In some embodiments, the head section of the stop body and / or the foot section of the stop body is provided with a spring-elastic cover on the respective outer peripheral wall thereof.

[0082] In some embodiments, the stop body is configured as a pin, wherein one pin half forms the head section of the stop body and the other pin half forms the foot section.

[0083] In some embodiments, the head section is configured as a pin section which is cylindrical in cross section, and the foot section is configured as a pin section which is rectangular or square in cross section.

[0084] The present invention also relates to a robot arm having a plurality of links and joints for the relative adjustment of the links, wherein at least one joint is configured as a rotary joint which connects a first link of the robot arm to an immediately adjacent second link of the robot arm in a relatively twistable manner, wherein the rotary joint has a shaft limiting device according to one of the preceding embodiments.

[0085] In some embodiments, the first guide link of the shaft limiting device is configured as a component separate from the first link of the robot arm and fastened to the first link of the robot arm, and / or the second guide link of the shaft limiting device is configured as a component separate from the second link of the robot arm and fastened to the second link of the robot arm.

[0086] In some embodiments, the first guiding segment of the shaft limiting device is configured as a one-piece component together with the first segment of the robot arm, and / or the second guiding segment of the shaft limiting device is configured as a one-piece component together with the second segment of the robot arm. BRIEF DESCRIPTION OF DRAWINGS

[0087] In the following, specific embodiments of the application are explained in detail with reference to the drawings. The specific features of these exemplary embodiments can be considered individually or in combination, as necessary, to represent the general features of the application, regardless of where they are specifically mentioned in the text. Among others:

[0088] Figure 1 a perspective view of an exemplary robot arm of the industrial robot type is shown,

[0089] Figure 2 a top view of an exemplary shaft limiting device according to the application is shown separately,

[0090] Figure 3 a lateral sectional view of a shaft limiting device according to Figure 2

[0091] Figure 4 a perspective view of a shaft limiting device according to Figure 2

[0092] Figure 5 a perspective view of a variant of a shaft limiting device according to Figure 2

[0093] Figures 6 to 11 a plurality of schematic views of a shaft limiting device, each in a position of a rotation angle of 180 degrees of a progressive change, are shown from above,

[0094] Figure 12 an exemplary stop body is shown separately, having a head section with a cross section in the shape of a cylinder and a foot section with a cross section in the shape of a rectangle or square, and

[0095] Figure 13 a perspective view of a modified robot arm of the lightweight robot type is shown. DETAILED DESCRIPTION

[0096] Figure 1 ​​​An exemplary robot 1 of the industrial robot type is shown, having a robot controller 2 and a robot arm 3. The robot arm 3 has a base 5 as a first segment Gl, a turntable 7 as a second segment G2 is rotatably mounted on the base about a first vertical axis Al and is rotatably driven by a first drive motor Ml. The axes Al-A6 of the robot arm 3 can also be referred to as joints L1-L6 of the robot arm 3. A swing arm 8 as a third segment G3 is pivotably mounted on the turntable 7 about a second horizontal axis A2 and is rotatably driven by a second drive motor M2. The swing arm 8 carries a boom 9 which is pivotably mounted about a third horizontal axis A3 and is rotatably driven by a third drive motor M3. A base arm 10 of the boom 9 forms a fourth segment G4, on the boom 9 a fourth axis A4 is provided which extends in the longitudinal extension of the boom 9 and a forearm 11 is rotatably driven by a fourth drive motor (not shown), the forearm forming a fifth segment G5.

[0097] From the forearm 11 forked first and second side edges 12a, 12b extend forward. These two side edges 12a, 12b carry a support for a hand 13 which forms a sixth segment G6. The support defines a fifth axis A5 of the robot arm 3 about which the hand 13 can be pivotably moved by a fifth drive motor (not shown). In addition, the hand 13 has a sixth axis A6 in order to be able to rotatably drive a fastening flange 14 by a sixth drive motor (not shown), the fastening flange forming a seventh segment G7. Each axis Al-A6 is provided with a joint L1-L6 which, in the shown embodiment, connects the segments Gl-G7 in the form of a wrist robot kinematic chain.

[0098] One or more joints L1-L6 of the robot arm 3 can have an axis limiting device 15 according to the present utility model. In a specific embodiment, for example, the joint L1 which rotatably connects the base 5 as the first segment Gl of the robot arm 3 with the turntable 7 as the second segment G2 of the robot arm 3 can have an axis limiting device 15. The axis limiting device 15 is thus used to mechanically limit the maximum angle of rotation at the rotational joint L which directly rotatably connects the first segment Gl with the second segment G2.

[0099] Figures 2 to 11 Such an axis limiting device 15 is shown.

[0100] The axis limiting device 15 has a movable stop body 16. The stop body 16 is in Figure 12 shown separately. In the case of the present embodiment, the stop body 16 comprises an oblong foot section 16a and a cylindrical head section 16b.

[0101] The shaft limiting device 15 comprises a first guide limb F1 which can be connected to or formed on the first limb G1 and has a first groove 17.1 with a first groove track 17a, which first groove is configured to adjustably support the foot section 16a of the stop body 16 along the first groove track 17a and to restrictably support the foot section 16a of the stop body 16 transversely to the first groove track 17a.

[0102] The shaft limiting device 15 further comprises a second guide limb F2 which can be connected to or formed on the second limb G2 and has a guide face on which a second groove 17.2 is formed, which second groove has a second groove track 17b which extends more than 360 degrees around the rotation axis D, in particular as shown in Figure 2 、 Figure 4 and Figure 5 , wherein the second groove 17.2 is configured to adjustably support the head section 16b of the stop body 16 along the second groove track 17b and to restrictably support the head section 16b of the stop body 16 transversely to the second groove track 17b.

[0103] In the shaft limiting device 15, the first guide limb F1 and the second guide limb F2 are arranged relative to each other such that the stop body 16 engages with its foot section 16a in the first groove 17.1 of the first limb G1 and with its head section 16b in the second groove 17.2 of the second limb G2 at the same time, so that when the first guide limb F1 is relatively rotated relative to the second guide limb F2 around the rotation axis D, the stop body 16 is not only moved by the first groove track 17a of the first groove 17.1, but also moved around the rotation axis D by the second groove track 17b of the second groove 17.2.

[0104] In the shown embodiment, the first groove 17.1 has a first groove track 17a which extends at least substantially radially relative to the rotation axis D, which first groove is configured to adjustably support the foot section 16a of the stop body 16 radially along the first groove track 17a and to restrictably support the foot section 16a of the stop body 16 in a circumferential direction around the rotation axis D, wherein the guide face extends perpendicular to the rotation axis D, and at least one first groove track section 17b.1 of the second groove 17.2 extends on an inner annular face section RI of the guide face, and at least one second groove track section 17b.2 of the second groove 17.2 extends on an outer annular face section RA of the guide face which is different from the inner annular face section RI, wherein the second groove 17.2 is configured to adjustably support the head section 16b of the stop body 16 along the second groove track 17b and to restrictably support the head section 16b of the stop body 16b in a radial direction relative to the rotation axis D.

[0105] In the case of the present embodiment, the second guide arthropod F2 is configured as a disc, the disc face of which forms a guide face in which the second groove 17.2 is introduced. As Figures 4 to 11 is shown, in the case of the present embodiment, the second groove track 17b has a helical course.

[0106] In order to limit the angle of rotation in one rotational direction, the second groove 17.2 has, at one end of the second groove track 17b, a first counter stop face 18.1 for the stop body 16, and, in order to limit the angle of rotation in the opposite rotational direction, at the other end of the second groove track 17b, a second counter stop face 18.2 for the stop body 16.

[0107] As Figure 5 is shown, the shaft limiting device 15 can have at least one stop-insert 19, which is configured to be inserted releasably and / or adjustably into the second groove 17.2 at a location of the second groove track 17b between one end of the second groove track 17b and the other end of the second groove track 17b, wherein the stop-insert 19 forms, on its side facing the stop body 16, a third counter stop face 18.3 for the stop body 16.

[0108] In order to limit the angle of rotation in one rotational direction, the first groove 17.1 has, at one end of the first groove track 17a, a first counter face 20.1 for the stop body 16, and, in order to limit the angle of rotation in the opposite rotational direction, at the other end of the first groove track 17a, a second counter face 20.2 for the stop body 16.

[0109] As Figure 5 is also shown, the shaft limiting device 15 can have at least one stop-element 21, which is configured to be inserted releasably and / or adjustably into the first groove 17.1 at a location of the first groove track 17a between one end of the first groove track 17a and the other end of the first groove track 17a, wherein the stop-element 21 forms, on its side facing the stop body 16, a third counter face 20.3 for the stop body 16.

[0110] In Figures 6 to 11 , the shaft limiting device 15 is shown from above, respectively, more precisely, each illustration is in a rotational angle position which is changed progressively by 180 degrees.

[0111] The current actual position of the stop body 16 is indicated by a solid black dot in the second groove track 17b of the second groove 17.2. The unfilled dot or ring indicates the previous position of the stop body 16, at which the actual position of the stop body 16 shown in the preceding figure was just before, in order to clearly show the movement of the stop body 16 inside the first groove 17.1 from the right outer side to the left inner side in a straight radial direction during the rotational movement of the first guide link F1 relative to the second guide link F2.

[0112] In Figure 6 , the head section 16b of the stop body 16 is located at the outer end of the helical second groove 17.2. In Figure 7 , the second guide link F2 is rotated 180 degrees counterclockwise relative to the first guide link F1, the stop body 16 travels radially to the left inside the first groove 17.1 in a straight radial orientation over a distance. This linear movement of the stop body 16 in the first groove 17.1 continues in Figure 8 , Figure 9 and Figure 10 in each case by a further 180 degrees counterclockwise rotation, more precisely by the same distance radially inward toward the axis of rotation D in the first groove 17.1, respectively. In Figure 11 , the stop body 16 has almost reached the opposite inner end of the second groove 17.2, where the maximum possible angle of rotation of, for example, 900 degrees ends in this region, which corresponds to 2.5 complete revolutions.

[0113] Figure 12 An exemplary embodiment of the stop body 16 is shown separately. The stop body 16 is configured to be rigid.

[0114] In the case of the present embodiment, the stop body 16 is configured as a pin, wherein one pin half forms the head section 16b of the stop body 16 and the other pin half forms the foot section 16a.

[0115] Here, the head section 16b is configured as a pin section with a cylindrical cross section and the foot section 16a is configured as a pin section with a rectangular or square cross section.

[0116] Figure 13 An improved robot arm 3 in the form of a lightweight robot 3a is shown, which has a total of seven axes. The lightweight robot 3a has a plurality of links G and joints L that relatively adjust the links G, wherein all of the joints G are configured as rotational joints. In this regard, the joint G is a relative torsionally connecting first link Gl of the robot arm 3 with an immediately adjacent second link G2 of the robot arm 3, wherein the respective rotational joint G can each have an axis limiting device 15 according to any one of the preceding embodiments.

[0117] The first guide segment Fl of the shaft limiting device 15 can be configured as a separate component from the first segment Gl of the robot arm 3 or light robot 3a and fastened to the first segment Gl of the robot arm 3; likewise, the second guide segment F2 of the shaft limiting device 15 can be configured as a separate component from the second segment G2 of the robot arm 3 or light robot 3a and fastened to the second segment G2 of the robot arm 3.

[0118] Alternatively, the first guide segment Fl of the shaft limiting device 15 can be configured as a one-piece component together with the first segment Gl of the robot arm 3 or light robot 3a; likewise, the second guide segment F2 of the shaft limiting device 15 can be configured as a one-piece component together with the second segment G2 of the robot arm 3.

Claims

1. A shaft limiting device for mechanically limiting a maximum rotation angle at a rotary joint, which directly rotatably connects a first segment (Gl) with a second segment (G2), characterized in that The shaft limiting device has: - a movable stop body (16) having a foot section (16a) and a head section (16b), - a first guide segment (F1) which can be connected to the first segment (G1) or is formed on the first segment, the first guide segment having a first groove (17.1) with a first groove track (17a), the first groove being configured to adjustably support the foot section (16a) of the stop body (16) along the first groove track (17a) and to support the foot section (16a) of the stop body (16) with limited freedom transversely to the first groove track (17a), - a second guide segment (F2) which can be connected to the second segment (G2) or is formed on the second guide segment, the second guide segment having a guide surface on which a second groove (17.2) is formed, the second groove having a second groove track (17b) which extends more than 360 degrees around a rotation axis (D), wherein the second groove (17.2) is configured to adjustably support the head section (16b) of the stop body (16) along the second groove track (17b) and to support the head section (16b) of the stop body (16) with limited freedom transversely to the second groove track (17b), wherein - the first guide segment (F1) and the second guide segment (F2) are arranged relative to one another such that the stop body (16) engages with its foot section (16a) in the first groove (17.1) of the first segment (G1) and with its head section (16b) in the second groove (17.2) of the second segment (G2) at the same time, so that when the first guide segment (F1) is relatively rotated around the rotation axis (D) relative to the second guide segment (F2), the stop body (16) not only moves by the first groove track (17a) of the first groove (17.1), but also moves around the rotation axis (D) by the second groove track (17b) of the second groove (17.2).

2. The shaft positioner of claim 1 wherein, The first recess (17.1) has at least a first recess track (17a) extending radially relative to the axis of rotation (D), the first recess being configured to adjustably support a foot section (16a) of the stop body (16) along the first recess track (17a) and to limit the foot section (16a) of the stop body (16) in a circumferential direction about the axis of rotation (D), and the guide face extends perpendicularly to the axis of rotation (D), and at least one first recess track section (17b.1) of the second recess (17.2) extends on an inner annular face section (RI) of the guide face, and at least one second recess track section (17b.2) of the second recess (17.2) extends on an outer annular face section (RA) of the guide face different from the inner annular face section (RI), wherein the second recess (17.2) is configured to adjustably support a head section (16b) of the stop body (16) along the second recess track (17b) and to limit the head section (16b) of the stop body (16) in a radial direction relative to the axis of rotation (D).

3. The shaft positioner of claim 2 wherein, The second guide segment (F2) is configured as a disc, the disc face of which forms the guide face in which the second recess (17.2) is introduced.

4. The shaft positioner of claim 2 wherein, The second recess track (17b) has a helical course.

5. The shaft positioner of claim 3 wherein, The second recess track (17b) has a helical course.

6. The shaft positioner of claim 1 wherein, The first recess (17.1) has at least a first recess track (17a) extending parallel to the axis of rotation (D), the first recess being configured to adjustably support a foot section (16a) of the stop body (16) along the first recess track (17a) parallel to the axis of rotation (D) and to limit the foot section (16a) of the stop body (16) in a circumferential direction about the axis of rotation (D), and the guide face is an inner cylindrical peripheral wall extending concentrically to the axis of rotation (D), and at least one first recess track section of the second recess (17.2) extends on an upper cylindrical face section of the inner cylindrical peripheral wall, and at least one second recess track section of the second recess (17.2) extends on a lower cylindrical face section of the guide face different from the upper cylindrical face section, wherein the second recess (17.2) is configured to adjustably support a head section (16b) of the stop body (16) along the second recess track (17b) and to limit the head section (16b) of the stop body (16) in a direction parallel to the axis of rotation (D).

7. The shaft positioner of claim 6 wherein, The second guide segment (F2) is configured as a hollow cylindrical tube, the inner cylindrical peripheral wall of which forms the guide face in which the second recess (17.2) is introduced.

8. The shaft positioner of claim 6 wherein, The second recess track (17b) has a coil-shaped course.

9. The shaft positioner of claim 7 wherein, The second recess track (17b) has a coil-shaped course.

10. The shaft positioner of any one of claims 1 to 9, wherein, In order to limit the angle of rotation in one rotational direction, the second groove (17.2) has, at one end of the second groove track (17b), a first counter-stop face (18.1) for the stop body (16), and, in order to limit the angle of rotation in the opposite rotational direction, the second groove has, at the other end of the second groove track (17b), a second counter-stop face (18.2) for the stop body (16).

11. The shaft positioner of claim 10 wherein, The first counter-stop face (18.1) of the second groove (17.2) has a first spring device which is configured to cushion the stop of the stop body (16) at the first counter-stop face (18.1), and / or the second counter-stop face (18.2) of the second groove (17.2) has a second spring device which is configured to cushion the stop of the stop body (16) at the second counter-stop face (18.2).

12. The shaft positioner of any one of claims 1 to 9, wherein, The shaft limiting device has at least one stop-insert (19) which is configured to be inserted in the second groove (17.2) in a position of the second groove track (17b) between one end of the second groove track (17b) and the other end of the second groove track (17b) in a releasable and / or adjustable manner, wherein the stop-insert (19) forms, on its side facing the stop body (16), a third counter-stop face (18.3) for the stop body (16).

13. The shaft positioner of claim 12 wherein, The third counter-stop face (18.3) of the stop-insert (19) has a third spring device which is configured to cushion the stop of the stop body (16) at the third counter-stop face (18.3).

14. The shaft positioner of any one of claims 1 to 9, wherein, The second groove (17.2) is provided with a second distance measuring system which is configured and designed to capture position information of the stop body (16) at its instant location on the second groove track (17b).

15. The shaft positioner of any one of claims 1 to 9, wherein, In order to limit the angle of rotation in one rotational direction, the first groove (17.1) has, at one end of the first groove track (17a), a first counter-face (20.1) for the stop body (16), and, in order to limit the angle of rotation in the opposite rotational direction, the first groove has, at the other end of the first groove track (17a), a second counter-face (20.2) for the stop body (16).

16. The shaft positioner of claim 15 wherein, The first counter-face (20.1) of the first groove (17.1) has a first spring device which is configured to cushion the stop of the stop body (16) on the first counter-face (20.1), and / or the second counter-face (20.2) of the first groove (17.1) has a second spring device which is configured to cushion the stop of the stop body (16) at the second counter-face (20.2).

17. The shaft positioner of any one of claims 1 to 9, wherein, The shaft limiting device has at least one stop element (21) which is configured to be inserted in a releasable and / or adjustable manner into the first recess (17.1) at a position of the first recess track (17a) which is located between one end of the first recess track (17a) and the other end of the first recess track (17a), wherein the stop element (21) forms a third counterface (20.3) for the stop body (16) on the side thereof which faces the stop body (16).

18. The shaft positioner of claim 17 wherein, The third counterface (20.3) of the stop element (21) has a third spring device which is configured to cushion the stop of the stop body (16) on the third counterface (20.3).

19. The shaft positioner of any one of claims 1 to 9, wherein, A first distance measuring system is provided for the first recess (17.1), which is configured and designed to capture the position information of the stop body (16) at its instant location on the first recess track (17a).

20. The shaft positioner of any one of claims 1 to 9, wherein, The stop body (16) is configured to be rigid.

21. The shaft positioner of any one of claims 1 to 9, wherein, The head section (16b) of the stop body (16) and / or the foot section (16a) of the stop body (16) is provided with a spring-elastic cover on the respective outer peripheral wall thereof.

22. The shaft positioner of any one of claims 1 to 9, wherein, The stop body (16) is configured as a pin, wherein one pin half forms the head section (16b) of the stop body (16) and the other pin half forms the foot section (16a).

23. The shaft positioner of claim 22 wherein, The head section (16b) is configured as a pin section which is cylindrical in cross section, and the foot section (16a) is configured as a pin section which is rectangular or square in cross section.

24. Robot arm having a plurality of segments (G1-G7) and joints (L1-L6) for relative adjustment of the segments (G1-G7), wherein at least one joint (L1-L6) is configured as a swivel joint, which relatively torsionally connects a first segment (G1) of the robot arm (3) with an immediately adjacent second segment (G2) of the robot arm (3), characterized in that, The rotary joint has a shaft limiting device (15) according to any one of claims 1 to 23.

25. The robotic arm of claim 24, wherein, The first guide segment (F1) of the shaft limiting device (15) is configured as a component separate from the first segment (G1) of the robot arm (3) and is fastened on the first segment (G1) of the robot arm (3), and / or the second guide segment (F2) of the shaft limiting device (15) is configured as a component separate from the second segment (G2) of the robot arm (3) and is fastened on the second segment (G2) of the robot arm (3).

26. The robotic arm of claim 24, wherein, The first guide segment (F1) of the shaft limiting device (15) is configured as a one-piece component together with the first segment (G1) of the robot arm (3), and / or the second guide segment (F2) of the shaft limiting device (15) is configured as a one-piece component together with the second segment (G2) of the robot arm (3).

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