Robotic arm with receiver for fast coupling

Abstract

The utility model relates to a robot arm having a plurality of elements (G1-G7) and joints (L1-L6) which adjustably connect the elements relative to one another, at least one of the joints having a transmission device (26), by means of which the joints can be drivingly adjusted, and which is arranged in at least one hollow element of the plurality of elements of the robot arm, wherein an outer wall (15) of the hollow limb forms or surrounds a transmission housing wall of the transmission and a lubricant (27) of the transmission is located inside the hollow limb or the transmission housing of the transmission, characterized in that the outer wall of the hollow limb has an access opening (16) which is associated with a receptacle (17a) of a quick coupling (17), an insert (17b) of the quick coupling, which corresponds to the receptacle, can be inserted into the receptacle.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of robot arms, it has multiple segments and the joints that these segments are adjustably connected relative to each other, at least one joint is equipped with transmission device, joint can be drivenly adjusted by the transmission device, and the transmission device is arranged in at least one hollow segment in the multiple segments of robot arm, wherein the outer wall of hollow segment forms or surrounds the transmission device housing wall of transmission device, and the lubricant of transmission device is located in the inside of hollow segment or transmission device housing of transmission device. BACKGROUND

[0002] Patent document DE102019210071B4 describes a robot arm, with a first structural element, in particular a base frame for fastening the robot arm in its surroundings, a second structural element, in particular a turntable, which is mounted rotatably on the first structural element about a rotation axis, and a transmission device for twisting the second structural element relative to the first structural element, which has a transmission device housing, wherein the housing of the first structural element has at least one integrated cavity for accommodating a lubricant of the transmission device, which is fluidically connected to the transmission device housing by at least one connection channel in the housing of the first structural element, wherein at least one wall delimiting the cavity has an outer side of the first structural element, and / or the cavity has an opening to the outer side of the first structural element, which has a closure. SUMMARY

[0003] The object of the utility model lies in providing a kind of robot arm, wherein the lubricant for transmission device can be reliably, effectively injected into hollow segment of robot arm and / or be discharged from it.

[0004] The object of the utility model is achieved by a kind of robot arm, the robot arm has multiple segments and the joints that these segments are adjustably connected relative to each other, at least one joint is equipped with transmission device, joint can be drivenly adjusted by the transmission device, and the transmission device is arranged in at least one hollow segment in the multiple segments of robot arm, wherein the outer wall of hollow segment forms or surrounds the transmission device housing wall of transmission device, and the lubricant of transmission device is located in the inside of hollow segment or transmission device housing of transmission device, wherein the outer wall of hollow segment has access, which is equipped with the receiving piece of quick coupling, the insertion piece of quick coupling corresponding to receiving piece can be inserted into the receiving piece.

[0005] The at least one hollow segment of the robot arm can be formed in one piece, for example. Alternatively, the at least one hollow segment of the robot arm can be designed to be multi-part, wherein a plurality of segment components can be assembled to the hollow segment of the robot arm. The hollow segment can be formed, for example, from two half-shell-like housing components. Alternatively, the hollow segment can have a base body which is, for example, tubular or box-shaped, which can have, for example, two opposite segment openings, each of which can be closed by a segment cover. The respective segment cover can be detachably screwed, for example, to the base body of the hollow segment. The respective outer wall can accordingly be formed by the segment cover. In the case of such a segment cover, the segment cover can have a respective access opening, at which the receiving element is attached. However, the access opening and thus also the receiving element can also be formed, for example, on the base body.

[0006] The relevant outer wall of the hollow segment can thus in a preferred embodiment jointly form a gear housing wall of the gear or, more precisely, as one outer wall component of a plurality of outer wall components of the hollow segment or as one of a plurality of gear housing walls of the gear. As a gear housing wall or gear housing wall component, it can form, for example, a bearing for a gear wheel and / or a shaft of the gear. If the relevant gear housing wall or gear housing wall component does not form a bearing for a gear wheel and / or a shaft of the gear, the gear housing wall or gear housing wall component delimits at least one cavity in which a gear wheel and / or a shaft of the gear is arranged. The gear housing wall or gear housing wall component delimits a cavity in which the gear is located, in particular also such that a lubricant of the gear remains in the cavity. In this regard, the gear housing wall or gear housing wall component in this embodiment is to enclose the lubricant of the gear in the hollow segment of the robot arm.

[0007] However, in an alternative embodiment, the access opening can also be provided directly on the gear. This means that a separate gear is arranged within the outer wall of the hollow segment, which has its own gear housing. The outer wall of the hollow segment is thus in this alternative embodiment an additional cladding around the gear housing. Here, the outer wall of the hollow segment can also have an access opening, through which the receiving element protrudes to the outside of the segment, wherein the receiving element is attached to the separate gear housing on the inside. In this regard, the outer wall of the hollow segment with the access opening can be provided with the receiving element of the quick coupling, so that the receiving element passes through the access opening in the outer wall of the hollow segment and protrudes to the outside of the segment.

[0008] The lubricant of the gear can be, for example, a gear oil or a gear grease.

[0009] By providing the outer wall of the hollow segment with an access opening, which is equipped with a receiving element of a quick coupling, an insertion element of the quick coupling, which corresponds to the receiving element, can be inserted into the receiving element, it is possible to reliably and effectively inject lubricant of a transmission into and / or to expel it from a hollow segment of a robot arm.

[0010] In a first exemplary application, the hollow segments of a robot arm can be filled for the first time after mounting. In this application, the transmission is mounted at least substantially dry in the hollow segment, and its cavity is closed by mounting the segment. Now, in order to be able to fill the hollow segment with the desired lubricant in a subsequent step, the insertion element of the quick coupling present on the mounting station is inserted into the receiving element at the access opening of the outer wall of the hollow segment. The insertion element can be connected to a hose leading to a container in which the lubricant to be injected is located. A certain amount of lubricant can be contained in this container, which is sufficient to fill one robot arm or a plurality of hollow segments of a plurality of robot arms.

[0011] By means of an overpressure in the container and the hose system and / or by means of a separate pump, the lubricant can be directed from the container and through the hose to the insertion element, from which it can enter the cavity of the hollow segment through the receiving element coupled on the outer wall. In addition to the first receiving element, by means of which the lubricant can be introduced into the cavity of the hollow segment, the hollow segment can have, for example, at least one second receiving element or can have only a second access opening which can be closed, through which, in the open state during the filling of the hollow segment with lubricant, air to be expelled can be expelled to the outside of the hollow segment.

[0012] This second access opening or this second receiving element can be arranged on the hollow segment opposite the first receiving element. Thus, the hollow segment can be oriented, for example, for the filling of lubricant, so that the first receiving element is located on the underside and the opposite second access opening or second receiving element can be correspondingly located on the upper side. Thus, the lubricant can be injected into the hollow segment from the bottom to the top against the force of gravity, and air can escape through the open second access opening or open second receiving element in the upper part to achieve equalization. If enough lubricant is filled into the hollow segment, all access openings and / or receiving elements are closed.

[0013] In the case of a simple access port, the access port can be closed manually by a closure bolt or a plug. In the case of a first and possibly a second receiving piece, they can be configured to be self-closing. A self-closing configuration means that in the state in which the insert of the quick coupling is inserted into the receiving piece, the receiving piece automatically releases a passage through it, so that lubricant can flow from the insert through the receiving piece into the hollow limb. If the insert is pulled out of the receiving piece and removed, the passage through the receiving piece automatically closes, so that no lubricant can escape from the hollow limb. In this respect, the receiving piece will remain on the hollow limb of the robot arm during the operation of the robot arm.

[0014] The first filling can not only take place during the manufacture and assembly of the robot arm at the manufacturer. A similar first filling can also take place at the site of use of the robot arm, for example when a defective or worn hollow limb or a defective or worn transmission is replaced by a new hollow limb or a new transmission as a spare part. In this case, the lubricant must be refilled after the replacement of the hollow limb or the transmission.

[0015] In a second exemplary application, the replacement of the lubricant can be carried out at the hollow limb of the robot arm, for example under a service framework.

[0016] Here, in addition to the first access port and the first receiving piece, the hollow limb can also have a second access port and a second receiving piece. Instead of a second receiving piece, only one second access port can be provided, which can be closed in another way, for example by a closure bolt or a plug.

[0017] Here, such a second access port or such a second receiving piece can also be arranged on the hollow limb opposite the first receiving piece. Thus, the hollow limb can be oriented, for example for the purpose of filling with lubricant, so that the first receiving piece is located on the upper side and the opposite second access port or second receiving piece can be correspondingly located on the lower side. Thus, the lubricant can be injected into the hollow limb from top to bottom against the force of gravity. The lubricant to be replaced can be drained beforehand through the open second access port or the open second receiving piece on the lower side. If the hollow limb is refilled with sufficient lubricant again, all access ports and / or receiving pieces are closed. That is, the old lubricant is drained before the hollow limb is filled with new lubricant. After the old lubricant has been drained, the access port or the receiving piece for draining can be closed so that the new lubricant can be injected through the opposite access port or through the first receiving piece.

[0018] In special cases, flushing of the transmission can also be performed by keeping not only the first receiving member open, but also the second discharge inlet or the second discharge receiving member open. Thus, the flushing medium can be supplied through the first receiving member and discharged through the second discharge inlet or the second discharge receiving member, so that impurities, such as metal shavings, can be removed, for example, from the hollow segment.

[0019] In the case of a second receiving member for discharge, a second insert connected to a discharge hose can be inserted into the second receiving member, through which the discharged lubricant or flushing medium can flow into, for example, a collection container. Alternatively, the second insert can be loosely inserted into the second receiving member, leaving the second receiving member open, and the lubricant or flushing medium to be discharged can flow freely out of the second insert. The lubricant or flushing medium flowing freely out of the second insert can then be collected, for example, in a tank.

[0020] The aforementioned quick-connectors form a plug and socket or connection system, wherein the quick-connectors include a receiving element (as a socket or connection element) disposed on the hollow segment of the robot arm and an insert element (as a plug) separate from the robot arm.

[0021] According to this invention, attaching an insert, i.e., a plug, to a robot arm is considered disadvantageous. Because the insert forms a protruding portion of a quick-connect, when attached to a hollow segment of the robot arm, it protrudes significantly beyond the outer contour of the hollow segment, and thus beyond the outer contour of the robot arm. This increases the outer contour of the robot arm and consequently, the so-called interference profile. Furthermore, in harsh working environments, the protruding insert on the robot arm is easily damaged, potentially leading to defects and even leaks. Lubricant may then leak from the inside of the robot arm, and if not detected early, this could even damage the transmission mechanism.

[0022] According to this invention, by replacing the quick-connect insert with a receiver on the robot arm or on the hollow segment of the robot arm, the outer profile of the robot arm can be significantly reduced or kept as small as possible relative to the much-protruding insert (e.g., a lubrication nozzle). Even when the receiver is installed completely recessed beneath the rest of the outer profile of the hollow segment of the robot arm, the outer profile of the robot arm can be kept very small, as if there were no quick-connect insert at all. Ideally, the receiver should be completely recessed beneath the outer profile of the hollow segment, but in some embodiments, it may not be completely recessed but may protrude slightly beyond the outer profile of the hollow segment, which is also sufficient. Therefore, a protrusion of a few millimeters, for example, is harmless to the basic effect, as it does not create an unnecessarily large obstruction on the robot arm.

[0023] The receiver is positioned on the hollow segment of the robotic arm, allowing for the filling, flushing, and / or draining of lubricant from the internal transmission chamber. This offers significant advantages over simple sealing bolts, drain bolts, or filler bolts. Therefore, the receiver automatically opens, for example, when the corresponding insert of the quick-connect is inserted, and automatically closes again when the insert is withdrawn. There is no risk that the sealing bolt might not be properly tightened, potentially leading to unintended leaks during robotic arm operation.

[0024] Furthermore, the lubricant can be injected into the hollow segments of the robotic arm with minimal or no leakage via the receiving devices on the hollow segments. If two receiving devices are provided on the relevant hollow segments of the robotic arm, particularly on opposite sides of the hollow segments, the cavities within the hollow segments can be flushed in a simple and clean manner. For this purpose, for example, a first insert connected to a first hose can be connected to the first receiving device on the hollow segment, through which flushing media can be introduced into the cavity of the hollow segment, and a second insert connected to a second hose can be connected to the second receiving device on the hollow segment, through which flushing media can be withdrawn from the cavity of the hollow segment again.

[0025] Overall, through at least one receiving element of the quick-connect fitting, lubricant can be reliably, at least nearly leak-free, effectively, and / or rapidly injected and / or discharged onto at least one hollow segment of the robotic arm. This reduces assembly steps, simplifies flushing procedures during maintenance, and minimizes the risk of leakage during filling and / or discharging. Furthermore, the receiving element of the quick-connect fitting on the hollow segment of the robotic arm simplifies and accelerates the operation during lubricant filling and discharging because it eliminates the need to manually loosen or tighten sealing bolts with hand tools.

[0026] By mounting at least one receiver of the quick-connect assembly on at least one hollow segment of the robot arm, the sealing of the hollow segment can also be easily checked, for example, after initial installation or after lubricant replacement. For this purpose, an insert of the quick-connect assembly can be attached to the receiver, which connects to a hose through which compressed gas (e.g., compressed air) can be supplied to the cavity of the hollow segment to create overpressure within the cavity. This overpressure can indicate the possible location of a leak if the lubricant leaks from the hollow segment in an undesirable manner due to the applied overpressure (e.g., via a defective shaft seal of the segment).

[0027] When the inserted component is inserted as a single piece, i.e., without a connecting hose, at least one receiver of the quick-connect component on at least one hollow segment of the robotic arm can also be used as an indicator hole. Therefore, the position of the receiver on the hollow segment can, for example, determine the lubricant filling height. Here, lubricant can be injected, for example, into the cavity of the hollow segment until lubricant begins to flow out again through the receiver serving as the indicator hole, into which the inserted component is inserted. Lubricant injection can then be stopped, and once lubricant flow ceases, the inserted component can be removed from the receiver.

[0028] The outer wall of the hollow segment may include a wall section recessed inward relative to the surrounding outer wall section, and an access port is formed on the wall section to which the receiving part of the quick-connect is attached.

[0029] In this regard, the receiving part of the quick-connect fitting is secured at the interface. Therefore, the receiving part may have an inwardly pointing first receiving part section and an outwardly pointing second receiving part section. To make the outwardly pointing second receiving part section protrude less or even not at all than the surrounding outer wall section of the hollow segment, in this particular embodiment, it is suitable to have a wall section of the hollow segment that is recessed inward relative to the surrounding outer wall section. In this regard, the inwardly recessed wall section with the interface also has a receiving part. The depth of this recessed wall section relative to the surrounding outer wall section determines the degree of recess of the receiving part.

[0030] In one particular embodiment, the recessed wall section may be recessed relative to the surrounding outer wall section to such a depth that the receiving part of the quick-connect fitting attached to the access point is completely recessed after the outer contour of the hollow segment defined by the surrounding outer wall section of the outer wall.

[0031] If the receiver of the quick-connect fitting attached to the access point is fully recessed into the outer contour of the hollow segment defined by the surrounding outer wall section of the outer wall, the segment of the robot arm will maintain its minimally disturbing contour, regardless of whether the receiver is attached to the relevant segment or whether the segment is configured without a receiver.

[0032] The recessed wall section can be deeply recessed into the outer contour of the hollow segment defined by the surrounding outer wall section, leaving a certain height of free space between the upper end of the inserted receiver and the surrounding outer wall section of the hollow segment. This reserved free space can, for example, be used to allow the insertion of a cover or plug. If the receiver is covered by a cover or plug, it can be protected from contamination such as dust or moisture. In this case, the cover or plug can be designed to protrude only slightly from or even not at all from the surrounding outer wall section of the hollow segment. Therefore, despite the additional use of a cover or plug, the segment of the robotic arm can still maintain its minimally disturbing profile, regardless of whether a cover or plug is attached to the relevant segment or whether the segment is constructed without a cover or plug.

[0033] The inlet of the outer wall of the hollow segment may have an internal thread, and the receiving part may have an external thread portion that corresponds to the internal thread of the inlet.

[0034] The receiving element can be screwed into the internal thread of the access port on the outer wall via its external thread. A seal can be installed between the external thread of the receiving element and the internal thread of the access port. Alternatively, a seal can be installed on the support surface of the receiving element. A sealing ring is installed between the receiving member and the mating support surface on the hollow segment. In one particular embodiment, at least the external thread of the receiving member can form a self-sealing pitch, for example by configuring the external thread of the receiving member to be slightly tapered.

[0035] The receiving element may have an Antriebsprofil designed to couple a wrench with a wrench configuration corresponding to the Antriebsprofil.

[0036] The drive profile of the receiving part can be, for example, an external hexagonal profile, and the corresponding wrench can be a fork wrench, a ring wrench, or a socket wrench with a ratchet, each having a corresponding wrench width or a corresponding internal hexagonal mating profile.

[0037] Alternatively, the drive profile of the receiver can be designed, for example, as a stir lochmutter, which can then be rotated by a corresponding bolt wrench to allow the receiver to be screwed into or out of the access port on the outer wall.

[0038] The receiving element can be designed to work in conjunction with the corresponding insert of the quick-connect element to form a low-leakage and / or drip-free quick-connect element.

[0039] In this regard, the quick-connector can be constructed as a single connector. The quick-connector includes a connector and a nippel into which the connector can be inserted. In this regard, the nippel forms an insert according to the present invention, and the connector forms a receiving member according to the present invention.

[0040] The receiver may have a locking element designed to retain the inserted insert leak-free on the receiver when it is inserted. Thus, for example, a hose carrying the insert at one end can be locked onto the receiver, wherein the hose is self-locking onto the receiver by the connected insert. This allows the insert and / or hose to be released, while lubricant can still be added to the cavity of the hollow segment without dripping.

[0041] To release the inserted component from the receiver, a trigger can be connected to a locking element. Manual operation of the trigger unlocks the locking element, allowing the component to be released from the receiver, i.e., pulled out. Insertion of the component into the receiver automatically locks the locking element, eliminating the need to operate the trigger during insertion. Similarly, releasing the component from the receiver automatically unlocks it.

[0042] Therefore, the receiving element may have an outer cover wall surrounding a built-in locking element arranged coaxially with the outer cover wall, the locking element being axially adjustable and mounted inside the outer cover wall of the receiving element.

[0043] In the locked position, the protrusion and / or locking body (e.g., ball) of the locking member engages in a recess or corresponding groove on the insert. In the unlocked position, the protrusion and / or locking body (e.g., ball) of the locking member releases the recess or corresponding groove of the insert, thereby allowing the insert to be axially pulled out of the receiving member.

[0044] The receiving element may include a valve designed to release a flow passage within the receiving element when the insert is inserted into it, allowing lubricant to flow through the connected quick-connect fitting. When the insert is pulled out of the receiving element, the flow passage is closed, preventing lubricant from flowing out of the receiving element. This valve may particularly be a face-sealing valve, thereby enabling leak-free or at least low-leakage interruption of lubricant flow.

[0045] The hollow segment may have at least one first inlet with a first receiving member, and may have at least one second inlet with a second receiving member.

[0046] The second receiver can be arranged opposite the first receiver on the same hollow segment. As described above, in this embodiment, the hollow segment for filling the lubricant can also be oriented such that the first receiver is located on the upper side, and the opposite second receiver is correspondingly located on the lower side. Therefore, lubricant can be injected into the hollow segment from top to bottom along the direction of gravity. Before this, the lubricant to be replaced can be discharged through the open second receiver. If the hollow segment is filled with sufficient lubricant, both receivers are closed. The old lubricant can be discharged before filling the hollow segment with lubricant. After the old lubricant is discharged, the discharge receiver can be closed by removing the insert so that new lubricant can be filled through the opposite first receiver.

[0047] In special cases, the transmission device can also be flushed by keeping both the first receiving member and the second receiving member for discharge open. Therefore, the flushing medium can be supplied through the first receiving member and discharged again through the second receiving member, so that impurities, such as metal shavings, can be removed, for example, from the hollow segment.

[0048] In the case of a second receiving member for discharge, a second insert connected to a discharge hose can be inserted into the second receiving member, through which the discharged lubricant or flushing medium can flow into, for example, a collection container. Alternatively, the second insert can be loosely inserted into the second receiving member, leaving the second receiving member open, and the lubricant or flushing medium to be discharged can flow freely from the second insert. The lubricant or flushing medium flowing freely from the second insert can then be collected, for example, in a tank.

[0049] Therefore, the first inlet having the first receiving member can be arranged on the first side of the hollow segment, and the second inlet having the second receiving member can be arranged on the second side of the hollow segment opposite to the first side of the hollow segment. Alternatively, the first inlet and the second inlet can also be arranged on the same side of the hollow segment if necessary.

[0050] The hollow segment may have at least one additional access port with an additional receiving element, wherein the additional access port and the additional receiving element are arranged on the hollow segment perpendicular to the first access port with the first receiving element and / or perpendicular to the second access port with the second receiving element, wherein the second receiving element is arranged on the hollow segment. In a modified embodiment, the additional access port does not necessarily have to have a receiving element. If the first access port and the second access port are located on the same side or on the same segment, the additional access port may also be located between the two access ports. The perpendicularity of the third hole, in turn, may depend on whether the other two holes are opposite each other or arranged on the same side.

[0051] At least one additional inlet can serve, for example, as an indicator hole. Therefore, the position of this additional inlet or additional receiver on the hollow segment can, for example, determine the lubricant filling height. Here, lubricant can be injected, for example, into the cavity of the hollow segment until lubricant begins to flow out again through the additional receiver serving as the indicator hole, into which an additional insert is inserted. Lubricant injection can then be stopped, and once lubricant no longer flows out, the additional insert can be removed from the additional receiver.

[0052] At least one receiving element of the corresponding hollow segment may have a color code corresponding to the type of transmission device or lubricant disposed in the relevant hollow segment. The color code corresponds to a specific color from a group of multiple different colors, wherein each color corresponds to one of multiple different transmission device types or lubricant types. Thus, the corresponding transmission device type or lubricant type of the transmission device and / or lubricant present in the relevant hollow segment can be identified based on the color code attached to the receiving element.

[0053] Robotic arms typically have multiple segments connected by multiple joints, particularly more than three independent joints. That is, in a robotic arm, two or more segments can be constructed as hollow segments, each possessing a separate drive from the arm's multiple drives. Since each drive moves and adjusts a different set of segments and joints, the drives for different segments are usually constructed differently. Furthermore, the difference in drives may mean that different lubricants must be filled into the hollow segments of different drives.

[0054] Therefore, to prevent confusion, it is advantageous to use different codes or designs for the individual receiving parts on each hollow segment. In this regard, different codes in different colors on different receiving parts can contain indications about which type of transmission is installed in the relevant hollow segment and therefore also indicate what type of lubricant is used there.

[0055] As an alternative or supplement to color coding that only serves as an indicator, different receivers with varying nominal diameter ranges can be provided on different hollow segments of the robotic arm. Thus, each unique nominal diameter range of the receiver is representative of a particular transmission type and / or the type of lubricant to be filled there. Since the different nominal diameter ranges of the receivers not only provide indicator coding but also mechanically prevent the insertion of incorrectly inserted components through mechanical constraints, unintentional or intentional insertion of incorrectly inserted components can also be prevented.

[0056] As an alternative to or supplement to color coding, at least one receiving member of each hollow segment may have a receiving member-diameter nominal range corresponding to the transmission type or lubricant type of the transmission device arranged in the relevant hollow segment, which corresponds to a specific nominal range in a plurality of different nominal range groups, wherein each nominal range corresponds to a specific transmission type or lubricant type in a plurality of different transmission types or lubricant types, thereby identifying the corresponding transmission type or lubricant type of the transmission device and / or lubricant present in the relevant hollow segment based on the receiving member-diameter nominal range.

[0057] In another variation, at least one receiving element of each hollow segment may have a receiving-polygonal profile corresponding to a type of transmission device or lubricant disposed in the relevant hollow segment. This receiving-polygonal profile corresponds to a specific polygonal profile type among a group of multiple different polygonal profile types, where each polygonal profile type corresponds to a specific transmission device type or lubricant type among a group of multiple different transmission device types or lubricant types. Thus, the corresponding transmission device type or lubricant type present in the relevant hollow segment can be identified based on the receiving-polygonal profile. Different polygonal profile types can be distinguished, for example, according to the size of the polygon. Alternatively or supplementarily, different polygonal profile types can be distinguished according to their geometry, such as a hexagonal profile compared to a star-shaped or quadrilateral profile. Again, alternatively or supplementarily, for example, in the case of regular polygons, the number of angles can also form a distinguishing criterion. Therefore, different polygonal profile types can be, for example, triangular, quadrilateral, pentagonal, hexagonal, etc.

[0058] Therefore, according to one or more of the described embodiments, the robotic arm may include a plurality of hollow segments, each hollow segment having a transmission device disposed therein, and each of these hollow segments may have at least one receiving member.

[0059] This utility model relates to a robotic arm having multiple segments and joints that are adjustablely connected relative to each other, wherein at least one joint is provided with a transmission device, the joint being adjustable by drive via the transmission device, and the transmission device is arranged in at least one hollow segment of the multiple segments of the robotic arm, wherein the outer wall of the hollow segment forms or surrounds the transmission device housing wall, and the lubricant of the transmission device is located inside the hollow segment or the transmission device housing, wherein the outer wall of the hollow segment has an inlet, the inlet being provided with a receiving member of a quick-connect member, and an insert of the quick-connect member corresponding to the receiving member can be inserted into the receiving member.

[0060] In some embodiments, the outer wall of the hollow segment has a wall section that is recessed inward relative to a surrounding outer wall section, and an access port is formed on the wall section, to which a receiver of a quick-connect is attached.

[0061] In some embodiments, the recessed wall section is recessed relative to the surrounding outer wall section to such a depth that the receiving part of the quick-connect fitting attached to the access point is fully recessed after the outer contour of the hollow segment defined by the surrounding outer wall section of the outer wall.

[0062] In some embodiments, the inlet of the outer wall of the hollow segment has an internal thread, and the receiving member has an external thread portion having an external thread corresponding to the internal thread of the inlet.

[0063] In some embodiments, the receiving member has a drive profile designed to couple a wrench having a wrench profile corresponding to the drive profile.

[0064] In some embodiments, the receiving element is configured to cooperate with the insert of the corresponding quick-connect element to form a low-leakage and / or drip-free quick-connect element.

[0065] In some embodiments, the receiving member has an outer cover wall surrounding a built-in locking member arranged coaxially with the outer cover wall, the locking member being axially adjustable and mounted inside the outer cover wall of the receiving member.

[0066] In some embodiments, the hollow segment has at least one first inlet provided with a first receiving member, and at least one second inlet provided with a second receiving member.

[0067] In some embodiments, a first access port having a first receiving member is arranged on a first side of the hollow segmental limb, and a second access port having a second receiving member is arranged on a second side of the hollow segmental limb, the second side being opposite to the first side of the hollow segmental limb.

[0068] In some embodiments, the hollow segment has at least one additional access port, the additional access port being provided with an additional receiving member, wherein the additional access port and the additional receiving member are arranged on the hollow segment perpendicular to the first access port having a first receiving member and / or perpendicular to the second access port having a second receiving member.

[0069] In some embodiments, at least one receiving member of the respective hollow segment has a color code corresponding to the transmission type or lubricant type of the transmission device arranged in the relevant hollow segment. The color code corresponds to a specific color in a plurality of different color groups, wherein each color corresponds to a specific transmission type or lubricant type in a plurality of different transmission types or lubricant types, thereby enabling the identification of the corresponding transmission type or lubricant type of the transmission device and / or the lubricant present in the relevant hollow segment based on the color code attached to the receiving member.

[0070] In some embodiments, at least one receiving member of the respective hollow segment has a receiving member-diameter nominal range corresponding to a transmission type or lubricant type of a transmission device arranged in the relevant hollow segment, the nominal diameter range corresponding to a specific nominal range in a plurality of different nominal range groups, wherein each nominal range corresponds to a specific transmission type or lubricant type in a plurality of different transmission types or lubricant types, thereby enabling the identification of the corresponding transmission type or lubricant type of the transmission device and / or lubricant present in the relevant hollow segment based on the receiving member-diameter nominal range.

[0071] In some embodiments, at least one receiving portion of the corresponding hollow segment has a receiving polygonal profile corresponding to a transmission device type or lubricant type arranged in the relevant hollow segment. This polygonal profile corresponds to a specific polygonal profile type in a group of multiple different polygonal profile types, wherein each polygonal profile type corresponds to a specific transmission device type or lubricant type in a group of multiple different transmission device types or lubricant types. Thus, the corresponding transmission device type or lubricant type of the transmission device and / or the lubricant present in the relevant hollow segment can be identified based on the receiving polygonal profile.

[0072] In some embodiments, the robotic arm has a plurality of hollow segments, each hollow segment having a transmission device disposed therein, and each hollow segment having at least one receiving member according to any of the above embodiments. Attached Figure Description

[0073] Specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The specific features of these exemplary embodiments may be considered individually or in combination as necessary to represent the general features of the present invention, regardless of where they are specifically mentioned herein. Wherein:

[0074] Figure 1 A perspective view of an exemplary robotic arm in the form of an industrial robot is shown.

[0075] Figure 2 An illustration shows an exemplary quick-connect fitting with a receiving element and an insert.

[0076] Figure 3 A partial cross-sectional view of an exemplary hollow segment of a robotic arm is shown, the robotic arm having an exemplary receiver disposed at an inlet on the outer wall of the hollow segment and partially recessed.

[0077] Figure 4 A partial cross-sectional view of an exemplary hollow segment of a robotic arm is shown, the robotic arm having an exemplary receiver disposed at an inlet on the outer wall of the hollow segment and fully recessed therein, and

[0078] Figure 5 A schematic diagram of an embodiment with a hollow segment is shown, wherein a transmission device and a lubricant are schematically shown, and the hollow segment has at least one first inlet with a first receiving member and at least one second inlet with a second receiving member. Detailed Implementation

[0079] 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 serving as a first segment G1, on which a turntable 7 serving as a second segment G2 is rotatably mounted about a first vertical axis A1 and is driven by a first drive motor M1. The axes A1-A6 of the robot arm 3 can also be referred to as joints L1-L6 of the robot arm 3. A rocker arm 8 serving as a third segment G3 is pivotally mounted about a second horizontal axis A2 on the turntable 7 and is driven by a second drive motor M2. The rocker arm 8 carries a cantilever 9, which is pivotally mounted about a third horizontal axis A3 and is driven by a third drive motor M3. The base arm 10 of the cantilever 9 forms a fourth segment G4, and a fourth axis A4 is provided on the cantilever 9, extending along the longitudinal direction of the cantilever 9, and a forearm 11 is driven by a fourth drive motor (not shown), which forms a fifth segment G5.

[0080] A first side 12a and a second side 12b extend forward in a forked manner from the forearm 11. The two sides 12a and 12b support a portion of the hand 13, which forms a sixth limb G6. The support defines a fifth axis A5 of the robotic arm 3, about which the hand 13 can be pivotally moved via a fifth drive motor (not shown). Additionally, the hand 13 has a sixth axis A6 to rotatably drive a fastening flange 14, which forms a seventh limb G7, via a sixth drive motor (not shown). Each axis A1 to A6 corresponds to a joint L1 to L6, which, in the illustrated embodiment, connect limbs G1 to G7 in a serial kinematic manner typical of a flexor-arm robot.

[0081] That is, the robot arm 3 has a plurality of segments G1 to G7 and joints L1 to L6 that are adjustablely connected to each other. At least one joint L1 to L6 is equipped with a transmission device by which the joint L1 to L6 can be driven to adjust. The transmission device is arranged in at least one hollow segment G1 to G7 among the plurality of segments G1 to G7 of the robot arm 3. Here, the outer wall 15 of the hollow segment G1 to G7 forms the transmission housing wall of the transmission device 26, and the lubricant 27 of the transmission device 26 is located inside the hollow segment G1 to G7. The outer wall 15 of the hollow segment G1 to G7 has an inlet 16, which is provided with a receiving member 17a of a quick coupling member 17. An insert 17b of the quick coupling member 17 corresponding to the receiving member 17a can be inserted into the receiving member.

[0082] Figure 2 The quick-connector 17 is shown separately in two parts. The quick-connector 17 includes a receiving part 17a and a corresponding insert 17b.

[0083] The receiving member 17a has an external thread 18. The receiving member 17a can be screwed into the internal thread 19 of the inlet 16 of the outer wall 15 of the hollow segments G1 to G7 via the external thread 18, such as... Figure 3 and Figure 4 As shown.

[0084] To screw in or out of the receiving member 17a, the receiving member 17a has a drive profile 20 designed for coupling a wrench having a wrench profile corresponding to the drive profile 20. In this embodiment, the drive profile 20 of the receiving member 17a is designed in the form of a faceted nut with two opposing faceted holes 21, whereby the receiving member 17a can then be rotated by a corresponding bolt-type wrench to allow the receiving member 17a to be screwed into or unscrewed from the receiving hole 16 of the outer wall 15.

[0085] Receiving element 17a is designed to, as Figure 2The corresponding insert 17b shown works together to form a quick-connect 17 with low leakage and / or no dripping.

[0086] The receiving member 17a has an outer cover wall 22 surrounding a built-in locking member 23 arranged coaxially with the outer cover wall 22, the locking member being axially adjustable inside the outer cover wall 22 of the receiving member 17a.

[0087] In the locked position, the protrusion and / or locking body (e.g., ball) of the locking member 23 engages in a shape-fitting recess or corresponding groove 24 on the insert 17b. The outer cover wall 22 and the locking member 23 can be rigidly connected to each other, i.e., made from a single part. The locking mechanism can be located inside the outer cover wall 22.

[0088] like Figure 3 As shown, the outer wall 15 of the hollow segments G1 to G7 has a wall segment 15b that is recessed inward relative to the surrounding outer wall segment 15a, and an access port 16 is formed on the wall segment, on which the receiving part 17a of the quick coupling 17 is attached (i.e. screwed) to the access port.

[0089] The inwardly recessed wall section 15b can be recessed relative to the surrounding outer wall section 15a to such a depth that the receiving part 17a of the quick-connect fitting 17 screwed onto the access port 16 is either substantially ( Figure 3 ), or completely ( Figure 4 It is recessed into the outer contour of the hollow segments G1 to G7 defined by the surrounding outer wall portion 15a of the outer wall 15.

[0090] Figure 5 A variant embodiment is shown in which the hollow segments G1 to G7 have at least one first access port 16.1 provided with a first receiving member 17a.1 and at least one second access port 16.2 provided with a second receiving member 17a.2.

[0091] As shown in the figure, a first access port 16.1 having a first receiving member 17a.1 can be arranged on a first side 25.1 of the hollow segments G1 to G7, and a second access port 16.2 having a second receiving member 17a.2 can be arranged on a second side 25.2 of the hollow segments G1 to G7, which is opposite to the first side 25.1 of the hollow segments G1 to G7.

[0092] In addition, Figure 5 The diagram also schematically shows that the hollow segments G1 to G7 include a transmission device 26 and a lubricant 27.

[0093] At least one receiving member 17a of the corresponding hollow segments G1 to G7 may have a color code corresponding to the transmission type or lubricant type of the transmission 26 arranged in the corresponding hollow segments G1 to G7, and the color code corresponds to a specific color among a plurality of different color groups, wherein each color corresponds to a specific transmission type or lubricant type among a plurality of different transmission types or lubricant types, thereby enabling the identification of the corresponding transmission type or lubricant type of the transmission 26 and / or the lubricant 27 present in the corresponding hollow segments G1 to G7 based on the color code attached to the receiving member 17a.

[0094] As an alternative to or supplement to color coding, at least one receiver 17a of the corresponding hollow segments G1 to G7 may have a receiver-diameter nominal range corresponding to the transmission type or lubricant type of the transmission 26 arranged in the relevant hollow segments G1 to G7. This receiver-diameter nominal range corresponds to a specific nominal range in a plurality of different nominal range groups, wherein each nominal range corresponds to a specific transmission type or lubricant type in a plurality of different transmission types or lubricant types. Thus, the corresponding transmission type or lubricant type of the transmission 26 and / or the lubricant 27 present in the relevant hollow segments G1 to G7 can be identified based on the receiver-diameter nominal range.

Claims

1. Robot arm having a plurality of segments (G1-G7) and joints (L1-L6) adjustably connecting the segments (G1-G7) relative to each other, wherein at least one joint (L1-L6) is configured with a transmission (26), the joint (L1-L6) being drivably adjustable by the transmission, and the transmission being arranged in at least one hollow segment (G1-G7) of the plurality of segments (G1-G7) of the robot arm (3), wherein an outer wall (15) of the hollow segment (G1-G7) forms or encloses a transmission housing wall of the transmission (26), and a lubricant (27) of the transmission (26) is located inside the hollow segment (G1-G7) or transmission housing of the transmission (26), characterized in that the outer wall (15) of the hollow segment (G1-G7) has an access opening (16) which is equipped with a receiving piece (17a) of a quick coupling (17), an insertion piece (17b) of the quick coupling (17) corresponding to the receiving piece (17a) being insertable into the receiving piece.

2. The robotic arm of claim 1, wherein, the outer wall (15) of the hollow segment (G1-G7) has a wall section (15b) which is recessed inwardly relative to a surrounding outer wall section (15a), and the access opening (16) is formed on this wall section, the receiving piece (17a) of the quick coupling (17) being attached at the access opening.

3. The robotic arm of claim 2, wherein, the recessed wall section (15b) is recessed relative to the surrounding outer wall section (15a) to such a depth that the receiving piece (17a) of the quick coupling (17) attached at the access opening (16) is completely recessed behind the outer contour of the hollow segment (G1-G7) determined by the surrounding outer wall section (15a) of the outer wall (15).

4. The robot arm according to any of claims 1 to 3, characterized in that, the access opening (16) of the outer wall (15) of the hollow segment (G1-G7) has an internal thread (19), and the receiving piece (17a) has an external thread portion (18) having an external thread corresponding to the internal thread (19) of the access opening (16).

5. The robotic arm of claim 4, wherein, the receiving piece (17a) has a drive contour (20) which is designed for coupling a spanner, the spanner having a spanner contour corresponding to the drive contour (20).

6. The robot arm according to any of claims 1 to 3, characterized in that, the receiving piece (17a) is configured to cooperate with an insertion piece (17b) of a corresponding quick coupling (17) to form a quick coupling (17) with low leakage and / or no dripping.

7. The robot arm according to any of claims 1 to 3, characterized in that, the receiving piece (17a) has an outer jacket wall (22) surrounding an inlaid locking piece (23) arranged coaxially to the outer jacket wall (22), the locking piece being axially adjustably mounted inside the outer jacket wall (22) of the receiving piece (17a).

8. The robot arm according to any of claims 1 to 3, characterized in that, the hollow segment (G1-G7) has at least one first access opening (16.1) equipped with a first receiving piece (17a.1) and at least one second access opening (16.2) configured with a second receiving piece (17a.2).

9. The robotic arm of claim 8, wherein, The first access opening (16.1) with the first receiving element (17a.1) is arranged on a first side (25.1) of the hollow segment (G1-G7) and the second access opening (16.2) with the second receiving element (17a.2) is arranged on a second side (25.2) of the hollow segment (G1-G7), which is opposite the first side (25.1) of the hollow segment (G1-G7).

10. The robotic arm of claim 8, wherein, The hollow segment (G1-G7) has at least one further access opening, which is equipped with a further receiving element, wherein the further access opening and the further receiving element are arranged on the hollow segment (G1-G7) perpendicular to the first access opening (16.1) with the first receiving element (17a.1) and / or perpendicular to the second access opening (16.2) with the second receiving element (17a.2).

11. The robotic arm of claim 9, wherein, The hollow segment (G1-G7) has at least one further access opening, which is equipped with a further receiving element, wherein the further access opening and the further receiving element are arranged on the hollow segment (G1-G7) perpendicular to the first access opening (16.1) with the first receiving element (17a.1) and / or perpendicular to the second access opening (16.2) with the second receiving element (17a.2).

12. The robot arm according to any of claims 1 to 3, characterized in that, At least one receiving element (17a) of a respective hollow segment (G1-G7) has a color coding corresponding to a type of transmission or a type of lubricant of a transmission (26) arranged in the relevant hollow segment (G1-G7), which color coding corresponds to a specific color of a plurality of different color groups, wherein each color corresponds to a specific type of transmission or a specific type of lubricant of a plurality of different types of transmission or lubricant, so that the respective type of transmission or type of lubricant of the transmission (26) present in the relevant hollow segment (G1-G7) and / or of the lubricant (27) present can be identified from the color coding attached to the receiving element (17a).

13. The robot arm according to any of claims 1 to 3, characterized in that, At least one receiving element (17a) of a respective hollow segment (G1-G7) has a receiving element-diameter nominal range corresponding to a type of transmission or a type of lubricant of a transmission (26) arranged in the relevant hollow segment (G1-G7), which diameter nominal range corresponds to a specific nominal range of a plurality of different nominal range groups, wherein each nominal range corresponds to a specific type of transmission or a specific type of lubricant of a plurality of different types of transmission or lubricant, so that the respective type of transmission or type of lubricant of the transmission (26) present in the relevant hollow segment (G1-G7) and / or of the lubricant (27) present can be identified from the receiving element-diameter nominal range.

14. The robot arm according to any of claims 1 to 3, characterized in that, At least one of the receiving elements (17a) of the respective hollow segment (G1-G7) has a receiving polygonal profile corresponding to the type of transmission means or the type of lubricant of the transmission means (26) arranged in the relevant hollow segment (G1-G7), which corresponds to a specific polygonal profile type from a plurality of different polygonal profile type groups, wherein each polygonal profile type corresponds to a specific transmission means type or lubricant type from a plurality of different transmission means types or lubricant types, so that the respective transmission means type or lubricant type of the transmission means (26) present in the relevant hollow segment (G1-G7) and / or of the lubricant (27) present can be identified from the receiving polygonal profile.

15. The robotic arm of any one of claims 1 to 3, wherein, The robot arm (3) has a plurality of hollow segments (G1-G7), each of which has a transmission means (26) arranged therein, and each of the hollow segments (G1-G7) has at least one of the receiving elements (17a).

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