Motorized joint for a programmable motion automaton

Abstract

The invention relates to a motorized joint for connecting two carriers of a programmable motion automaton that are movable relative to each other. The joint comprises an actuator with a drive motor, a voltage wave gear connected downstream of the drive motor, and a switchable locking device designed and arranged to lock a component belonging to the actuator's drive train when engaged and to release it when disengaged. The motorized joint is characterized by the inclusion of a spring device that, when engaged, allows movement of the locked component against a restoring force and / or a restoring torque.

Description

[0001] The invention relates to a motorized joint for connecting two carriers movable relative to each other of a programmable motion automaton, which has an actuator with a drive motor, with a voltage wave gear which is connected downstream of the drive motor in terms of drive technology, and with a switchable locking device which is designed and arranged to lock a component belonging to the drive train of the actuator in the engaged state and not to lock it in a release state.

[0002] The invention also relates to an actuator for such a motorized joint.

[0003] The invention further relates to a programmable motion automaton with such a motorized joint.

[0004] A motorized joint of the type mentioned above is known, for example, from international patent application WO 2017 186 844 A1. Such a motorized joint has the disadvantage that the supports of the programmable motion controller, which are connected to each other via the motorized joint, are completely immobile relative to each other when the locking device is engaged. For example, in order to be able to quickly free an accidentally trapped object or person after an emergency shutdown in which the locking device was engaged, it is necessary to first switch the locking device back to the release state. However, this requires that the supports be externally braced beforehand.

[0005] It is therefore the object of the present invention to provide a motorized joint that makes it possible to quickly and easily perform interventions on a programmable motion machine equipped with the motorized joint after switching the locking device to the engaged state.

[0006] This task is solved by a motorized joint of the type mentioned above, which is characterized by the presence of a spring device which, in the engaged state, allows movement of the locked component against a restoring force and / or against a restoring torque.

[0007] The invention has the very special advantage that the carriers of a programmable motion machine, which are connected to each other by means of the motorized joint according to the invention, can be moved elastically to a limited extent relative to each other without damage, even after the locking device has been switched to the engaged state, by applying an external force, for example in order to be able to easily free objects that have been accidentally jammed by the programmable motion machine.

[0008] Preferably, the spring device has a lower stiffness than the components located in the actuator's drive train. This advantageously protects the other components in the actuator's drive train from damage caused by excessive external force.

[0009] The invention has the additional advantage that the actuator components are protected from high load peaks when the locking device switches to the engaged state, because part of the kinetic energy present due to the inertia of the carriers is initially absorbed by the spring device in the form of tension energy immediately after the engaged state is established (for example, by a locking pin engaging in a recess of a component to be locked).

[0010] There are no fundamental restrictions regarding the design of the spring device. Advantageously, the spring device can be made at least partially of steel, particularly spring steel. Such a design has the advantage of being exceptionally durable and robust.

[0011] Alternatively or additionally, it can be advantageously provided that the spring device is at least partially made of plastic, in particular of an elastomeric plastic. The use of an elastomeric plastic has the very particular advantage that, in addition to elasticity of the spring device, damping can also be easily achieved by converting some of the input energy into heat energy within the elastomeric plastic.

[0012] In a particularly advantageous embodiment, the spring device is designed as a torsion spring device. Such a design can be manufactured simply and cost-effectively and, moreover, can be made exceptionally robust with comparatively little effort. For example, the torsion spring device can have an elastically torsionable torsion bar; in particular, the torsion spring device can be formed from an elastically torsionable torsion bar. Alternatively, the spring device can have an elastically torsionable sleeve; in particular, the torsion spring device can be formed from an elastically torsionable sleeve.

[0013] In a particularly reliable design, the spring assembly is manufactured in one piece from a single piece of raw material. Alternatively, however, it is also possible for the spring assembly to be composed of several spring assembly components, for example, to adapt the spring assembly to specific installation space constraints and / or to achieve particular spring characteristics.

[0014] For example, the spring device, as a spring device component, can have an elastically torsionable sleeve that is rigidly connected at one of its ends to an elastically torsion bar, wherein the elastically torsion bar is arranged at least partially within the space enclosed by the elastically torsionable sleeve. In this way, it is advantageously achieved that the spring device is axially particularly compact while simultaneously exhibiting particularly good torsional properties. In particular, the spring device, as a spring device component, can have a first elastically torsionable sleeve that is rigidly connected at one of its ends to a second elastically torsionable sleeve, wherein the first elastically torsionable sleeve is arranged at least partially within the space enclosed by the second elastically torsionable sleeve.Further nesting with three or more spring device components is also advantageously possible.

[0015] Advantageously, the spring device can be designed as an elastically torsionable bellows or have an elastically torsionable bellows.

[0016] In general, it can be advantageous to provide that the spring device and the component that can be locked by means of the locking device are mechanically connected in series.

[0017] In a particularly compact axial design of the motorized joint, the spring device and the component that can be locked by means of the locking device are arranged in a common plane perpendicular to the axial direction.

[0018] In a radially compact design of the motorized joint, the spring assembly and the component that can be locked by means of the locking device are arranged axially apart from each other. In particular, the spring assembly and the component that can be locked by means of the locking device can be arranged coaxially with each other.

[0019] It is also advantageous for the spring device and the component that can be locked by means of the locking device to be arranged in a partially overlapping axial manner, in particular to achieve a compact design of the motorized joint and / or the actuator.

[0020] In a particularly easy-to-manufacture version of the motorized joint, the spring device and the component that can be locked by means of the locking device are arranged axially directly adjacent to each other.

[0021] The component that can be locked by means of the locking device can be, for example, a drive core of a shaft generator of the tension wave gear or an output shaft of the drive motor that is rotationally fixed to the drive core of the tension wave gear. In such a design, it is possible to move the carriers of a programmable motion machine, which are connected to each other by means of the motorized joint, within a limited range of elastic movement relative to each other without damage, even after the locking device has been switched to the engaged state, by applying an external force, thereby reversing the tension wave gear. When a force or torque is applied to the carrier to be moved in such a design, the resulting force or torque on the spring device is reduced by the gear ratio.In such a design, the spring device can advantageously be configured to perform a longer elastic deformation path and / or a larger elastic torsion angle (for example, compared to a design where the component to be locked is a flex spline, a circular spline, or a dynamic spline), since the path or rotation angle of the carrier moved by external force and / or torque causes a movement of the drive core of the shaft generator and the output shaft, which is rotationally fixed to the drive core, that is increased by the transmission ratio of the gearbox.

[0022] The component that can be locked using the locking device can alternatively be, for example, a flex spline of the tension wave drive. It is also possible that the component that can be locked using the locking device is a circular spline or a dynamic spline of the tension wave drive.

[0023] The component that can be locked by means of the locking device can generally be an output shaft of the drive motor, regardless of which component of the tension shaft drive the output shaft of the drive motor is directly or indirectly connected to. In particular, the component that can be locked by means of the locking device can be a component that is directly or indirectly rigidly connected to the output shaft of the drive motor.

[0024] There are no fundamental restrictions regarding the design of the tension wave gear.

[0025] The stress wave gear can, for example, be designed as a pot gear. In such a design, the flexspline can have a radially inwardly directed base at one end, while the other end of the flexspline has the flexspline teeth.

[0026] The stress wave gear can alternatively be designed as a hat gear. In such a design, the flexspline can have an annular, radially outwardly directed collar at one end, while the other end of the flexspline has the flexspline teeth.

[0027] The tension wave drive can alternatively be designed as a ring drive. In such a design, the flexspline can essentially consist of a radially flexible sleeve with flexspline teeth. This design can include a dynamicspline and a circularspline, each with teeth that engage with the flexspline teeth at at least two points.

[0028] In a particularly reliable design, the locking device features a positive locking element which, when engaged, is in positive engagement with a counter-locking element, such as a recess. For example, the positive locking element can be designed and arranged such that it is supported directly or indirectly on a housing of the actuator or on one of the supports connected by the joint, while the counter-locking element is rotationally fixed to the component to be locked.

[0029] In particular, the positive locking device can be designed as a locking pin, which is particularly displaceable linearly and / or radially, or as a latch, which is particularly pivotably mounted. For example, it can be provided that the locking pin or latch is moved electromagnetically. This can be implemented, for example, by the locking pin or latch being made of a permanent magnet or having a permanent magnet, and by the locking device having a coil by means of which a force can be exerted on the locking pin or latch.

[0030] In a particularly secure design, the locking pin or pawl is held in the released state by an electromagnet against the force of a mechanical energy storage device, such as an energy storage spring. In this design, switching to the engaged state occurs when the electromagnet is deactivated, so that the locking pin or pawl is moved by the energy of the mechanical energy storage device until it engages with the counter-locking element. A similar and advantageous implementation can also be achieved analogously if the locking device is designed as a friction brake or incorporates a friction brake.

[0031] As already mentioned, the counter-locking element can be designed as a recess. In particular, several counter-locking elements can be present, so that there are multiple engagement possibilities for the positive locking element. For example, several recesses can be present on the circumference or the end face of the component to be locked, or of a locking element that is rotationally fixed to the component to be locked.

[0032] As already mentioned, the locking device can also be designed as a friction-locking brake or have a friction-locking brake.

[0033] As also mentioned previously, the locking device can have a locking means which includes the positive locking means or the counter-locking means.

[0034] In an advantageous embodiment, the locking element is connected to the component to be locked via the spring device, particularly directly via the spring device, thus transmitting torque. For example, the locking element can be connected to the component to be locked by friction, particularly by means of a clamping ring, and / or by positive locking and / or by material bonding. A slip clutch can advantageously be implemented by means of a friction connection to protect the actuator from damage due to overload.

[0035] The actuator can advantageously have an actuator housing. This has the distinct advantage that the actuator is protected against contamination and damage within the motorized joint. It is also possible, in particular, for the actuator housing to be part of the housing of the motorized joint and / or for the actuator housing to be formed by a part of a robot, especially a robot housing, into which the motorized joint is integrated.

[0036] In one particular embodiment, the joint is designed to connect two beams in such a way that the plane in which one beam moves and the plane in which the other beam moves are always parallel to each other. In another embodiment, the joint is designed to connect two beams in such a way that the plane in which one beam moves and the plane in which the other beam moves are always perpendicular to each other.

[0037] In particular, the joint can be designed as a hinge joint. A hinge joint is understood to be a joint that allows rotational movement in, and especially exclusively, one degree of freedom.

[0038] A programmable motion controller with two carriers, movably connected relative to each other by means of a motorized joint according to the invention, is particularly advantageous. It can be especially advantageous that one of the carriers is directly or indirectly rotationally fixed to a stator of the drive motor and / or a drive motor housing, while the other carrier is rotationally fixed to an output element of the tension wave drive. The two carriers movably connected by means of the motorized joint can, for example, be part of a robot arm.

[0039] In a special design, the joint has two housing parts that are movable relative to each other.

[0040] In particular, it can be advantageously provided that the drive motor is arranged in one of the housing parts and the tension wave drive is arranged in the other housing part. Alternatively or additionally, it can also be provided that part of the tension wave drive is arranged in one of the housing parts and another part of the tension wave drive is arranged in the other housing part, or that the locking device is arranged in the same housing part as the tension wave drive or the component to be locked. These designs have the particular advantage that the housing parts can be symmetrical and / or identical in construction and / or the same size. In particular, it is not necessary for one of the joint parts to be particularly bulky, because it has to accommodate all the elements of the actuator, in particular the drive motor, the tension wave drive, and the locking device.

[0041] A particular advantage of this design is that the planes within which the longitudinal center axes of the beams move can be closer together. This has the further advantage that, during operation, at least one of the beams experiences a lower torsional moment. The beam can therefore be designed to be more delicate and / or space-saving.

[0042] In particular, one housing part can be designed and arranged to be rigidly connected directly or indirectly to one of the supports, while the other housing part is designed and arranged to be rigidly connected to the other support. Alternatively, it is also possible that a housing of a first support also functions as a first housing part of the motorized joint and / or that a housing of a second support also functions as a second housing part of the motorized joint.

[0043] The invention is shown in the drawing in an exemplary and schematic manner and is described below with reference to the figures, whereby identical or similarly functioning elements are usually provided with the same reference numerals even in different embodiments. The figures show: Fig. 1 a first embodiment of a motorized joint for connecting two carriers movable relative to each other, Fig. 2 a second embodiment of a motorized joint for connecting two carriers located relative to each other, Fig. 3 a third embodiment for connecting two carriers that are movable relative to each other, Fig. 4 a fourth embodiment of a motorized joint for connecting two carriers that are movable relative to each other.

[0044] Fig. Figure 1 shows a first embodiment of a motorized joint 1 for connecting a first support 2 with a second support 3 of a programmable motion machine.

[0045] The motorized joint 1 has an actuator 4 with a drive motor 5, with a tension wave gear 6 which is connected downstream of the drive motor 5, and with a switchable locking device 7 which is designed and arranged to lock a component belonging to the drive train of the actuator 4 in the engaged state and not to lock it in a release state.

[0046] The motorized joint 1 has a first housing part 8 and a second housing part 9. The first housing part 8 is rigidly connected to the first support 2, while the second housing part 9 is rigidly connected to the second support 3. Alternatively, it is also possible that a housing of the first support 2 also functions as the first housing part of the motorized joint 1 and / or that a housing of the second support 3 also functions as the second housing part of the motorized joint 1.

[0047] The drive motor 5 comprises a stator 10 and a rotor 11. The rotor 11 is rotationally fixed to an output shaft 12. The output shaft 12 connects the drive motor 5 to the downstream voltage wave gearbox 6.

[0048] The output shaft 12 is also connected to a locking device 7 via a spring device 13, wherein the spring device 13, when engaged, permits movement of a locked component, namely the output shaft 12, against a restoring force and / or a restoring torque. In this embodiment, the spring device 13 is designed as an elastically torsion bar. The spring device 13 and the component that can be locked by means of the locking device 7 (in this embodiment: the output shaft 12) are arranged coaxially with each other.

[0049] A drive motor housing 14 is rotationally fixed to the inside of the second housing part 9. The stator 10 is fixedly arranged in the drive motor housing 14.

[0050] An output element 15 of the tension wave gear 6 is non-rotatably connected to the first housing part 8 and thus to the first support 2.

[0051] Fig. Figure 2 shows a second embodiment of a motorized joint 1 for connecting a first support 2 with a second support 3 of a programmable motion machine.

[0052] Just as in the first embodiment, the output shaft 12 is connected to a locking device 7 via a spring device 13, wherein the spring device 13, when engaged, allows movement of a locked component (namely, in this embodiment, the output shaft 12) against a restoring force and / or against a restoring torque.

[0053] In this embodiment, the spring device 13 is designed as an elastically torsionable sleeve. The spring device 13 and the component that can be locked by means of the locking device 7 (in this embodiment: the output shaft 12) are coaxial to each other and are also arranged in a common plane perpendicular to the axial direction.

[0054] The locking device 7 has a positive locking element 17, in this embodiment a radially displaceable locking pin, which is linearly displaceable by means of an actuating device 16. In the engaged state, this locking element 17 engages positively with a counter-locking element 18, in this embodiment a recess, of a locking element 19 connected to the spring device 13 in a torque-transmitting manner. The locking element 19 is designed as a ring and has several counter-locking elements 18, in this embodiment recesses, on its outer circumference, so that the positive locking element 17 has several possibilities for positive engagement with the counter-locking element 18.

[0055] The actuating device 16 is attached to the inside of the second housing part 9 and is therefore supported by the second housing part 9.

[0056] Fig. Figure 3 shows a third embodiment of a motorized joint 1 for connecting a first support 2 with a second support 3 of a programmable motion machine.

[0057] The motorized joint 1 has an actuator 4 with a drive motor 5, with a tension wave gear 6 designed as a ring gear which is connected downstream of the drive motor 5, and with a switchable locking device 7 which is designed and arranged to lock a component belonging to the drive train of the actuator 4 in the engaged state and not to lock it in a release state.

[0058] The motorized joint 1 has a first housing part 8 and a second housing part 9. In this embodiment, the first housing part 8 is part of the support 2, while the second housing part 9 is part of the second support 3.

[0059] The drive motor 5 comprises a stator 10 and a rotor 11. The rotor 11 is rotationally fixed to an output shaft 12. The output shaft 12 connects the drive motor 5 to the oval drive core 20 of a shaft generator 21 of a downstream voltage wave gearbox 6.

[0060] The oval drive core 20 is also connected to a locking device 7 via a spring device 13, wherein, in the engaged state of the locking device 7, the spring device 13 permits movement of a locked component (namely, in this embodiment, the drive core 20) against a restoring force and / or a restoring torque. In this embodiment, the spring device 13 is designed as an elastic sleeve. The spring device 13 and the component that can be locked by means of the locking device 7 (in this embodiment: the drive core 20) are arranged coaxially and axially adjacent to each other.

[0061] The shaft generator 21 has a radially flexible rolling bearing 22. The oval drive core 20 is rotatably mounted in a radially flexible, externally toothed sleeve 23 (flexspline) by means of the radially flexible rolling bearing 22. The oval drive core 20 transmits its oval shape via the radially flexible rolling bearing 22 to the radially flexible externally toothed sleeve 23, which engages on opposite sides along the vertical axis of the oval with a first, rigid, internally toothed support ring 24 (dynamicspline). The first support ring 24 is rotationally fixed to the second support 3 via the second housing part 9. The first support ring 24 can, in particular, have the same number of teeth as the radially flexible externally toothed sleeve 23.

[0062] Furthermore, the gearbox 6 has a second rigid, internally toothed support ring 25 (circular spline) which is also in tooth engagement with the radially flexible externally toothed sleeve 23. The second support ring 25 has a higher number of teeth than the radially flexible externally toothed sleeve 23, so that when the drive core 20 rotates, the second support ring 25 automatically rotates relative to the radially flexible externally toothed sleeve 23.

[0063] The second support ring 25, which acts as a gear output, is connected to the first housing part 8 of the first movable carrier 2.

[0064] The drive motor housing 14 of the drive motor 5 is rotationally fixed to the second housing part 9. The stator 10 is fixedly arranged in the drive motor housing 14.

[0065] Fig.Figure 4 shows a fourth embodiment of a motorized joint 1 for connecting a first support 2 with a second support 3 of a programmable motion machine.

[0066] In contrast to the third embodiment, in the fourth embodiment not the drive core 20 but the radially flexible, externally toothed sleeve 23 (flexspline) is connected to a locking device 7 via a spring device 13, wherein the spring device 13, when engaged, allows movement of a locked component (namely in this embodiment: the radially flexible sleeve 23) against a restoring force and / or against a restoring torque.

[0067] In this embodiment, the spring device 13 is designed as an elastic sleeve. The spring device 13 and the component that can be locked by means of the locking device (namely, in this embodiment: the radially flexible sleeve 23) are arranged coaxially and axially directly adjacent to each other. Reference symbol list: 1 Motorized joint 2 First carrier 3 Second carrier 4 Actuator 5 Drive motor 6 Voltage wave gears 7 Locking device 8 First housing part 9 Second housing part 10 Stator 11 Rotor 12 Output shaft 13 Spring device 14 Drive motor housings 15 Output element 16 Actuating device 17 Form-fitting devices 18 Counterform locking devices 19 Locking devices 20 drive core 21 Wave generator 22 Radially flexible rolling bearing 23 Radially flexible, externally toothed sleeve (flexspline) 24 First internally toothed support ring (Dynamicspline) 25 Second internally toothed support ring (circular spline) QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2017 186 844 A1

[0004]

Claims

[1] Motorized joint (1) for connecting two relatively movable supports (2, 3) of a programmable automatic movement device, which has an actuator (4) with a drive motor (5), with a stress wave transmission (6) which is connected downstream of the drive motor (5), and with a switchable locking device (7) which is designed and arranged to lock a component belonging to the drive train of the actuator (4) in the connected state and not to lock it in a released state, characterized by that a spring device (13) is provided which, in the switched-on state, allows a movement of the locked component against a restoring force and / or against a restoring moment. [2] Motorized joint (1) according to claim 1, characterized by , that a. the spring device (13) is made at least partially of steel, in particular of spring steel, and / or that b. the spring device (13) is at least partially made of a plastic, in particular of an elastomer plastic, and / or that c. the spring device (13) is designed as a torsion spring device (13), and / or that d. the spring device (13) comprises an elastically twistable torsion bar or an elastically twistable sleeve, and / or that e. the spring device (13) is made in one piece from a single piece of raw material, and / or that f. the spring device (13) is composed of several spring device components. [3] Motorized joint (1) according to claim 1 or 2, characterized by , that a. the spring device (13) and the component that can be locked by means of the locking device (7) are arranged coaxially to one another, and / or that b. the spring device (13) and the component which can be locked by means of the locking device (7) are arranged in a common plane perpendicular to the axial direction, and / or that c. the spring device (13) and the component which can be locked by means of the locking device (7) are arranged axially spaced from one another or axially adjacent to one another or axially overlapping, and / or that d. the component that can be locked by means of the locking device (7) is a drive core (20) of the wave generator (21) of the stress wave transmission (6) or that the component that can be locked by means of the locking device (7) is a flex spline (23) of the stress wave transmission (6) or that the component that can be locked by means of the locking device (7) is a circular spline (25) or a dynamic spline (24) of the stress wave transmission (6) or that the component that can be locked by means of the locking device (7) is an output shaft (12) of the drive motor (5). [4] Motorized joint (1) according to one of claims 1 to 3, characterized by that the stress wave gear (6) is designed as a pot gear or that the stress wave gear (6) is designed as a ring gear or that the stress wave gear (6) is designed as a hat gear. [5] Motorized joint (1) according to one of claims 1 to 4, characterized by , that a. the locking device (7) has a form-locking means (17) which, in the switched-on state, is in form-locking engagement with a counter-form-locking means, and / or that b. the positive locking means (17) is designed as a locking pin, in particular a linearly displaceable one, or as a latch, in particular a pivotably mounted one, and / or that c. the counter-form-locking means (18) is designed as a recess. [6] Motorized joint (1) according to one of claims 1 to 5, characterized by , that a. the locking device (7) is designed as a frictional brake or has a frictional brake, and / or that b. the locking device (7) has a locking means (19) which has the form-locking means (17) or the counter-form-locking means (18) and which is connected to the component to be locked via the spring device (13), and / or that c. the locking means (19) is frictionally connected to the component to be locked. [7] Motorized joint (1) according to one of claims 1 to 6, characterized by , that a. the motorized joint (1) is designed to connect two supports (2, 3) in such a way that the plane in which one of the supports moves and the plane in which the other support moves are always arranged parallel to each other, or that b. the motorized joint (1) is designed as a hinge joint, or that c. the motorized joint (1) is designed to connect two supports (2, 3) in such a way that the plane in which one of the supports moves and the plane in which the other support moves are always arranged perpendicular to each other. [8] Actuator for a motorized joint (1) according to one of claims 1 to 7. [9] Programmable movement machine with two supports (2, 3) connected to one another so as to be movable relative to one another by means of a motorized joint (1) according to one of claims 1 to 7. [10] Programmable movement machine according to claim 9, characterized by , that a. one of the carriers is directly or indirectly connected in a rotationally fixed manner to a stator of the drive motor (5) and / or a drive motor housing of the drive motor (5) and that the other carrier is coupled in a rotationally fixed manner to the output element of the stress wave transmission (6), and / or that b. the two supports (2, 3) movably connected by means of the motorized joint (1) are part of a robot arm, and / or that c. the motorized joint (1) has two housing parts (8, 9) which are movable relative to one another, wherein i. one of the supports is firmly connected to one of the housing parts (8, 9) and the other support is firmly connected to the other housing part, or wherein ii. one of the housing parts (8, 9) is a component of one of the carriers (2, 3) or wherein iii. one of the housing parts (8, 9) is part of a housing of one of the carriers (2, 3) and the other housing part is part of a housing of the other carrier.

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