Flange connection with at least one clamping body and robot arm

Abstract

Flange connection (10) for connecting a first robot arm part (12) to a second robot arm part (14), with a flange longitudinal axis (16), a first flange element (18), a second flange element (20) and at least one clamping body (22), wherein the first flange element (18) comprises • a flange shoulder (24), and • a first flange projection (26) with at least one first clamping extension (28), wherein the second flange element (20) comprises • at least one second flange projection (30) with a second clamping extension (32), and wherein the first flange element (18) and the second flange element (20) are arranged relative to one another in such a way that by inserting the at least one clamping body (22) between the at least one first clamping extension (28) and the second clamping extension (32), a frictional and / or positive connection of the second clamping extension (32) to the flange shoulder (24) can be produced.

Description

The invention relates to a flange connection for connecting a first robot arm part to a second robot arm part and to a robot arm with such a flange connection.Above all, robots that are provided for handling tasks in the widest sense generally have at least one robot arm for performing the provided task. Such a robot arm usually comprises a plurality of robot arm parts which are connected to one another by means of flange connections during the mounting of the robot. These flange connections transmit the static and dynamic forces and moments acting in the robot arm between the robot arm parts. In existing robot arms, screw flanges are sometimes used for this purpose, by means of which the robot arm parts are connected to one another by means of a plurality of screw connections arranged parallel to the robot arm longitudinal axis.In order to keep the moments acting on the robot arm as low as possible, there is a tendency to design the flange connections as short as possible with respect to a robot arm longitudinal axis. Therefore, in the known systems, axially adjacent to the flange connections, only a very limited installation space is available, which leads to poor assembly and adjustability of the screw connections.The printed prior art mentioned is DE 10 2022 134 703 B3, EP 0 627 975 B1, CN 1 12 549 069 A, U.S. Pat. No. 4,990,022 A, U.S. Pat. No. 6,416,246 B1, U.S. Pat. No. 2019) / 0 070 726 A1, and U.S. Pat. No. 7,559,265 B2.The object of the invention is to provide an axially short flange connection for a robot arm which is easy to install and adjust. The invention is further based on the object of providing a robot arm whose robot arm parts can be arranged on one another in a simple and secure manner.The objects are achieved according to the invention by a flange connection with the features of claim 1 and a robot arm with the features of claim 13.Advantageous embodiments and developments of the invention are specified in the dependent claims.A flange connection according to the invention for connecting a first robot arm part to a second robot arm part comprises a flange longitudinal axis, a first flange element, a second flange element and at least one clamping body. The first flange element comprises a flange shoulder and a first flange projection with at least one first clamping extension protruding in a direction of the flange longitudinal axis. The flange longitudinal axis is preferably formed parallel to or coincident with a robot arm longitudinal axis of the first robot arm part and / or of the second robot arm part. The first flange element can be formed in one piece. The second flange element comprises at least one second flange projection with a second clamping extension protruding in a direction of the flange longitudinal axis. Preferably, the second flange protrusion protrudes in the first flange protrusion in the opposite direction from the second flange element.According to the invention, the first flange element and the second flange element are arranged relative to one another in such a way that, with respect to the flange longitudinal axis, the second clamping extension is arranged between the flange shoulder and the at least one first clamping extension, and that by inserting the at least one clamping body between the at least one first clamping extension and the second clamping extension, a frictional and / or positive connection of the second clamping extension to the flange shoulder can be produced. With respect to the flange longitudinal axis, the at least one clamping body is thus preferably arranged between the at least one first clamping extension and the second clamping extension. With respect to the flange longitudinal axis, the flange connection can thereby be implemented with a small installation space requirement. By providing the at least one insertable clamping body, the assembly activity during the connection of the first flange element to the second flange element can also be decoupled from the direction predefined by the flange longitudinal axis. In addition, the provision of the at least one clamping body offers a simple possibility for setting the flange connection, in particular on the basis of a clamping force. Preferably, the at least one clamping body is arranged such that it can be pushed in perpendicularly to the flange longitudinal axis.The at least one clamping body is preferably wedge-shaped. As a result, the flange connection can be determined by selecting an insertion depth of the at least one clamping body between the at least one first clamping extension and the second clamping extension. Due to the wedge-shaped configuration, the at least one clamping body preferably has a trapezoidal cross section.Preferably, the at least one first clamping extension has a first clamping surface for cooperation with the at least one clamping body and the second clamping extension has a second clamping surface for cooperation with the at least one clamping body, wherein the first clamping surface and / or the second clamping surface enclose a clamping angle between 0° and 90°, particularly preferably between 10° and 30°, with an insertion axis arranged in an insertion direction of the at least one clamping body. In particular if the at least one clamping body is wedge-shaped, clamping surfaces of the clamping body that bear against the first clamping surface or the second clamping surface are preferably formed parallel to the respective corresponding clamping surface.The at least one first clamping extension can be designed as a spring tongue. As a result, the adjustability of the flange connection can be improved.Preferably, the second clamping extension has a shoulder contact surface arranged parallel to the flange shoulder for establishing the frictional and / or positive connection with the flange shoulder. The shoulder contact surface is preferably different from the second clamping surface. Particularly preferably, the shoulder contact surface is arranged opposite the second clamping surface. The shoulder contact surface is preferably arranged perpendicular to the flange longitudinal axis. If the second clamping surface has the above-described clamping angle, the second clamping extension can thus have a trapezoidal cross section.According to the invention, the flange connection has a friction plate which is arranged between the flange shoulder and the second clamping extension. The friction plate is preferably used to improve the frictional engagement if the connection of the second clamping extension to the flange shoulder is designed purely frictionally. Particularly preferably, the friction plate is arranged between the flange shoulder and the shoulder contact surface.In a preferred embodiment of the invention, the flange connection comprises at least one clamping screw, by means of which the at least one clamping body can be pushed in between the at least one first clamping extension and the second clamping extension. As a result, the clamping force can be adjusted by means of the tightening torque of the at least one clamping screw. Preferably, the at least one clamping body can be inserted by screwing in the at least one clamping screw. The at least one clamping screw can be arranged in at least one through bore of the at least one clamping body.The first flange projection or the second flange projection can have at least one threaded bore into which the at least one clamping screw can be screwed. Preferably, the at least one threaded bore is arranged in the first flange projection. The first flange projection can have at least one threaded base, which preferably projects counter to an insertion direction and which particularly preferably adjoins the at least one first clamping extension in the direction of the flange longitudinal axis.In a preferred embodiment of the invention, the at least one clamping body has two end sections lying opposite one another and a central section arranged between the end sections, wherein the at least one clamping body is arranged in such a way that either one of the at least one first clamping extension is arranged on each of the two end sections and one of the at least one second flange projection is arranged on the central section, or one of the at least one second flange projection is arranged on each of the two end sections and one of the at least one first clamping extension is arranged on the central section. Thus, a reliable force transmission between the first flange element and the second flange element can be achieved. Preferably, the at least one second flange projection is arranged with the second clamping extension on the at least one clamping body.Preferably, the at least one first clamping extension and the at least one second flange projection are arranged alternately in a circumferential direction about the flange longitudinal axis. As a result, each of the at least one second flange projections can adjoin the at least one first clamping extension in the circumferential direction and, if present, the at least one threaded socket.Preferably, the number of the at least one clamping body corresponds to the number of the at least one first clamping extension and / or the number of the at least one second flange projection. As a result, the adjustability of the flange connection can be further improved and tolerances can be better compensated.In a further development of the invention, the first flange element has a plurality of first clamping extensions and the second flange element has a plurality of second flange projections. As a result, a uniform force transmission between the first flange element and the second flange element can be achieved. Preferably, twelve first clamping extensions and twelve second flange projections are provided. Preferably, each of the first clamping projections has the features of the at least one first clamping projection described above and each of the second flange projections has the features of the at least one second flange projection described above.Particularly preferably, the first clamping extensions and the second flange projections are arranged uniformly distributed about the flange longitudinal axis. The first flange element and the second flange element can thus be designed crown-shaped.A robot arm according to the invention comprises a first robot arm part, a second robot arm part and a flange connection described above, wherein the first flange element is arranged fixedly on the first robot arm part and the second flange element is arranged fixedly, i.e. preferably rotationally and translationally non-displaceably, on the second robot arm part. During the assembly of the robot arm, the first flange element can be arranged on the first robot arm part and the second flange element on the second robot arm part before the connection of the two robot arm parts is produced by joining the first flange element and the second flange element. A robot arm which can be mounted easily and securely can thus be provided.An exemplary embodiment of the invention is explained with reference to the following figures. It shows: FIG. 1 shows a schematic exploded illustration of an exemplary embodiment of a flange connection in an installation situation, FIG. 1 a is a schematic perspective view of a first flange element of the embodiment shown in FIG. 1 , FIG. 1 b is a schematic perspective view of a second flange element of the exemplary embodiment shown in FIG. 1 , FIG. 2 shows a schematic side view of the installation situation shown in FIG. 1, FIG. 3 shows a schematic sectional view of the installation situation shown in FIG. 1, with marked detail A, FIG. 4 shows an enlarged schematic illustration of the detail A marked in FIG. 3, FIG. 5 shows a perspective schematic illustration of the exemplary embodiment shown in FIG. 1 in isolation.FIGS. 1 to 5 show different views of an exemplary embodiment. For the sake of clarity, not all reference numerals are used in each figure. The same reference numerals are used for identical and functionally identical parts.FIG. 1 shows an exploded view of an exemplary embodiment of a flange connection 10 for connecting a first robot arm part 12 of a robot arm 13 to a second robot arm part 14 of the robot arm 13, FIG. 1 shows the flange connection 10 in an installation situation, so that the first robot arm part 12 and the second robot arm part 14 are likewise shown.The flange connection 10 comprises a flange longitudinal axis 16, a first flange element 18 and a second flange element 20 and can have a plurality of clamping bodies 22. The flange longitudinal axis 16 can be configured to coincide with a robot arm longitudinal axis 23 of the first robot arm part 12 and of the second robot arm part 14.Preferably, the first flange element 18 is arranged on the first robot arm part 12 and the second flange element 20 is arranged fixedly on the second robot arm part 14. During the assembly of the robot arm 13, the first flange element 18 can thus be arranged on the first robot arm part 12 and the second flange element 20 on the second robot arm part 14 before the connection of the two robot arm parts 12, 14 is produced by joining the first flange element 18 and the second flange element 20.As FIG. 1 further shows, the first flange element 18 comprises a flange shoulder 24 and a first flange projection 26 which projects in a direction of the flange longitudinal axis 16 and which can have a plurality of first clamping extensions 28. The second flange element 20 preferably comprises a plurality of second flange projections 30 each having a second clamping extension 32. Preferably, the second flange projections 30 project from the second flange element 20 in a direction opposite the first flange projection 26 along the flange longitudinal axis 16.According to the illustration in FIG. 1, the first clamping extensions 28 and the second flange projections 30 are preferably arranged uniformly and alternately in a circumferential direction 34 about the flange longitudinal axis 16, so that a crown shape of the first flange element 18 and of the second flange element 20 results (see FIGS. 1 aand 1 b). As a result, each second flange projection 30 can adjoin one of the first clamping extensions 28 in the circumferential direction 34. Preferably, twelve first clamping extensions 28, twelve second flange projections 30 and twelve clamping bodies 22 are provided.FIG. 2 shows a side view of the arrangement shown in FIG. 1. It is clear here that the flange connection 10 has a very low axial installation space requirement along the flange longitudinal axis 16.A longitudinal section through the arrangement shown in FIG. 2 along the flange longitudinal axis 16 is shown in FIG. 3. The detail A is emphasized here, which is shown in enlarged form in FIG. 4, and on the basis of which the mode of operation of the flange connection 10 can be further understood.The overview of FIGS. 3 and 4 shows that the first flange element 18 and the second flange element 20 are arranged relative to one another in such a way that, with respect to the flange longitudinal axis 16, the second clamping extension 32 lying behind the sectional plane is arranged between the flange shoulder 24 and the first clamping extension 28 lying in the sectional planes. By inserting one of the clamping bodies 22 between the first clamping extension 28 and the second clamping extension 32, a frictional connection of the second clamping extension 32 with the flange shoulder 24 can be produced. Preferably, the clamping body 22 is arranged such that it can be pushed in perpendicularly to the flange longitudinal axis 16.FIG. 4 clearly shows that the clamping bodies 22 are wedge-shaped and have a trapezoidal cross section. As a result, the flange connection 10 can be determined via the insertion depth of the clamping bodies 22 between the respective first clamping extension 28 and the respective second clamping extensions 32.Each of the first clamping protrusions 28 may have a first clamping surface 36 for cooperation with one of the clamping bodies 22, and each of the second clamping protrusions 32 may have a second clamping surface 38 for cooperation with one of the clamping bodies 22. The first clamping surface 36 and the second clamping surface 38 preferably enclose a clamping angle 44 between 10° and 30° with an insertion axis 42 arranged in an insertion direction 40 of the respective clamping body 22 shown in FIG. 4. In particular, if the clamping bodies 22 are wedge-shaped, clamping surfaces 46 of the clamping bodies 22 that abut the first clamping surface 36 or the second clamping surface 38 are preferably parallel to the respective corresponding clamping surface 36, 38. As FIG. 4 in particular also shows, however, FIG. 1, the first clamping extensions 28 are preferably designed as spring tongues 48.As can also be seen from FIGS. 1 and 4, each of the second clamping extensions 32 has a shoulder contact surface 50 arranged parallel to the flange shoulder 24 for establishing the frictional connection with the flange shoulder 24. Preferably, the shoulder contact surface 50 is arranged opposite the second clamping surface 38. The shoulder contact surface 50 is preferably arranged perpendicular to the flange longitudinal axis 16, so that the second clamping extensions 32 can thus each have a trapezoidal cross section.The flange connection 10 has a friction plate 52, which can be seen in particular in FIGS. 1 and 4. The friction plate 52 is arranged between the flange shoulder 24 and the second clamping extensions 32, and can serve there to improve the frictional engagement. Particularly preferably, the friction plate is arranged between the flange shoulder 24 and the respective shoulder contact surface 50.Each clamping body 22 can preferably be inserted between the respective first clamping extension 28 and the respective second clamping extensions 32 by means of a clamping screw 54 in each case. As a result, the clamping force can be adjusted by means of the tightening torques of the clamping screw 54. The clamping bodies 22 can have through-bores 56, in which the clamping screws 54 are preferably arranged.As FIG. 4 shows, the first flange protrusion 26 can have a threaded bore 58 for each of the clamping bodies 22, into which bore the respective clamping screw 54 can be screwed. The first flange projection 26 can have a threaded socket 60 adjacent to each of the first clamping extensions 28, preferably projecting counter to the insertion direction 40.FIG. 4 further shows that the first flange element 18 can be formed integrally. The first flange element 18 can have a sealing projection 62, which can cooperate with the second flange element 20 to seal the flange connection 10 from the environment.FIG. 5 shows a representation of the flange connection 10 in isolation, i.e. without connected robot arm parts 12, 14. Preferably, each of the clamping bodies 22 is arranged in such a way that one of the second flange projections 30 is arranged on each of the two end sections 64 of the respective clamping body 22, and one of the first clamping extensions 28 is arranged on the central section 66 of the respective clamping body 22. Preferably, the second flange projections 30 are each arranged with the respective second clamping extension 32 on the respective clamping body 22.List of reference characters10 Flange connection 12 First robot arm part 13 Robot arm 14 Second robot arm part 16 Flange longitudinal axis 18 First flange element 20 Second flange element 22 Clamping body 23 Robot arm longitudinal axis 24 Flange shoulder 26 First flange projection 28 First clamping extension 30 Second flange projection 32 Second clamping extension 34 Circumferential direction 36 First clamping surface 38 Second clamping surface 40 Insertion direction 42 Insertion axis 44 Clamping angle 46 Clamping surface 48 Spring tongue 50 Shoulder contact surface 52 Friction plate 54 Clamping screw 56 Through bore 58 Threaded bore 60 Threaded base 62 Sealing projection 64 End section 66 Central section

Claims

Flange connection (10) for connecting a first robot arm part (12) to a second robot arm part (14), having a flange longitudinal axis (16), a first flange element (18), a second flange element (20) and at least one clamping body (22), wherein the first flange element (18) comprises • a flange shoulder (24), and • a first flange projection (26), which projects in a direction of the flange longitudinal axis (16), having at least one first clamping extension (28), wherein the second flange element (20) comprises • at least one second flange projection (30), which projects in a direction of the flange longitudinal axis (16), having a second clamping extension (32), and wherein the first flange element (18) and the second flange element (20) are arranged with respect to one another in such a way that, with respect to the flange longitudinal axis (16), the second clamping extension (32) is arranged between the flange shoulder (24) and the at least one first clamping extension (28), and in that a frictional and / or positive connection of the second clamping extension (32) to the flange shoulder (24) can be produced by inserting the at least one clamping body (22) between the at least one first clamping extension (28) and the second clamping extension (32), characterized in that the flange connection (10) has a friction plate (52) which is arranged between the flange shoulder (24) and the second clamping extension (32).Flange connection according to claim 1, characterised in that the at least one clamping body (22) is wedge-shaped.Flange connection according to one of the preceding claims, characterized in that the at least one first clamping extension (28) has a first clamping surface (36) for cooperation with the at least one clamping body (22) and the second clamping extension (32) has a second clamping surface (38) for cooperation with the at least one clamping body (22), wherein the first clamping surface (36) and / or the second clamping surface (38) enclose a clamping angle (44) between 0° and 90°, preferably between 10° and 30°, with an insertion axis (42) arranged in an insertion direction (40) of the at least one clamping body (22).Flange connection according to one of the preceding claims, characterized in that the at least one first clamping extension (28) is designed as a spring tongue (48).Flange connection according to one of the preceding claims, characterized in that the second clamping extension (32) has a shoulder contact surface (50) arranged parallel to the flange shoulder (24) for producing the frictional and / or positive connection to the flange shoulder (24).Flange connection according to one of the preceding claims, characterized in that the flange connection (10) comprises at least one clamping screw (54), by means of which the at least one clamping body (22) can be pushed in between the at least one first clamping extension (28) and the second clamping extension (32).Flange connection according to Claim 6, characterized in that the first flange projection (26) or the second flange projection (30) has at least one threaded bore (58) into which the at least one clamping screw (54) can be screwed.Flange connection according to one of the preceding claims, characterized in that the at least one clamping body (22) has two end sections (64) opposite one another and a central section (66) arranged between the end sections (64), wherein the at least one clamping body (22) is arranged in such a way that either one of the at least one first clamping extension (28) is arranged on each of the two end sections (64) and one of the at least one second flange extension (30) is arranged on the central section (66), or one of the at least one second flange extension (30) is arranged on each of the two end sections (64) and one of the at least one first clamping extension (28) is arranged on the central section (66).Flange connection according to one of the preceding claims, characterized in that the at least one first clamping extension (28) and the at least one second flange projection (30) are arranged in a circumferential direction (34) around the flange longitudinal axis (16) in an alternating manner and / or offset with respect to one another.Flange connection according to one of the preceding claims, characterized in that the number of the at least one clamping body (22) corresponds to the number of the at least one first clamping extension (28) and / or to the number of the at least one second flange projection (30).Flange connection according to one of the preceding claims, characterized in that the first flange element (18) has a plurality of first clamping projections (28) and the second flange element (20) has a plurality of second flange projections (30).Flange connection according to Claim 11, characterized in that the first clamping extensions (28) and the second flange projections (30) are arranged uniformly distributed about the flange longitudinal axis (16).Robot arm (13) having a first robot arm part (12), a second robot arm part (14) and a flange connection (10) according to one of the preceding claims, wherein the first flange element (18) is arranged fixedly on the first robot arm part (12) and the second flange element (20) is arranged fixedly on the second robot arm part (14).

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