Drive device, robot joint, robot and method for operating a drive device, a robot joint and / or a robot

Abstract

Drive device (100), in particular for a robot joint, the drive device (100) comprising a first connecting element (102), a second connecting element (104), a rotational axis (106) about which the first connecting element (102) and the second connecting element (104) are rotatable relative to one another starting from a neutral position, and a spring device (110) which acts antagonistically and determines the neutral position in a force equilibrium, in which the drive device (100) comprises an adjustment drive (112) and a coupling device (114), wherein the adjustment drive (112) is designed and / or arranged to rotate the first connecting element (102) and / or the second connecting element (104) relative to one another in order to adjust the neutral position, and the coupling device (114) is designed and / or arranged toto connect the adjustment drive (112) to the first connection element (102) and / or to the second connection element (104) and / or to disconnect the adjustment drive (112) from the first connection element (102) and / or from the second connection element (104).

Description

[0001] The invention relates to a drive device, in particular for a robot joint, the drive device comprising a first connecting element, a second connecting element, an axis of rotation about which the first connecting element and the second connecting element can be rotated relative to one another starting from a neutral position in a first direction of rotation and a second direction of rotation, an operating drive acting between the first connecting element and the second connecting element, and a spring device acting parallel to the operating drive, wherein the spring device acts antagonistically both in the first direction of rotation and in the second direction of rotation and determines the neutral position in a force equilibrium. Furthermore, the invention relates to a robot joint with a first joint part, a second joint part, and a joint axis, wherein the first joint part and the second joint part can be rotated relative to one another about the joint axis.The invention also relates to a robot having a first robot limb and at least one further robot limb. The invention also relates to a method for operating a drive device, a robot joint, and / or a robot.

[0002] Document WO 2015 / 023340 A2 relates to serial elastic actuators for robots. It proposes an actuator comprising: a first plate; a second plate; and an elastic element disposed between the first plate and the second plate and having a central portion and an edge portion, wherein the central portion corresponds to a first thickness and the edge portion corresponds to a second thickness greater than the first thickness, wherein a first shear stress associated with the central portion is approximately equal to a second shear stress associated with the edge portion.

[0003] The publication "DFB Haeufle, MD Taylor, S. Schmitt and H. Geyer, "A clutched parallel elastic actuator concept: Towards energy efficient powered legs in prosthetics and robotics," 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, 2012, pp. 1614-1619, doi: 10.1109 / BioRob.2012.6290722." concerns a concept for a clutched parallel elastic actuator for energy-efficient leg propulsion in prosthetics and robotics. Parallel passive elastic elements can reduce energy consumption and torque requirements for motors in powered leg systems. However, the hardware design for such combined actuators is complicated by the need to switch the parallel elasticity on and off depending on the gait phase.To develop a compact and cost-effective solution for coupled parallel elastic actuators, the design and control of a first prototype for a parallel elastic actuator is presented. The actuator combines a DC motor with a parallel spring, which is engaged and disengaged by a commercially available, compact, and low-cost electrical coupling. In experiments mimicking the torque and movement patterns of the knee extensor muscles during human rebound, it is found that the parallel spring in the prototype reduces the actuator's energy consumption by approximately 80% and the required peak torque for the DC motor by approximately 66%.Furthermore, it is found that a simple trigger-based controller can reliably engage and disengage the electric clutch during movement, allowing the spring to assist the motor during rebound, removing stored energy from the system when needed for stopping, and virtually disappearing at the actuator output level. On the other hand, the hardware experiments also show that the original design limits the precision of torque control, and specific improvements are proposed to overcome these limitations.

[0004] The publication "M. Plooij, M. van Nunspeet, M. Wisse and H. Vallery, "Design and evaluation of the Bi-directional Clutched Parallel Elastic Actuator (BIC-PEA)," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, pp. 1002-1009, doi: 10.1109 / ICRA.2015.7139299." concerns the design and evaluation of a bidirectional clutched parallel elastic actuator (BIC-PEA). Parallel elastic actuators (PEAs) have shown their ability to reduce the energy consumption of robots. The problem with conventional PEAs is that it is not possible to freely choose at what time or in which configuration the energy should be stored or released. This paper presents the concept and construction of the bidirectional clutched parallel elastic actuator (BIC-PEA), which Energy consumption of robots reduced through controlled loading and unloading of the parallel spring.The BIC-PEA concept consists of a spring mounted between the two outgoing axles of a differential mechanism. These axles can also be secured to the ground by two locking mechanisms. In any position, the BIC-PEA can store the kinetic energy of a joint in the spring, decelerating the joint to zero velocity. The spring energy can then be released, accelerating the joint in any direction. For the 202 g prototype presented, the energy that can be stored in the spring is 0.77 J. When disengaged, the friction caused by the mechanism is negligible. The current maximum overall efficiency is 62%, which is approximately 55% higher than what can generally be achieved through electrical energy recovery.The relatively high efficiency and controllability make the BIC-PEA a promising concept for reducing the energy consumption of robots.

[0005] The document DE 10 2018 207 748 A1 relates to a drive system. In order to achieve high speeds and high precision with low energy consumption for both path processes and point-to-point movements, the drive system comprises a first structure, a second structure, and a drive unit arranged between the first structure and the second structure. The drive unit has two independent parallel drive trains, each connected to the first structure and the second structure. In a first of the two drive trains, a first drive designed as a direct drive is arranged, and in a second of the two drive trains, a second drive and an elastic element are arranged in series. At an interface between the second drive and the elastic element, a base point of the elastic element is defined, which can be adjusted by means of the second drive.The drive unit is configured to effect a relative movement of the second structure relative to the first structure, at least by means of the first drive, based on a first input signal comprising a target position and / or a target speed of the first drive, and based on a second input signal comprising a target position and / or a target speed of the second drive. The drive system further comprises a first measuring device configured to detect a displacement variable, in particular a position and / or a speed of the second structure relative to the first structure, as a first output signal.

[0006] The invention is based on the object of structurally and / or functionally improving a drive device mentioned above. Furthermore, the invention is based on the object of structurally and / or functionally improving a robot joint mentioned above. Furthermore, the invention is based on the object of structurally and / or functionally improving a robot mentioned above. Furthermore, the invention is based on the object of structurally and / or functionally improving a method mentioned above.

[0007] The object is achieved by a drive device having the features of claim 1. Furthermore, the object is achieved by a robot joint having the features of claim 4. Furthermore, the object is achieved by a robot having the features of claim 5. Furthermore, the object is achieved by a method having the features of claim 6. Advantageous embodiments and / or further developments are the subject of the subclaims.

[0008] The drive device can be designed and / or arranged to drive a robot joint and / or a robot. The drive device can be designed and / or arranged to rotate a first joint part and a second joint part of a robot joint relative to one another. The drive device can be designed and / or arranged to move a first robot member and a second robot member of a robot relative to one another.

[0009] The drive device comprises a first connecting element, a second connecting element, a rotational axis, an operating drive, a spring device, an adjustment drive, and a coupling device. The drive device may comprise a fixed base. The base may be associated with the first connecting element or the second connecting element and / or be rigidly connected to the first connecting element or the second connecting element. The base may comprise a housing or be rigidly connected to a housing.

[0010] A working drive train can be formed between the first connection element and the second connection element. The working drive train can have an input and an output. In this context, “drive train” refers in particular to the entirety of the input, output and the components arranged therebetween, comprising and relating to a driving machine. The driving machine can also be referred to as a prime mover or motor. A “drive train” is therefore designed and / or arranged in particular to enable a flow of power from the driving machine between the input and output. In this respect, a train that has a driving machine is regarded as a “drive train” and a train that does not have a driving machine is not regarded as a separate “drive train”.

[0011] The first connection element can form an input of the operating drive train and the second connection element can form an output of the operating drive train. The second connection element can form an input of the operating drive train and the first connection element can form an output of the operating drive train. The operating drive train can comprise the first connection element, the second connection element, the operating drive and the spring device. The operating drive train is designed and / or arranged to drive a robot joint and / or a robot. The drive device can have a single operating drive train. The operating drive train can be designed and / or arranged for non-separable and / or permanently closed operation. The operating drive train can be designed without a clutch.

[0012] The first connection element can be designed and / or can be arranged for connection to a first joint part of a robot joint. The second connection element can be designed and / or can be arranged for connection to a second joint part of a robot joint. The first connection element and the second connection element can be rotated relative to one another about the axis of rotation, starting from a neutral position, in a first direction of rotation and in a second direction of rotation. The first connection element can be rotated relative to the second connection element and / or the second connection element can be rotated relative to the first connection element. The first connection element and the second connection element can be rotatable between two end positions. The first connection element and the second connection element can be mounted so that they can rotate relative to one another. The first direction of rotation and the second direction of rotation can be opposite directions of rotation.The neutral position can be a neutral position with respect to energy, particularly potential and / or kinetic energy. The neutral position can be a neutral position with respect to effective spring forces. The neutral position can be an equilibrium position. The neutral position can be a central position.

[0013] The operating drive can have a motor. The motor can be an electric motor. The operating drive can be designed as a direct drive. The operating drive can have a gearbox. The operating drive acts between the first connection element and the second connection element. The operating drive can be connected on the one hand to the first connection element and on the other hand to the second connection element. The operating drive can be connected in a mechanically power-transmitting, direct and / or immediate manner on the one hand to the first connection element and on the other hand to the second connection element. The operating drive can be supported on the one hand on the first connection element and on the other hand on the second connection element. The operating drive can be designed and / or arranged to drive a robot joint and / or a robot.The operating drive can be designed and / or arranged to move a first robot member and a second robot member of a robot relative to one another. The operating drive can be designed and / or arranged as the sole and / or exclusive operating drive.

[0014] The spring device acts parallel to the operating drive. The spring device can act between the first connecting element and the second connecting element. The spring device can be connected on the one hand to the first connecting element and on the other hand to the second connecting element. The spring device can be connected in a mechanically power-transmitting, direct and / or immediate manner on the one hand to the first connecting element and on the other hand to the second connecting element. The spring device can be supported on the one hand on the first connecting element and on the other hand on the second connecting element. The spring device can act and / or be arranged in the operating drive train. The spring device can act and / or be arranged in a spring train between the first connecting element and on the other hand to the second connecting element.The spring train can be arranged parallel to the operational drive train and / or be part of the operational drive train. The spring device can be designed and / or arranged for permanent effectiveness in the operational drive train.

[0015] The spring device acts antagonistically in both the first direction of rotation and the second direction of rotation. The spring device can have a first spring module and a second spring module. A spring module can have at least one spring section and / or at least one spring element. The first spring module can be designed and / or arranged to produce a first spring force. The second spring module can be designed and / or arranged to produce a second spring force. The first spring module and the second spring module can act in opposite directions to one another. The first spring force and the second spring force can be directed in opposite directions to one another. The spring device determines the neutral position in a force equilibrium. In the neutral position, the first spring force and the second spring force can be in equilibrium. In the neutral position, the first spring module and the second spring module can be preloaded.In a rotated position deviating from the neutral position, the spring device, in particular the first spring module or the second spring module, can apply a spring force directed towards the neutral position to the first connecting element and / or the second connecting element.

[0016] The adjustment drive is designed and / or arranged to rotate the first connecting element and / or the second connecting element relative to one another in order to adjust the neutral position. The adjustment drive can have a motor. The motor can be an electric motor. The adjustment drive can be designed as a direct drive. The adjustment drive can have a gear. The adjustment drive can act between a base of the drive device and a second coupling part of a coupling of the coupling device. The adjustment drive can be supported on the one hand on a base of the drive device and on the other hand on a second coupling part of a coupling of the coupling device.

[0017] The coupling device is designed and / or arranged to connect the adjustment drive to the first connection element and / or to the second connection element and / or to disconnect the adjustment drive from the first connection element and / or from the second connection element. The coupling device can be switchable between a closed position in which the adjustment drive is connected to the first connection element and / or to the second connection element, and an open position in which the adjustment drive is disconnected from the first connection element and / or from the second connection element. The spring device can be effective regardless of whether the adjustment drive is connected to the first connection element and / or to the second connection element and / or disconnected from the first connection element and / or from the second connection element.The spring device can be effective regardless of whether the clutch device is closed or open. The clutch device can be switchable discretely or continuously between a fully open position and a fully closed position. The clutch device can have a clutch and an actuating device. The clutch can be designed as a positive clutch or as a non-positive clutch. The actuating device can be designed and / or arranged to switch or actuate the clutch. The clutch can have a first clutch part and a second clutch part. The first clutch part can be assigned to a base of the drive device and / or be fixedly connected to a base of the drive device.The second coupling part can be assigned to the first connection element or the second connection element and / or be firmly connected to the first connection element or the second connection element.

[0018] The clutch device can be designed and / or arranged to maintain a neutral position set using the adjustment drive without drive energy. The clutch device can be designed and / or arranged to maintain a neutral position set using the adjustment drive even when the operating drive and / or the adjustment drive are deactivated. The clutch device can be designed and / or arranged to maintain a neutral position set using the adjustment drive purely mechanically.

[0019] An adjustment drive train can be formed between the adjustment drive and the first connection element and / or the second connection element. The adjustment drive train can comprise the coupling device. The coupling device can be designed and / or arranged to couple the adjustment drive train to the first connection element and / or to the second connection element and / or to decouple the adjustment drive train from the first connection element and / or from the second connection element. The adjustment drive train can be arranged in series with the operating drive train.

[0020] The operating drive, the adjustment drive, and / or the coupling device can be coordinated with one another and / or controllable taking external input variables into account. In this context, "controlling" refers in particular to control-related and / or open-loop control. "External input variables" are in particular input variables that have not been detected or determined on or for the operating drive, the adjustment drive, and / or the coupling device, for example input variables that have been detected or determined on or for a robot and / or an end effector, or that are based on user input. The operating drive, the adjustment drive, and / or the coupling device can be controllable using a control device, in particular using a control device of a robot.

[0021] The robot joint has a first joint part, a second joint part and a joint axis. The first joint part and the second joint part can be rotated relative to one another about the joint axis. The robot joint has the drive device. The first connection element of the drive device is connected to the first joint part, the second connection element of the drive device is connected to the second joint part and the rotation axis of the drive device is arranged coaxially to the joint axis. The first joint part and the second joint part can be rotatably mounted on one another. The first joint part or the second joint part can form a base and / or a housing of the drive device. The robot joint can be designed for arrangement between a first robot member and at least one further robot member.The robot joint may be designed and / or arranged to move a first robot member and at least one further robot member relative to each other.

[0022] The robot has a first robot limb and at least one further robot limb. The robot has at least one robot joint. The first joint part is connected to the first robot limb and the second joint part is connected to the at least one further robot limb. The robot can in particular be an industrial robot, a walking robot, a humanoid robot, a mobile robot, or an autonomous robot. The robot can be designed and / or arranged to perform repetitive tasks, for example pick-and-place tasks, and / or changing tasks. The robot can be designed and / or arranged to collaborate with humans in overlapping work areas. The robot can have a control device.The control device can be designed and / or arranged to control the robot, the at least one robot joint, the drive device, the operating drive, the adjustment drive, and / or the coupling device. The control device can be designed and / or arranged to carry out the method.

[0023] The method is designed to operate a drive device, at least one robot joint, and / or a robot. The operating drive, the adjustment drive, and / or the coupling device are coordinated with one another and / or controlled taking external input variables into account. The drive device, the at least one robot joint, and / or the robot can be coordinated with one another and / or controlled taking external input variables into account. The drive device, the at least one robot joint, and / or the robot can be actuated and / or controlled in a static operating mode, in a static adjustment mode, in a dynamic operating mode, and / or in a dynamic adjustment mode.

[0024] In the static operating mode, the adjustment drive can be separated from the first connecting element and / or the second connecting element, and the operating drive can be active. The clutch of the coupling device can be opened and / or the adjustment drive can be deactivated.

[0025] In the static adjustment mode, the adjustment drive can be connected to the first connection element and / or the second connection element, and the neutral position can be adjusted with the operating drive deactivated. The clutch of the coupling device can be closed and / or the adjustment drive activated.

[0026] It is possible to switch between the static operating mode and the static adjustment mode. To switch from the static operating mode to the static adjustment mode, the clutch device can be switched from the open position to the closed position. To switch from the static adjustment mode to the static operating mode, the clutch device can be switched from the closed position to the open position. A neutral position set using the adjustment drive can be held without drive energy.

[0027] In the dynamic operating mode, the adjustment drive and / or the coupling device can be actuated in a controlled manner when the operating drive is activated in order to dynamically adjust and / or change the neutral position. In the dynamic operating mode, the adjustment drive and / or the coupling device can be actuated in a controlled manner when the operating drive is activated in order to dynamically adjust and / or change an operating travel and / or a spring force of the spring device. In the dynamic operating mode, the adjustment drive and / or the coupling device can be actuated in a controlled manner when the operating drive is activated in order to actively compensate for an effect of the spring device. The adjustment drive and / or the coupling device can be actuated to partially or completely compensate for an effect of the spring device.The adjustment drive and / or the coupling device can be actuated to represent an at least approximately inelastic joint. The neutral position, the operating travel, and / or the spring force can be continuously and / or repeatedly adjusted and / or changed.

[0028] In the dynamic operating mode, the adjustment drive and / or the coupling device can be controlled in a dynamic adjustment mode. In the dynamic operating mode, the operating drive, the adjustment drive, and the coupling device can be controlled in a coordinated manner. In particular, forces acting between the first connecting element and the second connecting element and / or characteristics of the spring device can be taken into account.

[0029] In this context, for further technical features, reference is made to the publication "CD Santina, D. Calzolari, AM Giordano and A. Albu-Schäffer, "Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2783-2790, April 2021, doi: 10.1109 / LRA.2021.3061391." The method described in this publication belongs to the teaching of the present invention. This publication is therefore incorporated into the present disclosure by reference.

[0030] In summary and in other words, the invention thus provides, among other things, a method for the energy-efficient use of elastic robots while maintaining flexible configuration changes.

[0031] The method presented here allows the zero configuration, also referred to as neutral position, of an elastic robotic system to be flexibly changed while maintaining the advantages of parallelism between an elastic element and a drive. Specifically, this means that, as in an SEA, the zero position of a robotic system can be changed, allowing a system to be configured for different tasks while simultaneously enabling efficient movement in each of these configurations, as with a PEA. The main application could be in the field of robotics, where fast periodic movements are required, where energy savings and system robustness should be increased through the use of elastic elements.A concrete application example would be a robot designed for a pick-and-place task in an industrial context or a walking robot in which the intrinsic dynamics are to be used to improve energy efficiency. However, it is important that the intrinsic dynamics can be exploited in different configurations, i.e. the zero configuration of the elastic element can be changed without the need for a permanent holding torque (as in a PEA) to be applied by the motor, which would reduce energy efficiency. This is made possible by the mechanism presented here. In this way, the efficiency increase of a PEA can be exploited not only in a single zero configuration, but by changing the zero configuration, which can be carried out statically or during movement, a multitude of additional movement options can be opened up without reducing the efficiency potential.For the mechanism presented, a decoupleable motor, which can also be referred to as an adjustment drive or can be part of an adjustment drive, can be connected to a PEA. This motor is preferably direct-driven, but can also be implemented with any other conventional actuator. Using this upstream motor, the zero configuration around which the system is to oscillate can be changed and set. With the help of a coupling, the upstream drive can be decoupled from the overall drive train once the new zero configuration has been set. This means that maintaining the zero configuration can be taken over by mechanical elements, meaning that no constant motor torque has to be applied to maintain the configuration. This saves unnecessary energy and allows for a maximum increase in efficiency. If necessary, the control of the first drive orHowever, as part of the overall drive concept, the adjustment drive can also be changed dynamically during a movement, allowing for a large, flexible range of motion. The clutch can be used as an active or passive element. For example, the PEA component connected behind the clutch can be used as described in the publication "CD Santina, D. Calzolari, AM Giordano and A. Albu-Schäffer, "Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2783-2790, April 2021, doi: 10.1109 / LRA.2021.3061391." generate hyper-efficient periodic movements by driving an oscillation around the set zero configuration, in which the majority of the required energy is realized by the elastic elements, while the motor only compensates for the energy lost through friction.The mechanical decoupling of the PEA component from the front motor also prevents the need to continuously supply energy to maintain the zero position, as is usual with a conventional SEA.

[0032] An embodiment of the invention is described in more detail below with reference to figures, which show schematically and by way of example: Fig. 1 a drive device with an operating drive, a spring device acting parallel thereto, an adjustment drive for setting a neutral position and a coupling device for coupling or uncoupling the adjustment drive in a side view and Fig. 2 an operating drive and a coupling device for coupling or uncoupling the adjustment drive of a drive device in a perspective view.

[0033] Fig. 1 shows a drive device 100 with a first connection element 102, a second connection element 104, a rotation axis 106, an operating drive 108, a spring device 110, an adjustment drive 112 and a coupling device 114 in a side view. Fig. Figure 2 shows the operating drive 108 and the coupling device 114 of the drive device 100 in a perspective view. The drive device 100 serves to drive a robot joint and / or a robot and has a base to which the first connection element 102 is fixedly connected.

[0034] The connecting elements 102, 104 are rotatable relative to one another about the rotation axis 106, starting from a neutral position, in a first rotational direction 116 and in a second rotational direction 118. The operating drive 108 operates between the connecting elements 102, 104.

[0035] The spring device 110 is arranged parallel to the operating drive 108 and also acts between the connecting elements 102, 104. The spring device 110 acts antagonistically in both the first rotational direction 116 and the second rotational direction 118 and has two spring modules that produce opposing spring forces. In the neutral position, the spring forces are preloaded and in equilibrium. In a rotated position deviating from the neutral position, one of the spring forces is greater than the other and applies a resulting spring force to the connecting elements 102, 104 directed toward the neutral position.

[0036] The coupling device 114 serves to connect the adjustment drive 112 to the first connection element 102 or to disconnect it from the first connection element 102. The coupling device 114 can be switched between an open position and a closed position. In the open position, the adjustment drive 112 is connected or coupled to the first connection element 102. In the closed position, the adjustment drive 112 is separated or decoupled from the first connection element 102. The coupling device 114 has a clutch with a first clutch part 120 and a second clutch part 122 and an actuating device. The first clutch part 120 is fixedly connected to the base of the drive device 100. The second clutch part 122 is fixedly connected to the first connection element 102. The actuating device serves to switch the clutch.

[0037] The adjustment drive 112 operates between the base of the drive device 100 and the second coupling part 122 and serves to rotate the first connecting element 102 relative to the second connecting element 104 in order to adjust the neutral position. The coupling device 114 serves to maintain a neutral position set using the adjustment drive 112 purely mechanically, even when the operating drive 108 and the adjustment drive 112 are deactivated.

[0038] The drive device 100 can be actuated or controlled in a static operating mode, in a static adjustment mode, in a dynamic operating mode, and in a dynamic adjustment mode. In the static operating mode, the adjustment drive 112 is separated or decoupled from the first connecting element 102, and the operating drive 108 is active. In the static adjustment mode, the adjustment drive 112 is connected or coupled to the first connecting element 102, and the neutral position is adjusted when the operating drive 108 is deactivated. In the dynamic operating mode, the adjustment drive 112 and the coupling device 114 are actuated in a controlled manner when the operating drive 108 is activated in order to continuously or repeatedly dynamically adjust or change the neutral position. The operating drive 108, the adjustment drive 112, and the coupling device 114 are controlled in a coordinated manner.

[0039] "May" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively comprise the respective feature(s).

[0040] If necessary, features can also be selected from the combinations of features disclosed in the description and used alone or in combination with other features to further define the subject matter of the claim, dissolving any structural and / or functional connection that may exist between the features. Reference symbol 100 drive device 102 first connecting element 104 second connecting element 106 axis of rotation 108 Operating drive 110 Spring device 112 Adjustment drive 114 Coupling device 116 first direction of rotation 118 second direction of rotation 120 first coupling part 122 second coupling part QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] WO 2015 / 023340 A2

[0002] DE 10 2018 207 748 A1

[0005] Cited non-patent literature

[0000] D. F. B. Haeufle, M. D. Taylor, S. Schmitt and H. Geyer, „A clutched parallel elastic actuator concept: Towards energy efficient powered legs in prosthetics and robotics,“ 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Rome, Italy, 2012, pp. 1614-1619, doi: 10.1109 / BioRob.2012.6290722

[0003] M. Plooij, M. van Nunspeet, M. Wisse and H. Vallery, „Design and evaluation of the Bi-directional Clutched Parallel Elastic Actuator (BIC-PEA),“ 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, pp. 1002-1009, doi: 10.1109 / ICRA.2015.7139299

[0004] C. D. Santina, D. Calzolari, A. M. Giordano and A. Albu-Schäffer, „Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions,“ in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2783-2790, April 2021, doi: 10.1109 / LRA.2021.3061391 [0029, 0031]

Claims

[1] Drive device (100), in particular for a robot joint, the drive device (100) comprising a first connecting element (102), a second connecting element (104), an axis of rotation (106) about which the first connecting element (102) and the second connecting element (104) are rotatable relative to one another starting from a neutral position in a first direction of rotation (116) and a second direction of rotation (118), an operating drive (108) acting between the first connecting element (102) and the second connecting element (106), and a spring device (110) acting parallel to the operating drive (108), wherein the spring device (110) acts antagonistically both in the first direction of rotation (116) and in the second direction of rotation (118) and determines the neutral position in a force equilibrium, characterized bythat the drive device (100) has an adjustment drive (112) and a coupling device (114), wherein the adjustment drive (112) is designed and / or arranged to rotate the first connection element (102) and / or the second connection element (104) relative to one another in order to adjust the neutral position, and the coupling device (114) is designed and / or arranged to connect the adjustment drive (112) to the first connection element (102) and / or to the second connection element (104) and / or to separate the adjustment drive (112) from the first connection element (102) and / or from the second connection element (104). [2] Drive device (100) according to claim 1, characterized bythat the coupling device (114) is switchable between a closed position in which the adjustment drive (112) is connected to the first connection element (102) and / or to the second connection element (104), and an open position in which the adjustment drive (112) is separated from the first connection element (102) and / or from the second connection element (104), and is designed and / or arranged to hold a neutral position set with the aid of the adjustment drive (112) without drive energy. [3] Drive device (100) according to at least one of the preceding claims, characterized by that the operating drive (108), the adjusting drive (112) and / or the coupling device (114) are coordinated with one another and / or can be controlled taking external input variables into account. [4] Robot joint with a first joint part, a second joint part and a joint axis, wherein the first joint part and the second joint part are rotatable relative to each other about the joint axis, characterized by that the robot joint has a drive device (100) according to at least one of claims 1 to 3, wherein the first connection element (102) is connected to the first joint part, the second connection element (104) is connected to the second joint part and the axis of rotation (106) is arranged coaxially to the joint axis. [5] Robot with a first robot member and at least one further robot member, characterized by that the robot has at least one robot joint according to claim 4, wherein the first joint part is connected to the first robot member and the second joint part is connected to the at least one further robot member. [6] Method for operating a drive device (100) according to at least one of claims 1 to 3, at least one robot joint according to claim 4 and / or a robot according to claim 5, characterized by that the operating drive (108), the adjusting drive (112) and / or the coupling device (114) are coordinated with one another and / or controlled taking external input variables into account. [7] Method according to claim 6, characterized by that in a static operating mode the adjustment drive (112) is separated from the first connection element (102) and / or from the second connection element (104) and the operating drive (108) is active and in a static adjustment mode the adjustment drive (112) is connected to the first connection element (102) and / or to the second connection element (104) and the neutral position is adjusted when the operating drive (108) is deactivated. [8] Method according to claim 6, characterized bythat in a dynamic operating mode, the adjustment drive (112) and / or the coupling device (114) are / is actuated in a controlled manner when the operating drive (108) is activated in order to dynamically adjust the neutral position. [9] Method according to at least one of claims 6 and / or 8, characterized by that in a / the dynamic operating mode, the adjustment drive (112) and / or the coupling device (114) are / is actuated in a controlled manner when the operating drive (108) is activated in order to actively compensate for an effect of the spring device (110).

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