JOINT WITH MULTIFUNCTIONAL PROFILE FOR A MANIPULATOR

Description

[0001] The invention relates to a joint with a multifunctional profile for a manipulator, wherein the multifunctional profile is designed as a supporting connecting element between a motor of the manipulator and the joint.

[0002] A manipulator is known from DE 20 2014 101 342 U1, in which a connecting element is designed as a hollow profile section, which, however, hardly allows for variations with regard to different designs of the manipulator.

[0003] DE 20 2016 101 255 U1 discloses a manipulator with a plurality of multifunctional profiles which are at least partially identical in terms of their profile design as load-bearing connecting elements between two joints of the manipulator and a joint of the manipulator and a motor associated with the joint, wherein the multifunctional profiles have a rectangular outer contour, a first receiving groove, a second receiving groove and an inner channel, wherein the receiving grooves extend laterally in the longitudinal direction of the multifunctional profile and are open outwards transversely to the longitudinal direction and the joints each have a gear wheel rotatable about a gear axis and a further gear element, wherein the gear wheel and the further gear element form a gear.

[0004] In one embodiment of a joint known from the aforementioned document, the gear is designed as a worm gear with a worm wheel on the output side as a gear wheel and a worm on the drive side as a further gear element, wherein the gear wheel is arranged in a housing of the joint and the worm in a receiving part of the housing and the worm is arranged in a rotationally fixed manner on a drive shaft guided in the inner channel of the multifunctional profile belonging to the joint and the multifunctional profile is fixed in a rotationally fixed and displacement-proof manner by the first receiving groove on the housing.

[0005] In another embodiment of a joint known from the aforementioned document, the transmission is designed as a linear transmission with a gear as the transmission wheel and a rack element as the further transmission element, which is fixed in a fixed position in the first receiving groove of the associated multifunctional profile, which is open towards the gear in the installed position. The gear wheel, designed as a gear, is arranged outside the housing accommodating the joint, as an extension of the drive shaft of a motor. The further transmission element, designed as a rack element, is also arranged outside the housing accommodating the joint, extending over one end face of the same.

[0006] From WO2018 / 040541A1, a manipulator with a plurality of profiles as load-bearing connecting elements between two joints of the manipulator and one joint of the manipulator and a motor is known, wherein the profiles are at least partially identical in terms of their profile design, have receiving grooves extending laterally in the longitudinal direction and open outwards transversely to the longitudinal direction and an inner channel, and at least one of the profiles is designed as a shaft, and the two joints or the one joint each have a gear wheel rotatable about a gear axis and arranged in a housing of the joint and a further gear element arranged in a receiving part of the housing, wherein the gear wheel and the further gear element form a gear.

[0007] From EP 1 617 087 A1 a manipulator with several multifunctional profiles as support elements is known, wherein the multifunctional profiles have a circular outer contour, several receiving grooves extending laterally in the longitudinal direction of the multifunctional profiles and open outwards transversely to the longitudinal direction and wherein at least one of the multifunctional profiles is designed as a shaft.

[0008] An object of the invention is to provide an assembly comprising a joint with a multifunctional profile for a manipulator, which is simple in construction and offers numerous design possibilities.

[0009] The stated object is achieved according to the invention by the features of claim 1. Advantageous further developments are described in the subclaims.

[0010] By using the multifunctional profile, on the one hand, as described in more detail below, different manipulator designs can be easily developed, each of which can be cost-effectively adapted to specific tasks. On the other hand, to simplify design and assembly, two multifunctional profiles can be used, which can be identical in terms of their profile design, at least in sections. This structural similarity of the profile design does not refer to the absolute sizes of the two multifunctional profiles, but rather generally to the cross-sectional shape or cross-sectional contour. Structural similarity means that the two multifunctional profiles are at least similar, preferably identical, in terms of their cross-sections. However, they can also be congruent, i.e., identical in design.In addition, the multifunctional profile is also provided between the motor and the joint, which at least minimizes any thermal impact on the joint. Furthermore, the motor can act as a counterweight to the joint. Furthermore, the motor can be of any design, provided it is suitable for the specific application. A brushless DC motor can be used as the motor, which is advantageous, among other things, because of the fewer cables required.

[0011] The multifunctional profile has an outer contour that is circular, at least in its basic form. This outer profile of the multifunctional profile, which is circular at least in its basic form, enables the multifunctional profile to be easily mounted for rotation, for example to be used for torque transmission. Furthermore, if necessary, a gear element, such as a spur gear, can be easily fitted over the outer profile, which is circular at least in its basic form, in a simple manner, such as by means of a clamp fit. The diverse possible applications of the multifunctional profile are also demonstrated by the fact that, in addition to its use as a load-bearing and stiffening connecting element, it can also be designed as a gear rack.

[0012] The lateral mounting grooves are designed to open outwards, perpendicular to the longitudinal direction of the multifunctional profile. This allows them to be accessed from the outside, which facilitates assembly and disassembly.

[0013] In a further embodiment, the lateral receiving grooves can be arranged at a circumferential spacing. This spacing can be at least substantially equal across the circumference. Adjacent outer grooves on the multifunctional profile can be arranged at a circumferential spacing of at least substantially equal distances, starting from their circumferential center as a reference point. The outer grooves can be designed differently depending on their intended use.

[0014] For example, a receiving groove designed as a first receiving groove for securing the multifunctional profile to the housing and / or for securing additional components, a receiving groove designed as a second receiving groove for positioning the further gear element relative to the housing and / or to the gear wheel and / or a receiving groove designed as a third receiving groove for a measuring element can be provided.

[0015] For example, to secure the multifunctional profile to the housing or to secure additional devices to the multifunctional profile, the second receiving groove and / or the third receiving groove can be undercut. In particular, two first receiving grooves can be provided, the cross-sectional profiles of which are preferably congruent to one another. In particular, the first receiving groove can be arranged diametrically opposite the second receiving groove with respect to a longitudinal direction of the multifunctional profile.

[0016] The receiving grooves can be arranged at equal circumferential spacing from one another. If two first receiving grooves, i.e., a total of four receiving grooves, are provided, the receiving grooves can be arranged crosswise relative to one another with respect to the longitudinal axis. In particular, the third receiving groove can be arranged diametrically opposite the fourth receiving groove, each with respect to the longitudinal axis.

[0017] In an advantageous development, the inner channel of the multifunctional profile can have a substantially circular cross-section. This allows for a shaft with a circular cross-section to pass through in a force-mechanically favorable manner, while the shaft is protected in the channel. Furthermore, the diameter of the shaft can be smaller than the diameter of the inner channel, so that the shaft, arranged at a certain distance, preferably the size of a slip, can rotate freely in the channel.

[0018] The inner channel may further comprise at least one lateral longitudinal chamber for receiving lubricant, for passing through lines and / or for saving material.

[0019] In a further embodiment, a multifunctional profile can be functionally connected to the joint on both the drive side and the drive side. This means that these two multifunctional profiles can perform different functions in one joint.

[0020] In a further development of the manipulator, the joints can each have a motor drive with a motor and a gear. The gear comprises a gear wheel rotatable about a gear axis of rotation and a further gear element. The gear wheel can be operatively connected to another gear element, for example, by the further gear element engaging the periphery of the gear wheel. The gear can have an operative axis for the further gear element that is spaced apart from the gear axis of rotation, via which the further gear element is mounted in or on the housing.

[0021] A multifunctional profile can be arranged in the transmission's rotational axis. Furthermore, a multifunctional profile can be arranged in the effective axis of the respective associated joint. In particular, the multifunctional profile can engage the front face of the gear wheel. Alternatively or additionally, a multifunctional profile can be arranged tangentially to the effective axis or on the front face of the other transmission part.

[0022] According to the invention, the gear unit is designed as a worm gear unit. For this purpose, the further gear unit element is designed as a worm, and the effective axis is designed as a drive shaft for the worm. The drive shaft can form an axial extension of the motor shaft coupled to the drive end. The worm is arranged on the effective axis in a rotationally fixed manner. Furthermore, the effective axis is mounted axially on both ends of the worm on the receiving part for rotational movement. The drive shaft is guided in the multifunctional profile unit. In the case of a worm drive, the hollow profile unit can be arranged on and / or in the housing in a rotationally fixed and displacement-fixed manner. For this purpose, corresponding projections on the housing can engage in the first receiving groove(s), wherein the profile of said projection(s) is advantageously adapted to the undercut of the respectively associated receiving groove.To improve the axial displacement resistance of the worm on the drive shaft, the multifunctional profile is divided into two sections in the area of ​​the worm. Each section is guided with its end facing the worm, particularly via a drive shaft bearing. The two sections are spaced apart from each other along the axial extent of the worm and the drive shaft bearing.

[0023] In an unclaimed example, the gear is designed as an inverted worm gear with a gear wheel on the drive side and a further gear element on the output side. In particular, it is provided that the multifunctional profile forms the effective axis. The worm wheel is arranged in a torsion-proof manner on the hollow profile. The hollow profile, in turn, is rotatably mounted on or in the receiving part of the housing. This results in the possibility of providing, in addition to the multifunctional profile as the drive shaft for the further gear element, a further drive shaft through the channel. The drive shaft can be guided through the hollow profile past or through the joint without transmitting torque to the hollow profile, for example in order to couple torque into an adjacent joint. The gear wheel can have a circumferential external thread and the further threaded component can have spur gearing adapted to the external thread.The multifunctional profile can be arranged as an extension of the motor axis. It can be connected to the motor axis via a coupling at the front for a fixed rotation.

[0024] In an unclaimed example, the transmission is designed as a linear transmission. The transmission wheel is designed as a gearwheel, and the further transmission element is designed as a rack element. The rack element simultaneously forms the effective axis and can be arranged on the receiving part for linear displacement. The rack element is secured in the second receiving groove of the hollow profile, which is open toward the transmission wheel in the installed position. Preferably, the linear element is arranged in a fixed position in the receiving groove. Preferably, the second receiving groove is arranged on an outer side of the hollow profile diametrically opposite the effective axis.

[0025] To further increase the possible variations, the joint as a whole and / or the transmission components can be designed in a modular manner. Furthermore, the manipulator can be designed in a modular manner. Accordingly, the manipulator, particularly its components such as the joint, transmission, multifunctional profile, and motor, can be assembled easily and in a wide variety of ways thanks to the modular design based on a modular principle.

[0026] Further details and advantages of the invention will become apparent below, without limiting the scope of protection, from the description of a preferred embodiment with reference to the accompanying drawings. Herein: Figures 1A-1C each show a view of an embodiment of a joint according to the invention with a multifunctional profile as part of a manipulator with joints, Fig.2 a longitudinal sectional view of an example of a manipulator with a different, unstressed joint, Fig. 3A-3B each in a side view cooperating gear parts for the joint according to Figure 2 ,Fig. 4A-4B each show a longitudinal sectional view of another example of a manipulator with a different, unstressed joint, Fig. 5A-5B each show a view of a multifunctional profile for the manipulator, Fig. 6 shows a perspective view of the multifunctional profile with an additional arrangement of a measuring element, Fig. 7 shows a perspective view of a tooth profile section for arrangement on the multifunctional profile, Fig. 8 shows a perspective view of a sensor arrangement for arrangement on the multifunctional profile, Fig. 9 shows a longitudinal sectional view of an example of a manipulator with three joints coupled together, Fig. 10A-10B each show a view of another example of the manipulator with three joints coupled together, Fig. 11 shows a side view of another example of the manipulator with six joints coupled together, and Fig. 12A-12B each show a view of another example of the manipulator with five or six joints coupled together.

[0027] In the Figures 1-12 Examples of a manipulator M with joints 1 are shown in various views, sectional views and individual representations. As in particular the Figures 1C and 9 removable, the joints 1 each have a gear wheel 2 rotatable about a gear axis g. As in particular Figure 9 The gear wheel 2 is rotatably mounted on both sides via adapters 22 in bearings 7 in a housing 3 of the joint 1. The two adapters 22 each have, on their side 23 facing away from the end face 21 of the gear wheel 2, an opening 24 with an internal thread 25 that is central to the gear rotation axis g. The housing 3 has a receiving part 31 for receiving a further gear element 4.

[0028] The additional gear element 4 is arranged transversely, here perpendicular to the gear rotation axis g, on an effective axis w. The effective axis w is positioned at a distance from the gear rotation axis g in the distance direction a. The gear rotation axis g, the distance direction a, and the effective axis w are arranged perpendicular to one another. The gear element 4 is operatively connected to the periphery of the gear wheel 2. The gear wheel 2 and the additional gear element 4 form a gear G for transmitting a motor torque coupled into the joint 1. The motor 5 is arranged at a distance from the respective associated joint 1.

[0029] According to the Figures 1 and 10The gear G of the joint 1 is configured as a worm gear G1 with a driven-side gear wheel 2 designed as a worm wheel 26 and a further drive-side gear element 4 designed as a worm 41. The effective axis w here is a drive shaft 51 driven directly by a motor 5. The worm 41 is arranged in a clamping fit on the drive shaft 51. The drive shaft 51 is, as Figure 1Cremovable, protected and guided in a central inner channel 81 of a multifunctional profile 8. The inner channel 81 has a substantially circular cross-section in terms of its basic shape. Opening laterally into the inner channel 81, two longitudinal chambers 87 are provided lateral to the inner channel 81, for example for holding lubricant, for routing cables and / or for saving material. The longitudinal chambers 87 extend over the entire length of the multifunctional profile 8. In terms of their cross-section, the longitudinal chambers 87 extend the inner channel 81. They are arranged and designed mirror-symmetrically with respect to a connecting line between the second 85 and third receiving groove 86.

[0030] The multifunctional profile 8 is firmly connected to the receiving part. The multifunctional profile 8 is arranged as a load-bearing connecting element between the joint 1 and the motor 5. In this embodiment of the joint 1, the hollow profile 8 serves to protect, guide, and reinforce, particularly as a reinforcement with regard to operational rigidity, the section of the manipulator M between the motor 5 and the joint 1. Furthermore, the drive shaft 51 is rotatably mounted on the receiving part 31 via a bearing 7 on both sides of the worm 41, axially relative to the effective axis w.

[0031] The hollow profile 8 itself is arranged in a rotationally and displacement-resistant manner relative to the receiving part 31. For this purpose, undercut first receiving grooves 82 are provided on both sides 23 of the hollow profile 8, into which anchor projections provided on the receiving part 31 engage for the rotationally fixed mounting of the hollow profile 8.

[0032] The hollow profile 8 has two sections, i.e. a first section 83 and a second section 84, for the engagement of the worm wheel 26 in the worm 41. The two sections 83; 84 are arranged at a distance from one another via the two bearings 7 which bear against the hollow profile 8 with respect to the effective axis w of the drive shaft 51 and the axial extension of the worm 41. The two sections 83; 84 each engage with an end facing the worm 41 on the end face of the bearing 7 assigned to them, i.e., in each case with respect to the direction from the adjusting device to the worm 41, a front bearing 73 and a rear bearing 74, wherein they are each abutted on the receiving part 31 with their other end facing away from the worm 41.

[0033] The second section 84, in Figure 1Carranged on the right, is supported by a clamping element 65. In the working position, this rests circumferentially, here with frictional engagement, radially outwardly on the second section 84. The clamping element 65 is further arranged so as to be screwable on the receiving part 31. The clamping element 65 is designed such that, as the screwing on the receiving part 31 progresses, it exerts a correspondingly increasing radial frictional force on the second section 84, which in this application brings about a frictional engagement with the second section 84. The multifunctional profile 8 thus serves here as a support for the clamping elements 65 and for securing them.

[0034] The first section 83, in Figure 1CArranged on the left, its abutted end bears on the front side, in a force-transmitting manner, against an adjusting device 67 for setting an axial play adjustment of the operative connection between worm wheel 26 and worm 41 with respect to the effective axis. The adjusting device 67 has an adjusting device 671, via which, for the purpose of setting the play, the first section 83 of the hollow profile 8 is pressed axially in the direction from the adjusting device 67 to the worm 41 against the front bearing 73, which in turn can be pressed against the worm 41 until there is no play. Thus, the multifunctional profile 8 is used in a further function at the same time as part of the adjusting device 67.

[0035] Figure 2shows a cross-sectional view of a joint 1 as part of the manipulator M. The gear G is designed here as an inverted worm gear G2. In contrast to the worm gear G1, the torque is coupled on the drive side via the gear wheel 2 and is then transmitted to the effective axis w via the further gear element 4 on the output side. Figures 3A-3Bremovable, in accordance with the reversal, the gear wheel 2 has a circumferential external thread 27 and the further gear part 4 has spur gearing 42. The multifunctional profile 8 on the output side thus forms the effective axis w. The spur gear 28 is fixedly arranged on the hollow profile 8. For this purpose, armature elements 45 are provided on the spur gear 28 of the further gear part 4, via which armature elements 45 engage with frictional engagement and / or positive engagement in the undercut first receiving grooves 82 of the multifunctional profile 8. The multifunctional profile 8 thus serves here as a carrier for the second gear element 4. Since the further gear element 4 is mounted in a rotationally fixed manner on the multifunctional profile 8, the multifunctional profile 8, in an expansion of its possible applications, becomes a shaft by absorbing and transmitting the torque of the further gear element 4. The multifunctional profile 8 is rotatably mounted on the housing 3 via two axially spaced-apart clamping elements 65.The multifunctional profile 8 has a circular outer profile for its rotatable mounting. Schematically shown in . Figure 2 indicated is the possibility of connecting the multifunctional profile 8 to two joints 1 at the end in a torque-transmitting manner, namely to the further gear element 4 of the Figure 2 left joint 1 and / or to the gear wheel 2 of the Figure 2 right joint 1.

[0036] The above-mentioned inner channel 81 is not required in this embodiment of the joint 1 for forming the inverted worm gear G2. This opens up the possibility of using other components, such as lines, or, as exemplified in Figure 2 indicated to guide a further drive shaft 51, for example for a remote joint 1, protected by the hollow profile 8, without the further drive shaft 51 transmitting a torque to the joint 1.

[0037] In Figures 4A-4B1 shows a view of a further embodiment of the joint 1, in which the gear G is designed as a linear gear G3. To form the linear gear G3, the gear wheel 2 is designed as a spur gear 28 and the further gear element 4 as a rack element 43. In the installed position, the rack element 43 is arranged in a fixed position in a second receiving groove 85 of the multifunctional profile 8. In another possible application, the multifunctional profile 8 thus becomes a linear component of the linear gear G3. Furthermore, the multifunctional profile 8 functions as the effective axis w.

[0038] The second receiving groove 85 is designed to be open toward the gear wheel 2 for the threaded engagement of the rack element 43 and the spur gear 28 in the installed position. The rack element 43 is mounted on the hollow profile in a rotationally and displacement-resistant manner. In the installed position, it engages in the first receiving groove 82 via a foot 44 adapted to the undercut. Furthermore, clamping elements 65 are provided on both sides of the rack element 43. These clamping elements are arranged in a clamping fit on the hollow profile 8 and against which the rack element 43 axially rests on the end face against clamping elements 65. The rack element 43 is thus held in the receiving groove 84 in an axially displacement-resistant manner.

[0039] How Figure 2removable, the clamping elements 65 placed over the multifunctional profile 8 each have two coaxial sleeves, i.e., a radially inner sleeve 651 and a radially outer sleeve 652, which are threadedly engaged via mutually facing conical screw threads. If, as in the worm gear G1, the multifunctional profile 8 is to be held firmly to the housing 3, the inner sleeve 651 is pressed against the multifunctional profile via the outer sleeve 652 until a frictional connection is formed as the screwing progresses. If, as in the inverted gear G2, a pivot bearing or, as in the linear gear G3, linear displacement of the multifunctional profile 8 is required, the sleeves 651; 652 can be screwed against a stop, preferably with self-locking. Figure 2removable, this stop can be realized by a circumferential clamping ring 71 with radial projections 72, which engage radially inwards into the multifunctional profile 8 in a displacement- and rotation-proof manner.

[0040] Figures 5A and 5B show the multifunctional profile 8 in a perspective view and a cross-sectional view, respectively. The multifunctional profile 8, as well as its previously described sections 83; 84, are each formed in one piece. They can be cut to the required length from a preferably extruded profile rod. The term "multifunctional profile" refers solely to a rod with a specific cross-sectional profile configuration. The term "multifunctional profile" does not include any devices or components arranged thereon.

[0041] The Figures 5A and 5B The previously described arrangement and design of the receiving grooves can be clearly seen. Figure 7shows only the rack element 43 with its foot 44 adapted to the undercut of its associated second receiving groove 85. According to Figure 6 A linear measuring element, here in the form of a magnetic strip Ma, is arranged in the third receiving groove 86 for measuring a travel path of the rack element 43. A corresponding sensor R, a device for receiving and processing a travel measurement signal generated by the change in the magnetic field of the magnetic strip Ma, is arranged in Figure 8 It has a half-shell shape and is fixed centrally to the receiving part 31 with respect to the effective axis w.

[0042] In the Figures 9-12Different designs of the manipulator M are shown, with up to six joints 1 functionally connected to form the manipulator M. These are exemplary possibilities for combining the joints 1. The manipulator M can, in particular, be an articulated-arm robot. Ideally, the manipulator M is designed as a 6-axis manipulator M.

[0043] In the Figures 6-12 Up to five joints 1 are arranged coaxially to a common transmission axis G and spaced parallel. They are held parallel to each other by a connecting device 9. According to Figure 9 a group of three joints 1 is arranged on a common transmission axis G, whereby the Figure 9left joints 1 have a worm gear G1 and the two other joints 1 each have a linear gear G3. Through the joint 1 with the worm gear G1, a torque is coupled into the gear wheel 2 of the adjacent joint 1. Between the two other joints 1 with the linear gear G3, a multifunctional profile 8 is arranged to transmit torque between the two joints 1. The multifunctional profile 8 is connected at each end to the gear wheels 2 of the two joints 1 via a connecting bearing 53 in a torsionally and displacement-resistant manner. In this case, the multifunctional profile 8 thus serves as a torque transmission shaft between the two joints 1 with the linear gear G3.

[0044] The Figures 10A to 10Beach show a view of a further embodiment of the manipulator M with three joints 1 arranged one behind the other with respect to the effective axis w, each having a worm gear G1, wherein the worm gears G1 of the joints 1 are of identical construction. The joints 1 are held spaced apart from one another via individual second sections 84 of a multifunctional profile 8. Similar to the embodiment according to Figure 1 , a common drive shaft 51 is guided through these second sections 84, which ends in a first section 84 of the multifunctional profile 8 and drives the worm gears G1 of all three joints 1.

[0045] In the training form of the manipulator M according to Figure 11 The joints 1 can be divided into a first group U1 and a second group U2 based on their functional relationship, whereby the Figure 11 The second group U2 arranged above has already been Figure 9The second group U2 is fixed to a base B. The two outer joints 1 of the first group U1 are each connected via a multifunctional profile 1 with an inserted rack element 43 with a Figure 11connected to a motor 5 arranged above, the torque of which is transmitted to the respectively assigned outer joint 1 via a drive shaft 51 (not visible here) running through the respective multifunctional profile 1. The respectively assigned multifunctional profile 8 with inserted rack element 43 is moved linearly by the two joints 1 with linear gear G3. Since the gear wheels 2 of these two joints 1 are connected to one another in a rotationally fixed manner via a drive shaft section 54, the two assigned multifunctional profiles 1 are moved synchronously with one another. The joint 1 arranged centrally in the first group U1 is also equipped with a linear gear G3 (not visible here), by means of which the multifunctional profile 8 running through this joint 1 is moved linearly.

[0046] In the Figures 12A and 12Ba sectional view and a bottom view of another embodiment of the manipulator M, here with five or six joints 1, respectively, is shown. In the bottom view according to Figure 12 B The rack elements 43 inserted into the multifunctional profiles 8 are concealed, as they point toward the gear wheel 2 of the respective associated joint 1. The inserted joints 1 can also be divided into two groups U2;U3. The joints 1 of both groups U2;U3 are arranged coaxially on a gear rotation axis g.

[0047] The group on the left here is the second group U2 already mentioned. Since the rack elements 43, each attached to a hollow profile 8, are held parallel to each other and moved synchronously in a linear manner, they can, as in Figure 12 intended to be firmly connected to each other via cross bars 99 for their stabilization.

[0048] In the Figure 12 right joint 1 of the Figure 12In the right group U3, the multifunctional profile 8 connects the associated motor 5 arranged above with another single joint 1. Here, as shown in Figure 12A indicated by dashed lines, it is provided that the drive shaft 51 driven by the motor 5 is guided in a multifunctional profile 8 by the Figure 12A right joint 1. It passes through the connecting bearing 53 provided on the joint 1 in order to be connected to the gear wheel of the individual joint 1 located below in a torque-transmitting manner. This individual joint 1 has a linear gear (G3) concealed here, which is indirectly indicated by the connected multifunctional profile 8 with the rack element 43.

[0049] The Figure 12A Right joint 1 of the third group U3 has an inverted worm gear G3. As in connection with Figures 2 and 3As explained, in an inverted worm gear G2, the additional gear element 4 is arranged on the output side, is driven by the gear wheel 2 on the input side here, and is seated here in a rotationally fixed manner on the multifunctional profile 8, which also drives this. The multifunctional profile 8 thus also serves as a shaft. The multifunctional profile 8 absorbs the torque transmitted via the inverted worm gear G2 of the motor 5 (here on the right) and couples it via the connecting bearing 53 into the housing 3 of the individual joint 1 arranged below, whereby the joint 1 is rotated about this multifunctional profile 8. The Figure 12 The left joint 1 has a worm gear G1 driven by the downward-facing motor 5. This couples the torque into the housing 3 of the right joint 1 of the third group U3, so that the right joint 1 with the connected motors 5 is rotated about the gear rotation axis g. List of reference symbols

[0050] 1Joint 2Gear wheel 21End face 22Adapter 23Side 24Opening 25Internal thread 26Worm wheel 27External thread 28Spur gear 29External toothing 3Housing 31Receiving part 4Further gear element 41Worm 42Spur gearing 43Rack element 44Foot 45Armature element 5Motor 51Drive shaft 52Motor shaft 53Connecting bearing 54Drive shaft section 65Clamping element 651Inner sleeve 652Outer sleeve 67Adjusting device 671Adjusting device 7Bearing 71Clamping ring 72Protrusion 73Front bearing 74Rear bearing 8Hollow profile 81Inner channel 82First receiving groove 83First section 84Second section 85Second receiving groove 86Third receiving groove 87Longitudinal chamber 9Connecting device 99Crossbar aDistance direction gGear rotation axis wEffective axis BBase GGear G1Worm gear G2Inverted worm gear G3Linear gear MManipulator MaMagnetic strip RSensor system SInclined plane U1First group U2Second group U3Third group VConnecting device

Claims

1. A joint (1) with a multi-function profile member (8) for a manipulator (M), wherein the multi-function profile member (8) is designed as a supporting connecting element between a motor (5) of the manipulator (M) and the joint (1) and has an internal passage (81), an external contour which is circular in its basic form and lateral receiving grooves for fixing the multi-function profile member (8) to a housing (3) of the joint (1) and / or for fixing additional components, wherein the receiving grooves are opened outwardly transversely relative to the longitudinal direction of the multi-function profile member (8), wherein the housing (3) has projections engaging in the receiving grooves for securing the multi-function profile member (8) to the housing (3), wherein the joint (1) has a worm transmission (G) comprising a gear wheel (2) rotatable about a transmission axis of rotation (g) and a worm (41) that is in operative connection with the gear wheel (2) and has an operative axis (w) spaced from the transmission axis of rotation (g), via which the worm (41) is mounted on a receiving portion (31) of the housing (3), wherein the operative axis (w) is formed by a drive shaft (51) of the worm (41) driven directly by the motor (5), wherein the drive shaft (51) is rotatably mounted axially on both sides of the worm (41) via a respective bearing (7) on the receiving portion (31) and is arranged guided in the internal passage (81) of the multi-function profile member (8), wherein the multi-function profile member (8) has two portions (83, 84) which are axially spaced apart from each other over the axial extension of the worm and of the two bearings (7), wherein the portions (83, 84) each engage with an end facing the worm (41) at the end face of the associated bearing (7) and are each counter-supported at the receiving portion (31) with an end facing away from the worm (41), wherein the first portion (83) with its end facing away from the worm (41) bears in a force-transmitting relationship against a setting unit (67) for adjusting the axial play of the operative connection between the gear wheel (2) and the worm (41) with respect to the operative axis (w), wherein the setting unit (67) has an adjusting device (671) for pressing the first section (83) axially in the direction from the setting unit (67) towards the worm (41) against the associated bearing (7) in order to press the bearing (7) against the worm (41) for the purpose of adjusting the play.

2. A joint (1) with a multi-function profile member (8) according to claim 1, characterized in that the lateral receiving grooves are arranged peripherally at least substantially equally spaced.

3. A joint (1) with a multi-function profile member (8) according to one of preceding claims, characterized in that the receiving grooves are respectively of an undercut configuration.

4. A joint (1) with a multi-function profile member (8) according to one of preceding claims, characterized in that the internal passage (81) is of a substantially circular cross-section.

5. A joint (1) with a multi-function profile member (8) according to one of preceding claims, characterized in that the internal passage (81) has at least one lateral longitudinal chamber (87) for receiving lubricant, for passing a line therethrough and / or for saving on material.

6. A joint (1) with a multi-function profile member (8) according to one of preceding claims, characterized in that the multi-function profile member (8) has a cross-section that remains constant along its longitudinal extension and the multi-function profile member (8) is in particular a cut to length part of an extruded profile bar.

7. A manipulator comprising a joint (1) with a multi-function profile member (8) according to one of preceding claims, wherein there is provided at least one further multi-function profile member which is in the form of a shaft and wherein the two multi-function profile members have the same structure at least portion-wise and at least in respect of their profile configuration.