Connection device and robot arm

Abstract

The invention relates to a connection device (7) for connecting a member (2) of a robot arm (1) to a joint body (5) of the robot arm (1), having a connection ring (9) which is connected to an outer cladding wall (3) of a member (2) and which has multiple receiving areas (10) distributed uniformly over the circumference, each said receiving area being designed to receive a respective engagement element (8) of a joint support ring (6) in a form-fitting manner in order to connect the member (2) to the joint body (5) when the connection ring (9) is connected to the joint support ring (6) in that the engagement elements (8) of the joint support ring (6) engage into the receiving areas (10) of the connection ring (9) in a form-fitting manner. The invention additionally relates to a corresponding robot arm (1).

Description

[0001] Connecting device and robot arm

[0002] The invention relates to a connecting device for connecting a member of a robot arm to a joint body of the robot arm. The invention also relates to an associated robot arm.

[0003] WO 2017 / 207337 A1 describes a joint for an articulated manipulator, comprising a tubular body which extends along a longitudinal axis thereof and has a first joint end and a second joint end, wherein the first joint end and the second joint end define a first joint plane and a second joint plane, respectively. The first joint plane and the second joint are each at an angle of inclination with respect to the longitudinal axis, wherein the first joint plane is arranged parallel to a first axis and wherein the second joint plane is arranged parallel to a second axis, the longitudinal axis is perpendicular to the first axis and the second axis, and wherein the first axis and the second axis are at a mutual rotation angle of at least one time the angle of inclination.

[0004] The object of the invention is to provide a stable, reliable, and resilient connecting device for connecting a member of a robot arm to a joint body of the robot arm. A further object is to provide a robot arm having at least one such stable, reliable, and resilient connecting device.

[0005] The object is achieved by a connecting device for connecting a member of a robot arm to a joint body of the robot arm, comprising: a member with a circular cylindrical outer shell wall,

[0006] - a joint body with a joint support ring, which has several engagement elements evenly distributed over a circumference, and

[0007] - a connecting ring connected to the outer casing wall of the link, which has a plurality of receptacles arranged evenly distributed over a circumference, which are each designed to positively receive one of the engagement elements of the joint support ring in order to connect the link to the joint body in a connected state of the connecting ring with the joint support ring, in that the engagement elements of the joint support ring engage positively in the receptacles of the connecting ring.

[0008] For the cost-effective production of robot arms, it can be expedient to construct the multiple joints of the robot arm identically or at least to construct them from only a few different joint types. It is also expedient if the links are also constructed from simple rod bodies. The simple rod bodies can in particular consist of profile bars which have constant cross-sections over their respective lengths. The cross-section can in particular be a circular cross-section or a circular tube cross-section. This has the advantage that the links can be manufactured cost-effectively, particularly since they can be easily obtained, for example, in the form of semi-finished products, and can be made up in different lengths depending on the desired kinematic design for the robot arm.A problem with robot arms constructed from links with circular-cylindrical outer walls and joints in the form of joint bodies is the connection of each link to the immediately adjacent joint body. All forces and moments occurring during a robot arm movement must be reliably transmitted via the respective connection of the link to the immediately adjacent joint body to ensure the proper functioning of the robot arm.

[0009] The connecting device according to the invention provides a very stable, reliable and resilient connecting device for connecting a member of a robot arm to a joint body of the robot arm.

[0010] The respective link has a circular-cylindrical outer shell wall. The respective link can therefore be formed by a circular-cylindrical tube or by a circular-cylindrical tube section. The desired or required length of the respective link can be produced by cutting such a tube to length. The respective length of the tube or tube section then determines the geometric distance between the two joint bodies directly connected by the respective link and thus the geometric distance between the two directly connected axes of rotation of the robot arm.

[0011] The joint body can have a first housing part which is mounted, for example, rotatably with respect to a second housing part of the joint body. The first housing part, in cooperation with the second housing part, forms the joint. The joint body can also have a gear and / or a drive by means of which the joint can be adjusted automatically. The first housing part and / or the second housing part can have a flange to which the subsequent link of the robot arm is connected. According to the invention, the flange can have or form a joint support ring for this purpose. The link to be connected can be fastened to the joint body or to the relevant housing part of the joint body via the joint support ring.

[0012] The joint support ring of the joint body has a plurality of engagement elements evenly distributed over a circumference. The engagement elements can lie on a common circumferential circle with respect to a center, wherein the center lies on an axis of symmetry of the joint support ring. The engagement elements can be designed to protrude and extend parallel to the axis of symmetry of the joint support ring at a distance from this, specifically away from the joint body, towards the link or towards the connecting ring of the link to be connected.

[0013] The connecting ring is firmly connected to the outer wall of the link. Such a firm connection can be achieved, for example, by bonding. This means that the link and the connecting ring form a single, composite component.

[0014] The connecting ring has a plurality of receptacles evenly distributed around a circumference. The receptacles are each designed to positively receive one of the engagement elements of the joint support ring. Each receptacle has a recess into which a respective engagement element of the joint support ring is inserted and there guided and held flush.

[0015] By the interlocking of the engagement elements and the receptacles, when the connecting ring is connected to the joint support ring, the link is connected to the joint body. Such a connection can in particular be a detachable connection, i.e. the connecting ring and the joint support ring can be separated from one another non-destructively, if necessary with the aid of hand tools such as screwdrivers and / or levers, so that the link in question can be detached from the joint body again. The various links and various joint bodies can then be reassembled, if necessary in a modified kinematic configuration. In this way, differently constructed robot arms can be produced in a modular manner from a number of identical or different links and a number of identical or different joint bodies.

[0016] Each engagement element of the joint carrier ring can be designed as a claw projecting in the axial insertion direction, which has a claw front side pointing in the circumferential direction and a claw rear side pointing opposite to the circumferential direction, wherein the claw front side and the claw rear side are on the one hand inclined towards each other in a radially inward direction and on the other hand are also inclined towards each other in the axial insertion direction, and each receptacle of the connecting ring is designed as a pocket corresponding to the respective claw, which has a pocket front side pointing in the circumferential direction and a pocket rear side pointing opposite to the circumferential direction,wherein the pocket front and the pocket rear are, on the one hand, inclined toward each other in a radially inward direction, and, on the other hand, are also inclined away from each other in the axial insertion direction. The axial insertion direction is determined by the longitudinal extent of the circular-cylindrical member, i.e., by the axis of symmetry of the cylindrical body of the member, in particular a tubular member. The claws lie on a partial circle that coaxially encircles the axis of symmetry. The claws thus project from a base body of the joint body in the direction of the connecting ring. The claws thus project at least substantially parallel to the insertion direction, i.e., parallel to the axis of symmetry of the member.

[0017] The claws can be designed in the form of a trapezoidal prism with regard to their external shape.

[0018] The respective claw may have a claw front side facing in the circumferential direction, which is a flat surface and is at least substantially rectangular in shape.

[0019] In the same sense, the respective claw can have a claw rear side facing opposite to the circumferential direction, which is also a flat surface and is at least substantially rectangular in shape.

[0020] In this embodiment, the claw front and rear sides are inclined toward each other in a radially inward direction. This means that the respective claw is narrower in the circumferential direction on its radially inner side than on its radially outer side. In other words, the respective claw is less wide in the circumferential direction on the radially inner side than on the radially outer side.

[0021] This also means that the claw front side of one claw forms a wedge surface pair with the claw rear side of an immediately adjacent claw, such that the wedge surfaces on the radially outer side have a greater distance from each other, i.e. are further apart from each other, than on the radially inner side.

[0022] In this design, the front and rear sides of the claws are also angled toward each other in the axial insertion direction. In other words, the base of the claw is wider in the circumferential direction than the head of the claw. The axial insertion direction here refers to the insertion movement of the joint carrier ring toward the connecting ring.

[0023] This means that in the foot area of ​​adjacent claws, the front of one claw and the back of the other claw are closer together than in the head area of ​​adjacent claws. The space between the claws of two adjacent claws thus opens from the foot toward the head, i.e., in the direction in which the claws are inserted.

[0024] In order to form each receptacle corresponding, i.e., fitting flatly to a claw, each receptacle of the connecting ring is designed as a pocket corresponding to the respective claw.

[0025] The respective pocket may have a pocket front facing in the circumferential direction, which is a flat surface and is at least substantially rectangular in shape.

[0026] In the same sense, the respective pocket can have a pocket rear side facing opposite to the circumferential direction, which is also a flat surface and is at least substantially rectangular in shape. In this embodiment, the pocket front side and the pocket rear side are inclined towards one another in a radially inward-pointing radial direction. This means that the respective pocket is narrower on its radially inner side in the circumferential direction than on its radially outer side. In other words, the respective pocket is less wide on the radial inside in the circumferential direction than on the radial outside.

[0027] This also means that the pocket front side of a pocket forms a wedge surface pair with the pocket back side of an immediately adjacent pocket, such that the wedge surfaces on the radially outer side have a greater distance from each other, i.e. are further apart from each other, than on the radially inner side.

[0028] In this design, the front and rear sides of the pocket are also angled away from each other in the axial insertion direction. In other words, the base of the pocket is narrower in the circumferential direction than in the upper edge area of ​​the pocket. The axial insertion direction here refers to the insertion movement of the connecting ring toward the joint support ring.

[0029] This means that in an upper edge region of the adjacent pockets the front of the pocket of one pocket and the back of the pocket of the other pocket are closer together than in a base region of the adjacent pockets. A pocket space opens, i.e. widens, starting from the base of the pocket in the direction of the upper edge region of the pocket, i.e. in the plug-in direction of the connecting ring towards the joint support ring. Each claw projecting in the axial plug-in direction can have an inner claw side which is designed such that when the connecting ring is connected to the joint support ring, a respective inner claw side of the claw sits precisely on the outer casing wall of the link. The axial plug-in direction here also refers to a plug-in movement of the joint support ring towards the connecting ring. The inner claw side accordingly lies on a radial inner side of the claw.The respective inner side of the claw should sit precisely directly on the outer wall of the link. For this purpose, the connecting ring can have corresponding pockets which do not have pocket walls at the bottom of the pockets, i.e. on a radially inner side of the pockets, but are open so that the outer wall of the link is exposed in this area, i.e. is not covered by the connecting ring. The inner sides of the claws of the joint support ring can then rest directly on these exposed sections of the outer wall of the link. Forces and / or moments can therefore be transmitted directly to the link via the inner sides of the claws, without these forces and / or moments having to be guided via the connecting ring.

[0030] The engagement elements of the joint carrier ring can engage in the receptacles of the connecting ring in such a way that, when the connecting ring is connected to the joint carrier ring, a respective end wall of each engagement element pointing in the plug-in direction is positioned at a distance from associated bottom walls of the corresponding receptacles of the connecting ring, leaving a respective gap.

[0031] By positioning a respective end wall of each engagement element pointing in the plug-in direction while leaving a respective gap at a distance from the associated base walls of the corresponding receptacles of the connection ring when the connection ring is connected to the joint support ring, it can be ensured that the connections of the engagement elements to the receptacles are guaranteed at the lateral wall sections of the engagement elements and the receptacles. By means of the respective gap, it is prevented that the head-side end walls of the engagement elements do not rest against the connection ring. If the engagement elements were to rest against the connection ring with their head-side end walls, then it would not be guaranteed that the lateral wall sections of the engagement elements and the lateral wall sections of the receptacles lie flush with one another.Because the lateral wall sections of the engagement elements and the lateral wall sections of the receptacles lie flush with one another, torques around the link axis, i.e. around the axis of symmetry of the joint support ring or the link, can be transmitted particularly well and reliably.

[0032] The engagement elements of the joint support ring can engage in the receptacles of the connecting ring in such a way that, when the connecting ring is connected to the joint support ring, a respective end edge web pointing in the plug-in direction, which connects two adjacent receptacles, is positioned at a distance from associated base walls of the joint support ring, which each connect two adjacent engagement elements, while leaving a respective gap.

[0033] By positioning a respective end edge web pointing in the plug-in direction, which connects two adjacent receptacles, while leaving a respective gap at a distance from associated base walls of the articulated support ring, which each connect two adjacent engagement elements, when the connecting ring is connected to the joint support ring, it can be ensured that the engagement elements are connected to the receptacles at the lateral wall sections of the engagement elements and the receptacles. The respective gap prevents the head-side end walls of the connecting ring from contacting the base walls of the engagement elements. If the head-side end walls of the connecting ring were to contact the joint support ring, it would not be guaranteed that the lateral wall sections of the engagement elements and the lateral wall sections of the receptacles would lie flush with one another.Because the lateral wall sections of the engagement elements and the lateral wall sections of the receptacles lie flush with one another, torques around the link axis, i.e. around the axis of symmetry of the joint support ring or the link, can be transmitted particularly well and reliably.

[0034] Each receptacle may have an arcuate, radially outwardly curved receptacle peripheral outer wall and each engagement element may have a flat engagement element peripheral outer wall, so that in the connected state of the connecting ring with the joint carrier ring, a gap is formed between the respective inner side of each receptacle peripheral outer wall and the corresponding outer side of the respective engagement element peripheral outer wall.

[0035] The arc-shaped, radially outwardly curved receiving circumferential outer walls of all receiving means can lie on a common circular cylindrical surface of the connecting ring. Each gap can therefore be designed in the form of a circular cylinder section, cut parallel to the axis of symmetry of the circular cylinder. The gap prevents forces and / or moments from being transmitted radially outwards, circumferentially, between the connecting ring and the joint support ring at these points between the connecting ring and the joint support ring. In particular, the gap prevents unwanted shear forces and / or shear stresses from a torque between the connecting ring and the joint support ring from being transmitted there. The transmission of forces and / or moments therefore remains limited to the pocket fronts and the pocket rears of the connecting ring in relation to the claw fronts and the claw rears of the joint support ring.There, the forces are transmitted at least essentially perpendicular to the contact surfaces of the connecting ring and the joint carrier ring.

[0036] The connecting ring can be adhesively bonded to the circular-cylindrical outer wall of the link. For this purpose, the connecting ring can have an inner wall facing the link. The adhesive can be applied between the inner wall of the connecting ring and the circular-cylindrical outer wall of the link. It can be a self-curing adhesive. It can also be a multi-component reaction adhesive.

[0037] The connecting ring can have an inner shell wall which forms a contact surface with which the connecting ring is glued to the circular cylindrical outer shell wall of the member, wherein the inner shell wall is provided with longitudinal grooves which form distribution channels for an adhesive by means of which the connecting ring is glued to the circular cylindrical outer shell wall of the member.

[0038] The connecting ring can have a plurality of first screw channels arranged uniformly distributed over a circumference and the joint support ring of the joint body can have a corresponding number of a plurality of second screw channels arranged uniformly distributed over a circumference, wherein the first screw channels and the second screw channels are designed to receive screws for screwing the connecting ring to the joint support ring.

[0039] A first screw channel can be arranged on the connecting ring between two immediately adjacent receptacles. A second screw channel can be arranged on the joint support ring between two immediately adjacent engagement elements or claws. The number of first screw channels and the number of second screw channels can correspond to the number of receptacles and engagement elements or claws.

[0040] The object is also achieved by a robot arm having a plurality of links, of which at least one link has a circular-cylindrical outer casing wall, and a plurality of joints connecting the links in a mutually adjustable manner, of which at least one joint has a joint body with a joint support ring, wherein the at least one link with the circular-cylindrical outer casing wall is connected to the at least one joint body by means of a connecting device according to at least one of the described embodiments.

[0041] The invention is explained again below, sometimes in different terms.

[0042] The invention creates a stable, reliable and resilient connection point which should make it possible, for example, to detachably connect a modular joint unit, i.e. a joint body, with a joint support ring, for example a plastic joint support, to a structural part, i.e. a member of the robot arm, preferably consisting of a tubular profile or semi-finished product, by means of a connecting ring, such as a plastic flange.

[0043] For reasons of an even more flexible and individual, in particular modular, structure, one or more components of the connecting device can be made of plastic components; in particular, the connection points can also be tailor-made, for example additively manufactured.

[0044] The advantages lie in the largest possible area and homogeneous distribution of the local and multidimensional load at the connection point as well as in the most direct and rectilinear force transmission between the two connection parts.

[0045] The connecting device connects, for example, the three parts: tube profile or link, flange ring or connecting ring, and joint support or joint body with joint support ring, in such a way that the tube profile and flange ring have a permanent connection and together form the structural part, which is detachably connected to the joint support. This not only enables a quick and cost-effective, but above all a very flexible construction, since the structural length can be easily varied along the length of the tube. The separable interface simplifies the assembly of the modules and is used for service tasks and for later reconfiguration of the kinematics.

[0046] The connection between the pipe and the ring can be made by a

[0047] An adhesive bond can be created by sliding the ring over its inner surface onto the pipe end up to the stop elements, for example with a transition fit or a light press fit. Optional longitudinal grooves can ensure even adhesive distribution and prevent the adhesive from being displaced during the sliding process.

[0048] Recesses on the ring can be used, among other things, as form elements to temporarily couple a device and to align two adjacent rings of a structural part with each other during assembly.

[0049] The ring can essentially be constructed from an arrangement of circularly uniformly distributed pockets, which provide different functions with different shape elements.

[0050] The most important design element is the contact surface, which is inclined in two spatial directions and has a wedge-shaped profile across two angles of incidence. The contact surfaces are the two tangential boundaries of the pocket. In the radial direction, the pocket is preferably delimited to the outside by an arc-shaped segment, which connects the two contact surfaces and can effectively transmit and dissipate torsional moments and shear stresses between the contact surfaces. The arc-shaped segment does not bear against the coupling partner, so no radial forces or tilting moments are transmitted here.

[0051] These radial forces and tilting moments, in a total of four spatial directions, are transferred from the joint carrier directly to the tube on the radial inside of the pockets. For example, the ring has recesses that allow the inside of the tooth to rest directly and guided against the free surface of the tube. Accordingly, these generally dominant loads, especially with regard to slower service robotics applications and, where appropriate, an advantageous flat SCARA design, are primarily transferred directly to the stable tube without overloading the plastic ring.

[0052] The connection between ring and carrier is made in the axial direction, via axial forces and torsional moments in a total of two spatial directions, by teeth or claws that are designed to fit into the pockets of the ring so that their flanks touch the contact surfaces of the pockets, but the tooth roots and tooth tips have no axial contact with the opposite surfaces. In the axial direction, the ring and carrier are preferably pulled together by a screw connection, in which a screw with a wide head is passed through a through hole and rests against the flange surface over as large an area as possible.

[0053] A counter thread can be integrated directly into the tooth, particularly in the tooth head of the carrier, for example as a press-in nut, additionally joined, or designed as an inserted nut. The latter is shown here as an example. The nut can, for example, be inserted into a recess in the tooth from behind the tooth head in such a way that it is secured against twisting by shaped surfaces. Lateral insertion of the nut from the outside is also possible.

[0054] A specific embodiment of the invention is explained in more detail in the following description with reference to the accompanying figures. Specific features of this exemplary embodiment, regardless of the specific context in which they are mentioned, may also represent general features of the invention, if considered individually or in further combinations. They show:

[0055] Fig. 1 shows an exemplary robot arm,

[0056] Fig. 2 is a perspective view of an exemplary connecting device according to the invention in a first view,

[0057] Fig. 3 is a perspective view of an exemplary connecting device according to the invention in a second view,

[0058] Fig. 4 is a sectional view of the connecting device according to Fig. 2 and Fig. 3 in a separated state,

[0059] Fig. 5 is a sectional view of the connecting device according to Fig. 2 and Fig. 3 in a connected state,

[0060] Fig. 6 is a perspective sectional view of the connecting device according to Fig. 2 and Fig. 3 in a state connected by means of screws,

[0061] Fig. 7 is an enlarged partial sectional view of the connecting device according to Fig. 6 in the area of ​​a screw,

[0062] Fig . 8 a perspective view of the

[0063] Connecting ring of the connecting device according to Fig. 2 and Fig. 3 in a single position from the front,

[0064] Fig. 9 a perspective view of the

[0065] Connecting ring of the connecting device according to Fig. 2 and Fig. 3 in a unique position from behind,

[0066] Fig. 10 a perspective view of the

[0067] Connecting ring of the connecting device according to Fig. 2 and Fig. 3 placed on a tubular member,

[0068] Fig. 11 is a schematic representation of the connecting device according to Fig. 2 and Fig. 3 with a partial section in the area of ​​two engagement element / receiving connections, and

[0069] Fig. 12 is a schematic representation of the connecting device according to Fig. 2 and

[0070] Fig. 3 in a connected state.

[0071] Fig. 1 shows a robot arm 1. The robot arm 1 has a plurality of links 2, of which at least one link 2 has a circular-cylindrical outer shell wall 3. The robot arm 1 also has a plurality of joints 4 that connect the links 2 in a mutually adjustable manner, of which at least one joint 4 has a joint body 5 with a joint support ring 6, wherein the at least one link 2 with the circular-cylindrical outer shell wall 3 is connected to the at least one joint body 5 by means of a connecting device 7, as described in more detail below.

[0072] The connecting device 7, as shown in particular in Fig. 2 to Fig. 5, serves to connect a member 2 of the robot arm 1 with a joint body 5 of the robot arm 1-

[0073] The connecting device 7 comprises one of the members 2, which has a circular cylindrical outer shell wall 3.

[0074] The joint body 5 comprises a joint support ring 6 which has a plurality of engagement elements 8 arranged evenly distributed over a circumference.

[0075] The connecting device 7 also comprises a connecting ring 9 which is connected to the outer casing wall 3 of the link 2 and which has a plurality of receptacles 10 which are evenly distributed over a circumference and which are each designed to positively receive one of the engagement elements 8 of the joint support ring 6 in order to connect the link 2 to the joint body 5 when the connecting ring 9 is connected to the joint support ring 6, in that the engagement elements 8 of the joint support ring 6 engage positively in the receptacles 10 of the connecting ring 9, as is shown in particular in Fig. 5 and Fig. 11.

[0076] In the case of the present embodiment, each engagement element 8 of the joint support ring 6 is designed as a claw 8a projecting in the axial insertion direction S1.

[0077] The respective claw 8a has a claw front side 11 pointing in the circumferential direction and a claw rear side 12 pointing opposite to the circumferential direction, as can be seen in particular in Fig. 2, Fig. 3 and Fig. 11. The claw front side 11 and the claw rear side 12 are, on the one hand, inclined towards one another in a radially inward-pointing radial direction R and, on the other hand, also inclined towards one another in the axial plug-in direction S 1 .

[0078] As can be seen in particular in Fig. 8, Fig. 9 and Fig. 10, each receptacle 10 of the connecting ring 9 is designed as a pocket 10a corresponding to the respective claw 8a, which pocket has a pocket front side 13 pointing in the circumferential direction U and a pocket rear side 14 pointing opposite to the circumferential direction U, wherein the pocket front side 13 and the pocket rear side 14 are on the one hand inclined towards one another in a radially inwardly pointing radial direction R and on the other hand are also inclined away from one another in the axial plug-in direction S2.

[0079] In the case of the present exemplary embodiment, each claw 8a projecting in the axial insertion direction S 1 has a claw inner side 15 which is designed such that, when the connecting ring 9 is connected to the joint support ring 6, a respective claw inner side 15 of the claw 8a sits precisely on the outer casing wall 3 of the link 2. This is illustrated in particular in Fig. 4 and Fig. 5.

[0080] In the case of the present exemplary embodiment, the engagement elements 8 of the joint support ring 6 engage in the receptacles 10 of the connecting ring 9 in such a way that, when the connecting ring 9 is connected to the joint support ring 6, a respective end wall 16 of each engagement element 8 pointing in the plug-in direction S 1 is positioned at a distance from associated base walls 17 of the corresponding receptacles 10 of the connecting ring 9, while leaving a respective gap Spl. As shown in particular in Fig. 8 and Fig.10, the engagement elements 8 of the joint support ring 6 can engage in the receptacles 10 of the connecting ring 9 in such a way that, when the connecting ring 9 is connected to the joint support ring 6, a respective end edge web 18 pointing in the plug-in direction S2, which connects two adjacent receptacles 10, is positioned at a distance from associated base walls 19 of the joint support ring 6, which each connect two adjacent engagement elements 8, while leaving a respective gap Sp2. This is also illustrated in Fig. 11.

[0081] In the case of the present embodiment, each receptacle 10 has an arcuate, radially outwardly curved receptacle peripheral outer wall 20 and each engagement element 8 has a flat engagement element peripheral outer wall 21 (Fig.

[0082] 2, Fig. 3), so that in the connected state of the connecting ring 9 with the joint carrier ring 6, a gap Sp3 is formed between the respective inner side of each receiving peripheral outer wall 20 and the corresponding outer side of the respective engaging element peripheral outer wall 21.

[0083] In the case of the present embodiment, the connecting ring 9 is glued onto the circular cylindrical outer casing wall 3 of the member 2.

[0084] As can be seen in particular in Fig. 9, the connecting ring 9 can have an inner casing wall 22 which forms a contact surface with which the connecting ring 9 is adhesively bonded to the circular-cylindrical outer casing wall 3 of the member 2, wherein the inner casing wall 22 is provided with longitudinal grooves 23 which form distribution channels for an adhesive by means of which the connecting ring 9 is adhesively bonded to the circular-cylindrical outer casing wall 3 of the member 2. In the case of the present exemplary embodiment, the connecting ring 9 has a plurality of first screw channels 24 arranged evenly distributed over a circumference (Fig.9 ) and the joint support ring 6 of the joint body 5 has a corresponding number of second screw channels 25 arranged evenly distributed over a circumference, wherein the first screw channels 24 and the second screw channels 25 are designed to receive screws 26 for screwing the connection ring 9 to the joint support ring 6 .

Claims

Pat ent on sayings 1. Connecting device for connecting a member (2) of a robot arm (1) to a joint body (5) of the robot arm (1), comprising: - a member (2) with a circular cylindrical outer shell wall (3), - a joint body (5) with a joint support ring (6) which has a plurality of engagement elements (8) arranged uniformly distributed over a circumference, and - a connecting ring (9) connected to the outer casing wall (3) of the member (2) and having a plurality of receptacles arranged uniformly distributed over a circumference (10), which are each designed to positively receive one of the engagement elements (8) of the joint support ring (6) in order to connect the link (2) to the joint body (5) in a connected state of the connecting ring (9) with the joint support ring (6) by the engagement elements (8) of the joint support ring (6) engaging positively in the receptacles (10) of the connecting ring (9).

2. Connecting device according to claim 1, characterized in that each engagement element (8) of the joint carrier ring (6) is designed as a claw (8a) projecting in the axial plug-in direction (S1), which has a claw front side (11) pointing in the circumferential direction (U) and a claw side pointing opposite to the circumferential direction (U). rear side (12), wherein the claw front side (11) and the claw rear side (12) are on the one hand inclined towards one another in a radially inward-pointing radial direction (R) and on the other hand are also inclined towards one another in the axial plug-in direction (S1), and each receptacle (10) of the connecting ring (9) is designed as a pocket (10a) corresponding to the respective claw (8a), which has a pocket front side (13) pointing in the circumferential direction (U) and a pocket rear side (14) pointing opposite to the circumferential direction (U), wherein the pocket front side (13) and the pocket rear side (14) are on the one hand inclined towards one another in a radially inward-pointing radial direction (R) and on the other hand are also inclined away from one another in the axial plug-in direction (S2).

3. Connecting device according to claim 2, characterized in that each claw (8a) projecting in the axial plug-in direction (S1) has a claw inner side (15) which is designed such that, in the connected state of the connecting ring (9) with the joint support ring (6), a respective claw inner side (15) of the claw (8a) sits precisely on the outer casing wall (3) of the link (2).

4. Connecting device according to one of claims 1 to 3, characterized in that the engagement elements (8) of the joint carrier ring (6) engage in the receptacles (10) of the connecting ring (9) in such a way that in the connected state of the connecting ring (9) with the joint carrier ring (6) a respective end wall (16) of each engagement element (8) pointing in the plug-in direction (S1) under load sen of a respective gap (Spl) are positioned at a distance from associated bottom walls (17) of the corresponding receptacles (10) of the connecting ring (9).

5. Connecting device according to one of claims 1 to 4, characterized in that the engagement elements (8) of the joint support ring (6) engage in the receptacles (10) of the connecting ring (9) in such a way that, in the connected state of the connecting ring (9) with the joint support ring (6), a respective end edge web (18) pointing in the plug-in direction (S2), which in each case connects two adjacent receptacles (10), is positioned at a distance from associated base walls (19) of the joint support ring (6), which in each case connect two adjacent engagement elements (8), while leaving a respective gap (Sp2).

6. Connecting device according to one of claims 1 to 5, characterized in that each receptacle (10) has an arcuate radially outwardly curved receiving peripheral outer wall (20) and each engagement element (8) has a flat engagement element peripheral outer wall (21), so that in the connected state of the connecting ring (9) with the joint support ring (6) a gap (Sp3) is formed between the respective inner side of each receiving peripheral outer wall (20) and the corresponding outer side of the respective engaging element peripheral outer wall (21).

7. Connecting device according to one of claims 1 to 6, characterized in that the connecting ring (9) on the circular cylindrical outer shell wall (3) of the member (2) is glued.

8. Connecting device according to claim 7, characterized in that the connecting ring (9) has an inner casing wall (22) which forms a contact surface with which the connecting ring (9) is glued to the circular cylindrical outer casing wall (3) of the member (2), wherein the inner casing wall (22) is provided with longitudinal grooves (23) which form distribution channels for an adhesive by means of which the connecting ring (9) is glued to the circular cylindrical outer casing wall (3) of the member (2).

9. Connecting device according to one of claims 1 to 8, characterized in that the connecting ring (9) has a plurality of first screw channels (24) arranged uniformly distributed over a circumference and the joint support ring (6) of the joint body (5) has a corresponding number of a plurality of second screw channels (25) arranged uniformly distributed over a circumference, wherein the first screw channels (24) and the second screw channels (25) are designed to receive screws (26) for screwing the connecting ring (9) to the joint support ring (6).

10. Robot arm, comprising a plurality of links (2), of which at least one link (2) has a circular-cylindrical outer casing wall (3), and a plurality of joints (4) connecting the links (2) in a mutually adjustable manner, of which at least one joint (4) has a joint body (5) with a joint support ring (6), wherein the at least one link (2) with the circular-cylindrical outer casing wall (3) is connected to the at least one joint body (5) by means of a connecting device (7) according to one of the Claims 1 to 9 are connected.

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