Robot transmission and robot arm having such a robot transmission

Abstract

The invention relates to a robot transmission (1) having an annular space (9) in which a cable (8) forming a cable loop (8a) is guided, wherein the annular space (9) is formed on the radially inner side by at least one inner casing wall (10.1, 10.2) of two housing parts (6.1, 6.2), and the annular space (9) is formed on the radially outer side by at least one outer casing wall (11.1, 11.2), wherein on the outer casing wall (11.1, 11.2) a flange (12.1, 12.2) is arranged which is designed to axially connect an element (13) of a robot arm (14), and the annular space (9) has at least one axial opening (15.1, 15.2) which is formed in at least one of the housing parts (6.1, 6.2) for guiding the electric cable (8) axially out of the robot transmission (1). Moreover, the invention relates to a robot arm (14) having such a robot transmission (1).

Description

[0001] Robot gearbox and robot arm with such a robot gearbox

[0002] The invention relates to a robot gear, comprising a gear element arrangement with a plurality of gear elements and an output-side end element, a drive-side first housing part with a drive-side first connection for connecting one of the gear elements of the gear element arrangement, a drive-side second housing part with a drive-side second connection for connecting the output-side end element of the gear element arrangement, and an annular space designed to guide a cable loop, in which an electrical cable forming the cable loop is guided.

[0003] US 9 802 327 B2 describes a robot arm comprising a plurality of arms that are rotatably connected. The plurality of arms each comprise a plurality of links and a drive that rotates the links, the drive comprising an outer cover provided on an outer surface of the drive. The drive comprises a motor that rotates the plurality of links and has a motor housing. A collar is attached to a reduction gear that slows down the rotation of the motor and outputs torque. A conduit element comprises at least one conduit or tube, at least a part of the conduit element being housed between a surface that includes a first body portion formed by the motor housing and the collar, and a surface that includes a second body portion of the outer cover.The first body section and the second body section are hourglass-shaped. The object of the invention is to create a robot gear that is very compact and can be easily assembled. A further object is to create a robot arm that is slim and can be easily assembled from pre-assembled components.

[0004] The task is solved by a robot gear comprising:

[0005] - a gear link arrangement with several gear links and an output-side end link,

[0006] - a drive-side first housing part with a drive-side first connection for connecting one of the gear elements of the gear element arrangement,

[0007] - a second output-side housing part with a second output-side connection for connecting the output-side end member of the gear member arrangement,

[0008] - an annular space designed to guide a cable loop, in which an electrical cable forming the cable loop is guided, wherein

[0009] - the annular space is formed radially on the inside by a first inner shell wall of the drive-side first housing part and / or by a second inner shell wall of the output-side second housing part, and - the annular space is formed radially on the outside by a first outer shell wall of the drive-side first housing part and / or by a second outer shell wall of the output-side second housing part, wherein

[0010] - a first flange is arranged on the first outer casing wall of the drive-side first housing part, which is designed for the axial connection of a drive-side first member of a robot arm and / or a second flange is arranged on the second outer casing wall of the output-side second housing part, which is designed for the axial connection of a drive-side second member of the robot arm, and

[0011] - the annular space has an axial first opening which is formed in the drive-side first housing part in order to be able to lead the electrical cable axially out of the robot gear and / or the annular space has an axial second opening which is formed in the output-side second housing part in order to be able to lead the electrical cable axially out of the robot gear.

[0012] The robot gearbox can be specifically designed as a gear gearbox. The robot gearbox can in particular have at least one planetary gear set and / or at least one stress wave gearbox. The robot gearbox is designed as a combined gearbox with a pivot bearing to form a robot pivot joint. The robot gearbox has at least two housing parts, in particular gearbox housing halves. The at least two housing parts can complement one another to form a closed gearbox housing. The at least two housing parts can encapsulate the gearbox in such a way that, on the one hand, no oil or grease can escape from the interior of the gearbox housing of the robot gearbox and, on the other hand, no dirt, dust or moisture can penetrate into the interior of the gearbox housing of the robot gearbox. For this purpose, the robot gearbox can have corresponding dynamic seals and static seals.The robot gear, in particular the at least two housing parts, can form part of the supporting structure of a robot arm, such that all static and dynamic forces and / or moments to be transmitted via the kinematic chain of links and joints of the robot arm can be transmitted via the robot gear and in particular also via the at least two housing parts of the robot gear.

[0013] The gear member arrangement with a plurality of gear members and an output-side end member can, for example in the case of a gear transmission, have a plurality of gears which are in corresponding engagement to enable a desired reduction of the robot transmission. A drive-side end member of the gear member arrangement can be connected or coupled to the motor shaft of a drive motor. The output-side end member can be connected or coupled to a link of the robot arm which follows the robot transmission in the kinematic chain of a robot arm. The output-side end member can in particular be formed by a housing part of the robot transmission, in particular by the second housing part explained in more detail below.The torque to be transmitted via the robot gear is introduced into the gear assembly via the drive-side end member of the gear assembly, and the torque converted within the robot gear is discharged from the gear assembly via the output-side end member of the gear assembly.

[0014] The robot gearbox has a drive-side first housing part with a drive-side first connection for connecting one of the gear elements of the gear element arrangement. A drive motor connected to the robot gearbox, for example an electric motor, can be fixed to the first housing part with its motor housing. The motor shaft is coupled to the drive-side end element of the gear element arrangement. The drive motor can in particular be arranged with its axis of symmetry, i.e. with its motor shaft axis, coaxial with the robot gearbox. The drive-side first connection for connecting one of the gear elements of the gear element arrangement can be designed as a connection flange to which a gear element of the gear element arrangement is connected, via which a support torque of the gearbox can be diverted into the gearbox housing, i.e. into the first housing part.In the case of a planetary gear with a sun gear as the drive-side end member and a planet carrier as the output-side end member, the ring gear of the planetary gear can, for example, be connected to the drive-side first connection of the first housing part and thus form a torque-supporting member of the gear member arrangement. In the case of a stress wave gear, in which, for example, the wave generator forms the drive-side end member and the output bushing (flexspline) forms the output-side end member, which is connected to the output-side second housing part of the robot gear, the internally toothed outer ring (circular spline) of the stress wave gear can be connected to the drive-side first connection of the first housing part and thus form a torque-supporting member of the gear member arrangement.The first housing part on the drive side is understood to be that housing part of the robot gear which faces the drive motor to which the robot gear is connected.

[0015] The robot gearbox accordingly also has a second housing part on the output side with a second connection on the output side for connecting the output-side end member of the gearbox member arrangement. In the case of a stress wave gearbox, the output bushing (flexspline) can accordingly form the output-side end member which is connected to the second housing part on the output side of the robot gearbox. The second housing part on the output side can be sealed with respect to the first housing part on the drive side by means of a dynamic seal, in particular by means of a radial shaft sealing ring. The second housing part on the output side is understood to be in particular that housing part of the robot gearbox which is facing away from the drive motor to which the robot gearbox is connected.

[0016] The robot gear unit also has an annular space designed to guide a cable loop, in which an electrical cable forming the cable loop is guided. The electrical cable guided through the robot gear unit is guided within the annular space. This is particularly necessary so that the first housing part can perform a rotary movement relative to the second housing part and the electrical cable guided in the annular space compensates for such a relative rotary movement, in particular without bending, twisting or even breaking in an undesired manner. For this purpose, the electrical cable forms a cable loop within the annular space, which in this respect forms an excess cable length stored in the annular space, which changes the position or orientation of the electrical cable in the region of a first axial opening in the annular space with regard to the position or orientation.the position of the electrical cable in the region of a second axial opening in the annular space. Depending on the relative rotational position of the first housing part relative to the second housing part, the section of the cable loop of the electrical cable is wound singly or doubly over more or less part of the circumference in the annular space.

[0017] The electrical cable can be led axially out of the robot gearbox in that a cable end section of the electrical cable is loosely led out of the annular space mechanically and electrically via the axial first opening of the first housing part and / or via the axial second opening of the second housing part. Alternatively, the electrical cable can be led axially out of the robot gearbox in that a cable end section of the electrical cable is led out of the annular space via a first plug connector at the axial first opening of the first housing part and / or via a second plug connector at the axial second opening of the second housing part, not mechanically, but nevertheless electrically via the respective electrical contacts of the first plug connector and / or second plug connector.

[0018] The annular space is formed radially inwardly by a first inner shell wall of the drive-side first housing part and / or by a second inner shell wall of the output-side second housing part. Furthermore, the annular space is formed radially outwardly by a first outer shell wall of the drive-side first housing part and / or by a second outer shell wall of the output-side second housing part.

[0019] If the gear housing of the robot gear is formed at least substantially by two approximately equally sized housing halves, the annular space is formed radially on the inside by a first inner shell wall of the first housing part on the drive side and by a second inner shell wall of the second housing part on the output side, both inner shell walls having at least approximately the same axial depth in the axial direction. In the same way, the annular space is then also formed radially on the outside by a first outer shell wall of the first housing part on the drive side and by a second outer shell wall of the second housing part on the output side, both outer shell walls having at least approximately the same axial depth in the axial direction. The axial depth of the inner shell walls can correspond to the axial depth of the outer shell walls, i.e. can be at least approximately the same.

[0020] Alternatively, the first housing part and the second housing part can have significantly different sizes, for example if the parting plane of the housing halves is not axially central. For example, one housing part can be axially significantly smaller than the other housing part. In an extreme design case, one housing half can, for example, be reduced to a mere disc-shaped end cover, in which case the other housing half at least approximately completely comprises the outer casing wall and the inner casing wall of the annular space. This other housing half, which at least approximately completely comprises the outer casing wall and the inner casing wall of the annular space, can then optionally be the first housing part or the second housing part.On the first outer casing wall of the drive-side first housing part, a first flange is arranged, which is designed for the axial connection of a drive-side first member of a robot arm and / or on the second outer casing wall of the output-side second housing part, a second flange is arranged, which is designed for the axial connection of a drive-side second member of a robot arm.

[0021] The first flange is designed for the releasable fastening of a first link of a robot arm. The second flange is designed for the releasable fastening of a second link of the robot arm, wherein the first link of the robot arm and the second link of the robot arm are connected via the robot gear, which forms a joint of the robot arm directly connecting the first link of the robot arm to the second link of the robot arm. The first flange and the second flange are arranged spaced apart from one another in the axial direction, so that if necessary at least one outer casing wall of the robot gear lying between the first flange and the second flange, i.e. the outer side of the first housing part and / or the second housing part, can form part of the outer surface of the robot arm.In such a case, the robot gear is therefore not accommodated within a hollow space of a separate housing of a link of the robot arm, but rather forms a load-bearing part of the robot arm in that static and dynamic forces and / or moments which are to be transmitted due to the weight of the robot arm and / or due to dynamic forces from a movement of the robot arm are transmitted via the first housing part and / or the second housing part of the robot gear. The first flange can, for example, have a plurality of first axial bores which are evenly distributed over a common circumference on the first flange. First axial screws can be inserted via the first axial bores and screwed into corresponding internal threads on the link of the robot arm to be connected in order to detachably connect this link to the first housing part of the robot gear.In an analogous manner, the second flange can, for example, have a plurality of second axial bores evenly distributed over a common circumference of the second flange. Second axial screws can be inserted through the second axial bores and screwed into corresponding internal threads on the other link of the robot arm to be connected, in order to detachably connect this other link to the second housing part of the robot gear.

[0022] The annular space has an axial first opening which is formed in the drive-side first housing part in order to be able to lead the electrical cable axially out of the robot gear and / or the annular space has an axial second opening which is formed in the output-side second housing part in order to be able to lead the electrical cable axially out of the robot gear. The first opening can in this respect be located in an end-side annular sector of the first housing part which lies between the first outer casing wall and the first inner casing wall. The second opening can in this respect be located in an end-side annular sector of the second housing part which lies between the second outer casing wall and the second inner casing wall.

[0023] The axial first opening is located on the drive-side first housing part within a circumferential circle of the first flange, so that the electrical cable leads out of the robot gear via the first opening in such a way that the electrical cable leads into the cavity of a first link of the robot arm connected to the first flange of the first housing part. From there, the electrical cable can be routed further into further links of the robot arm, if necessary.

[0024] Similarly, the axial second opening on the drive-side second housing part can be located within a circumferential circle of the second flange, so that the electrical cable leads out of the robot gear via the second opening in such a way that the electrical cable leads into the cavity of a second link of the robot arm connected to the second flange of the second housing part. From there, the electrical cable can, if necessary, be routed further into further links of the robot arm.

[0025] The first outer shell wall may form part of the outer surface of the robot arm. Alternatively or additionally, the second outer shell wall may form part of the outer surface of the robot arm.

[0026] In such an embodiment, the robot gear is therefore not accommodated within a hollow space of a separate housing of a member of the robot arm, but rather forms a supporting part of the robot arm in that static and dynamic forces and / or moments which are to be transmitted due to the weight of the robot arm and / or due to dynamic forces from a movement of the robot arm are transmitted via the first housing part and / or the second housing part of the robot gear. A radial shaft sealing ring can be arranged between the drive-side first housing part and the output-side second housing part.

[0027] The radial shaft seal provides dust and splash-proof sealing of the robot gearbox. In particular, the radial shaft seal can provide sealing according to protection class IP54.

[0028] In a first embodiment, the first housing part can have a seat for the radial shaft seal and the second housing part can have a circumferential sealing surface on which a sealing lip of the radial shaft seal rests in contact.

[0029] In an alternative second embodiment, the second housing part can have the seat for the radial shaft seal and the first housing part can have the circumferential sealing surface on which the sealing lip of the radial shaft seal rests in contact.

[0030] The radial shaft seal can optionally be designed as a radially inward sealing radial shaft seal, with the sealing lip located radially inward. Alternatively, the radial shaft seal can be designed as a radially outward sealing radial shaft seal, with the sealing lip located radially outward.

[0031] The radial shaft seal can be circumferentially covered by an axial annular projection of either the first housing part or the second housing part, whereby the axial annular projection of one housing part forms an additional gap seal with the other housing part. For this purpose, a circumferentially reduced shoulder on one housing part can axially overlap the annular projection of the other housing part.

[0032] The first outer shell wall of the drive-side first housing part can have a first seat for the radial shaft seal, and the second outer shell wall of the output-side second housing part can carry a first raceway for the sealing lip of the radial shaft seal. Alternatively, the second outer shell wall of the output-side second housing part can have a second seat for the radial shaft seal, and the first outer shell wall of the drive-side first housing part can carry a second raceway for the sealing lip of the radial shaft seal.

[0033] The first flange of the first housing part can be assigned a first cylindrical seating surface which has a fit dimension matched to a first robot connection element. The first cylindrical seating surface can be formed by a radially outer first annular surface. A corresponding radially inner first counter-ring surface can be provided on the first robot connection element. Due to the adapted first annular surface and first counter-ring surface, the first robot connection element can be plugged onto the first flange of the first housing part with high positional accuracy and screwed tight there. The first annular surface can have a first groove into which a circumferential O-ring seal can be inserted. The first housing part can be statically sealed against the first robot connection element by means of the O-ring seal.

[0034] Alternatively or additionally, a second cylindrical seating surface can be assigned to the second flange of the second housing part, which seating surface has a fit dimension matched to a second robot connecting member. The second cylindrical seating surface can be formed by a radially outer second annular surface. A corresponding radially inner second counter-ring surface can be provided on the second robot connecting member. Due to the adapted second annular surface and second counter-ring surface, the second robot connecting member can be pushed onto the second flange of the second housing part with high positional accuracy and screwed tight there. The second annular surface can have a second groove into which a circumferential O-ring seal can be inserted. The second housing part can be statically sealed against the second robot connecting member by means of the O-ring seal.

[0035] The first cylindrical seat surface can thus be provided with a first static sealing ring. Alternatively or additionally, the second cylindrical seat surface can be provided with a second static sealing ring.

[0036] The first flange of the first housing part can have first axial bores or first axial threaded bores evenly distributed over a circumference of the robot gear, which are designed for releasably screwing a first robot connection element to the first housing part. Alternatively or additionally, the second flange of the second housing part can have second axial bores or second axial threaded bores evenly distributed over a circumference of the robot gear, which are designed for releasably screwing a second robot connection element to the second housing part.

[0037] The first flange can, for example, have a plurality of first axial bores which are evenly distributed over a common circumference on the first flange. First axial screws can be inserted through the first axial bores and screwed into corresponding internal threads on the member of the robot arm to be connected in order to detachably connect this member to the first housing part of the robot gearbox. In a similar way, the second flange can, for example, have a plurality of second axial bores which are evenly distributed over a common circumference on the second flange. Second axial screws can be inserted through the second axial bores and screwed into corresponding internal threads on the other member of the robot arm to be connected in order to detachably connect this other member to the second housing part of the robot gearbox.

[0038] The electrical cable may have a first cable end section that extends out of the robot gear assembly via the first opening in the drive-side first housing part. Alternatively or additionally, the electrical cable may have a second cable end section that extends out of the robot gear assembly via the second opening in the output-side second housing part.

[0039] The robot gear unit can form a pre-assembled unit which comprises at least a first housing part, at least a second housing part, the gear members, the annular space and the electrical cable pre-assembled in the annular space. Such a pre-assembled unit of the robot gear unit can be assembled with the other components of the robot arm in a simple manner and with little assembly effort during the later final assembly of a robot arm. This can essentially be done simply by the first cable end section of the electrical cable being electrically connected to a first follower cable of the rest of the robot arm. In a similar way, the second cable end section of the electrical cable can be electrically connected to a second follower cable of the rest of the robot arm. The first cable end section can have a first plug connector which can be plugged into a corresponding first mating plug connector of the first follower cable.The pairing of the first plug connector and the first mating plug connector can comprise a first electrical plug and a first electrical socket or a first electrical coupling. The second cable end section can have a second plug connector that can be plugged into a corresponding second mating plug connector of the second subsequent cable. The pairing of the second plug connector and the second mating plug connector can comprise a second electrical plug and a second electrical socket or a second electrical coupling. The respective first plug connector and / or second plug connector can be loosely attached to the electrical cable, wherein a cable piece of the first cable end section or the second cable end section can protrude from the housing of the robot gear.

[0040] The first cable end section of the electrical cable can be secured to the drive-side first housing part in an at least substantially axially aligned orientation by means of a first cable clamp. Alternatively or additionally, the second cable end section of the electrical cable can be secured to the output-side second housing part in an at least substantially axially aligned orientation by means of a second cable clamp.

[0041] By fixing the first cable end section and / or the second cable end section in substantially axially aligned orientations, the first cable end section and / or the second cable end section can be threaded particularly easily into a robot connection element during final assembly and electrically connected there. This applies in particular when the robot gearbox or its gearbox housing forms a subsection of the robot structure, wherein this subsection transmits static and dynamic forces and / or moments which are to be transmitted due to the weight of the robot arm and / or due to dynamic forces from a movement of the robot arm, via the first housing part and / or the second housing part of the robot gearbox.

[0042] The first opening of the drive-side first housing part can be provided with at least one first plug connector to which the electrical cable is electrically connected. Alternatively or additionally, the second opening of the output-side second housing part can be provided with at least one second plug connector to which the electrical cable is electrically connected.

[0043] In such an embodiment, the first cable end section and / or the second cable end section are not loosely led out of the housing of the robot gear, but the electrical cable is located completely within the annular space of the robot gear and only the first plug connector is accessible from the outside on the front side of the housing of the robot gear in order to be able to electrically connect a first follower cable of the rest of the robot arm by plugging the first follower cable with its first mating plug connector to the first plug connector and / or only the second plug connector is accessible from the outside in order to be able to electrically connect a second follower cable of the rest of the robot arm by plugging the second follower cable with its second mating plug connector to the second plug connector.

[0044] In a modification, it may also be provided that only a single plug is provided on the robot gear, which closes the first opening or the second opening and the other end section of the electrical cable is loosely led out of the annular space and the further electrical plug connector is only loosely attached to the loose cable end.

[0045] The first connector can completely close the first opening of the annular space and can be attached to the first housing part in a sealed manner by means of a first seal. Alternatively or additionally, the second connector can completely close the second opening of the annular space and can be attached to the second housing part in a sealed manner by means of a second seal. This has the advantage that the annular space can be encapsulated to protect it from dust and / or splash water, even before final assembly of the robot arm, in the state of the pre-assembled module or unit.

[0046] The object is also achieved by a robot arm having a plurality of links and a plurality of joints connecting the links in a mutually adjustable manner, of which at least one joint is designed as a rotary joint which has a robot gear according to one of the described embodiments.

[0047] Optionally, all joints of the robot arm can be equipped with a robot gear according to one of the described designs, or only a portion of the joints can be equipped with a robot gear according to one of the described designs. In a simple design, the robot arm can also have only a single joint equipped with a robot gear according to one of the described designs, in which case the remaining joints of the robot arm can be equipped with conventional gears.

[0048] The first housing part of the robot gear unit can accordingly form a first subsection of the robot structure, wherein this first subsection can be connected, in particular screwed, to the first robot connection element. Similarly, the second housing part of the robot gear unit can form a second subsection of the robot structure, wherein this second subsection can be connected, in particular screwed, to the second robot connection element.

[0049] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may, if appropriate, also represent general features of the invention when considered individually or in further combinations.

[0050] It shows :

[0051] Fig. 1 is a perspective view from the front of a first embodiment of a robot gear according to the invention with cable end sections led out and a flanged motor,

[0052] Fig. 2 is a perspective view from behind of the first embodiment of a robot gear according to the invention with cable end sections led out,

[0053] Fig. 3 is a side view of the first embodiment of the robot gear according to Fig. 1 and Fig. 2,

[0054] Fig. 4 a longitudinal section of the first

[0055] Embodiment of the robot gear according to Fig. 1 and Fig. 2,

[0056] Fig. 5 is a perspective view from the front of a second embodiment of a robot gear according to the invention with connectors and a flanged motor,

[0057] Fig. 6 is a perspective view from behind of the second embodiment of a robot gear according to the invention with plug connectors,

[0058] Fig. 7 is a side view of the second embodiment of the robot gear according to Fig. 5 and Fig. 6,

[0059] Fig. 8 is a longitudinal section of the second

[0060] Embodiment of the robot gear according to Fig. 5 and Fig. 6,

[0061] Fig. 9 is a perspective view from behind of the second embodiment of a robot gear according to the invention with connectors without a motor,

[0062] Fig. 10 a longitudinal section of the second

[0063] Embodiment according to Fig. 9 without motor,

[0064] Fig. 11 is a partial perspective view of an exemplary robot arm in the region of a joint of the robot arm, which comprises a robot gear according to the invention,

[0065] Fig. 12 is a partial sectional view of the exemplary robot arm according to Fig. 11.

[0066] Fig. 1 shows a concrete embodiment of a robot gear 1 according to the invention.

[0067] The robot gear 1 comprises a gear element arrangement 2 with a plurality of gear elements 3, as shown in more detail, for example, in the sectional view according to Fig. 4. The gear element arrangement 2 has a drive-side end element 4.1 and an output-side end element 4.2. The drive-side end element 4.1 of the gear element arrangement 2 can be connected or coupled to a motor shaft 5a of a drive motor 5.

[0068] The robot gear 1 comprises a drive-side first housing part 6.1 with a drive-side first connection 7.1 for connecting one of the gear elements 3 of the gear element arrangement 2, and a drive-side second housing part 6.2 with a drive-side second connection 7.2 for connecting the drive-side end element 4.2 of the gear element arrangement.

[0069] The robot gear 1 also has an annular space 9 designed to guide a cable loop 8a, in which an electrical cable 8 forming the cable loop is guided.

[0070] In the case of the present exemplary embodiment, the annular space 9 is formed radially on the inside by a first inner shell wall 10.1 of the drive-side first housing part 6.1 and by a second inner shell wall 10.2 of the output-side second housing part 6.2, and radially on the outside by a first outer shell wall 11.1 of the drive-side first housing part 6.1 and by a second outer shell wall 11.2 of the output-side second housing part 6.2.

[0071] As is particularly shown in Fig. 1 to Fig. 3, a first flange 12.1 is arranged on the first outer casing wall 11.1 of the drive-side first housing part 6.1, which is designed for the axial connection of a drive-side first member 13.1 of a robot arm 14 (Fig. 11 and Fig.

[0072] 12) and on the second outer casing wall 11.2 of the output-side second housing part 6.2, a second flange 12.2 is arranged, which is designed for the axial connection of an output-side second member 13.2 of the robot arm 14.

[0073] The annular space 9 has an axial first opening 15.1 (Fig. 2), which is formed in the drive-side first housing part 6.1 in order to be able to lead the at least one electrical cable 8 axially out of the robot gear 1. In the case of the present exemplary embodiment, the annular space 9 also has an axial second opening 15.2 (Fig. 1), which is formed in the output-side second housing part 6.2 in order to be able to lead the at least one electrical cable 8 axially out of the robot gear 1. In the case of the present exemplary embodiment, for example, two electrical cables 8 are present.

[0074] The electrical cable 8 has at least a first cable end section 23.1, which is led out of the assembly of the robot gear unit 1 via the first opening 15.1 in the drive-side first housing part 6.1. In the case of the present embodiment, the electrical cable 8 also has a second cable end section 23.2, which is led out of the assembly of the robot gear unit 1 via the second opening 15.2 in the output-side second housing part 6.2.

[0075] As can be seen particularly in Fig. 1 and Fig. 2, the first cable end section 23.1 of the electrical cable 8 is secured by means of a first cable clamp 24.1 to the drive-side first housing part 6.1 in an at least substantially axially aligned orientation. Similarly, the second cable end section 23.2 of the electrical cable 8 is also secured to the output-side second housing part

[0076] 6.2 in an at least substantially axially aligned orientation by means of a second cable clamp 24.2.

[0077] The first outer shell wall 11.1 and the second outer shell wall

[0078] 11.2 form part of the outer surface of the robot arm 14.

[0079] A radial shaft seal 16 (Fig. 4) is arranged between the first housing part 6.1 on the drive side and the second housing part 6.2 on the output side. The radial shaft seal 16 can be circumferentially covered by an axial annular projection of either the first housing part 6.1 or the second housing part 6.2, whereby the axial annular projection of the first housing part 6.1 forms an additional gap seal 17 with the second housing part 6.2.

[0080] For this purpose, a circumferentially reduced shoulder on the second housing part 6.2 can axially overlap with the annular projection of the first housing part 6.1.

[0081] In the case of the present embodiment, the second outer casing wall 11.2 of the output-side second housing part 6.2 has a seat 29 for the radial shaft sealing ring 16 and the first outer casing wall 11.1 of the drive-side first housing part 6.1 carries a raceway 18 for the sealing lip of the radial shaft sealing ring 16.

[0082] As can be seen in particular in Fig. 3 and Fig. 4, the first flange 12.1 of the first housing part 6.1 is assigned a first cylindrical seating surface 19.1, which has a fit dimension matched to a first robot connection element 13a.1. The first cylindrical seating surface 19.1 can be formed by a radially outer first annular surface. A corresponding radially inner first counter-ring surface can be provided on the first robot connection element 13a.1. Due to the adapted first annular surface and first counter-ring surface, the first robot connection element 13a.1 can be plugged onto the first flange 12.1 of the first housing part 6.1 with high positional accuracy and screwed tight there by means of screws 20. The first annular surface can have a first groove 21.1 (Fig. 4) into which a circumferential first O-ring seal 22.1 can be inserted. By means of the first O-ring seal 22.1, the first housing part 6.1 must be statically sealed against the first robot connection element 13a.1.

[0083] The second flange 12.2 of the second housing part 6.2 can similarly be assigned a second cylindrical seating surface which has a fit dimension matched to a second robot connection element 13a.2. The second cylindrical seating surface can be formed by a radially outer second annular surface. A corresponding radially inner second counter-ring surface can be provided on the second robot connection element 13a.2. Due to the adapted second annular surface and second counter-ring surface, the second robot connection element 13a.2 can be placed with high positional accuracy on the second flange 12.2 of the second housing part 6.2 and screwed tight there by means of screws 20. The second annular surface can have a second groove 21.2 into which a circumferential second O-ring seal 22.2 can be inserted. The second housing part 6.2 can be pressed against the second robot connection element 13a.2 be statically sealed.

[0084] In the case of the present exemplary embodiment, the first flange 12.1 of the first housing part 6.1 has first axial bores or first axial threaded bores evenly distributed over a circumference of the robot gear 1, which are designed for releasably screwing the first robot connection element 13a.1 to the first housing part 6.1. For this purpose, a number of screws 20 corresponding to the number of first axial bores or first axial threaded bores can be provided.

[0085] Similarly, the second flange 12.2 of the second housing part 6.2 can have second axial bores or second axial threaded bores evenly distributed over a circumference of the robot gear 1, which are designed for releasably screwing the second robot connection element 13a.2 to the second housing part 6.2. For this purpose, a number of screws 20 corresponding to the number of second axial bores or second axial threaded bores can also be provided.

[0086] The first flange 12.1 can, for example, have a plurality of first axial bores evenly distributed over a common circumference of the first flange 12.1. First axial screws can be inserted through the first axial bores and screwed into corresponding internal threads on the robot connection element 13a.1, 13a.2 of the robot arm 14 to be connected, in order to detachably connect this robot connection element 13a.1, 13a.2 to the first housing part 6.1 of the robot gear 1. Similarly, the second flange 12.2 can, for example, have a plurality of second axial bores evenly distributed over a common circumference of the second flange 12.2. Second axial screws can be inserted through the second axial bores and screwed into corresponding internal threads on the other robot connection element 13a.1, 13a.2 of the robot arm 14 to be connected in order to connect this other robot connection element 13a.1, 13a.2 to be detachably connected to the second housing part 6.2 of the robot gear 1.

[0087] In a modified embodiment of the robot gear unit 1, no first cable end section 23.1 of the electrical cable 8 and no second cable end section 23.2 of the electrical cable 8 are led out of the robot gear unit 1, but the first opening 15.1 of the drive-side first housing part 6.1 is provided with at least one first plug connector 25.1 (Fig. 6), to which the electrical cable 8 is electrically contacted inside the robot gear unit 1. In the case of the embodiment according to Fig. 5 to Fig. 7, the second opening 15.2 of the output-side second housing part 6.2 is also provided with at least one second plug connector 25.2 (Fig. 5), to which the electrical cable 8 is electrically contacted inside the robot gear unit 1.

[0088] The first connector 25.1 can be the first opening

[0089] 15.1 of the annular space 9 and be sealed to the first housing part 6.1 by means of a first seal. The second connector 25.2 can also completely seal the second opening 15.2 of the annular space 9 and be sealed to the second housing part 6.2 by means of a second seal.

[0090] Fig. 9 and Fig. 10 show the robot gear 1 in a standalone position, in which no motor 5 is coupled to the robot gear 1. In a coupled state of the robot gear 1 and motor 5, as shown in Fig. 1 to Fig. 8, a drive unit is formed by the robot gear 1 and motor 5.

[0091] As can be seen in particular in Fig. 10, in the case of the present embodiments the robot gear 1 is designed as a stress wave gear.

[0092] In this stress wave transmission, the wave generator 26 forms the drive-side end member 4.1, and the output bushing 27 (flex spline) forms the output-side end member 4.2, which is connected to the output-side second housing part 6.2 of the robot transmission 1. The internally toothed outer ring 28 (circular spline) of the stress wave transmission is connected to the drive-side first connection 7.1 of the first housing part 6.1, and the output bushing 27 is connected to the second housing part 6.2 via the second connection 7.2. The drive-side first housing part 6.1 is understood to be, in particular, that housing part of the robot transmission 1 which faces the motor 5 to which the robot transmission 1 is connected. The output-side second housing part

[0093] 6.2 is understood in particular to mean that housing part of the robot gear 1 which is facing away from the motor 5 to which the robot gear 1 is connected.

[0094] Figs. 11 and 12 show a partial section of the robot arm 14, which has a plurality of links 13 and a plurality of joints that connect the links 13 in a mutually adjustable manner. At least one of these joints is designed as a rotary joint that has a robot gear 1 according to one of the described embodiments. The respective joint is formed by the robot gear 1 according to the invention.

[0095] Optionally, all joints of the robot arm 14 can be equipped with a robot gear 1 according to one of the described embodiments, or only a portion of the joints can be equipped with a robot gear 1 according to one of the described embodiments. In a simple embodiment, the robot arm 14 can optionally have only a single joint equipped with a robot gear 1 according to one of the described embodiments, in which case the remaining joints of the robot arm 14 can be provided with conventional gears.

[0096] The first housing part 6.1 of the robot gear 1 can accordingly form a first subsection of the robot structure, wherein this first subsection can be connected, in particular screwed, to the first robot connection element 13a.1. Similarly, the second housing part 6.2 of the robot gear 1 can form a second subsection of the robot structure, wherein this second subsection can be connected, in particular screwed, to the second robot connection element 13a.2.

Claims

Patent claims 1. Robot gear, comprising: - a gear element arrangement (2) with several gear elements (3) and an output-side end element (4.2), - a drive-side first housing part (6.1) with a drive-side first connection (7.1) for connecting one of the gear elements (3) of the gear element arrangement (2), - a second output-side housing part (6.2) with a second output-side connection (7.2) for connecting the output-side end member (4.2) of the gear member arrangement (2), - an annular space (9) designed to guide a cable loop (8a), in which an electrical cable (8) forming the cable loop (8a) is guided, wherein - the annular space (9) is formed radially on the inside by a first inner shell wall (10.1) of the drive-side first housing part (6.1) and / or by a second inner shell wall (10.2) of the output-side second housing part (6.2), and - the annular space (9) is radially outside by a first outer casing wall (11.1) of the drive-side first housing part (6.1) and / or by a second Outer casing wall (11.2) of the output-side second housing part (6.2), wherein - on the first outer casing wall (11.1) of the drive-side first housing part (6.1) a first flange (12.1) is arranged, which is designed for axially connecting a drive-side first member (13.1) of a robot arm (14) and / or on the second outer casing wall (11.2) of the output-side second housing part (6.2), a second flange (12.2) is arranged, which is designed for the axial connection of an output-side second member (13.2) of the robot arm (14), and - the annular space (9) has an axial first opening (15.1) which is formed in the drive-side first housing part (6.1) in order to be able to lead the electrical cable (8) axially out of the robot gear (1) and / or the annular space (9) has an axial second opening (15.2) which is formed in the output-side second housing part (6.2) in order to be able to lead the electrical cable (8) axially out of the robot gear (1).

2. Robot gear according to claim 1, characterized in that the first outer casing wall (11.1) forms part of the outer surface of the robot arm (14) and / or the second outer casing wall (11.2) forms part of the outer surface of the robot arm (14).

3. Robot gear according to claim 1 or 2, characterized in that between the drive-side first A radial shaft sealing ring (16) is arranged between the housing part (6.1) and the output-side second housing part (6.2).

4. Robot gear according to claim 3, characterized in that the first outer casing wall (11.1) of the drive-side first housing part (6.1) has a first seat for the radial shaft sealing ring (16) and the second outer casing wall (11.2) of the output-side second housing part (6.2) carries a first raceway for the sealing lip of the radial shaft sealing ring (16) or the second outer casing wall (11.2) of the output-side second housing part (6.2) has a second seat (29) for the radial shaft sealing ring (16) and the first outer casing wall (11.1) of the drive-side first housing part (6.1) carries a second raceway (18) for the sealing lip of the radial shaft seal (16).

5. Robot gear according to one of claims 1 to 4, characterized in that the first flange (12.1) of the first housing part (6.1) is assigned a first cylindrical seat surface (19.1), which has a fitting dimension matched to a first robot connection element (13a.1) and / or the second flange (12.2) of the second housing part (6.2) is assigned a second cylindrical seat surface (19.2) which has a fit dimension matched to a second robot connecting element (13a.2).

6. Robot gear according to claim 5, characterized in that the first cylindrical seat surface (19.1) is provided with a first static sealing ring and / or the second cylindrical seat surface (19.2) is provided with a second static sealing ring.

7. Robot gear according to one of claims 1 to 6, characterized in that the first flange (12.1) of the first housing part (6.1) has first axial bores or first axial threaded bores that are evenly distributed over a circumference of the robot gear (1), which are designed for the detachable screwing of a first robot connection element (13a.1) to the first housing part (6.1) and / or the second flange (12.2) of the second housing part (6.2) has second axial bores or second axial threaded bores that are evenly distributed over a circumference of the robot gear (1), which are designed for the detachable screwing of a second robot connection element (13a.2) to the second housing part (6.2).

8. Robot gear according to one of claims 1 to 7, characterized in that the electrical cable (8) has a first cable end section (23.1) which is led out of the structural unit of the robot gear (1) via the first opening (15.1) in the drive-side first housing part (6.1) and / or the electrical cable (8) has a second cable end section (23.2) which is led out of the structural unit of the robot gear (1) via the second opening (15.2) in the output-side second housing part (6.2).

9. Robot gear according to claim 8, characterized in that the first cable end section (23.1) of the electrical cable (8) is fixed by means of a first cable clamp (24.1) to the drive-side first housing part (6.1) in an at least substantially axially aligned orientation and / or the second cable end section (23.2) of the electrical cable (8) is fixed by means of a second cable clamp (24.2) is fixed to the output-side second housing part (6.2) in an at least substantially axially aligned orientation.

10. Robot gear according to one of claims 1 to 7, characterized in that the first opening (15.1) of the drive-side first housing part (6.1) is provided with at least one first plug connector (25.1) to which the electrical cable (8) is electrically contacted and / or the second opening (15.2) of the output-side second housing part (6.2) is provided with at least one second plug connector (25.2) to which the electrical cable (8) is electrically contacted.

11. Robot gear according to claim 10, characterized in that the first connector (25.1) completely closes the first opening (15.1) of the annular space (9) and is attached to the first housing part (6.1) in a sealed manner by means of a first seal and / or the second connector (25.2) completely closes the second opening (15.2) of the annular space (9) and is attached to the second housing part (6.2) in a sealed manner by means of a second seal.

12. Robot arm comprising a plurality of links (13) and a plurality of joints connecting the links (13) in a mutually adjustable manner, of which at least one joint is designed as a rotary joint having a robot gear (1) according to one of claims 1 to 11.

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