Flange connection and robot arm

Abstract

To provide an axially compact flange connection for a robot arm that is easy to install and adjust.SOLUTION: A flange connection for connecting a first robot arm part to a second robot arm part comprises: a first flange element; a second flange element; and at least one clamping body. The first flange element includes: a flange shoulder; and a first flange projection having at least one first clamping extension. The second flange element includes at least one second flange projection having a second clamping extension. The first flange element and the second flange element are arranged relative to one another such that, by insertion of the at least one clamping body into between the at least one first clamping extension and the second clamping extension, a frictional and / or form-fitting connection of the second clamping extension to the flange shoulder can be established.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a flange connection for connecting a first robot arm section to a second robot arm section, and to a robot arm equipped with such a flange connection. [Background technology]

[0002] In particular, robots designed for handling tasks in the broad sense typically have at least one robot arm for performing a given task. Such robot arms typically include multiple robot arm sections that are connected to each other by flange connections during assembly of the robot. These flange connections transmit static and dynamic forces and moments acting on the robot arm between the robot arm sections. Existing robot arms use screw flanges for this purpose, connecting the robot arm sections via multiple screw connections arranged parallel to the robot arm longitudinal axis.

[0003] In order to minimize the moments acting on the robot arm, it is desirable to make the flange connection as short as possible in relation to the longitudinal axis of the robot arm, so that in known systems the space adjacent to the flange connection in the axial direction is very limited, which makes the assembly and adjustment of the screw connection insufficient. Summary of the Invention [Problem to be solved by the invention]

[0004] The object of the present invention is to provide an axially short flange connection for a robot arm, which can be easily assembled and adjusted. It is also an object of the present invention to provide a robot arm, the assembly and adjustment of which can be easily and safely performed on the robot arm parts. [Means for solving the problem]

[0005] These problems are solved by a flange connection having the features of claim 1 and a robot arm having the features of claim 14. Advantageous embodiments and developments of the invention are set forth in the dependent claims.

[0006] A flange connection for connecting a first robot arm section to a second robot arm section according to the present invention includes a flange longitudinal axis, a first flange element, a second flange element, and at least one clamp body. The first flange element includes a flange shoulder and a first flange protrusion protruding in the direction of the flange longitudinal axis and having at least one first fastening extension. The flange longitudinal axis is preferably formed parallel to or coincident with the robot arm longitudinal axis of the first robot arm section and / or the second robot arm section. The first flange element can be formed integrally. The second flange element includes at least one second flange protrusion protruding in the direction of the flange longitudinal axis and having a second fastening extension. Preferably, the second flange protrusion protrudes from the second flange element in a direction opposite to the first flange protrusion.

[0007] According to the present invention, the first flange element and the second flange element are arranged relative to one another in relation to the flange longitudinal axis such that the second clamping extension is disposed between the flange shoulder and the at least one first clamping extension, and such that insertion of at least one clamping body between the at least one first clamping extension and the second clamping extension allows a frictional and / or positive connection between the second clamping extension and the flange shoulder to be formed. The at least one clamping body is preferably disposed between the at least one first clamping extension and the second clamping extension in relation to the flange longitudinal axis. This allows the flange connection to be realized with a small installation space requirement in relation to the flange longitudinal axis. The provision of at least one insertable clamping body further allows the assembly work of connecting the first flange element to the second flange element to be decoupled from the direction defined by the flange longitudinal axis. Furthermore, the provision of at least one clamping body allows for easy adjustment of the flange connection, particularly based on the clamping force. Preferably, the at least one clamping body is arranged so as to be insertable perpendicularly to the longitudinal axis of the flange.

[0008] Preferably, the at least one clamping body is wedge-shaped, whereby the flange connection can be determined by selecting the insertion depth of the at least one clamping body between the at least one first and second clamping extensions. Due to its wedge-shaped design, the at least one clamping body preferably has a trapezoidal cross section.

[0009] Preferably, the at least one first clamping extension has a first clamping surface for cooperation with the at least one clamping body, and the second clamping extension has a second clamping surface for cooperation with the at least one clamping body, wherein the first and / or second clamping surface forms a clamping angle with an insertion axis arranged in the insertion direction of the at least one clamping body of between 0° and 90°, particularly preferably between 10° and 30°. In particular, if the at least one clamping body is wedge-shaped, the clamping surface of the clamping body that contacts the first or second clamping surface is preferably formed parallel to the respective corresponding clamping surface.

[0010] At least one first clamping extension can be configured as a spring tongue, which can improve the adjustability of the flange connection.

[0011] Preferably, the second clamping extension has a shoulder contact surface arranged parallel to the flange shoulder for forming a frictional and / or positive connection with the flange shoulder. The shoulder contact surface is preferably different from the second clamping surface. Particularly preferably, the shoulder contact surface is arranged opposite the second clamping surface. The shoulder contact surface is preferably arranged perpendicular to the flange longitudinal axis. If the second clamping surface has the above-mentioned clamping angle, the second clamping extension can thereby have a trapezoidal cross section.

[0012] In one embodiment of the invention, the flange connection comprises a friction plate arranged between the flange shoulder and the second clamping extension. If the connection between the second clamping extension and the flange shoulder is formed by a purely frictional connection, the friction plate is preferably used to improve the frictional connection. Particularly preferably, the friction plate is arranged between the flange shoulder and the shoulder contact surface.

[0013] In a preferred embodiment of the present invention, the flange connection includes at least one clamping screw, and the at least one clamping body can be inserted between the at least one first clamping extension and the at least one second clamping extension using the clamping screw. The clamping force can be adjusted by adjusting the clamping moment of the at least one clamping screw. Preferably, the at least one clamping body can be inserted by screwing in the at least one clamping screw. The at least one clamping screw can be positioned in at least one through-hole of the at least one clamping body.

[0014] The first flange projection or the second flange projection can have at least one threaded hole into which at least one clamping screw is screwed. Preferably, the at least one threaded hole is arranged in the first flange projection. The first flange projection has at least one screw seat, preferably projecting in the direction opposite to the insertion direction, which screw seat is particularly preferably adjacent to the at least one first clamping extension in the direction of the flange longitudinal axis.

[0015] In a preferred embodiment of the present invention, at least one clamp body has two opposite end portions and an intermediate portion disposed between the end portions, and the at least one clamp body is arranged such that one of the at least one first clamping extensions is disposed on each of the two end portions and one of the at least one second flange protrusions is disposed on the intermediate portion, or the at least one second flange protrusions is disposed on each of the two end portions and one of the at least one first clamping extensions is disposed on the intermediate portion. This ensures a reliable force transmission between the first flange element and the second flange element. Preferably, the at least one second flange protrusion is disposed on the at least one clamp body by a second clamping extension, respectively.

[0016] Preferably, the at least one first clamping extension and the at least one second flange projection are alternately arranged in the circumferential direction around the flange longitudinal axis, whereby each of the at least one second flange projections can be adjacent in the circumferential direction to at least one first clamping extension and, if provided, to at least one screw seat.

[0017] Preferably, the number of the at least one clamping body corresponds to the number of the at least one first clamping extension and / or the number of the at least one second flange projection, thereby further improving the adjustability of the flange connection and better compensating for tolerances.

[0018] In one development of the invention, the first flange element has a plurality of first fastening extensions and the second flange element has a plurality of second flange protrusions, thereby achieving uniform force transmission between the first flange element and the second flange element. Preferably, twelve first fastening extensions and twelve second flange protrusions are provided. Preferably, each first fastening extension has at least one of the characteristics of the first fastening extensions described above, and each second flange protrusion has at least one of the characteristics of the second flange protrusions described above.

[0019] Particularly preferably, the first fastening extensions and the second flange projections are arranged evenly distributed around the flange longitudinal axis, whereby the first flange element and the second flange element can be formed in a crown shape.

[0020] The robot arm of the present invention includes a first robot arm portion, a second robot arm portion, and the above-mentioned flange connection portion, wherein the first flange element is fixedly arranged on the first robot arm portion, and the second flange element is fixedly arranged on the second robot arm portion, i.e., preferably rotationally and translationally immobile. When assembling the robot arm, the first flange element can be arranged on the first robot arm portion and the second flange element can be arranged on the second robot arm portion before connecting the two robot arm portions by joining the first flange element and the second flange element. This makes it possible to provide a robot arm that can be assembled easily and safely.

[0021] An embodiment of the present invention will now be described with reference to the following drawings. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a schematic exploded view of an embodiment of a flange connection in an installed situation. [Figure 1a] 2 is a schematic perspective view of a first flange element in the embodiment shown in FIG. 1; FIG. [Figure 1b] 2 is a schematic perspective view of a second flange element in the embodiment shown in FIG. 1; FIG. [Figure 2] FIG. 2 is a schematic side view of the installation situation shown in FIG. [Figure 3] 2 is a schematic cross-sectional view of the installation situation shown in FIG. 1 with detail A marked. [Figure 4] FIG. 4 is a schematic enlarged view of the marked detail A in FIG. 3. [Figure 5] FIG. 2 is a schematic perspective view showing the embodiment shown in FIG. 1 alone. DETAILED DESCRIPTION OF THE INVENTION

[0023] 1-5 show different depictions of one embodiment. For clarity, not all reference numbers are used in each figure. Identical and functionally identical parts are designated by the same reference numbers.

[0024] Figure 1 shows an exploded view of one embodiment of a flange connection 10 for connecting a first robot arm portion 12 of a robot arm 13 to a second robot arm portion 14 of a robot arm 13. In doing so, Figure 1 shows the flange connection 10 in an installed situation, and therefore also shows the first robot arm portion 12 and the second robot arm portion 14.

[0025] The flange connection 10 includes a flange longitudinal axis 16, a first flange element 18, and a second flange element 20, and may include a plurality of clamp bodies 22. The flange longitudinal axis 16 may be formed to coincide with a robot arm longitudinal axis 23 of the first robot arm portion 12 and the second robot arm portion 14.

[0026] Preferably, the first flange element 18 is fixedly disposed on the first robot arm portion 12 and the second flange element 20 is fixedly disposed on the second robot arm portion 14. Thus, during assembly of the robot arm 13, the first flange element 18 can be disposed on the first robot arm portion 12 and the second flange element 20 can be disposed on the second robot arm portion 14 before the first flange element 18 and the second flange element 20 are mated to form the connection between the first robot arm portion 12 and the second robot arm portion 14.

[0027] 1 , the first flange element 18 includes a flange shoulder 24 and a first flange projection 26 that projects in the direction of the flange longitudinal axis 16, and the first flange projection 26 may have a plurality of first fastening extensions 28. The second flange element 20 preferably includes a plurality of second flange projections 30, each having a second fastening extension 32. Preferably, the second flange projections 30 project from the second flange element 20 along the flange longitudinal axis 16 in a direction opposite to the first flange projections 26.

[0028] 1, the first fastening extensions 28 and the second flange protrusions 30 are preferably evenly and alternately arranged in a circumferential direction 34 around the flange longitudinal axis 16, so that the first flange element 18 and the second flange element 20 are crown-shaped (see FIGS. 1a and 1b). Thereby, the second flange protrusions 30 in the circumferential direction 34 can be adjacent to any of the first fastening extensions 28. Preferably, twelve first fastening extensions 28, twelve second flange protrusions 30, and twelve clamp bodies 22 are provided.

[0029] Figure 2 shows a side view of the arrangement shown in Figure 1. In doing so, it becomes clear that the flange connection 10 has a very small installation space requirement in the axial direction along the flange longitudinal axis 16.

[0030] Figure 3 shows an axial cross section along the flange longitudinal axis 16 of the arrangement shown in Figure 2, highlighting detail A shown enlarged in Figure 4 and based on which the function of the flange connection 10 can be better understood.

[0031] 3 and 4 show that the first flange element 18 and the second flange element 20 are arranged relative to the flange longitudinal axis 16 such that the second clamping extension 32, located rearward of the cutting surface, is located between the flange shoulder 24 and the first clamping extension 28, located at the cutting surface. Insertion of one clamping body 22 between the first clamping extension 28 and the second clamping extension 32 can form a frictional connection between the second clamping extension 32 and the flange shoulder 24. Preferably, the clamping body 22 is arranged so that it can be inserted perpendicular to the flange longitudinal axis 16.

[0032] 4 clearly shows that the clamping body 22 is wedge-shaped and has a trapezoidal cross section, whereby the flange connection 10 can be determined by the insertion depth of the clamping body 22 between each first clamping extension 28 and each second clamping extension 32.

[0033] Each first clamping extension 28 can have a first clamping surface 36 for cooperation with one clamping body 22, and each second clamping extension 32 can have a second clamping surface 38 for cooperation with one clamping body 22. The first clamping surface 36 and the second clamping surface 38 preferably form a clamping angle 44 of between 10° and 30° with an insertion axis 42 arranged in an insertion direction 40 of each clamping body 22 shown in FIG. 4. In particular, if the clamping bodies 22 are wedge-shaped, the clamping surface 46 of the clamping body 22 that contacts the first clamping surface 36 or the second clamping surface 38 is preferably formed parallel to the corresponding clamping surface 36, 38, respectively. As shown in particular in FIGS. 4 and 1, the first clamping extensions 28 are preferably formed as spring tongues 48.

[0034] 1 and 4, each second clamping extension 32 has a shoulder contact surface 50 arranged parallel to the flange shoulder 24 to form a frictional connection with the flange shoulder 24. Preferably, the shoulder contact surface 50 is arranged opposite the second clamping surface 38. The shoulder contact surface 50 is preferably arranged perpendicular to the flange longitudinal axis 16, which allows each second clamping extension 32 to have a trapezoidal cross section.

[0035] 1 and 4, the flange connection 10 can include a friction plate 52. The friction plate 52 is preferably disposed between the flange shoulder 24 and the second clamping extension 32 and can help improve the frictional bond therebetween. Particularly preferably, a friction plate is disposed between the flange shoulder 24 and each shoulder contact surface 50.

[0036] Each clamping body 22 is preferably insertable between the first clamping extension 28 and the second clamping extension 32, respectively, by means of a clamping screw 54. The clamping force is thereby adjustable by the clamping moment of the clamping screw 54. The clamping body 22 may have a through hole 56 in which the clamping screw 54 is preferably arranged.

[0037] 4, the first flange protrusion 26 may have threaded holes 58 for receiving the clamp screws 54 for each clamp body 22. The first flange protrusion 26 may have screw seats 60 adjacent to each first fastening extension 28, each of which protrudes preferably in a direction opposite to the insertion direction 40.

[0038] 4 further shows that the first flange element 18 can be integrally formed and can have a sealing projection 62 that cooperates with the second flange element 20 to seal the flange connection 10 from the environment.

[0039] 5 shows an isolated view of the flange connection 10 without the connected robot arm portions 12, 14. This view shows that each clamp body 22 can have two opposite end portions 64 and a middle portion 66 disposed between the end portions 64. Preferably, each clamp body 22 is arranged such that a second flange projection 30 is disposed at each of the two end portions 64 of each clamp body 22 and a first clamping extension 28 is disposed at the middle portion 66 of each clamp body 22. Preferably, each second flange projection 30 is disposed on the clamp body 22 along with a second clamping extension 32. [Explanation of symbols]

[0040] 10 Flange connection 12 First robot arm part 13 Robotic Arm 14 Second robot arm section 16 Flange longitudinal axis 18 First flange element 20 Second flange element 22 Clamp body 23 Robot arm longitudinal axis 24 flange shoulder 26 First flange protrusion 28 First Clamping Extension 30 second flange protrusion 32 Second clamping extension 34 Circumferential direction 36 First clamping surface 38 Second clamping surface 40 Insertion direction 42 Insertion axis 44 Clamping Angle 46 Clamping surface 48 Spring tongue 50 Shoulder contact surface 52 Friction plate 54 Clamp screw 56 Through hole 58 screw holes 60 Screw base 62 Sealing protrusion 64 End 66 Middle section

Claims

1. A flange connection (10) for connecting a first robot arm portion (12) to a second robot arm portion (14), comprising: a flange longitudinal axis (16), a first flange element (18), a second flange element (20), and at least one clamp body (22); The first flange element (18) comprises: a flange shoulder (24); a first flange projection (26) projecting in the direction of the flange longitudinal axis (16) and having at least one first fastening extension (28); The second flange element (20) comprises: at least one second flange projection (30) projecting in the direction of the flange longitudinal axis (16) and having a second fastening extension (32); The first flange element (18) and the second flange element (20) are relative to the flange longitudinal axis (16), the second fastening extension (32) is disposed between the flange shoulder (24) and the at least one first fastening extension (28); and The flange connection (10) is arranged relative to one another such that insertion of the at least one clamp body (22) between the at least one first clamping extension (28) and the second clamping extension (32) allows a frictional and / or positive connection to be formed between the second clamping extension (32) and the flange shoulder (24).

2. 2. A flange connection according to claim 1, characterized in that the at least one clamping body (22) is wedge-shaped.

3. the at least one first clamping extension (28) having a first clamping surface (36) for cooperating with the at least one clamp body (22); the second clamping extension (32) has a second clamping surface (38) for cooperating with the at least one clamp body (22); 3. The flange connection according to claim 1, wherein the first clamping surface (36) and / or the second clamping surface (38) form a clamping angle (44) of between 0° and 90°, preferably between 10° and 30°, with an insertion axis (42) arranged in an insertion direction (40) of the at least one clamping body (22).

4. Flange connection according to any one of claims 1 to 3, characterized in that the at least one first clamping extension (28) is formed as a spring tongue (48).

5. 5. The flange connection according to claim 1, wherein the second clamping extension (32) has a shoulder contact surface (50) arranged parallel to the flange shoulder (24) for forming the frictional and / or positive connection with the flange shoulder (24).

6. 6. The flange connection according to claim 1, wherein the flange connection (10) comprises a friction plate (52) arranged between the flange shoulder (24) and the second clamping extension (32).

7. The flange connection (10) includes at least one clamping screw (54); 7. The flange connection according to claim 1, wherein the at least one clamping body (22) is insertable between the at least one first clamping extension (28) and the at least one second clamping extension (32) by means of its clamping screw (54).

8. 8. The flange connection according to claim 7, wherein the first flange projection (26) or the second flange projection (30) has at least one screw hole (58) into which the at least one clamping screw (54) is screwed.

9. The at least one clamp body (22) has two opposite end portions (64) and a middle portion (66) disposed between the end portions (64); The at least one clamp body (22) one of the at least one first fastening extension (28) is disposed on each of the two end portions (64), and one of the at least one second flange protrusion (30) is disposed on the intermediate portion (66); Or, 9. The flange connection according to claim 1, wherein one of the at least one second flange protrusions (30) is arranged at each of the two end portions (64) and one of the at least one first fastening extensions (28) is arranged at the intermediate portion (66).

10. 10. The flange connection according to claim 1, wherein the at least one first clamping extension (28) and the at least one second flange projection (30) are arranged alternately and / or offset from one another in a circumferential direction (34) around the flange longitudinal axis (16).

11. 11. The flange connection according to claim 1, wherein the number of the at least one clamping body (22) corresponds to the number of the at least one first clamping extension (28) and / or to the number of the at least one second flange projection (30).

12. The first flange element (18) has a plurality of first fastening extensions (28); A flange connection according to any one of claims 1 to 11, characterized in that the second flange element (20) comprises a plurality of second flange projections (30).

13. 13. The flange connection according to claim 12, characterized in that the first clamping extensions (28) and the second flange projections (30) are arranged evenly distributed around the flange longitudinal axis (16).

14. A robotic arm (13), A robot arm assembly comprising a first robot arm portion (12), a second robot arm portion (14), and a flange connection (10) according to any one of claims 1 to 13, A robot arm (13), wherein the first flange element (18) is fixedly disposed on the first robot arm portion (12) and the second flange element (20) is fixedly disposed on the second robot arm portion (14).

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