Robot arm

Abstract

The invention relates to an arm section of a robot arm, comprising a partial longitudinal axis and at least one geared motor for actuating at least one arm section, the geared motor comprising a motor, a transmission and a geared motor housing, the support structure of the arm section being formed at least partially only by the geared motor housing in the region of the geared motor housing along the partial longitudinal axis.The invention also relates to a robot arm, comprising a first arm section having a first partial longitudinal axis and a first geared motor, and a second arm section adjacent to the first arm section, having a second partial longitudinal axis and a second geared motor, the second arm section being supported rotatably relative to the first arm section about a bending axis arranged at an angular offset to the first partial longitudinal axis and the second partial longitudinal axis.

Description

Technical Field

[0001] The present invention ,B relates to a robot arm.

Background Art

[0002] Regarding robots, particularly collaborative robots and cognitive robots, their wide range of applications in industries such as assembly, kitchen, massage, sorting, hotel, nursing facilities, home, and services has been continuously investigated and explored.

[0003] Collaborative and cognitive robots usually work and cooperate with humans without a protective device such as a fence, for example. Therefore, such robots are subject to particularly high requirements regarding safety in order to eliminate the risk of human injury. Such robots are often designed as single-arm robots with one robot arm.

[0004] At the current technical level, such robot arms are angular, with many corners (Winkelig), and the areas of the rotational axes where different arm parts are supported relative to each other are made very wide. As a result, the installation space becomes large, and accordingly, the working surfaces that inevitably become obstacles and may come into contact with humans increase, and thus the risk of injury also increases.

[0005] [[ID=,26]]Such robot arms are known, for example, from Patent Document 1, Patent Document 2, or Patent Document 3.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

[0007] Regardless of whether they are collaborative or cognitive robots, robot arms in general should ideally be thin and lightweight, occupy a small proportion of the workspace they occupy, and have as linear a structure as possible.

[0008] Therefore, the present invention aims to minimize the installation space it occupies in relation to the workspace. Furthermore, it can be manufactured more easily and inexpensively. Robot arm Propose It is based on the challenge of providing something.

[0009] The above problem can be solved by the present invention, which provides a robot with the features of claim 1. Mu Therefore, the problem is solved.

[0012] Advantageous embodiments and variations of the present invention are described in the dependent claims. The arm portion of the robot arm according to the present invention has a partial longitudinal axis and at least one geared motor for operating at least one arm portion. The geared motor has a motor, a transmission device and a geared motor housing, and the support structure of the arm portion is formed at least partially by the geared motor housing alone in the region of the geared motor housing along the partial longitudinal axis. This makes it possible to completely eliminate additional support elements in the region of the geared motor housing. Therefore, the arm portion according to the present invention can have a smaller installation space compared to the prior art.

[0013] The arm portion preferably extends longer in one of the three spatial directions than in the other directions. The longitudinal axis of the portion is preferably aligned along this spatial direction. Preferably, the longitudinal axis of the portion is designed as a straight line. Particularly preferably, the arm portion is at least partially substantially cylindrical. Here and below, the term "actuation" preferably includes both driving and braking. Thus, the geared motor may also include a braking unit. Furthermore, the geared motor may have an encoder unit in particular for determining the position of the geared motor. At least one arm portion can be actuated relative to another arm portion or the surrounding environment. In this case, preferably, the portion of the robot arm that is movable relative to another portion of the robot arm is referred to as the arm portion. Typically, the arm portion is supported at two connection points, particularly relative to another arm portion or the surrounding environment. The support structure of the arm portion preferably connects the two connection points to each other and plays a role in transmitting force and torque between the connection points.

[0014] The support structure for the arm portion is formed, at least partially, by the geared motor housing alone in the region of the geared motor along the longitudinal axis of the portion. This allows the geared motor housing to incorporate the function of "transmitting force and torque between the connection points of the arm portion" in this region. Therefore, the arm portion can be designed so that there are no additional support elements, at least in the region of the geared motor housing.

[0015] It is preferable that the arm portion be designed linearly. In this case, the longitudinal axes of the portions can be connected to each other in a straight line at the connection points of the arm portions. Therefore, the arm portion does not need to have any curvature. This makes it possible to achieve a space-saving structure for the robot arm. It also simplifies the manufacturing of the arm portion. Therefore, in particular, a modular structure form for the robot arm can be realized more easily.

[0016] Preferably, the output shaft of the geared motor is positioned parallel to the longitudinal axis of the portion. This configuration allows for a small installation space to be achieved. This avoids the robot arm being made wide in the connection area and occupying a lot of space. Furthermore, it allows for a departure from the conventional, often angular, structural form of the arm portion, thereby reducing the risk of injury in particular. In this case, the term "parallel" preferably includes the output shaft and the longitudinal axis of the portion being aligned or adjacent to each other. The housing of the geared motor can be formed in a cylindrical shape, and the output shaft can exit the housing of the geared motor at one end face.

[0017] In one advanced form of the present invention, the geared motor has a motor shaft designed as a hollow shaft. Therefore, the motor shaft can be used, in particular, to pass a line through it. This allows for a more compact structure for the arm portion and further optimization in terms of installation space. The line passed through the motor shaft can be, for example, a line that carries a medium such as an electric wire or a compressed air conduit.

[0018] The transmission system is preferably designed as a three-axis transmission system. Such a transmission system can achieve a large transmission ratio in a small installation space. The three-axis transmission system can be designed as, for example, a planetary transmission system, a cycloidal transmission system, or a wave transmission system.

[0019] Another geared motor and / or extension components and / or further functional modules for extending the arm portion can be positioned along the longitudinal axis of the portion of the arm. Preferably, the other geared motor, extension components and further functional modules form components of the arm portion. The other geared motors can be positioned such that each geared motor can operate the arm portion with respect to one of the connection points. By positioning the extension components, the length of the arm portion along the longitudinal axis of the portion can be adapted to the respective boundary conditions. Preferably, the extension components are available in various lengths. One of the further functional modules can be formed, for example, by a status display module that shows information regarding the operating state of the geared motor or the arm portion. Furthermore, one of the further functional modules can be designed as an input module. Preferably, the other geared motor, extension components and further functional modules each form at least partially a standalone support structure for the arm portion along the longitudinal axis of the portion.

[0020] The robot arm according to the present invention comprises at least one of the above-described arm portions. The arm portion of the robot arm comprises a second arm portion including a second partial longitudinal axis, a second geared motor, and a third geared motor. The arm portion also comprises a third arm portion adjacent to the second arm portion, the third arm portion having a fourth geared motor. In this case, the third geared motor allows the third arm portion to be actuated relative to the second arm portion around the second partial longitudinal axis. Such an arrangement allows for the incorporation of numerous functions, particularly drive devices, into the arm portion. Thus, drive components can be present in high density in the arm portion. The drive components can be housed in the robot arm in a particularly space-saving manner. Preferably, the second geared motor, the third geared motor, and the fourth geared motor are arranged along the second partial longitudinal axis. Each of these geared motors may have a motor shaft particularly preferably located on the second partial longitudinal axis. Thus, the second geared motor, the third geared motor, and the fourth geared motor can be arranged in a line along the second partial longitudinal axis. Preferably, the third motor is positioned adjacent to the second geared motor and / or adjacent to the fourth geared motor.

[0021] The second arm portion and / or the third arm portion may each be formed by the aforementioned arm portion. The robot arm according to the present invention may comprise a first arm portion having a first partial longitudinal axis and a first geared motor. Furthermore, the robot arm may have a second arm portion adjacent to the first arm portion, having a second partial longitudinal axis and a second geared motor. Alternatively, the robot arm may have the aforementioned arm portion adjacent to the first arm portion by the second arm portion. In either alternative example, the second arm portion is rotatably supported about a bending axis that is offset from the first arm portion at an angle (winklig) with respect to the first and second partial longitudinal axes. In this case, the first and second arm portions are each formed by the aforementioned arm portions. Preferably, the bending axis has an offset perpendicular to the first and / or second partial longitudinal axis. The bending axis is preferably located outside the first and second arm portions.

[0022] A robot arm can be designed to transmit torque acting around the bending axis between the second and first arm portions by an angle drive (Winkelgetriebe) having a drive element located in the second arm portion and a driven element located in the first arm portion. This allows torque to be transmitted from the second arm portion to the first arm portion and vice versa in a small space. Therefore, the robot arm can be realized without a space-consuming, angular structure, especially in the region of the bending axis. Preferably, the drive element of the angle drive is rotatably connected integrally to the second output shaft of a second geared motor, or formed by this second output shaft. In a particularly preferred embodiment, the second output shaft can be positioned at an angle to the bending axis, particularly offset at a right angle.

[0023] In one embodiment of the present invention, the drive element is arranged on the second geared motor, and the driven element is arranged on the first arm portion. Therefore, the second arm portion can be actuated from the second arm portion relative to the first arm portion. The first arm portion preferably only has the driven element in order to enable torque transmission, so that the robot arm can have a structure that does not take up much space, especially with respect to the first arm portion.

[0024] The angle transmission device can have a reduction ratio starting from the drive element. In this way, the high torque required for the bending axis can be directly generated on the bending axis, and correspondingly, the drive train arranged in front of it as seen from the second geared motor can also be dimensioned in a lightweight and space-saving manner.

[0025] In a preferred embodiment of the present invention, the angle transmission device is designed as a bevel gear transmission (Kegelradgetriebe), the drive element is formed by the drive bevel gear transmission, and the driven element is formed by the driven bevel gear. The bevel gear transmission is an easy and inexpensive implementation of the angle transmission device.

[0026] In the robot arm according to the present invention, the first arm portion has a fork-shaped first connection element including the first fork protrusion and the second fork protrusion, and the second connection element of the second arm portion can be supported on the first arm portion about the bending axis such that it is arranged between the first fork protrusion and the second fork protrusion. Thereby, a rigid support portion and a small weight can be realized at the same time. Preferably, the first fork protrusion and the second fork protrusion form two legs of a U shape.

[0027] The second connecting element is preferably formed in a fork shape, including a third fork projection and a fourth fork projection, and the third fork projection can support the first fork projection, and the fourth fork projection can support the second fork projection. This further improves the weight and rigidity of the support portion.

[0028] The first connecting element may have a U-shaped cross-section in a virtual first plane formed by the bending axis and the first partial longitudinal axis, and / or the second connecting element may have a U-shaped cross-section in a virtual second plane formed by the bending axis and the second partial longitudinal axis. Therefore, the first connecting element and / or the second connecting element preferably have a bowl-shaped cross-section. This can increase the rigidity of the connecting element. The U-shape can be designed to have a certain radius. This allows the cross-section of each connecting element to be formed spherical.

[0029] In a preferred embodiment of the present invention, the driven element of the angle transmission device is integrally rotatable with respect to the first fork projection and / or second fork projection of the first connecting element. In this way, torque transmission around the bending axis can be achieved in a simple and space-saving manner.

[0030] It is particularly preferable that the second connecting element has a housing for the angle transmission device. The housing can be incorporated into the second connecting element. This allows the robotic arm to be designed to be particularly safe, especially in relation to collaborative work with humans.

[0031] In one embodiment of the present invention, the second connecting element may have an angle sensor for detecting the position of the driven element. This, in conjunction with an encoder unit located particularly on the second geared motor, enables reliable position measurement due to its redundancy.

[0032] In one advanced embodiment of the present invention, the robot arm has a fourth arm portion, the third arm portion being rotatably supported relative to the fourth arm portion about a second bending axis positioned at an angle and offset with respect to the longitudinal axis of the second portion, the arrangement of the third arm portion relative to the fourth arm portion being equivalent to the arrangement of the second arm portion relative to the first arm portion. This arrangement can include a support and all elements necessary for the operational connection between adjacent arm portions.

[0033] Therefore, a robot arm can be formed such that a torque acting around a second bending axis can be transmitted between the third and fourth arm portions by a second angle transmission device having a drive element located in the third arm portion and a driven element located in the fourth arm portion. Preferably, the drive element of the second angle transmission device is integrally rotatably connected to or formed by a fourth output shaft of a fourth geared motor. In a particularly preferred embodiment, the fourth output shaft can be positioned at an angle to the second bending axis, particularly offset at a right angle.

[0034] In one embodiment of the present invention, the drive element of the second angle transmission is located in the fourth geared motor, and the driven element of the second angle transmission is located in the fourth arm portion. Therefore, the fourth arm portion can be operated from the third arm portion relative to the third arm portion. The second angle transmission can have a reduction ratio starting from the drive element.

[0035] In a preferred embodiment of the present invention, the second angle transmission device can be formed as a bevel gear transmission device, where the driving element is formed by a driving bevel gear and the driven element is formed by a driven bevel gear.

[0036] In the robot arm according to the present invention, the third arm portion can be supported relative to the fourth arm portion around a second bending axis such that the fourth arm portion has a fork-shaped fourth connecting element which preferably corresponds to the first connecting element and includes a first fork projection and a second fork projection. Preferably, the third connecting element of the third arm portion which preferably corresponds to the second connecting element is positioned between the first fork projection and the second fork projection of the fourth connecting element. Preferably, the first fork projection and the second fork projection of the fourth connecting element form two U-shaped legs.

[0037] The third connecting element is preferably formed in a fork shape including a third fork projection and a fourth fork projection, and the third fork projection can be supported by the first fork projection of the fourth connecting element, and the fourth fork projection can be supported by the second fork.

[0038] The fourth connecting element has a U-shaped cross-section in a virtual fourth plane formed by the second bending axis and the fourth partial longitudinal axis, and / or the third connecting element has a U-shaped cross-section in a virtual third plane formed by the second bending axis and the second partial longitudinal axis. Therefore, it is preferable that the third connecting element and / or the fourth connecting element have a bowl-shaped cross-section. The U-shape can be designed to have a certain radius. This allows the cross-section of each connecting element to be formed spherical.

[0039] In a preferred embodiment of the present invention, the drive element of the second angle drive is integrally rotatably connected to the first and / or second fork projections of the fourth connecting element. It is particularly preferable that the third connecting element has a housing for the second angle drive. The housing can be incorporated into the third connecting element.

[0040] In one embodiment of the present invention, the third connecting element may have an angle sensor for detecting the position of the driven element. In particular, when used in conjunction with an encoder unit located on the third geared motor, it can perform reliable position measurement due to its redundancy.

[0041] A robot arm can be formed such that a first arm portion is adjacent to the base and can be actuated relative to the base by a first geared motor, a second arm portion can be actuated relative to the first arm portion by a second geared motor, and the second arm portion has a third geared motor and can be actuated relative to the second arm portion by the third geared motor. In this case, the base preferably forms an interface between the robot arm and the surrounding environment. By preferably having only a first geared motor in the first arm portion, the first arm portion can be made very short along the longitudinal axis of the first portion. This allows the end of the robot arm far from the base to reach points near the base with relatively small movements and little effort. Thus, the working space can be further expanded compared to the installation space of the robot arm as a whole. In this case, the term working space refers to the total of all points that can be reached by the end of the robot arm far from the base.

[0042] In one advanced form of the present invention, the first arm portion is rotatably supported on the base about a first longitudinal axis, and the third arm portion is rotatably supported on the second arm portion about a longitudinal axis. This arrangement allows for a large working space for the robot arm while simultaneously achieving a small installation space.

[0043] In one advanced form of the present invention, a flexible energy dissipation cover is provided on at least one of the arm portions of a robot arm, covering at least a portion of the robot arm. This allows for the rapid and effective dissipation of energy acting on the contact point from the robot arm side in the event of a collision between the robot arm and a person or object in the surrounding environment within the area of ​​the cover, and minimizes the effect of energy on the colliding person or object and the resulting deformation of the person or object. This reduces the risk of injury, particularly when the robot arm is used in conjunction with a collaborative robot.

[0044] This effect can be enhanced by the cover being spring-elastically supported on the robot arm. In particular, the cover can be spring-elastically supported on the robot arm by at least one folding section (Falz).

[0045] The cover may have at least one sensor for detecting collisions with a robotic arm. The sensor may be designed in particular as a contact sensor and / or a proximity sensor and / or a deformation sensor. The contact sensor can detect contact and thereby detect a collision with a person or object. The proximity sensor can detect approach to a person or object even in the pre-collision stage. The deformation sensor can detect deformation of the cover as a result of a collision. As a result of one or more of the aforementioned detections, measures can be taken to avoid and / or mitigate the collision or its consequences. In particular, the movement of the robotic arm can be immediately interrupted. This can further improve safety, especially when the robotic arm is used in collaborative work.

[0046] An embodiment of the present invention will be described with reference to the following figure. [Brief explanation of the drawing]

[0047] [Figure 1] This is a perspective view of a first exemplary embodiment of a robot arm having multiple arm portions in a first posture. [Figure 1a] This figure is the same as the one in Figure 1, but with reference numbers added. [Figure 2a] This is an exploded view of part of the arm and the driven bevel gear. [Figure 2b] Figure 2a is a perspective cross-sectional view of a part of the arm section and the driven bevel gear in an exploded view. [Figure 3] Figure 1 is a perspective view of the fork-shaped connecting element of the second arm portion and the adjacent arm portion in the exemplary embodiment shown. [Figure 4] This is a perspective cross-sectional view of the robot arm shown in Figure 1 in the second posture. [Figure 4a] This figure shows the same diagram as in Figure 4, with reference numerals added. [Figure 5] This is a perspective view of a second exemplary embodiment of a robotic arm. [Figure 6a] This is a diagram of the robot arm shown in Figure 1 in the third posture. [Figure 6b] This figure shows a conventional robot arm in the same posture as the robot arm shown in Figure 6a. [Figure 7a] This is a cross-sectional view of the robot arm shown in Figure 6b, with section A marked. [Figure 7b] This is a diagram of the section A marked in Figure 7a, which is part of the cross-section shown in Figure 7a. [Figure 8a] This is a perspective view of a third exemplary embodiment of a robotic arm having a cover. [Figure 8b] Figure 8a is a perspective view of the cover shown. [Modes for carrying out the invention]

[0048] Figures 1 to 8b illustrate various exemplary embodiments. The same reference numerals are used for parts that are the same and functionally the same. Figure 1 shows a first exemplary embodiment of a robot arm 10 having multiple arm sections 11. Figure 2a shows a portion of one of the arm sections 11 together with a driven bevel gear 12. The arm section 11 has a partial longitudinal axis 14 and a geared motor 16 for operating the arm section 11. As shown in Figure 2b, the geared motor 16 has a motor 18, a transmission 20, and a geared motor housing 22, and the support structure of the arm section 11 is formed at least partially by the geared motor housing 22 alone in the region of the geared motor housing 22 along the partial longitudinal axis 14.

[0049] As can be seen particularly in Figure 3, the arm portion 11 can extend longer in one of the three spatial directions than in the other spatial directions. The longitudinal axis 14 is preferably oriented along this spatial direction and designed to be a straight line. Particularly preferably, the arm portion 11 is formed in a substantially cylindrical shape, at least partially.

[0050] The geared motor 16 may include a brake unit 24 (Figure 2b). Furthermore, the geared motor 16 may have an encoder unit 26 for determining the position of the geared motor 16, and only the empty portion of the geared motor housing 22 is shown in Figure 2b.

[0051] The arm portion 11 can be operated relative to another arm portion 11 or the surrounding environment. Typically, the arm portion 11 is supported at two connection points 28, particularly relative to another arm portion 11 or to the surrounding environment. The support structure of the arm portion 11 preferably connects the two connection points 28 to each other and plays a role in transmitting force and torque between the connection points 28.

[0052] In the region of the geared motor housing 22 along the longitudinal axis 14, the support structure for the arm portion 11 is formed at least partially by the geared motor housing 22 alone. This allows the function of "transmitting force and torque between the connection points 28 of the arm portion 11" to be incorporated into the geared motor housing 22 in this region. Therefore, the arm portion 11 can be designed so that there are no additional support elements, at least in this region of the geared motor housing 22.

[0053] Such additional support elements may be, for example, an additional robot housing 219 as shown in Figure 6b. Figure 6a shows a robot arm 10, while Figure 6b shows a prior art robot arm 210. The robot arm 210 has arm sections 211. In the conventional robot arm 210, the geared motors 216 used therein are each located in robot housings 219 that form the support structure for each arm section 211. Figure 7a shows a cross-sectional view of the conventional robot arm 210. In particular, detail A, shown in enlargement in Figure 7b, shows that in the conventional robot arm 210, the geared motor 216 has a geared motor housing 222. The geared motor housing 222 is supported by a robot housing 219 that completely surrounds the geared motor housing 222. The support structure that connects the two connection points to each other and transmits force and torque between the connection points 228 of the arm sections is formed by the robot housing 219 in the region of the geared motor housing 222. Therefore, in the region of the geared motor 216, the support structure is formed by the robot housing 219.

[0054] In particular, as shown in Figure 3, it is preferable that the arm portion 11 be formed in a straight line. In that case, the longitudinal axis 14 of the portion can connect the connection points 28 of the arm portion 11 in a straight line. Therefore, the arm portion 11 can be made without any curvature. As a result, as shown in the comparison of robot arms 10 and 210 in Figures 6a and 6b, the robot arm 10 can be designed to take up significantly less space, whereas the conventional robot arm 210 is made significantly wider, especially due to the curved design of the arm portion 211.

[0055] The cross-sectional view in Figure 2b shows that the output shaft 30 of the geared motor 16 is preferably positioned parallel to the partial longitudinal axis 14. This arrangement avoids the robot arm 10 being made wider, particularly in the area of ​​the connection point 28, and thus avoiding occupying a lot of space. For illustration, please refer to Figure 6b, where the robot arm 210 shown there is structured to take up particularly more space than the robot arm 10, especially in the area of ​​the connection point 228. The geared motor housing 22 can be formed in a cylindrical shape, and the output shaft 30 can exit the geared motor housing 22 at the end face 32.

[0056] The geared motor 16 may have a motor shaft 34 designed as a hollow shaft. Therefore, the motor shaft 34 can be used in particular for passing lines through it. The lines passed through the motor shaft 34 may be lines that carry a medium such as electric wires or compressed air lines. The transmission device 20 is preferably designed as a three-axis transmission device, and particularly preferably as a planetary transmission device.

[0057] An extension component 36 for extending the arm portion 11 can be positioned along the longitudinal axis 14 of the portion. Preferably, the extension component 36 is available in various lengths. Preferably, the extension component 36 forms a component of the arm portion 11.

[0058] The extension component 36 is located along the partial longitudinal axis 14, particularly adjacent to the geared motor housing 22, and can at least partially form a standalone support structure for the arm portion 11. The robot arm 10 shown in Figures 1, 4, and 6a may have a first arm portion 11a having a first longitudinal axis 14a and a first geared motor 16a. Furthermore, the robot arm 10 may have a second arm portion 11b adjacent to the first arm portion 11a, having a second longitudinal axis 14b and a second geared motor 16b. The second arm portion 11b may further have a third geared motor 16c. The second arm portion 11b may be a component of an arm portion 15, which includes the second arm portion 11b and a third arm portion 11c adjacent to the second arm portion 11b, and the third arm portion has a fourth geared motor 16d. In that case, the third arm portion 11c is movable relative to the second arm portion 11b around the longitudinal axis 14b of the second portion by the third geared motor 16c (especially in Figure 4) a (See reference).

[0059] Preferably, the second geared motor 16b, the third geared motor 16c, and the fourth geared motor 16d are arranged along the second partial longitudinal axis 14b. It is particularly preferable that the motor shafts 34 of each of the geared motors 16b, 16c, and 16d are arranged on the second partial longitudinal axis 14b. Thus, the second geared motor 16b, the third geared motor 16c, and the fourth geared motor 16d can be arranged in a line along the second partial longitudinal axis 14b. Preferably, the third geared motor 16c is arranged adjacent to the second geared motor 16b and adjacent to the fourth geared motor 16d.

[0060] The second arm portion 11b can be supported on the first arm portion 11a so as to be rotatable about a bending axis 38 which is offset perpendicularly to the first and second longitudinal axes 14a and 14b. In this case, the first arm portion 11a, the second arm portion 11b, and the third arm portion 11c are each formed by the aforementioned arm portion 11. It is preferable that the bending axis 38 be positioned outside the first and second arm portions 11a and 11b.

[0061] The robot arm 10 can be designed such that torque acting around the bending axis 38 can be transmitted between the second arm portion 11b and the first arm portion 11a by an angle transmission device designed as a bevel gear transmission device 40 having a drive bevel gear 42 located on the second arm portion 11b and a driven bevel gear 12 located on the first arm portion 11a (see Figure 4 in particular). The bevel gear transmission device 40 is shown particularly well in Figures 2a and 2b. Thus, the robot arm 10 can be realized without a structure with many corners that take up space, especially in the region of the bending axis 38. The drive bevel gear 42 preferably forms the second output shaft 30b of the second geared motor 16b. The second output shaft 30b can be positioned at an angle to the bending axis 38, and in particular offset at a right angle.

[0062] The effect of this arrangement, particularly on the required installation space, is evident when comparing the robot arm 10 shown in Figure 6a with the conventional robot arm 210 shown in Figure 6b. The robot arm 210 is made considerably wider in the region of the bending axis 238. The cross-sectional views in Figures 7a and 7b illustrate the design background. There is no angle transmission device such as the bevel gear transmission device 40. In contrast, the geared motor 216 is positioned on the bending axis 238 such that the output shaft 230 of the geared motor 216 is positioned parallel to the bending axis 238.

[0063] Preferably, the drive bevel gear 42 is located on the second geared motor 16b, and the driven bevel gear 12 is located on the first arm portion 11a. This allows the second arm portion 11b to be actuated from the second arm portion 11b relative to the first arm portion 11a.

[0064] In particular, as can be seen from the diameter ratio of the drive bevel gear 42 and the driven bevel gear 12, the bevel gear transmission 40 can have a reduction ratio starting from the drive bevel gear 12. In this way, the high torque required for the bending shaft 38 can be directly generated on the bending shaft 38, and accordingly, the drivetrain, especially the transmission 20, which is positioned in front of the second geared motor 16b, can be sized to be lightweight and space-saving.

[0065] As shown in Figure 1, the first arm portion 11a has a first connecting element 46 including a first fork projection 48 and a second fork projection 50, and the second arm portion 11b can be supported relative to the first arm portion 11a with respect to the bending axis 38, such that the second connecting element 52 of the second arm portion 11b is positioned between the first fork projection 48 and the second fork projection 50. Preferably, the first fork projection 48 and the second fork projection 50 form two U-shaped legs. The driven bevel gear 12 is preferably connected integrally and rotatably to the first fork projection 48.

[0066] The second connecting element 52 is preferably formed in a fork shape, including a third fork projection 54 and a fourth fork projection 56, and the third fork projection 54 can support the first fork projection 48, and the fourth fork projection 56 can support the second fork projection 50.

[0067] It is particularly preferable that the second connecting element 52 has a housing for the bevel gear transmission 40. As can be seen from Figures 2a and 2b, the housing for the bevel gear transmission 40 can be incorporated into the second connecting element 52. The second connecting element 52 may have an angle sensor 60 for detecting the position of the driven bevel gear 12.

[0068] The first connecting element 46 may have a U-shaped cross-section in the virtual first plane formed by the bending axis 38 and the first partial longitudinal axis 14a. Therefore, the first connecting element preferably has a bowl-shaped cross-section.

[0069] As shown in Figure 5, the robot arm can be designed such that torque for driving or braking around the bending axis 38 is provided by a drive unit positioned on the bending axis 38. In this case, the drive unit 58 can be positioned between the first fork projection 48 and the second fork projection 50, and these themselves can also be positioned between the third fork projection 54 and the fourth fork projection 56. Furthermore, in the arrangement of Figure 5, in addition to the first connecting element 46, the second connecting element 52 can also have a U-shaped cross-section, preferably on a virtual second plane formed by the bending axis 38 and the second partial longitudinal axis 14b. The U-shape can be designed to have a certain radius. This allows the cross-sections of the first connecting element 46 and the second connecting element 52 to be formed spherical.

[0070] In particular, as can be seen from Figures 1 and 4, and by the corresponding reference numerals in Figures 1a and 4a, the robot arm may have a fourth arm portion 11d, and the third arm portion 11c has a second bending axis 38 which is positioned at an angle, particularly offset at a right angle, around the second longitudinal axis 14b. bThe third arm portion 11c is rotatably supported around the fourth arm portion 11d. Preferably, in this case, the arrangement of the third arm portion 11c relative to the fourth arm portion 11d is designed to correspond to the arrangement of the second arm portion 11b relative to the first arm portion 11a. This arrangement can include the support portion and all elements necessary for the operational connection between adjacent arm portions.

[0071] Therefore, the robot arm 10 can be designed such that torque acting around the second bending axis 38b can be transmitted between the third arm portion 11c and the fourth arm portion 11d via the second bevel gear transmission 40b. The second bevel gear transmission 40b preferably corresponds to the bevel gear transmission 40 and therefore similarly has a driving bevel gear 42 and a driven bevel gear 12. Preferably, the driving bevel gear 42 of the second bevel gear transmission 40b is located on the third arm portion 11c, and the driven bevel gear 12 of the second bevel gear transmission 40b is located on the fourth arm portion 11d.

[0072] As shown in Figure 2b, the drive bevel gear 42 of the second bevel gear transmission device 40b can be positioned on the fourth geared motor 16c, and the driven bevel gear 12 of the second angle transmission device 40b can be positioned on the fourth arm portion 11d. As a result, as shown in Figure 4, the fourth arm portion 11d can be operated from the third arm portion 11c relative to the third arm portion 11c.

[0073] As shown in Figures 1 and 4, in the robot arm 10, the third arm portion 11c can be supported on the fourth arm portion 11d around the second bending axis 38b, such that the fourth arm portion 11d has a fork-shaped fourth connecting element 46b. Corresponding reference numerals are shown in Figures 1a and 4a. The fourth connecting element 46b preferably corresponds to the first connecting element 46. Therefore, the fourth connecting element may also have a first fork projection 48 and a second fork projection 50 that form two U-shaped legs. The third connecting element 52b of the third arm portion 11c can be positioned between the first fork projection 48 and the second fork projection 50 of the fourth connecting element 46b. Preferably, the first and second fork projections of the fourth connecting element form two U-shaped legs.

[0074] The third connecting element 52b is preferably designed to correspond to the second connecting element 52. Therefore, it can be designed in a fork shape in particular. Thus, the third connecting element 52b can also have a third fork projection 54 and a fourth fork projection 56. In that case, the third fork projection 54 can be supported by the first fork projection 48 of the fourth connecting element 46b, and the fourth fork projection 56 can be supported by the second fork projection 50 of the fourth connecting element 46b.

[0075] The fourth connecting element 46b may have a U-shaped cross-section in the virtual fourth plane formed by the second bending axis 38b and the fourth partial longitudinal axis 14d, and the third connecting element 52b may have a U-shaped cross-section in the virtual third plane formed by the second bending axis 38b and the second partial longitudinal axis 14b. Therefore, it is preferable that the third connecting element 52b and the fourth connecting element 46b have bowl-shaped cross-sections.

[0076] Figures 1, 4, and 6 aThe robot arm 10 shown can be designed such that the first arm portion 11a is adjacent to the base 62 and the first arm portion 11a is actuated relative to the base 62 by a first geared motor 16a. In that case, the second arm portion 11b can be actuated relative to the first arm portion 11a by a second geared motor 16b. Furthermore, the second arm portion 11b may have a third geared motor 16c, and this third geared motor can actuate the third arm portion 11c adjacent to the second arm portion 11b relative to the second arm portion 11b. In that case, it is preferable that the base 62 forms an interface between the robot arm 10 and the surrounding environment. By preferably having only the first geared motor 16a, the first arm portion can be made very short along the first longitudinal axis 14a. This allows the end 64 of the robot arm 10, which is far from the base 62, to reach a point near the base 62 with relatively small movements and minimal effort.

[0077] The first arm portion 11a is preferably rotatably supported on the base 62 with respect to the first longitudinal axis 14a. The third arm portion 11c is preferably rotatably supported on the second arm portion 11b with respect to the second longitudinal axis 14b.

[0078] As shown in Figure 8a, a flexible energy dissipation cover 66 that at least partially covers the robot arm 10 can be placed on at least one of the arm portions 11, 11a, and 11b of the robot arm 10. This reduces the risk of injury, especially when the robot arm 10 is used with a collaborative robot.

[0079] This effect can be enhanced by the fact that the cover 66 is spring-elastically supported on the robot arm 10. In particular, the cover 66 can be spring-elastically supported on the robot arm 10 by at least one folding portion 68. Figure 8b shows only the cover 66.

[0080] The cover 66 may have at least one sensor (not shown in Figures 8a and 8b) for detecting collisions with the robot arm. This can further improve safety, especially when the robot arm 10 is used in collaborative work. [Explanation of symbols]

[0081] 10 Robot Arms 11 Arm section 11a First arm section 11b Second arm section 11c Third arm section 11d Fourth arm section 12 Driven gear 14 partial longitudinal axis 14a First part longitudinal axis 14b Second part longitudinal axis 14d Fourth part longitudinal axis 15 Arm section 16 Geared motor 16a First geared motor 16b Second geared motor 16c Third geared motor 16d Fourth geared motor 18 Motors 20 Transmission device 22 Geared motor housing 24 Brake Unit 26 Encoder Unit 28 connection points 30 Output shaft 30b Second output shaft 32 End face 34 Motor shaft 36 Extension parts 38 bending axis 38b Second bending axis 40 Bevel gear transmission 40b Second bevel gear transmission 42 Drive bevel gear 46 First connection element 46 b Fourth connection element 48. First fork projection 50 Second fork protrusion 52 Second connection element 52b Third connection element 54 Third fork projection 56. Fourth fork projection 58 Drive Unit 60° angle sensor 62 Bass 64 The Far End 66 Cover 68 Folding section 210 Robot arm (conventional technology) 211 Arm section (conventional technology) 216 Geared motor (conventional technology) 219 Robot Housing 222 Geared motor housing 228 connection points 230 Output shaft 238 bending axis

Claims

1. A robotic arm (10), A first arm portion (11a) having a first longitudinal axis (14a) and a first geared motor (16a), It comprises an arm section (15) and The aforementioned arm portion (15) is The second longitudinal axis (14b), The second geared motor (16b) and The third geared motor (16c) and A second arm portion (11b) including, A third arm portion (11c) adjacent to the second arm portion (11b), including a fourth geared motor (16d), It has, The arm portion (15) is adjacent to the first arm portion (11a) by the second arm portion (11b), The arm portion (15) is movable by the third geared motor (16c) so that the third arm portion (11c) is movable relative to the second arm portion (11b) about the second longitudinal axis (14b). The second arm portion (11b) is rotatably supported with respect to the first arm portion (11a) about a bending axis (38) which is positioned at an angle and offset with respect to the first longitudinal axis (14a) and the second longitudinal axis (14b). The torque acting around the bending axis (38) can be transmitted between the second arm portion (11b) and the first arm portion (11a) by an angle transmission device having a drive element located on the second arm portion (11b) and a driven element located on the first arm portion (11a). Robot arm (10).

2. The second arm portion (11b) is designed to be linear. Characterized by, The robot arm (10) according to claim 1.

3. An extension component (36) for extending the second arm portion (11b), and / or further functional modules, can be positioned on the second arm portion (11b) along the second longitudinal axis (14b). Characterized by, The robot arm (10) according to claim 1.

4. The drive element is positioned on the second geared motor (16b), and the driven element is positioned on the first arm portion (11a). Characterized by, The robot arm (10) according to claim 1.

5. The angle transmission device has a reduction ratio starting from the drive element. Characterized by, The robot arm (10) according to claim 1.

6. The angle transmission device is formed as a bevel gear transmission device (40), the driving element is formed by a driving bevel gear (42), and the driven element is formed by a driven bevel gear (12). Characterized by, The robot arm (10) according to claim 1.

7. The second arm portion (11b) is supported on the first arm portion (11a) with respect to the bending axis (38) such that the first arm portion (11a) has a fork-shaped first connecting element (46) including a first fork projection (48) and a second fork projection (50), and the second connecting element (52) of the second arm portion (11b) is positioned between the first fork projection (48) and the second fork projection (50). Characterized by, The robot arm (10) according to claim 1.

8. The second connecting element (52) is formed in a fork shape including a third fork projection (54) and a fourth fork projection (56), the third fork projection (54) being supported by the first fork projection (48), and the fourth fork projection (56) being supported by the second fork projection (50). Characterized by, The robot arm (10) according to claim 7.

9. The first connecting element (46) has a U-shaped cross-section in a virtual first plane formed by the bending axis (38) and the first partial longitudinal axis (14a), and / or the second connecting element (52) has a U-shaped cross-section in a virtual second plane formed by the bending axis (38) and the second partial longitudinal axis (14b). Characterized by, The robot arm (10) according to claim 7.

10. The second arm portion (11b) is supported on the first arm portion (11a) with respect to the bending axis (38) such that the first arm portion (11a) has a fork-shaped first connecting element (46) including a first fork projection (48) and a second fork projection (50), and the second connecting element (52) of the second arm portion (11b) is positioned between the first fork projection (48) and the second fork projection (50). The driven element of the angle transmission device is integrally rotatably connected to the first fork projection (48) and / or the second fork projection (50) of the first connecting element (46). Characterized by, The robot arm (10) according to claim 1.

11. The torque acting around the bending axis (38) can be transmitted between the second arm portion (11b) and the first arm portion (11a) by an angle transmission device having a drive element located on the second arm portion (11b) and a driven element located on the first arm portion (11a). The second connecting element (52) has a housing for the angle transmission device. Characterized by, The robot arm (10) according to claim 7.

12. The torque acting around the bending axis (38) can be transmitted between the second arm portion (11b) and the first arm portion (11a) by an angle transmission device having a drive element located on the second arm portion (11b) and a driven element located on the first arm portion (11a). The second connecting element (52) has an angle sensor (60) for detecting the position of the driven element. Characterized by, The robot arm (10) according to claim 7.

13. The robot arm (10) has a fourth arm portion (11d), and the third arm portion (11c) is rotatably supported relative to the fourth arm portion (11d) with respect to a second bending axis (38b) which is positioned at an angle and offset with respect to the second longitudinal axis (14b), and the arrangement of the third arm portion (11c) relative to the fourth arm portion (11d) is formed to correspond to the arrangement of the second arm portion (11b) relative to the first arm portion (11a). Characterized by, The robot arm (10) according to claim 1, wherein the second arm portion (11b) is adjacent to the first arm portion (11a).

14. The first arm portion (11a) is adjacent to the base (62), and the first arm portion (11a) is operable relative to the base (62) by the first geared motor (16a), and the second arm portion (11b) is operable relative to the first arm portion (11a) by the second geared motor (16b), and the second arm portion (11b) has a third geared motor (16c), and the third geared motor is operable relative to the second arm portion (11b) by the third geared motor. Characterized by, The robot arm (10) according to claim 1.

15. The first arm portion (11a) is rotatably supported on the base (62) with respect to the first longitudinal axis (14a), and the third arm portion (11c) is rotatably supported on the second arm portion (11b) with respect to the second longitudinal axis (14b). Characterized by, The robot arm (10) according to claim 14.

Images