Output group with planetary roller gear

Abstract

The invention relates to an output group having a planetary roller gear (90), which has an input shaft rotatably mounted in a drive housing and two gear nuts (111, 131). The gear nuts are mounted so as to be rotationally fixed relative to a gear housing and so as to be displaceable in the translational direction, and the gear housing or a gear spindle forms an output element (151) of the output group. The output element is mounted in the drive housing so as to be rotationally fixed and is guided in the translational movement directions in the drive housing. A storage device for potential energy (141, 145) which can be repeatedly charged and discharged is provided in the force flow between each gear nut and the gear housing, and an approaching movement of the gear nut and the gear housing relative to each other, the approaching movement being caused by a rotation of the input shaft when the output elements are inhibited, charges the potential energy storage device associated with one of said gear nuts. The potential energy storage device supplies kinetic energy to an at least temporary energy sink. By virtue of the invention, an output group is developed with which a breakaway pulse can be applied in two drive directions.

Description

[0001] G. and M. Zimmer 01.10.25 77866 Rheinau 5 10 Output group with planetary roller gear 15 Description: The invention relates to an output group with a planetary roller gear, which rotates within a drive housing. 20 The input shaft is supported and has two gear nuts. From DE 102017 124 386 A1, a planetary roller gearbox with a rotary-driven gearbox housing is disclosed, in which 25 It is known that two gear nuts are rotatably mounted in rolling bearings. A threaded spindle can be moved in a translational direction by means of the planetary roller drive. 30The present invention addresses the problem of developing an output assembly capable of applying a breakaway impulse in two drive directions. This problem is solved by the features of the main claim. For this purpose, the gear nuts are mounted to be rotationally fixed relative to a gear housing and displaceable in the translational direction. The gear housing or a gear spindle forms an output body of the output assembly. The output body is mounted to be rotationally fixed in the drive housing and is guided in the translational directions of movement within the drive housing. A repeatedly chargeable and dischargeable storage device for potential energy is arranged in the force flow between each gear nut and the gear housing.In the case of a locked output element, the approach of the gear nut and the gear housing relative to each other, caused by a rotation of the input shaft, charges the potential energy storage device associated with one of these gear nuts, located in the power flow. This potential energy storage device supplies kinetic energy to an energy sink, at least temporarily. The drive unit has a rotatable input shaft, which is part of a planetary gear system. This non-self-locking planetary gear system, which can be driven in both directions of rotation, transmits the input motion into a translational motion of the gear nuts. Each of the gear nuts is associated with a potential energy storage device in the power flow. This potential energy storage device can be used, for example, a spring energy storage device, a pressure storage device, a gas spring filled with nitrogen, stored deformation energy, a lifting device, etc.Energy is transferred to the driven body. In this case, the driven body forms an energy sink, at least temporarily. If the movement of the driven body is inhibited, e.g., by means of a brake, a clamp, or a load acting against the direction of movement of the driven body, the potential energy storage device is charged. For example, a spring energy storage device is compressed. If the input shaft rotates in the opposite direction, the inhibition of the driven body can be released. The energy released from the potential energy storage device to the driven body can now be used as a breakaway impulse in addition to the drive energy. Further details of the invention will become apparent from the dependent claims and the following description of schematically illustrated embodiments.Figure 1: Gripper; Figure 2: Section of Figure 1; Figure 3: Isometric section of Figure 1 with a section plane normal to the section plane of Figure 2; Figure 4: Bottom view of Figure 1; Figure 5: Drive motor, freewheel and input shaft; Figure 6: Freewheel; Figure 7: Cross section of Figure 7; Figure 8: Drive ring; Figure 9: Inner star; Figure 10: Freewheel position; Figure 11: Locking position; Figure 12: Planetary roller gear; Figure 13: Section of Figure 10; Figure 14: Gear spindle; Figure 15: Planetary roller; Figure 16: Gear nut; Figure 17: Spindle housing; Figure 18: Variant of the drive module; Figure 19: Drive module with torsional compensation element. Y7242=WO Figures 1–17 show a gripper (10) in the form of an electric gripper (10) in views, sections, and some individual parts. The gripper (10) has a drive module (20), a tool module (190), and an electronics module (200).The drive module (20) has a drive housing (21) in which a drive unit (22) is arranged. The tool module (190) has a tool housing (191) in which a tool unit (192) is arranged. The electronics module (200) has an electronics housing (201) in which an electronics unit (202) is arranged. The drive housing (21), the tool housing (191), and the electronics housing (201) are connected to each other, for example, by screws. Together, they form a gripper housing (11). Plug connectors, for example, are provided for the electrical connections between the individual modules (20, 190, 200). In the gripper housing (11), the drive unit (22) drives the tool unit (192). The electronics unit (202) controls this process. The electronics unit (202) has internal processing and storage modules. It also features data, signal and power interfaces for communication with higher-level control systems.25 In the exemplary embodiment, the tool module (190) is designed as a parallel gripping unit. It has two gripper slides (193) which are guided in a common guide groove (194) of the tool housing (191). A gripping element can be attached to each of the gripper slides (193). The two gripper slides (193) are coupled to a control element (195) by means of a wedge-hook drive (not shown here). In this exemplary embodiment, the control element (195) is designed as a plunger (195). When the plunger (195) is moved upwards as shown in Figure 2, the gripper slides (193) are displaced outwards along the guide groove (194). When the plunger (195) is lowered, the gripper slides (193) are pulled towards the center. 5 The tool module (190) can also be designed as a centric gripping unit.In a centric gripping unit, for example, three gripper slides (193) that move radially are actuated by means of a common control element (195). It is also conceivable to actuate the tool module (190) by means of a rotaryally moved control element (195). Rack and pinion drives can be used to transmit the movement from the rotating control element (195) to the gripper slides (193), which move, for example, linearly. For example, the gripper slides (193) then carry rack segments that mesh with a control element designed as a gear. Other embodiments of the tool module (190) are also conceivable. The modules (20, 190, 200) can be interchangeable. For example, a group consisting of a drive module (20) and an electronics module (200) can be combined with another tool module (190). The exchange also includes, for example,The drive module (20) can be modified if, for example, a more powerful drive module (20) is required for a planned application. 30 The drive unit (22) of the drive module (20) has a drive motor (23), a switchable freewheel (41), and an output group (80). In the embodiment Y7242=WO example, the drive motor (23) is an electric motor in the form of a brushed DC motor. However, it can also be a brushless DC motor, an external rotor, a stepper motor, etc. The drive motor (23) has two drive directions (24, 25) that are opposite to each other. These drive directions (24, 25) are referred to below as the first drive direction (24) and the second drive direction (25). The drive motor (23) is designed, for example, without a brake. 10 The rotatable motor shaft (26) of the drive motor (23) carries a drive pinion (27).This is part of a drive transmission (28) designed as a pre-transmission. The drive pinion (27) meshes with an intermediate gear (29), which in turn engages with a driven gear (31). In the exemplary embodiment, all gears (27, 29, 31) are designed as spur gears with straight teeth. The reduction ratio in the exemplary embodiment is 1:4. The pre-transmission can also be designed with helical gears, as a transmission with intersecting or intersecting axes, as a traction transmission, e.g., in the form of a toothed belt drive, etc. If necessary, the drive unit (22) can also be designed without a pre-transmission. The switchable freewheel (41) is a self-engaging, directionally controlled clutch. In each direction of rotation, it has a locked state and a freewheel state. In the exemplary embodiment, the switchable freewheel (41) is a sprag clutch. The locking elements (42) are designed as cylindrical rollers.30 The use of a sprag clutch, a toothed disc clutch, a slip clutch, etc., is also conceivable. Y7242=WO The freewheel (41) shown in Figures 6–11 has an outer ring (43), a drive ring (51), an inner ring (61), for example six locking elements (42), pressure springs (71), a support disc (72), and spring washers (73). The maximum swivel angle of the freewheel between the freewheel position (57) and the locked position (58) is, for example, less than 20 degrees. In the exemplary embodiment, it is 16 degrees. The outer ring (43) is fastened in the drive housing (21) by means of fastening screws. These are arranged, for example, offset by 45 degrees to the plane of section. The outer ring (43) has a largely cylindrical outer ring (44) in which head bearings (45) for the fastening screws are formed. The inner side (46) of the mantle ring (44) is designed as a 15 cylindrical running surface (46).A base disk (47) is integrally formed on the outer ring (44). This base disk (47) is oriented perpendicular to a longitudinal direction (35) of the drive module (20). It has a central opening (48) whose diameter is 65% of the diameter of the running surface (46) of the outer ring (44). Figure 8 shows a drive ring (51) in an isometric view. The drive ring (51) has a drive pin (52). When the freewheel (41) is mounted, the driven gear (31) is positively engaged on this drive pin (52). For example, the torque transmission from the driven gear (31) to the drive ring (51) is ensured by means of three dowel pins (33). These dowel pins (33) sit in dowel pin recesses (32) of the output gear (31) and the drive ring (51). 30 The drive ring (51) has a longitudinally oriented (35) through bore (53). Its diameter is, for example, 60% of the diameter of the drive ring (51).Y7242=WO On the side facing away from the output pin (52), the drive ring (51) has three drive pins (54) oriented in the longitudinal direction (35). These are identical in construction and arranged on a common pitch circle. Each of the drive pins (54) covers a segment of 45 degrees. In the exemplary embodiment, its flanks (55) enclose an angle of 60 degrees. The thickness of each individual drive pin (54) is, in the exemplary embodiment, one-ninth of the diameter of the drive ring (51). The length of each drive pin (54) oriented in the longitudinal direction (35) is, for example, twice this thickness. A sliding pin (56) is arranged between each pair of drive pins (54). Its length is, for example, one-ninth of the length of each individual drive pin (54). In a projection normal to the longitudinal direction (35) it has a rectangular cross-sectional area.The radially oriented side length is one and a half times the circumferentially oriented side length. Figure 9 shows an inner star (61). The inner star (61) has a circumcircle whose diameter is, for example, one-tenth of a millimeter smaller than the diameter of the drive ring (51). This circumcircle defines three radially oriented stop pins (62). The stop pins (62) are identical in construction and arranged on a common pitch circle. Each of the stop pins (62) projects from a central disk (63). Each stop pin (62) covers, for example, a segment of 22 degrees outside the central disk (63). Tangential to a circle coaxial with the circumcircle, each of the stop pins (62) has a receiving bore (64) designed as a through-hole. In each of these mounting bores (64) a compression spring (71) is located when the freewheel is mounted on Y7242=WO.The length of each stop pin (62) oriented in the longitudinal direction (35) is, for example, one-fifth of the diameter of the inner star (61). Each of the stop pins (62) is formed symmetrically to a radial plane of the inner star (61). In the exemplary embodiment, the central disk (63) has a diameter of 76% of the circumference of the inner star (61). The length of the inner star (61) oriented in the longitudinal direction (35) corresponds to the length of each stop pin (62). The central disk (63) has a central opening (65) whose diameter is, for example, 40% of the diameter of the circumference of the inner star (61). The lateral surface (66) of the central disk (63) is designed as a guide surface (66). The stop pins (62) project from this guide surface (66). Between the stop pins (62) the guide surface (66) is formed symmetrically to a20 radial plane of the inner star (61).The guide surface (66) has a circular segment (67) to which ramp segments (68) and transition segments (69) connect towards the stop pins (62). The circular segment (67) has the aforementioned diameter of the central disk (63). It covers, for example, a sector angle of 42 degrees. The ramp segments (68) form an angle of, for example, 23 degrees with a tangent to the circular segment (67). The maximum depth of the individual ramp segment (68) is, for example, 0.6 millimeters. In the exemplary embodiment, the transition segment (69) has a radius of 1.4 millimeters. This radius is, for example, 93% of the radius of the locking body (42) used in the exemplary embodiment. Areas of the receiving bores (64) are formed in the transition segments (69). 5 On the side of the inner star (61) facing away from the stop pin (62) a stop surface (75) is formed.This is oriented perpendicular to the longitudinal direction (35). Next to the stop surface (35), two drive blocks (76) oriented perpendicular to the stop surface (35) project from the inner star (61). The drive blocks (76) have drive surfaces (77) oriented parallel to each other. The locking elements (42), designed as clamping elements (42), are, in the exemplary embodiment, six cylindrical rollers. All clamping elements (42) have identical dimensions. The length of each individual clamping element (42) is, for example, 5 millimeters. In the illustration of Figure 7, one clamping element (42) rests against a ramp section (68) of the inner star (61). In this illustration, the clamping elements (42) are, for example, slightly spaced apart from the running surface (46). Each compression spring (71) loads two clamping elements (42). These clamping elements (42) are arranged on both sides of a stop pin (62).25 A spring washer (73) rests on the base disk (47) of the outer ring (43), which supports a support disk (72). The inner star (61) with the clamping elements (42) rests on the support disk (72). The inner star (61) and the locking elements (42) are biased towards the drive ring (51) by means of the spring washer (73). The freewheel (41) is attached to the output assembly (80). A support ring (34) serves this purpose, which extends through the drive ring (51). For example, the drive ring (51) is mounted on the Y7242=WO support ring (34) in a sliding manner. The support ring (34) has a retaining collar (36) perpendicular to the longitudinal direction (35). This retaining collar (36) engages the drive ring (51) with clearance. 5 The output assembly (80) has an input shaft (81), a driven body (151) and at least one potential energy storage device (141; 145). The potential energy storage device (141; 145) is arranged in the power flow between the input shaft (81) and the driven body (151).The force driving the output body (151) is transmitted from the input shaft (81) via the potential energy storage (141; 145) to the output body (151). The input shaft (81) is rotatably mounted in the drive housing (21) about its longitudinal axis oriented in the longitudinal direction (35). The output body (151) has either one translational or one rotational degree of freedom. In the case of a translational degree of freedom of the output body (151), a bearing (181) arranged in the drive housing (21) limits the movement of the output body (151) to two translational directions (182, 183) oriented in opposite directions to each other. This bearing (181) is, for example, a translational bearing in the form of a sliding bearing 25, linear rolling bearing units such as ball recirculating shoes, etc. Rotation of the output body (151) is blocked by means of the translational bearing (181).The translational directions of motion (182, 183) are oriented, for example, in the longitudinal direction (35) of the drive module (20). However, the translational directions of motion (182, 183) can also be oriented obliquely or transversely to the longitudinal direction (35). The output assembly (80) can have a gear (83) that converts a rotary motion of the input shaft (81) into a translational motion of a further gear element. This gear (83) can be a rack and pinion gear, a screw gear, a worm gear, a crank gear, etc. From this further gear element, e.g., the gear output, the kinetic energy is transferred to the output body (151) under load of the storage of potential energy (141; 145).With one rotational degree of freedom (184) of the output body (151), the output body (151) is rotatably mounted in the drive housing (21) in two opposite directions of rotation (184, 185), see Figure 19. For this purpose, for example, a bearing (153) in the form of a radial or axial bearing is used. These directions of rotation (184, 185), the 15 rotational degrees of freedom (184, 185), are oriented, for example, in a plane normal to the longitudinal direction (35). However, the output body (151) can also be rotatable about an axis of rotation that is not oriented in the direction of the longitudinal axis (35). The output assembly (80) used for this purpose can have a gear 20 that converts a rotary motion into a rotary motion. This can be, for example, a rolling gear in the form of a spur gear, a bevel gear, a helical gear, etc. 25 The support ring (34) is attached to the end face of the input shaft (81) by means of a release screw (37).In this embodiment, the release screw (37) has an internal hexagon socket (38). A blocked input shaft (81) can be released by means of a tool engaging in the internal hexagon socket (38). The drive housing (21) has, for example, a mounting cover (39) for this purpose. Other designs of the freewheel emergency release device (37, 38) are also conceivable. For example, the input shaft (81) can have a hexagon that can be gripped with a tool. The design of a lever or handle for emergency release is also conceivable. It is also conceivable to design the freewheel emergency release device on one of the wheels of the drive gear (28). For example, a tool engagement for emergency release can be formed on the drive pinion (27).The freewheel (41) is engaged with the drive blocks (76) of the inner star (61) on complementary drive surfaces (82) of the input shaft (81) to transmit the drive torques 10. In the exemplary embodiment, the output assembly (80) has a gearbox (83) that transmits a rotary motion of the input shaft (81) into a translational motion of a further gearbox element. This gearbox (83) has a planetary roller gear (90) as shown in Figures 2, 3 and 12–17. The planetary roller gear (90) has a gear spindle (91), several planetary rollers (101) and two gear nuts (111, 131). In this exemplary embodiment, the gear nuts (111, 131) form the aforementioned further gearbox element. In this embodiment 25, the input shaft (81) is formed by the gear spindle (91), see Figures 12 and 14. The gear spindle (91) has, for example,The spindle (91) has a length of 53 millimeters and a maximum diameter of 25 millimeters. It is manufactured as a turned part. The threaded spindle (91) has a guide pin (92) on which the inner star (61) sits. A bearing flange (93) is attached to this. This bearing flange (93) is disk-shaped. It lies in a plane perpendicular to the longitudinal direction of the gear spindle (91). In the assembled state, a rolling bearing (94, 95) of the Y7242=WO design of an axial bearing (94, 95) is arranged on each side of the bearing flange (93). The upper rolling bearing (94) in Figure 2 is supported in the drive housing (21). The lower rolling bearing (95) runs on a compensating washer (96), which is supported in the drive housing (21) by means of a spring washer (97). At the end facing away from the bearing flange (93), the gear spindle (91) has a threaded section (98).The length of the threaded section (98) is, for example, 40% of the total length of the gear spindle (91). The outer diameter of the threaded section (98) is, for example, 40% of the diameter of the bearing flange (93). The core diameter of the gear spindle (91) in the threaded section (98) is 90% of the outer diameter of the threaded section (98). The threaded section (98) has a pitch of, for example, one millimeter. The profile of the thread (99) of the threaded section (98) is, for example, trapezoidal. Figure 15 shows a planetary roller (101). The planetary roller gear (90) has, for example, four planetary rollers (101) surrounding the gear spindle. The planetary rollers (101) are arranged on a common pitch circle. Their ends are held there in ring carrier disks (102). 25 The individual planetary roller (101), for example, has a length of 24.6 millimeters and a maximum diameter of 4.7 millimeters. It is, for example,Manufactured on a lathe. The average surface roughness R. zAccording to DIN 4768 Part 1, for example, it is greater than 4 micrometers. In its longitudinal direction,30 the individual planetary roller (101) has three profile sections (103 - 105). These are two outer profile sections (103, 104) and a middle profile section (105). The middle profile section (105) meshes with the gear spindle (91). The two outer profile sections (103, 104) are identical to each other. Their length is, for example, 21% of the total length of the planetary roller (101). The diameter of the five outer profile sections (103, 104) is, for example, 72% of the maximum diameter of the planetary roller (101). The core diameter of the outer profile sections (103, 104) is, for example, 67% of the diameter of this area. The profiling of the outer profile sections (103, 104) consists of 10 circumferential grooves (106). These have a V-shaped cross-section and a rounded groove base. The spacing of the profiling is, for example, one millimeter. The middleProfile section (105) has a length of, for example, 15% of the length of the planetary roller (101). In this central profile section (105), the core diameter is 80% of the maximum diameter of the planetary roller (101). The profiling of the central section (105) has circumferential grooves (107). The pitch of this profiling corresponds to the pitch of the profiling of the outer profile sections (103, 104). Figure 16 shows a gear nut (111; 131). The planetary roller drive (90) has two gear nuts (111, 131) that encircle the gear spindle (91) and the planetary rollers (101). The gear nuts (111, 131) are identical to each other. The individual gear nut (111; 131) has a guide flange (112; 132), a transition section (113), and a pipe section (114) integrally formed on it. The guide flange (112; 132) is disc-shaped. In the embodiment shown, it is oriented perpendicular to the longitudinal direction (35).The guide flange (112; Y7242=WO 132) has a guide recess (116) on its circumferential surface (115). This continuous guide recess (116) has, for example, a rectangular cross-section. The end face (117) of the guide flange (112) has, for example, six spring receptacles (118) arranged on a common pitch circle. When the planetary roller gear (90) is mounted, the guide flanges (112, 132) of the two gear nuts (111, 131) face each other. Compression springs (126) are located in the spring receptacles (118) of both gear nuts (111, 131), so that the gear nuts (111, 131) are supported against each other in the longitudinal direction (35) and pushed apart. The pipe section (114) has a cylindrical outer surface (119). Its length is, for example, half the length of the gear nut (111; 131). On its inner wall (121), the pipe section (114) has a profiled area (122). This area has a multitude of features in the longitudinal direction (35).Adjacent circumferential inner grooves (123) are formed. The spacing of these inner grooves (123) corresponds to the spacing of the outer profile sections (103, 104) of the profile rollers (101). The length of the profile area (122) corresponds, for example, to the length of an outer profile section (103, 104) of a planetary roller (101). This profile area (122) meshes with one outer profile section (103; 104) of each planetary roller (101) for each gear nut (111; 131). The individual gear nut (111; 131) surrounds one of the ring carrier discs (102). This is secured in the gear nut (111; 131) by means of a retaining ring (125). 30. With the output assembly (80) mounted, a guide block (133) engages in the guide recesses (116) of both gear nuts (111, 131). The guide block (133) has, for example, the shape of a round-faced key according to DIN 6885 T2 Y7242=WO Form A. In the exemplary embodiment, it has a length of 12 millimeters and a width of 4 millimeters.millimeters and a height of 4 millimeters. Both gear nuts (111, 121) are individually displaceable relative to the guide block (133) in the longitudinal direction (35). The guide block (133) is positively engaged in a gear housing (161). The gear housing (161) has a guide block receptacle (166) for this purpose. In this embodiment 10, the gear housing (161) forms the output body (151) of the output assembly (80). The gear housing (161) is cup-shaped. It has an end wall (162) and a shell (163). The gear housing (161) has, for example, a length of 42 millimeters and a diameter of 37 millimeters. The gear housing (161) carries two sliding rings (164) on its outer surface. The gearbox housing (161) is slidably mounted in the drive housing (21) in the longitudinal direction (35) by means of these sliding rings (164). The maximum axial stroke of the gearbox housing (161) in the drive housing (21) is 20, e.g., 12 millimeters. TwoGuide pins screwed into the end face of the gearbox housing (161), e.g., into guide pin threads (165), slide along guide pin grooves (171) of the gripper housing (11). This anti-rotation device (172) prevents the output body (151) from rotating relative to the drive housing (21). A connecting screw (173) serves to connect, for example, a tool module (190). A locking pin (174) inserted in a transverse bore prevents the connecting screw (173) from rotating relative to the gearbox housing (161). The gearbox housing (161) has three annular grooves (168, 169) on its inner wall (167) for receiving retaining rings for bores. The distance between the two outer ring grooves (168) Y7242=WO is equal to the distance between the third ring groove (169) and the end wall (162). A retaining ring (141) is located between the end wall (162) and the second gear nut (131), and between the outer retaining ring (175) and the first gear nut (111).145) potential energy is arranged. The individual storage element (141; 145) of potential energy is elastically deformable and self-reforming. The storage element (141; 145)10 of potential energy is hereinafter also referred to as the compensating element (141; 145). In the exemplary embodiment, the individual compensating element (141; 145) is formed by a disc spring assembly (142). This disc spring assembly (142) is, for example, preloaded. The preload in the exemplary embodiment is 250 Newtons to 600 Newtons. It is also conceivable to design the compensating element (141) as a helical compression spring, ring springs, leaf spring, etc. The residual deformation stroke of the individual disc spring assembly (142) under compression is, for example, 2.8 millimeters. 20 The illustrated disc spring assembly (142) has four disc springs (143). These are, for example, connected in series. In the exemplary embodiment, the individual disc spring (143) has an outer diameter in its undeformed state.of 31.75 millimeters, an inner diameter of 21.75 millimeters, and a height of 1.75 millimeters. The individual disc spring assembly (142) sits on the tube section (114) of a gear nut (111; 131). A stepped washer (144) supports the disc spring assembly (142) against the gear nut (111; 131). 30 A measuring device (211) is arranged on the outside of the gripper housing (11). This device has, for example, two magnetic field sensors (212). These magnetic field sensors (212) are adjustable along two parallel adjustment rails (213). In the illustration of Figure 1, the two magnetic field sensors (212) are arranged offset from each other in the longitudinal direction (35). The two magnetic field sensors (212) determine, for example, the position of the metal plunger (195) of the tool unit (192). As a further or alternative measuring device, the positions of the gripper jaws can be determined by means of force sensors or by means of a displacement measuring system.can be determined. Using such a measuring device, it can be determined, for example, whether a workpiece has been gripped or not. Using another alternative or additional measuring device, it can also be monitored whether the actual tension of the disc spring assembly (142), i.e., the actual charge of the storage (141; 145) of potential energy, is greater than the preload applied during assembly. For this purpose, for example, a displacement measuring system can be used in the gearbox housing (161)20, which determines the position of the gearbox nuts (111, 131). Two limit switches in the gearbox housing (161) are also conceivable. The number of revolutions of the motor shaft (26) or the gearbox spindle (91)25 after reaching a workpiece-specific target position of the gripper slide can also be determined as a measure of the gripping force achieved. This is done, for example, by means of a rotary encoder. Instead of the gripper slide's target position specific to the material being gripped, in such a caseDetermination 30 can also be assumed to be in an open position of the gripper (10). A stored tolerance can be taken into account here. Y7242=WO Another alternative determination of the actual charge of the storage (141; 145) of potential energy can be carried out using the time interval in which the motor current continues to increase after gripping a workpiece. 5 To move, for example, the gripper slides (193) of the tool module (190), the drive motor (23) is switched on. The drive motor (23) rotates the drive pinion (27), for example, in a first drive direction (24). The output gear (31) attached to the drive ring (51) is driven via the intermediate gear (29). In this embodiment, the direction of rotation of the drive ring (51) coincides with the drive direction (24) of the motor shaft (26). 15 The drive ring (51) displaces the clamping elements (42) in the direction of the stop pins (62). The inner star (61) is rotated in the direction of rotation of the drive ring (51) byThe central axis (49) of the freewheel (41) is rotated. This central axis (49) is oriented, for example, in the longitudinal direction (35). In this process, the inner star (61) engages the positively coupled input shaft (81), for example, the gear spindle (91). The planetary rollers (101) roll on the rotating threaded spindle (91) and are thereby displaced in the longitudinal direction (35). For example, the rotating planetary rollers (101) are displaced li-near the direction opposite to that of the tool module (190). The planetary rollers (101) engage the gear nuts (111, 30, 131) via the engagement of the circumferential grooves (106), which are prevented from rotating relative to the output body (151) by means of the guide block (133). The two threaded nuts (111, 131) are forced apart by means of the compression springs (126) so that the outer flanks Y7242=WO of the inner grooves (123) bear against the inner flanks of the circumferential grooves (106). The translational movement of the threaded nuts(111; 131) 5 is transferred to the output body (151) in this example by means of the first compensating element (141; 145). The compensating element (141; 145) lies in the force flow between the input shaft (81) and the output body (151). With low resistance and / or moment of inertia of the output body (151) 10 and the tool module (190), the compensating element (141; 145) is only slightly deformed in addition to the preload. The exact position of the tool unit (192) of the tool module (190) can be determined by means of the measuring device (211). 15 In the described example, the tool module (190) is designed as an external gripping module, the gripping elements of which engage a workpiece from the outside. When the gripping elements are applied to the workpiece, the load-side resistance on the drive body (151) increases, preventing further movement of the drive body (151) in the translational direction (182; 183). During further operation of the drive motor (23),The compensating element (141; 145) is compressed. The gripping force is maintained. The kinetic energy delivered by the drive motor (23) is converted into potential energy of the storage element (141; 145). The output body (151) is inhibited from further movement, for example, by means of the load on the gripping side. Inhibition of the output body (151) is also conceivable by means of a brake or clamp that inhibits the movement of the output body (151). Such a brake or clamp can be actuated manually or automatically. It encompasses, for example, the gearbox housing (161) and, in the closed operating state, blocks the translational or rotational degree of freedom of the output body (151). Now the drive motor (23) can be switched off. The compensating element (141; 145) relaxes slightly. In this process, the input shaft (81) is rotated in the opposite direction to that of the aforementioned drive direction (24;25) caused by the rotation direction of the input shaft (81). In the embodiment example, this movement is transmitted via the non-self-locking 10 planetary gear (90). Even in a design with, for example, a differently designed non-self-locking gear (83), the input shaft (81) is rotated in the opposite direction. 15 The input shaft (81) of the output group (80) engages the inner star (61) of the switchable freewheel (41). The inner star (61) moves the clamping elements (42) into the locking position (58) of the counter-rotation direction 20, which is oriented opposite to the original rotation direction of the drive ring (51). The freewheel (41) here forms an energy sink of the drive unit (22). The drive train of the output group (80) is blocked by means of the load acting on the output body (151) and the freewheel (41). The storage of potential energy (141; 145) is at least partially charged, with the state of charge being higher than that at theThe preload state introduced during assembly. The input shaft (81) and the output body (151) cannot move further relative to each other and relative to the drive housing (21). An additional locking brake is not required for the output group (80). For example, after the gripper (10) has been placed down, it is to be opened again. For this purpose, the drive motor (23) is rotated in the second drive direction (25; 24). In the exemplary embodiment, the drive motor (23) drives the drive ring (51) in the aforementioned drive direction (25; 24) by means of the drive gearbox (28). The blocked clamping elements (42) are released from the blocked position (58) by means of the drive ring (51) and moved into the freewheel position (57). 10 The input shaft (81) follows the inner star (61) of the freewheel (41). In this example, the planetary rollers (101) are displaced in the direction of the tool module (190) and shift theGear nuts (111; 131) also move in this direction. The compensating elements (141; 145) deform themselves back to their original shape. In this direction of movement, the gear nuts (111; 131) transmit their translational motion via the second compensating element (145; 141) to the output body (151). The high gear ratio of the drive gear (28) and the planetary roller gear (90) enables a high output-side torque. If necessary, the compensating element (145; 141) can be compressed to generate a breakaway torque. In the tool module (190), the gripper slides (193) are moved outwards in the exemplary embodiment. The workpiece is released. When the tool module (190) is used as an internal gripper, the compensating element (145; 141), referred to here as the second compensating element (145; 141), is compressed when gripping the workpiece. The freewheel (41) is accordingly blocked in the opposite direction.Upon release of the inner gripper, the motor shaft (26) of the drive motor (23) rotates in the first drive direction (24; 25). Figure 18 shows a drive unit with a differently constructed output assembly (80). The drive motor (23), the drive gearbox (28), and the freewheel (41) are designed, for example, as described in connection with the first embodiment. The drive motor (23) is, for example, attached to the drive housing (21). The inner star (61) of the freewheel (41) is positively connected to the input shaft (81) of the output assembly (80). In the output assembly (80), the gearbox housing (161) forms the input shaft (81), and the gearbox spindle (91) forms the output body (151). The gearbox housing (161) is mounted on roller bearings in the drive housing (21). Figure 18 shows, in simplified form, two roller bearings (176) in the design of deep groove ball bearings. In this embodiment, the power flow runs from the input shaft (81).The rotational force is transferred via one of the compensating elements (141; 145) to one of the gear nuts (111; 131), depending on the direction of rotation. Both gear nuts (111; 131) are secured against rotation relative to the gearbox housing (161). Thus, the speed and direction of rotation of the gear nuts (111; 131) relative to the drive housing (21) correspond to the speed and direction of rotation of the gearbox housing (161) relative to the drive housing (21). In this embodiment, end pins (not shown) serve as the anti-rotation device for the gear nuts (111; 131) relative to the gearbox housing (161). However, the anti-rotation device can also be designed as described in connection with the first embodiment. In all cases, the anti-rotation device allows translational movement of the gear nuts (111; 131) relative to the gear housing (161). In this embodiment, the two gear nuts (111; 131) do not have five compression springs (126) arranged between them.In this embodiment, the compensating elements (141, 145) are constructed as described in connection with the first embodiment. They are each pre-tensioned in the longitudinal direction (35) between the gearbox housing (161) and a gearbox nut (111; 131). Support or compensating washers can also be used here. The disc springs (143) engage the gearbox spindle (91), the planetary rollers (101), and the tube sections (114) of the gearbox nuts (111, 131). The planetary rollers (101) roll on the gearbox nuts (111, 131). The planetary rollers (101) are mounted at their ends in ring carrier discs (102). The ring carrier discs (102) are held in the gearbox nuts (111, 131) to prevent rotation. In this embodiment, a retaining ring (175) limits the translational movement of the planetary rollers (101) and the ring carrier discs (102) relative to the respective gear nut (111; 131). 25 TheIn this embodiment, the planetary rollers (101) are designed as described in connection with the first embodiment. They each have two outer profile sections (103, 104) with circumferential grooves (106) that engage in corresponding inner grooves (123) of the threaded nuts (111, 131). Between the aforementioned outer profile sections (103, 104), each planetary roller (101) has a central profile section (105). This meshes with the gear spindle (91). The gear spindle (91) is axially displaceable within the drive housing (21). It has a threaded section (98) with a thread (99). The thread (99) is designed, for example, as described in connection with the first embodiment. The torque from the rotating motor shaft (26) of the drive motor (23) is transmitted via the freewheel (41) to the gearbox housing (161). The gearbox housing (161) transmits the rotary motion by means of theAnti-rotation devices are attached to the gear nuts (111, 131) and the planetary rollers (101). The rotating planetary rollers (101) roll against the gear spindle (91). In doing so, the planetary rollers (101) are supported in the longitudinal direction (35) by the gear nuts (111, 131) and the compensating elements (141, 145) on the gear housing (161). The rotating planetary rollers (101) move the gear spindle (91) in the translational direction of motion (182; 183). The feed of the gear spindle (91) is thus supported on the gear housing (161) by the compensating elements (141, 145). For example, when gripping a workpiece by contact, the translational movement of the output body (151) is inhibited. The drive motor (23), which continues to be energized, increases the gripping pressure on the workpiece. The compensating element (141; 145) located in the force path is compressed. When the drive motor (23) is switched off, the compressed compensating element (141; 145) expands slightly.The load is released. It displaces the associated gear nut (111; 131) relative to the gear housing (161) in a translational direction. In doing so, the planetary rollers (101) are engaged, which roll on the locked gear spindle (91). The planetary rollers (101), rotating around the gear spindle (91), engage the gear nuts (111, 131) and the gear housing (161) via the ring carrier disks (102). The gear housing (161) is rotated in the opposite direction to the original direction of rotation controlled by the drive direction (24; 25) of the drive motor (23). The inner star (61) of the freewheel (41) is rotated relative to the drive ring (51) such that the freewheel (41) locks. 10 The opening of the gripper, e.g. when depositing the gripped item, occurs in the opposite direction. Figure 19 shows a further embodiment schematically. The drive motor (23) and the freewheel (41) are designed as described in connection withThe output assembly (80) has an input shaft (81) which is supported in the drive housing (21) by means of rolling bearings (84). The input shaft (81) has only rotational degrees of freedom. In this embodiment, the output body (151) is a rotatably mounted output shaft (152). The tool module (190) that can be connected to it can, for example, have a worm gear (25) that drives two translationally movable gripper slides (193) in opposite directions. An axial displacement of the output shaft (152) is blocked by means of the output shaft bearing (153). 30 In this embodiment, a storage device (141; 145) of potential energy in the form of a torsion element (146) Y7242=WO is arranged between the input shaft (81) and the output body (151). Instead of the torsion spring (147) shown in Figure 19, this can be, for example, a torsion bar, a torsion disc, etc. 5 For example, when gripping aWhen the workpiece is being gripped, the drive motor (23) rotates the input shaft (81) via the freewheel (41). This shaft, via the compensating element (141) located in the power flow, drives the output body (151). The output body (151) actuates the tool unit (192) of the tool module (190). Optionally, a measuring sensor can detect the angular position of the output body (151) relative to the input shaft (81). After the gripping elements are applied to the workpiece, the gripping force depends on the angle of rotation of the output body (151) from that point onward. 15 In this process, the compensating element (141) is elastically deformed. In the exemplary embodiment, it is twisted. The force applied to the workpiece by the gripping elements acts as an external load on the output body (151). This load is oriented opposite to the movement of the output body (151) generated by the drive motor (23). As soon as the drive motor (23) is switched off, the rebounding compensating element is subjected to a load.The input shaft (81) is engaged by the element (141). The freewheel (41) is switched to the locking position. 25 When the gripped item is placed down, the gripping elements are opened. For this purpose, the drive motor (23) is rotated in the opposite direction. The freewheel (41) is released and the compensating element (141) deforms back into its initial position. 30 When the drive module (20) is used with a tool module (190) designed as an external gripper, the compensating element (141) is twisted in the opposite direction when it is applied to the gripped item. The freewheel (41) locks accordingly in the opposite direction. When the gripped item is placed down, the compensating element (141) also deforms back into its original shape in this case. It is conceivable to combine the individual embodiments with each other. 5 Y7242=WO Reference numeral list: 10 Gripper, electric gripper 11 Gripper housing 5 20 Drive module 21 Drive housing 22 Drive unit 23 Drive motor 10 24 Drive direction of rotation,First drive direction 25 Drive direction, second drive direction 26 Motor shaft 27 Drive pinion 28 Drive gearbox 15 29 Intermediate gear 31 Output gear 32 Dowel pin recesses 33 Dowel pins 20 34 Support ring 35 Longitudinal direction 36 Locking collar 37 Release screw, part of the freewheel emergency release device 25 38 Hex socket, part of the freewheel emergency release device 39 Mounting cover 41 Freewheel, switchable 30 42 Locking element, clamping element 43 Outer ring 44 Sleeve ring 45 Head bearings 46 Inside of (44), running surface Y7242=WO 47 Base plate 48 Through hole of (47) 49 Center axis of (41) 51 Drive ring 52 Drive pin of (51) 53 Through hole 54 Drive pin 55 Flanks of (54) 10 56 Sliding pin 57 Freewheel position 58 Locking position 15 61 Inner star 62 Stop pin 63 Central disc 64 Mounting bore 65 Opening of (63) 20 66 Circular surface of (63), guide surface 67 Circular segment 68 Ramp sections 69 Transition sections 25 71 Compression springs 72Support washer 73 Spring washers 75 Stop surface 30 76 Drive blocks 77 Drive surfaces 80 Output group 81 Input shaft Y7242=WO 82 Drive surfaces 83 Gearbox 84 Rolling bearing 5 90 Planetary roller gear 91 Gear spindle 92 Guide pin 93 Bearing flange 94 Rolling bearing, axial bearing 10 95 Rolling bearing, axial bearing 96 Compensating washer 97 Spring washer 98 Threaded section 99 Thread 15 101 Planetary roller 102 Ring carrier washers 103 Outer profile section 104 Outer profile section 20 105 Middle profile section 106 Circumferential grooves of (103, 104) 107 Circumferential grooves of (105) 111 Gear nut, gear part 25 112 Guide flange 113 Transition section 114 Pipe section 115 Circumferential surface 116 Guide recess 30 117 End face 118 Spring mounts 119 Circumferential surface of (114) 121 Inner wall of (114) Y7242=WO 122 Profile area 123 Circumferential grooves, inner grooves 125 Retaining ring 5 126 Compression springs 131 Gear nut, gear part 132 Guide flange 133 Guide block 10 141 Storage of potentialEnergy, compensating element 142 Disc spring assembly 143 Disc spring 144 Stepped washer 15 145 Potential energy storage, compensating element 146 Torsion element 147 Torsion spring 151 Output body 20 152 Output shaft 153 Output shaft bearing 161 Gearbox housing 162 End wall 25 163 Shell 164 Sliding rings 165 Guide pin thread 166 Guide block receptacle 167 Inner wall 30 168 Annular grooves 169 Annular groove, center annular groove 171 Guide pin grooves in (11) 172 Anti-rotation device Y7242=WO 173 Connecting screw 174 Locking pin 175 Retaining ring, outer retaining ring 176 Rolling bearing 5 181 Translational support of (151) in (21) 182 Translational direction of movement of (151) 183 Translational direction of movement of (151) 184 Rotational degree of freedom, direction of rotation of (151) 10 185 Rotational degree of freedom, direction of rotation of (151) 190 Tool module 191 Tool housing 192 Tool unit 15 193 Gripper slide 194 Guide groove 195 Control element, plunger 200 Electronic module 20 201Electronic housing 202 Electronic unit 211 Measuring device 212 Magnetic field sensors 25 213 Adjustment rails Y7242=WO

Claims

G. and M. Zimmer 01.10.25 77866 Rheinau Patent claims:

1. Output assembly (80) with a planetary roller gear (90) comprising an input shaft (81) rotatably mounted in a drive housing (21) and two gear nuts (111; 131), characterized in that ^ the gear nuts (111; 131) are mounted rotationally fixed relative to a gear housing (161) and displaceable in the translational direction, ^ the gear housing (161) or a gear spindle (91) forms an output body (151) of the output assembly (80), ^ the output body (151) is mounted rotationally secure in the drive housing (21) and is guided in the drive housing (21) in translational directions of movement (182, 183), ^ in the power flow between each one Gear nut (111; 131) and the gear housing (161) a repeatedly chargeable and dischargeable storage device (141;145) potential energy is arranged, ^ that when the output body (151) is inhibited, an approximation of the gear nut (111; 131) and the gear housing (161) caused by a rotation of the input shaft (81) relative to each other charges the storage device (141; 145) of potential energy assigned to one of these gear nuts (111; 131) and lying in the power flow, and ^ that this storage device (141; 145) of potential energy supplies kinetic energy to an at least temporary energy sink.; 2. Output assembly (80) according to claim 1, characterized in that the input shaft (81) is a gear spindle (91) with a bearing flange (93) which is mounted in the drive housing (21) by means of two axial bearings (94, 95).

3. Output assembly (80) according to claim 1, characterized in that the gear spindle (91) penetrates two ring carrier discs (102) in which planetary rollers (101) of the planetary roller drive (90) are rotatably mounted.

4. Output assembly (80) according to claim 3, characterized in that the planetary rollers (101) are manufactured by means of a turning operation on a lathe, wherein the mean surface roughness R zaccording to DIN 4768 Part 1 is greater than 4 micrometers.

5. Output group (80) according to claim 1, characterized in that the individual storage element (141; 145) of potential energy is a compensating element in the form of a disc spring pack (142).

6. Output group (80) according to claim 5, characterized in that both disc spring packs (142) are oriented in the longitudinal direction (35) of the output group (80).

7. Output group (80) according to claim 1, characterized in that the output body (151) can be locked either by external forces or by internal forces.

8. Output group (80) according to claim 1, characterized in that a switchable freewheel (41) is connected upstream of the input shaft (81).

9. Output group (80) according to claim 8, characterized in that when the potential energy storage device (141; 145) has finished charging and the output body (151) is locked, the switchable freewheel (41) forms an energy sink.

10. Output group (80) according to claim 9, characterized in that the switchable freewheel (41) has a locking position (58) and a freewheeling position (57) for each direction of rotation.

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