JOINT

Abstract

The invention relates to a joint, in particular for use in a parallel kinematic positioning device, which has at least three rotational degrees of freedom, and which has a rigid carrier element and at least two elastically deformable joint devices arranged overlapping one another at least in sections on the carrier element, wherein each of the joint devices comprises two joint elements, and each of the joint elements has an elongated connecting section and a securing section arranged at one end of the connecting section for securing the joint device to a higher level unit, and the two connecting sections of each joint device extend in a direction pointing away from the carrier element in such a way that they cross over one another.

Claims

1.-12. (canceled)

13. A joint having at least three degrees of freedom of rotation, the joint comprising: a rigid carrier element and at least two elastically deformable joint devices, which are arranged at the carrier element in an overlap at least in a section, wherein each of the joint devices comprises two joint elements, and wherein each of the joint elements comprises an elongated web section and a fastening section which is arranged at one end of the web section for fastening the joint device at a higher-level unit, and wherein the two web sections of each joint device extend in a direction which points away from the carrier element in such a way that the same cross one another.

14. The joint according to claim 13, wherein at least one web section of a joint device extends at least in a section between the two web sections of the other joint device.

15. The joint according to claim 14, wherein the web sections of one joint device are arranged at an angle to the web sections of the other joint device, wherein the angle amounts to between 60 degrees and 90 degrees.

16. The joint according to claim 13, wherein an area of the crossing of the web sections of one joint device comprises a different distance from the support element than an area of the crossing of the web sections of the other joint device.

17. The joint according to claim 13, wherein a joint element comprises two fastening sections which are disposed at opposite ends of the web section.

18. The joint according to claim 13, wherein the joint elements are made in one piece.

19. The joint according to claim 13, wherein all joint elements comprise essentially the same geometry.

20. The joint according to claim 19, wherein the two joint elements of a joint device are arranged in mirror image to one another.

21. The joint according to claim 13, wherein at least one elastically deformable support element is arranged at the support element.

22. The joint according to claim 21, wherein the support element extends at least in a section between at least one of the two joint devices in a direction which points away from the carrier element.

23. The joint according to claim 13, wherein the joint comprises four joint devices arranged on the carrier element and two support elements arranged at the carrier element, wherein the joint devices are in pairs and the support elements are individually located at opposite ends of the carrier element.

24. A parallel kinematic positioning device, comprising a joint according to claim 13.

Description

[0020] An exemplary embodiment of the invention is described below with reference to the single FIG. 1. The same shows an embodiment of a joint 1 according to the invention, which comprises a total of four joint devices 3 which are disposed at an essentially rigid carrier element 2 which consist of aluminum, wherein the joint devices 3 are elastically deformable or flexible and are made of spring steel. Other materials which comprise a corresponding elastic deformability or flexibility for use for the joint devices 3 are also conceivable, for example bronze, which is non-magnetic and can be used in case that the joint according to the invention is used in a magnetic field. In case that only very small deflections of the joint are intended, the joint devices can also be made of a ceramic material.

[0021] The carrier element 2, which besides aluminum can also be made of another metal, for example of steel, or also of ceramic, has an essentially rectangular shape, wherein the middle area comprises a greater thickness, and the carrier element extends towards its two ends tapered in terms of its thickness.

[0022] Each joint device 3 comprises two identically shaped joint elements 4, wherein each joint element 4 having an elongated, essentially rod-shaped web section 5 and two fastening sections 6 formed in one piece with this, which are arranged at the two opposite ends of the web section 5. However, a one-piece design of the fastening sections 6 with the elongated web section 5 or a one-piece design of the joint elements 4 is not mandatory so that the fastening sections 6 can also be connected to the web section 5 or arranged on it in another way.

[0023] The fastening sections 6 of a joint element 4 have the same shape, wherein only the fastening sections 6 which are spaced apart by the carrier element 2 are clearly visible in FIG. 1. Each of the two fastening sections 6 of a joint element 4 extends at the respective end of the web section 5 in a substantially flag-shaped manner to this, however the directions of extension of the fastening sections 6 at the opposite ends of the web section 5 are contrary to each other. Therefore, each joint element 4 has a substantially Z-shape. Each fastening section 6 also comprises two through bores or recesses 60.

[0024] The two joint elements 4 of a joint device 3 have the same shape, but are arranged in mirror-image to one another, the respectively associated fastening sections 6 coming to overlap in such a way that the two through bores 60 of one fastening section 6 are arranged exactly over the through bores 60 of the adjoining and associated fastening section 6. This makes it possible that a fastening element 8 in the form of a screw extends through the holes which are formed by the superimposed through holes and that a connection of the fastening section 6 to the carrier element 2 on the one hand and to an element 100 of a higher-level unit, on which or in which the joint according to the invention is installed or inserted, on the other hand, can be realized.

[0025] Due to the overlapping arrangement of the through bores 60 of two adjacent and associated fastening sections 6, by the fastening element 8, in addition to the connection with the carrier element 2 or the element 100 of a higher-level unit, a connection of the two joint elements 4 of a joint device 3 can be established. However, such a connection between the two joint elements 4 of a joint device 3 is not mandatory, so that the fastening sections 6 can also be designed in such a way that only the necessary fixation of the web section 5 between them is realized via them.

[0026] It is conceivable to realize the connection between the web sections 5 of a joint device 3 and the carrier element 2 not via screws, but via other types of connection such as soldering, welding, riveting or gluing. A one-piece or integral realization of the web sections 5 with the carrier element 2 while at the same time eliminating the corresponding fastening section 6 is also conceivable. It is conceivable by analogy to realize the connection between the web sections 5 of a joint device 3 and a higher-level unit not by means of screws, but also using the previously listed types of connection such as soldering, welding, riveting or gluing. Even a one-piece embodiment of the web sections 5 with the superordinate structure or unit is conceivable.

[0027] According to FIG. 1, in each case on both the upper side 21 of the carrier element 2 and the underside 22 of the carrier element there are two joint elements 4 fastened via their corresponding fastening section 6 and with the use of a screw 8. At the joint elements 4 of the corresponding joint device 3 which are attached to the upper side 21 of the carrier element 2, the web sections 5 are arranged in such a way that they extend in a direction pointing away from the carrier element 2 and cross one another in the further course. That is, the web sections 5 extend from the carrier element 2 in a direction that deviates from the direction of extension of the carrier element or is inclined with respect to the same, wherein the angle of this direction with regard to the corresponding side surface of the carrier element 2 amounts to less than 90 degrees. In addition, the web sections 5 of the two joint elements 4 which are arranged on the upper side 21 of the carrier element 2 in a direction pointing away from the carrier element 2 in such a way that they extend inclined with regard to the plane which is spanned by the upper side 21 of the carrier element 2. At the same time the two web sections 5 lie essentially in the same plane or emerge from the common plane only in the area of their crossing.

[0028] Also at the joint elements 4 of the corresponding joint device 3 which are mounted to the underside 22 of the carrier element 2, the web sections 5 are arranged such that the same extend in a direction which points away from the carrier element 2 and which cross each other in the further course. However, the area of the crossing of the two web sections 4 of the joint elements 4 which are fastened to the underside 22 of the carrier element 2 is positioned further away from the carrier element or at a distance from the same than the area of the crossing of the two web sections 4 of the joint elements 4 which are attached at the upper side 21 of the carrier element 2. As a result of the fact that the crossover areas are positioned at different distances from the carrier element 2, the two web sections of the joint elements 4 which are fastened to the upper side 21 of the carrier element 2 can extend in a section between the two web sections 5 of the joint elements which are fastened to the underside 22 of the carrier element 2 or can pass through the same. In other words, the two web sections 5 of the hinge device 3 which is arranged on the underside 22 of the carrier element 2, due to the crossover region which is positioned further away from the carrier element 2, form a substantially triangular frame through which the two web sections 5 of the hinge device 3 which is arranged on the upper side 21 of the carrier element 3 can pass through. This means that the joint elements 4 of a joint device 3 or their web sections 5 also comprise an arrangement with a crossing over of one another, i.e. next to the crossing arrangement of the two web sections 4 of a joint device 3.

[0029] Analogous to the web sections 5 of the joint device 3 which is arranged on the upper side 21 on the carrier element 2, the web sections 5 of the two joint elements 5 which are arranged on the underside 22 of the carrier element 2 extend in a direction which points away from the carrier element 2 in such a way that the same are arranged inclined with regard to the plane which is spanned by the underside 22 of the carrier element 2. At the same time the two web sections 5 lie essentially in the same plane or emerge from the common plane only in the area of their crossing.

[0030] The plane in which the two web sections 5 of the hinge device 3 which is arranged on the upper side 21 of the carrier element 2 does not extend parallel to the plane in which the two web sections 5 of the hinge device 3 which is arranged on the underside 22 of the carrier element 2 extend. The two planes described above enclose an angle which amounts to approximately 70 degrees.

[0031] At one of the two outward-facing ends or end portions of the carrier element 2 an elastically deformable, elongated and flat support element 7 is disposed, which, for reasons of clarity, has been omitted in FIG. 1 on the opposite side of the carrier element 2. The support element 7 is with one of its end portions inserted in a corresponding recess of the carrier element 2 used and fixed at this position by means of a clamp connection. Other types of attachment, such as a screw connection, gluing, soldering, welding or the like are also conceivable.

[0032] The support element 7 extends with its elongated shape in a direction which points away from the carrier element 2 and comprises, at its opposite end, a widening end section, which cannot be seen in FIG. 1, wherein the end section engages an element 100 of a superordinate unit or engages with a recess of an element 100, preferably via a clamp connection. By connecting the support element 7 to the element 100 of a superordinate unit, the support element 7 is acted upon by a compressive force, and this compressive force causes a tensile load on the joint elements 4 and, in particular, a corresponding pretensioning of their web sections 5 in a direction which essentially coincides with the direction of extension of the support element or the joint.

LIST OF REFERENCE SYMBOLS

[0033] 1 joint [0034] 2 carrier element [0035] 21 upper side (of carrier element 2) [0036] 22 Underside (of carrier element 2) [0037] 3 joint device [0038] 4 joint element [0039] 5 web section [0040] 6 fastening section [0041] 7 support element [0042] 8 fastener [0043] 60 through bore [0044] 100 element (of a superordinate unit)