ARM JOINT FOR A MANIPULATOR AND MANIPULATOR

Abstract

An arm joint for a manipulator having a motor with a transmission, comprising a gear wheel that can rotate about a transmission axis of rotation, wherein the gear wheel is rotatably mounted in a housing of the arm joint and has an adapter on at least one of its end sides, and wherein the adapter has an opening that is central relative to the transmission axis of rotation on the side facing away from the end side of the gear wheel The central opening has an internal thread for the purpose of a simple construction, easy assembly and a great number of variation possibilities in terms of construction and application.

Claims

1-28. (canceled)

29. An arm joint for a manipulator which has a motor with a transmission, wherein the arm joint has a gear wheel rotatable about a transmission axis of rotation, wherein the gear wheel is arranged mounted rotatably in a housing of the arm joint and has an adaptor at at least one of its ends and wherein at its side remote from the end of the gear wheel the adaptor has an opening which is central with respect to the transmission axis of rotation, wherein the central opening has a female thread.

30. The arm joint as set forth in claim 29, wherein the housing has a receiving portion for receiving a further transmission element which is arranged transversely relative to the transmission axis of rotation and is operatively connected to the periphery of the gear wheel.

31. The arm joint as set forth in claim 29, wherein at its two ends the gear wheel has an adaptor and is mounted rotatably in the housing by way of the two adaptors.

32. The arm joint as set forth in claim 31, wherein at their sides remote from the ends of the gear wheel both adaptors respectively have a central opening with respect to the transmission axis of rotation, with a female thread.

33. The arm joint as set forth in claim 30, wherein the gear wheel and/or the further transmission element are respectively arranged play-free relative to the housing and/or the gear wheel and the further transmission element are arranged acting play-free in each other.

34. The arm joint as set forth in claim 30, wherein the further transmission element has an operative axis which is spaced in a spacing direction relative to the transmission axis of rotation and by way of which the further transmission element is mounted in or at the receiving portion of the housing.

35. The arm joint as set forth in claim 34, wherein the transmission axis of rotation and the operative axis are arranged parallel to a plane which extends perpendicularly to a spacing, extending in the spacing direction, between the operative axis and the transmission axis of rotation, wherein the gear wheel and the further transmission element are arranged movably relative to each other in the spacing direction to adjust a freedom from play which is axial with respect to the spacing direction.

36. The arm joint as set forth in claim 35, wherein the bearing for the gear wheel has a first bearing ring associated with the housing and a second bearing ring associated with the gear wheel and adjustment of the freedom from play which is axial with respect to the spacing direction is effected by way of an inclined plane which is operative in the spacing direction and by way of which an adjusting force can be coupled into the first bearing ring in a direction from the gear wheel towards the further transmission element.

37. The arm joint as set forth in claim 36, wherein for adjustment there is provided an adjusting element which is mounted movably to the housing transversely relative to the spacing direction and which slides on the inclined plane with production of the adjusting force.

38. The arm joint as set forth in claim 37 wherein the adjusting element is in the form of a screw bolt with a conical working end, with which the screw bolt slides transversely relative to the spacing direction at the inclined plane provided at the first bearing ring.

39. The arm joint as set forth in one of claim 34, wherein the transmission is in the form of a worm transmission with a worm gear and a worm, wherein the further transmission element is in the form of a worm and the operative axis is in the form of a drive shaft, on which the worm is non-rotatably arranged and which is rotatably mounted axially on both sides of the worm at or in the receiving portion.

40. The arm joint as set forth in claim 39, wherein the drive shaft is arranged guided in a hollow profile member which is arranged non-rotatably and non-displaceably relative to the receiving portion at and/or in same.

41. The arm joint as set forth in claim 40, wherein the hollow profile member has two portions spaced from each other at least over the axial extent of the worm, that is to say a first portion and a second portion, wherein at least the first portion for adjustment of a freedom from play, which is axial with respect to the direction of the operative axis, of the engagement of the worm gear in the worm is arranged axially movably by way of a setting unit of the adjusting device towards the worm.

42. The arm joint as set forth in claim 41, wherein the first portion of the hollow profile member is supported with one end at the setting unit and with the other end at the bearing which is the front bearing with respect to a direction from the setting unit towards the worm and that the second portion of the hollow profile member is supported with one end at the bearing which is the rear bearing with respect to the direction from the setting unit towards the worm, wherein the other end is supported at the receiving portion by way of a provided clamping element.

43. The arm joint as set forth in claim 41, wherein the setting unit has a blind opening which is axial with respect to the operative axis and into which the drive shaft is mounted rotatably in projecting relationship with a free end, wherein the setting unit bearing at the end against the first portion of the hollow profile member is arranged on the receiving portion screwable axially in the direction towards the worm.

44. The arm joint as set forth in claim 34, wherein the transmission is in the form of an inverted worm transmission with a drive-side gear wheel and a driven-side further transmission element, wherein the operative axis is in the form of a drivable hollow profile member having an internal passage for the passage of a drive shaft like a motor shaft, the worm gear is arranged non-rotatably on the hollow profile member and the hollow profile member is mounted rotatably to or in the receiving portion.

45. The arm joint as set forth in claim 44, wherein the transmission is in the form of a linear transmission, wherein the gear wheel is in the form of a spur tooth arrangement and the further transmission element is in the form of a toothed rack element.

46. A manipulator comprising at least one arm joint as set forth in claim 29.

47. The manipulator as set forth in claim 46, wherein there are provided at least two arm joints which are force-lockingly, motion-lockingly and/or guidance-operatively connected together by a provided connecting device in a connecting position.

48. The manipulator as set forth in claim 47, wherein the at least two arm joints are arranged in mutually coaxially aligned relationship with respect to the transmission axis of rotation, wherein the mutually facing ends respectively have an opening which is central relative to the transmission axis of rotation.

49. The manipulator as set forth in claim 47, wherein in a connecting position the at least two arm joints are arranged coaxially with the transmission axis of rotation and in mutually spaced relationship parallel with respect to a plane perpendicular to the transmission by a connecting device having parallel connectors.

50. The manipulator as set forth in claim 49, wherein the two arm joints are fixedly connected together by the transmission axes of rotation of the two arm joints being respectively non-rotatably connected together by way of a radially inwardly disposed parallel connector in the form of an internal connector and the housings of the two arm joints are respectively non-rotatably connected together by way of a radially outward parallel connector in the form of an external connector.

51. The manipulator as set forth in claim 49, wherein the two arm joints are connected together rotatably by way of a parallel connector which extends transversely relative to the transmission axis of rotation and which is in the form of a transverse connector, wherein the transverse connector is connected with a radially inwardly disposed end portion non-rotatably to the transmission axis of rotation of one of the two arm joints and further with a radially outwardly disposed end portion in sliding or rolling relationship to the housing of the one arm joint and fixedly to the housing of the other arm joint.

52. The manipulator as set forth in claim 49, wherein the two arm joints are connected to constitute a rotary guide of the one arm joint at the other arm joint by the transmission axes of rotation of the two arm joints being fixedly connected by way of a radially inwardly disposed parallel connector in the form of an internal connector and by the housings of the two arm joints being connected by way of a radially outward parallel connector in the form of an external connector, wherein the external connector is connected non-rotatably to the housing of the one arm joint and slidingly or rollingly to the housing of the other arm joint.

53. The manipulator as set forth in claim 46, wherein insofar as the parallel connectors are adapted in the connecting position to engage in torque-transmitting relationship into one of the mutually facing central openings or into both facing central openings, for respective engagement, they have an end portion having a male thread with which the parallel connectors in the connecting position engage into the female thread of the respectively associated central opening.

54. The manipulator as set forth in claim 53, wherein for play-free threaded engagement of the female thread of the central opening and the male thread of the end portion there is provided at least one blocking element like a bolt or a screw element, wherein the blocking element is introduced axially with respect to the transmission axis of rotation between the two interengaging threads.

55. The manipulator as set forth in claim 46, wherein the arm joint and the motor associated with the arm joint are arranged in mutually spaced relationship.

56. The manipulator as set forth in claim 46, wherein it is of a modular structure and can be assembled from individual modules in accordance with a modular principle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Further details and advantages of the invention will be apparent hereinafter, without restriction on the scope of protection, from the description of preferred embodiments with reference to the accompanying drawings in which:

[0058] FIGS. 1A-1D each show a view of an embodiment of an arm joint;

[0059] FIGS. 2A-2B each show a view of a further embodiment of the arm joint similar to that of FIG. 1, but with an adjusting device;

[0060] FIG. 2C shows a partial view on an enlarged scale at IIC as shown in FIG. 2B;

[0061] FIGS. 3-5 each show a view of a further embodiment of the arm joint with torque-transmitting connected motor;

[0062] FIG. 6 shows a side view with an individual illustration of the co-operating transmission members of FIGS. 1-5;

[0063] FIG. 7 shows a cross-sectional view in relation to a transmission axis of rotation of a further embodiment of the arm joint, here with inverted worm transmission;

[0064] FIGS. 8 and 9 each show a side view with an individual illustration of the co-operation of the transmission members of FIG. 7;

[0065] FIG. 10 shows a side view of a further embodiment of the arm joint, here with a linear transmission;

[0066] FIG. 11 shows a cross-sectional view with respect to the transmission axis of rotation of the arm joint of FIG. 10;

[0067] FIGS. 12A and 12B each show a view of a hollow profile member axis; FIG. 12A with a magnetic strip;

[0068] FIG. 13 shows a perspective view of a tooth rack profile member for the arm joint of FIG. 11;

[0069] FIG. 14 shows a perspective view of a sensor means which can be fixed to the housing;

[0070] FIG. 15 shows a side view of the embodiment of the arm joint of FIG. 1, here with an end guide insert for a motor shaft;

[0071] FIG. 16 shows a longitudinal sectional view C-C, with respect to the transmission axis of rotation, of the arm joint of FIG. 15;

[0072] FIG. 17 shows a partial view J on an enlarged scale as shown in FIG. 16;

[0073] FIGS. 18A-18D each show a view of one of the components of the guide insert of FIG. 15;

[0074] FIG. 19 shows a perspective view of two fixedly interconnected arm joints IV and of an embodiment of a manipulator;

[0075] FIGS. 20A and 20B show a side view and a longitudinal sectional view of the arm joints of FIG. 19;

[0076] FIGS. 21A and 21B each show a view of an external connector for non-rotatable connection of the housings of the two arm joints of FIG. 18;

[0077] FIG. 22 shows a perspective view of an internal connector for fixedly connecting the two rotary joint axes of the two arm joints of FIG. 18;

[0078] FIG. 23 shows a perspective view of two rotatably interconnected arm joints I and II of a further embodiment of the manipulator;

[0079] FIGS. 24A and 24B each show a view of a transverse connector for rotational connection of the two arm joints of FIG. 23;

[0080] FIGS. 25A and 25B show a perspective view and a longitudinal sectional view of three interconnected arm joints I-III of a further embodiment of the manipulator, wherein the arm joints I and II are rotatably connected together and the arm joints II and III are connected together in rotational guiding relationship;

[0081] FIGS. 26A and 26B each show a view of a further embodiment of the external connector for implementing a rotary guide means between arm joints II and III;

[0082] FIG. 27 shows a perspective view of two fixedly interconnected arm joints IV and V of a further embodiment of the manipulator;

[0083] FIG. 28 shows a longitudinal sectional view in relation to FIG. 27 with an additional arm joint V rotatable parallel to the arm joint V;

[0084] FIGS. 29A and 29B show a perspective view and a longitudinal sectional view of two rotatably interconnected arm joints I and II as shown in FIG. 25 but in addition with a motor torque-transmittingly coupled at the end;

[0085] FIG. 30 shows a side view of a further embodiment of the manipulator with three arm joints as shown in FIGS. 25A and 25B and three arm joints as shown in FIG. 28;

[0086] FIG. 31 shows a longitudinal sectional view of a further embodiment of the manipulator with three arm joints as shown in FIG. 28 and two arm joints as shown in FIG. 23; and

[0087] FIGS. 32A and 32B show a perspective view and a longitudinal sectional view of a further embodiment of the manipulator with three arm joints driven in succession by way of a motor.

DETAILED DESCRIPTION OF THE DRAWINGS

[0088] In the description all terminology for describing location like up, down, front, rear, right and left are intended as they are shown in the respective Figure itself, unless otherwise defined. FIGS. 1 to 18, without wishing to be restricted thereto, show possible embodiments of an arm joint 1 for a manipulator M in different views and partial views. FIGS. 19 to 32 show possible embodiments of the manipulator M with arm joints 1 which are combined together and which are operatively connected together. It is immediately apparent that a plurality of further combinations and couplings of the arm joints 1 is possible, which are also to be included in the scope of protection.

[0089] As can be seen in particular from FIGS. 1, 2, 5, 8, 11, 16, 20B, 25B, 28, 29B and 32B the arm joints 1 each have a gear wheel 2 rotatable about a transmission axis of rotation g. The gear wheel 2 is mounted rotatably in a housing 3 of the arm joint 1. In the embodiments of the arm joint 1 shown in the Figures it has a respective adaptor 22 at both of its ends 21. The gear wheel 2 is arranged rotatably in the housing 3 by way of a respective bearing 7 by way of the two adaptors 22, that is to say at both sides in relation to the transmission axis of rotation g. FIGS. 18A and 18B each show an individual view of the adaptor 22 which here is an independent component. Alternatively at least one of the adaptors 22 can be integrally connected to the gear wheel 2.

[0090] The two adaptors 22 each have at their side 23 facing away from the end 21 of the gear wheel 2, an opening 24 which is central with respect to the transmission axis of rotation g and has a female thread 25. At the minimum it is also possible for only one of the two adaptors 22 to be provided with the central opening 24. As FIGS. 18A and 18B show the adaptors 22 each have axially projecting push-in projections 221 which here are cylindrical and which are arranged on a radius and are peripherally equally spaced, and in the installation position respectively engage axially into a plug opening 222 associated therewith and provided on the gear wheel 2. As an adaptor with the projections 221 is provided at both sides of the gear wheel the openings 222 are in the form of through openings, into which in the installation position an associated projection 221 respectively engages from two sides. The adaptors 22 and the gear wheel 2 overall are each rotationally symmetrical with respect to the transmission axis of rotation g.

[0091] The housing 3 has a receiving portion 31 for receiving a further transmission element 4. The further transmission element 4 is arranged transversely to the transmission axis of rotation g on an operative axis w. The operative axis w is positioned in spaced relationship with the transmission axis of rotation g. The further transmission element 4 is arranged mounted in the receiving portion 31 by way of the operative axis w. In the illustrated embodiment of the arm joint 1 both axes, that is to say the operative axis w and the transmission axis of rotation g, extend in mutually parallel spaced relationship with a plane extending perpendicularly to a spacing between the operative axis w and the transmission axis of rotation g, said spacing extending in the spacing direction a. In this case the spacing is the minimum spacing between the two axes. The transmission axis of rotation g and the operative axis w do not intersect.

[0092] The transmission element 4 is operatively connected to the periphery of the gear wheel 2. The gear wheel 2 and the further transmission element 4 form a transmission G for transmission of a motor torque which is coupled into the arm joint 1. The motor 5 in itself is arranged spaced from the respectively associated arm joint 1.

[0093] The gear wheel 2 and the further transmission element 4 are arranged to act play-free within each other axially with respect to the spacing direction a. For that purpose the gear wheel 2 and the further transmission element 4 are arranged movably relative to each other in the spacing direction a. To set the freedom from play, in the illustrated embodiments of the arm joint 1, solely the gear wheel 2 is arranged by means of an adjusting device 4 movably relative to the housing 3 in the spacing direction a. The relative movement is effected here by displacement of the gear wheel 3 in the spacing direction a towards the further transmission element 4.

[0094] The adjusting device 6 is fitted at the bearings 7 of the gear wheel 2 or the adaptor 22 thereof, by way of which the gear wheel 2 is mounted. The gear wheel 2 is rotatably mounted by way of its adaptors 22 axially at both sides by way of a respective bearing 7 on the housing 3. The bearings 7 each have a first bearing ring or race 71 which is associated with the housing 3 and which here is arranged externally with respect to the transmission axis of rotation g and a second bearing ring or race 72 which is associated with the gear wheel 2 and which is arranged internally with respect to the transmission axis of rotation g. For adjustment purposes an adjusting force E acting in the spacing direction a towards the further transmission element 4 is coupled at least into one of the first bearing rings 71. Advantageously in terms of mechanical force implementation it is provided here that the adjusting force E is applied to the gear wheel 2 for displacement thereof by way of the two first bearing rings 71.

[0095] For that purpose an adjusting force K is produced by way of the adjusting device 6 radially with respect to the spacing direction a, which force is introduced into the respectively associated first bearing ring 71 by way of sliding on inclined planes S operative in the spacing direction a, diverted in the spacing direction a in the direction towards the further transmission element 4. The inclined planes are here respectively arranged at the same angle of inclination to the spacing direction a, which here is less than 60. For that purpose, provided for each first bearing ring 71 is an adjusting element 61 which is arranged on the housing 3 in a variable position in an adjusting opening 62 with respect to the spacing direction a in the radial direction towards the first bearing ring 71. That adjusting opening 62 is arranged above the transmission axis of rotation g, more specifically at a point that is the uppermost point of a radius extending around the transmission axis of rotation. In that way the respective first bearing ring 71 is at the same time acted upon at its uppermost point with the adjusting force E, in an advantageous fashion in terms of mechanical forces. The adjusting element 61 has a threaded shaft 63 with a male thread, with which it is in threaded engagement with a female thread in the adjusting opening 62. That threaded engagement is self-locking. The adjusting element 61 projects with a conical working end 64 having the inclined plane S into the housing and in a working position bears against an inclined plane S provided in an adjusting recess 621 on the first bearing ring 71. In that way the gear wheel 2 can be pressed against the further transmission portion 4 with a screw movement of the adjusting element 61, under the action of the inclined planes S, in the spacing direction a, until it bears in play-free relationship against the transmission portion. For engagement of the working end 64 the first bearing ring 71 has an opening which is matched to the working end 64 and thus also has the inclined plane S.

[0096] Other than for protecting the transmission G the arrangement, as part of the housing 3, has axially at both sides of the gear wheel 2, a respective annular cover 32 which is arranged coaxially with respect to the transmission axis of rotation g and has a ring opening 33. The cover 32 is radially outwardly fixed to the housing 3. If functionally necessary the cover 32 is provided with a central ring opening 33, by which the respectively associated central opening 34 remains uncovered or is at least accessible from the exterior. The ring opening 33 can also serve for supporting, in particular in a plain bearing, the drive shaft 51, the motor shaft 52 and/or the hollow profile member 8. The size of the ring opening 33 can be designed to be minimised to the respective purpose, for example for support on the respective diameter of the shafts 51; 52 or the hollow profile member 8. In addition, as can be seen from FIGS. 2B and 2C, the cover 32 can have the adjusting opening 62, in which the above-described adjusting element 61 is arranged accessibly from the exterior and mounted capable of a screwing movement in the cover 32.

[0097] The further transmission element 4 is arranged axially play-free with respect to the gear wheel 2, in relation to the operative axis w. In the embodiment of the arm joint shown in FIGS. 1 to 6 the transmission G is in the form of a worm transmission G1 with the output side gear wheel 2 in the form of a worm gear 26 and the input side further transmission element 4 in the form of the worm 41. The worm gear 26 and the worm 41 are shown in threaded engagement in FIG. 6 without the rest of the arm joint 1. The usual inclined tooth arrangement 261, matching the screw 41, of the screw gear 26 is clearly apparent. As can be seen from FIG. 5 the operative axis w here is a drive shaft 51 driven directly by a motor 5. The worm 41 is arranged in a clamping fit on the drive shaft 51.

[0098] As can be seen from FIG. 5 the drive shaft 51 is arranged protected in a hollow profile member 8, more specifically in a central internal passage 81 provided in the hollow profile member 8. The drive shaft 51 is further rotatably mounted axially with respect to the operative axis w on both sides of the worm 41 by way of a respective bearing 7 on the receiving portion 31. Adjustment for mounting the further transmission element 4 in play-free relationship axially with respect to the operative axis 4, and thus play-free interaction axially with respect to the operative axis w of the gear wheel 2 and the further transmission element 4 is effected similarly to the above-described adjustment for interaction of the gear wheel 2 and the further transmission element 4, such interaction being play-free axially with respect to the spacing direction a. Here however displacement of the gear wheel 2 axially relative to the operative axis w is effected by way of its bearings 7. The hollow profile member 8 itself is arranged non-rotatably and non-displaceably relative to the receiving portion 31. For that purpose provided at both sides of the hollow profile member 8 are undercut receiving grooves 82 in which anchor projections provided on the receiving portion 31 engage for non-rotatable mounting of the hollow profile member 8.

[0099] The hollow profile member 8 is divided into two portions, that is to say a first portion 83 and a second portion 84. The two portions 83; 84 are arranged spaced from each other over the extent, axially with respect to the operative axis w, of the two bearings 7 supporting the drive shaft 51 on the hollow profile member 8, and the axial extent of the worm 41. In that way the region around the worm 41 is accessible from the exterior for the worm gear 26. In addition structurally uncomplicated adjustment of the operative connection between the gear wheel 2 and the further transmission element 4 is made possible, as far as freedom from play axially with respect to the direction of the operative axis w. The two portions 83; 84 respectively engage with an end towards the worm 41, at the ends thereof, at the bearing 7 associated therewith, that is to say in each case with respect to the direction from the setting unit towards the worm 41, a front bearing 73 and a rear bearing 74, wherein they are respectively supported at the receiving portion 31 with their other end that is remote from the worm 41. The second portion 84, as arranged at the right in FIG. 5, is supported by way of a clamping element 65. In the working position it bears peripherally in friction-locking relationship radially outwardly against the second portion 84. The clamping element 65 is further arranged screwably on the receiving portion 31. The clamping element 65 is so designed that, with progressive screwing at the receiving portion 31 it peripherally exerts a correspondingly increasing radial frictional force on the second portion 84, and in this application that causes frictional engagement with the second portion 84.

[0100] The first portion 83, arranged at the left in FIG. 5, bears with its supported end in force-transmitting relationship against a setting unit 67. The unit is arranged screwably on the receiving portion 31, in the direction of the operative axis w. The setting unit has an adjusting device 671, by way of which the first portion 83 can be pressed against the front bearing 73 with axial displacement on the hollow profile member 8, the bearing then being pressed against the further transmission element as far as freedom from play. In that way the axial play in the operative connection between the gear wheel 2 and the further transmission element 4 can be eliminated. As can be seen for example from FIG. 4 the adjusting device 671 is actuable by rotation of a cap nut accessible from the outside. The setting unit 67 has a blind opening 65 which is axial relative to the operative axis w and into which the drive shaft 51 projects at the end while remaining free therein. Remaining free means without bearing against the blind opening 65 at the inside thereof.

[0101] The above-described bearings 7 for the gear wheel 2 and the further transmission element 4 in the form of the worm 41 are each in the form of roller bearings in the illustrated embodiments of the arm joints 1, but the invention is not limited thereto, as any other suitable forms of bearing can be used. Alternatively at least some of the bearings can be in the form of respective plain bearings, in particular plastic plain bearings, which are advantageously lubricant-free.

[0102] FIG. 7 is a cross-sectional view with respect to the transmission axis of rotation g of another embodiment of the arm joint 1. The transmission G is here in the form of an inverted worm transmission G2. Conversely to the worm transmission G1 here the torque is introduced at the drive side by way of the gear wheel 2 and transmitted out of the transmission at the drive output side to the operative axis w by way of the further transmission element 4. As can be seen from FIGS. 8 and 9 the gear wheel 2 in the form of a spur gear accordingly has a peripheral male thread 27 and the further transmission element 4 has a spur tooth arrangement 42. The hollow profile member 8 which is here at the drive output side forms the operative axis w. The further transmission element 4 is arranged non-rotatably on the hollow profile member 8. The hollow profile member 8 is supported in the receiving portion 31 rotatably by way of two axially mutually spaced clamping elements 65. The clamping elements 65 serve here for guidance and support without clamping of the hollow profile member 8. As described above the hollow profile member 8 has an internal passage 81. As the internal passage 81 is not needed to constitute the inverted worm transmission G2 in the embodiment of the arm joint shown in FIG. 1, other components like lines or, as indicated by way of example in FIG. 31, a further drive shaft 51 for a remote arm joint, can be passed through the hollow profile member 8 without the further drive shaft 51 transmitting a torque to the arm joint 1.

[0103] FIGS. 10 and 11 each show a view of a further embodiment of the arm joint 1; FIGS. 12 and 13 each show individual components of this embodiment. As part of a linear transmission G3, the gear wheel 2 is in the form of a spur gear 28 and the further transmission element 4 is in the form of a toothed rack element 43. The toothed rack element 43 forms the operative axis w. The toothed rack element 43 is arranged in the installed position in a first receiving groove 84 which is open towards the gear wheel in the installation position. The first receiving groove 84, like also the lateral receiving grooves 82, are of an undercut configuration. In the installation position the toothed rack element 43 engages into the first receiving groove 84 by way of a foot 44 which is matched to the undercut configuration, and is thereby mounted axially non-rotatably and radially non-displaceably to the hollow profile member. In addition provided at both sides of the toothed rack element 43 are clamping elements 65 which are arranged in a clamping fit on the hollow profile member 8 and against which the toothed rack element 43 axially bears at the ends against clamping elements 65. In that way the toothed rack element 43 is held axially non-displaceably in the receiving groove 84. The first receiving groove 84 is arranged opened towards the gear wheel 2 for tooth engagement into same.

[0104] FIGS. 12A and 12B show a perspective view and a cross-sectional view of the hollow profile member 8. Besides the above-mentioned lateral receiving grooves 82 for non-rotatably arranging the hollow profile member 8 and the upper receiving groove 85 a lower receiving groove 86 is provided at the underside for receiving measurement components, in which case by way of example a magnetic strip Ma for travel measurement is arranged here. An associated sensor means R for travel measurement is shown by way of example in FIG. 14, the sensor means being of a half-shell shape and being adapted to be fixed with respect to the operative axis w centrally at the receiving portion 51.

[0105] FIGS. 19 to 26B show side views, sectional views and individual views of three basic forms of connection between at least two arm joints 1. They are arranged coaxially and at the ends in mutually parallel relationship with respect to the transmission axis of rotation g. They each have the central opening 24 at least at the mutually facing ends, the two openings 24 being arranged in mutual alignment. The at least two arm joints 1 are part of an embodiment of the manipulator M. To make the connection between the arm joints 1, there is a connecting device 9 having parallel connectors 91, by means of which the arm joints 1 are arranged parallel and spaced from each other and mounted rotatably about a common transmission axis of rotation g.

[0106] In FIGS. 19 to 21 two arm joints 1 are fixedly connected together, constituting a rigid connection VI, that is to say the housings 3 of the at least two arm joints 1 and the gear wheels 2 of the at least two arm joints 1 are respectively non-rotatably connected together. For that purpose the two transmission axes of rotation g of the two arm joints 1 are non-rotatably connected together by a radially inward parallel connector 91 in the form of an internal connector 92. In addition the housings 3 of the two arm joints 1 are non-rotatably connected together by way of a radially outward parallel connector 91 in the form of an external connector 93. When therefore a torque is applied to the transmission axis of rotation g of the one arm joint 1 then the torque is transmitted directly to the transmission axis of rotation g of the other arm joint 1, more specifically in the ratio 1:1. The same applies for coupling a torque into the housing 3 of an arm joint 1 and transmission thereof to the housing 3 of the other arm joint 1.

[0107] The internal connector 92 and the external connector 93 are respectively shown in individual views in FIGS. 21A and 21B and in FIG. 22. The internal connector 92 is of an elongate form with a respective male thread 27 at both ends, with which it engages non-rotatably into the two mutually facing openings 24 of the two interconnected arm joints 1. The external connector 93 is of an annular shape, the two arm joints 1 being held in mutually spaced relationship over the axial extent thereof. In addition provided axially at both ends at the periphery are equally spaced plug connections 94 which are arranged on a radius and which in the installation position axially engage into plug openings correspondingly provided on the housing 3. The two arm joints 1 are axially held together by the internal connector 92 and are held pressed axially against the external connector 93.

[0108] For rotationally securing the thread engagements of the female thread 25 and the male thread 95, in respect of both arm joints 1 it is respectively provided that a plurality of identical blocking elements 68, here each in the form of a screw element 681, are axially screwed into an overlap region of the two interengaging threads 25; 95 in order thereby to block relative rotation of the two threads 25; 95. This ensures that the two interconnected arm joints 1 are held axially non-displaceably and non-rotatably.

[0109] The screw elements 681, here being eight, are arranged on a radius and equally peripherally spaced. Associated with each screw element 681 is a blocking opening 69 between the interengaging threads 25; 95. To provide the blocking opening 69 a respective axial groove 691 of semicircular cross-section is provided in both threads 25; 95 for each respective blocking opening 69, wherein the two axial grooves 691, upon thread engagement, are moved in a given relative rotational position of the two threads 25; 95, one above the other, in which position the axial grooves 691 supplement each other at least to provide a circular blocking opening 69. In that way upon assembly the two arm joints 1 are screwed together, with a spacing thereof, by way of the external connector 93 and by way of the thread engagement of the internal connector in the two central openings 24, to such an extent that the threads 25; 95 of the two openings engage into each other in play-free relationship with the lowest possible prestressing and in addition the axial grooves 691 combine to form the respective blocking opening 69 in order then in a further step to screw the screw elements 681 into the respectively associated blocking opening 69. By virtue of the same procedure, when for example play occurs in operation due to wear, the play can be eliminated, for which purpose firstly the screw elements 681 of one of the two openings 24 have to be released.

[0110] Adjustment for freedom from play of the thread engagement is thus effected step-wise, that is to say here with eight blocking elements 68, the spacing extends over a rotational angle of 45. The accuracy with which play adjustment or freedom from play can be implemented thus depends inter alia on the number of blocking elements 68. That kind of adjustment of freedom from play in respect of a thread engagement of two interengaging threads 25; 95 is also used in other embodiments described hereinafter of the manipulator M.

[0111] Referring to FIG. 23 two arm joints 1 are rotatably connected together, constituting a rotary connection V2, with respect to the transmission axis of rotation g. The rotary connection V2 was effected here by means of a transverse connector 96. The transverse connector 96 is of a cranked shape and engages with a radially inward threaded sleeve-like end portion 961 with thread engagement radially inwardly and axially into the female thread 25 of the central opening 24 of the gear wheel 2 of the one arm joint 1, being axially non-displaceable. Here too by means of the above-described adjusting device, by way of blocking elements 68, the thread engagement is blocked to prevent relative rotation of the threads 25, after adjusting the freedom from play. With the other radially outer end portion 962 the transverse connector 95 is connected radially outwardly and axially fixedly to the housing 3 of the other arm joint 1, that is to say, as can be seen at the screw openings 98 in FIG. 24A, being screwed, wherein the two arm joints 1 are held spaced over the axial extent of the outer end region of the transverse connector 95.

[0112] In that way the torque introduced into the transverse connector 95 by the gear wheel 2 of the one arm joint 1 can be transmitted to the housing of the other arm joint 1 so that the two arm joints 1 rotate relative to each other, upon torque transmission, with respect to the transmission axis of rotation g. In order to minimise frictional losses which occur upon relative rotation of the two arm joints 1, radially outwardly between the transverse connector 96 and the housing 3 of the one arm joint 1, the transverse connector 96 has sliding surfaces 97 which laterally axially face towards the one arm joint 1, and against which solely the one arm joint 1 bears radially outwardly at the transverse connector 96.

[0113] By way of example reference is made to FIGS. 25 and 26 to describe a further form of connection, in the form of a rotary guide means V3 for two interconnected arm joints 1. In the rotary guide means V3 two interconnected arm joints 1 are rotated relative to each other, guided against each other. That relative rotary movement however is passive, that is to say the rotary movement does not actively come from one of the two arm joints. In contrast thereto, in the case of the rotary connection V2, the rotary movement is created actively by one of the two interconnected arm joints 1. FIGS. 25A and 25B show a further embodiment of the manipulator M with three interconnected arm joints 1. For improved clarity in the Figures the arm joints 1 are additionally identified by the Roman numerals I-III. As shown in FIG. 25B the arm joint I is arranged at the right, the arm joint III is arranged at the left and the arm joint II is arranged centrally between the two arm joints I and III. As can be seen from the longitudinal sectional view here parallel to the operative axes w shown in FIG. 25A of the arm joints I-III, the rotary connection V2 already described above is provided between the arm joint I and the arm joint II, the arm joint I having a worm transmission G1 and the arm joint II having a linear transmission. In this arrangement a torque is coupled from the worm gear 2 of the arm joint I to the housing 3 of the arm joint II, whereby same is rotated relative to the arm joint I. The gear wheels 2 of the two arm joints II and I are connected non-rotatably and non-displaceably to each other by way of an internal connector 92. Therefore the gear 28 of the linear drive G3 of the arm joint II is rotated by way of the internal connector 92, wherein the gear 28 meshes at the drive output side with the toothed rack element 43 and moves linearly in the direction of the operative axis w.

[0114] There is also an external connector 93. As can be seen from FIGS. 26A and 26B, as in the case of the rotary connection V2, push-in projections 94 are provided at the drive output end while sliding surfaces 97 are provided at the drive input end. In other words the outer connector 93 is connected, in each case radially outwardly, non-rotatably to the housing 3 of the arm joint II and rotationally slidingly movably to the housing 3 of the arm joint III. When the arm joint II is actively rotated by the arm joint I then the arm joint II is at the same time rotationally slidingly movably guided at the arm joint III.

[0115] FIGS. 27-28 and 29A-29B show three further possible options for connecting arm joints 1, which are respectively driven at the drive input side by way of a worm drive G1. The two arm joints 1 shown in FIG. 27 are shown in FIG. 28 and the two arm joints I shown in FIG. 29A are shown in FIG. 29B, in each case in a longitudinal sectional view. In accordance therewith the arm joint 1 shown at the left in FIGS. 27-29 has a worm drive G1. The worm 21 of the worm drive G1 is driven by a motor 5 arranged spaced in relation to the arm joint 1. In addition the arm joint 1 adjoining the left-hand arm joint 1, as shown in FIG. 28, has a linear drive G3. The two adjacent arm joints are connected together as shown in FIG. 28 by way of a rigid connection V1 so that the torque which is coupled from the worm gear 26 of the one arm joint 1 into the spur gear 28 of the other arm joint 1 is converted by way of the linear transmission G1 into a linear movement of the toothed rack element 43.

[0116] The embodiment of the manipulator M shown in FIG. 28 has a further arm joint 1 with a linear transmission G3 arranged spaced relative to the other arm joint 1 with the linear transmission G3. For torque connection to the other arm joint 1 the arrangement has a drive shaft portion 54 bridging over the spacing. It is connected non-rotatably to the spur gears 28 of the two linear transmissions G3 so that the two linear transmissions G3 are driven synchronously by way of the worm transmission G1. The drive shaft portion 54 is mounted rotatably at both ends by way of a respective connecting element 53 at the mutually facing central openings 34 of the arm joints 1. For that purpose the connection element 53 with a male thread 27 is in play-free threaded engagement as described hereinbefore with the female thread 25 of the respectively associated central openings 34. That connection element 53 is shown by way of example in an individual view in FIGS. 18C and 18D.

[0117] The embodiment of the manipulator M shown in FIGS. 29A and 29B has a further motor 5 which is coupled with its motor shaft 52 at the end in relation to the transmission axis of rotation g to the arm joint 1 with the worm transmission G1 and is connected to the drive shaft 51 by way of a coupling 55. The drive shaft 51 passes through the arm joint 1 with the worm transmission G1 without transmitting a torque to that arm joint 1. The two interconnected arm joints 1 are supported in the central opening 24 remote from the two arm joints 1 as described above. In this case it is non-rotatably connected to the gear wheel 2 of the inverted worm drive G2. The hollow profile member 8 is thus set in rotation by way of the further motor 5.

[0118] In the embodiment of the manipulator M shown in FIG. 30 the arm joints 1 from the point of view of their functional relationship can be divided into a first group U1 and a second group U2, the first group U1 shown at the bottom in FIG. 30 already having been described with reference to FIG. 25 and the second group U2 arranged at the top in FIG. 30 already having been described more fully with reference to FIG. 28. As a departure therefrom the arm joints 1 of the second group are here mounted at a base B, wherein the arm joints 1 of the first group are arranged at the working head side of the manipulator M. In the second group the two arm joints 1 which are spaced by way of the drive shaft portion 54 and thus the associated toothed rack elements 43 which are respectively arranged in a hollow profile member 8 move parallel and synchronously. Provided at the upwardly arranged free ends of the hollow profile members 8 is a respective motor 5 which couples a torque into a drive shaft guided in the respectively associated hollow profile member and by way thereof drives the two outer joints 1 of the first group. It will be clear that extensive movement is made possible for the manipulator M by virtue of the arm joints 1.

[0119] In the embodiment of the manipulator M shown in FIG. 31 the arm joints 1 used can also be divided into two groups U2; U3. The one group is the already mentioned second group U2 arranged at the left in FIG. 31. As the toothed rack elements 43 respectively mounted to a hollow profile member 8 are displaced synchronously linearly being held parallel to each other, then as shown in FIG. 31 they can be fixedly connected together for stabilisation thereof by way of transverse bars 99. The arm joints 1 of both groups U2; U3 are arranged coaxially to a transmission axis of rotation g.

[0120] Between the two arm joints 1 of the other group U2 there is a rotary connection V2 which has already been described hereinbefore in relation to FIG. 23, wherein the arm joint 1 at the left in FIG. 31 drives the arm joint 1 at the left in FIG. 31. The left arm joint 1 has a worm drive G1 while the arm joint 1 at the right is equipped with an inverted worm transmission G2. The hollow profile member 8 which is passed through the right arm joint 1 is driven by way of the inverted worm transmission G2 of the right arm joint 1, which in turn is coupled at the end to a motor 5 torque-transmittingly engaging with respect to the transmission axis of rotation g. In addition coupled at the end to that hollow profile member 8 is a further motor 5 which drives a drive shaft 51 guided in the hollow profile member 8 for a purpose which is not further shown here. As the drive shaft 51 is arranged concealed in the hollow profile member 8 it is only indicated by broken lines.

[0121] Between the two arm joints 1 of the two groups U2; U3 which are directly adjacent to each other there is a further form of connection which has not yet been described, insofar as the housings 3 thereof are connected together without torque transmission non-rotatably by way of an external connector 93 and by way of a screw connection V4.

[0122] Referring to FIG. 32 the manipulator M has three arm joints 1 of substantially identical structure and arranged in succession with respect to torque transmission as indicated at 3, each having a worm transmission G1, the worms 41 of which are driven by a single drive shaft 51 passing through the arm joints 1.

[0123] The transmission components like the gear wheel 2 and the further transmission component 4 are of such a modular configuration that the arm joints 1 in all embodiments described here can be inexpensively assembled and replaced without complication. The manipulator M, the motor 5, the arm joint 1, the hollow profile member 8 and/or the components, in particular transmission components in their various modifications and sizes, are each of a modular structure and can therefore be easily assembled and replaced.

LIST OF REFERENCES

[0124] 1 arm joint [0125] 2 gear wheel [0126] 21 end [0127] 22 adaptor [0128] 221 push-in projection [0129] 222 push-in opening [0130] 223 guide insert [0131] 23 side [0132] 24 opening [0133] 25 female thread [0134] 26 worm gear [0135] 261 inclined tooth arrangement [0136] 27 male thread [0137] 28 spur gear [0138] 29 external tooth arrangement [0139] 3 housing [0140] 31 receiving portion [0141] 32 cover [0142] 33 ring opening [0143] 4 further transmission element [0144] 41 worm [0145] 42 spur tooth arrangement [0146] 43 toothed rack element [0147] 44 foot [0148] 45 anchor element [0149] 5 motor [0150] 51 drive shaft [0151] 52 motor shaft [0152] 53 connection mounting [0153] 54 drive shaft portion [0154] 55 coupling [0155] 6 adjusting device [0156] 61 adjusting element [0157] 62 adjusting opening [0158] 621 adjusting recess [0159] 63 threaded shaft [0160] 64 working end [0161] 65 clamping element [0162] 651 inner screw sleeve [0163] 652 outer screw sleeve [0164] 66 blind opening [0165] 67 setting unit [0166] 671 setting device [0167] 68 blocking element [0168] 681 screw element [0169] 69 blocking opening [0170] 691 groove [0171] 7 bearing [0172] 71 first bearing ring [0173] 72 second bearing ring [0174] 73 front bearing [0175] 74 rear bearing [0176] 8 hollow profile member [0177] 81 internal passage [0178] 82 lateral receiving groove [0179] 83 first portion [0180] 84 second portion [0181] 85 upper receiving groove [0182] 86 lower receiving groove [0183] 9 connecting device [0184] 91 parallel connector [0185] 92 internal connector [0186] 921 internal screw connection [0187] 93 external connector [0188] 94 push-in projection [0189] 95 male thread [0190] 96 transverse connector [0191] 961 inner end region [0192] 962 outer end region [0193] 97 sliding surface [0194] 98 screw opening [0195] 99 transverse bar [0196] a spacing direction [0197] g transmission axis of rotation [0198] w operative axis [0199] B base [0200] E adjusting force [0201] G transmission [0202] G1 worm transmission [0203] G2 inverted worm transmission [0204] G3 linear transmission [0205] M manipulator [0206] Ma magnetic strip [0207] R sensor means [0208] S inclined plane [0209] V1 rigid connection [0210] V2 rotary connection [0211] V3 rotary guide means [0212] V4 screw connection [0213] U1 first group [0214] U2 second group [0215] U3 third group