JOINT

Abstract

The disclosure relates to a joint, which has at least three degrees of rotational freedom, having a rigid carrier element and at least two elastically deformable joint elements formed on the carrier element in an overlapping arrangement, at least in sections. Each joint element can include two rod-shaped web portions arranged on the carrier element and extending therefrom which are arranged either converging or diverging relative to each other, and at their end facing away from the carrier element are connected to each other by way of a contact portion. Two web portions connected to each other extend in a first common plane and two other web portions connected to each other extend in a second common plane, and the first common plane and the second common plane intersect.

Claims

1. A joint, which has at least three degrees of rotational freedom, comprising: a rigid carrier element; at least two elastically deformable joint elements formed on said carrier element in an overlapping arrangement, at least in sections, where each of said joint elements includes: two rod-shaped web portions arranged on said carrier element and extending therefrom which are arranged either converging or diverging relative to each other; and at their end facing away from said carrier element, a contact portion for connecting the two rod-shaped portions to each other; and wherein two web portions connected to each other extend in a first common plane, and two other web portions connected to each other extend in a second common plane, and the first common plane and the second common plane intersect.

2. The joint according to claim 1, wherein said web portions of one of said at least two joint elements extend at least in sections between said web portions of an other of said at least two joint elements.

3. The joint according to claim 1, wherein said contact portion is formed integrally with said two associated rod-shaped web portions ('1).

4. The joint according to claim 1, wherein said two web portions of at least one joint element at their end facing toward said carrier element are connected to each other via a fastening portion that is integrally formed with said web portions, and said respective joint element is connected to said carrier element via said fastening portion.

5. The joint according to claim 1, wherein said web portions of at least one joint element define an angle between them which is between 60 and 120.

6. The joint according to claim 1, comprising: at least one elastically deformable support element arranged on said carrier element.

7. The joint according to claim 6, wherein said support element extends between said at least two joint elements in a direction facing away from said carrier element.

8. The joint according to claim 1, comprising: four joint elements arranged on said carrier element and two support elements arranged on said carrier element, where said four joint elements are provided in pairs and said two support elements are arranged individually at oppositely disposed ends of said carrier element.

9. A parallel-kinematic adjustment device comprising: a fixed base; a platform that is adjustable relative to said base; and at least one joint according to claim 1 arranged between said base and said platform.

10. The parallel-kinematic adjustment device according to claim 9, comprising: six joints; a drive element arranged on each of three joints for individually driving the respective joint; and a common guide platform connected to said three other joints at one of their end portions.

11. The parallel-kinematic adjustment device according to claim 10, wherein said joints connected to said common guide platform are connected with their respective other end portion to an inner holding portion of said platform.

12. The joint according to claim 2, wherein said contact portion is formed integrally with said two associated rod-shaped web portions.

13. The joint according to claim 12, wherein said two web portions of at least one joint element at their end facing toward said carrier element are connected to each other via a fastening portion that is integrally formed with said web portions, and said respective joint element is connected to said carrier element via said fastening portion.

14. The joint according to claim 1, wherein said web portions of at least one joint element define an angle between them which is between 70 and 95.

15. The joint according to claim 13, wherein said web portions of at least one joint element define an angle between them which is between 70 and 95.

Description

[0024] Embodiments of the invention shall be described below with reference to the appended figures, where

[0025] FIG. 1: shows an embodiment of a joint according to the invention

[0026] FIG. 2: shows an arrangement of the joint of the invention according to FIG. 1 in a parallel-kinematic adjustment device

[0027] FIG. 1 shows an embodiment of a joint according to the invention 1, in which a total of four elastically deformable joint elements 3 made of spring steel arranged on a substantially rigid carrier element 2 made of aluminum are present, where two joint elements 3 are arranged at a distal end of carrier element 2, while the other two joint elements 3 are arranged at the opposite distal end of carrier element 2. The joint elements are fabricated from spring steel, however, other materials having corresponding elastic deformability are equally conceivable for this purpose, for example bronze, which is non-magnetic and can be used where the joint according to the invention is used in a magnetic field. If only very small deflections of the joint or the joint elements are provided, the joint elements can also be made of a ceramic material.

[0028] The carrier element, which in addition to aluminum can be fabricated, for example, from other metal, such as steel, or also from ceramic, has a substantially rectangular shape, where the center region has a greater thickness and the carrier element tapers toward its both distal ends with respect to its thickness.

[0029] The two joint elements arranged at the same distal end of carrier element 3 each have a fastening portion 6 which is formed integrally or a as single piece with respective two web portions 4 of corresponding joint element 3. Fastening portion 6 and therefore corresponding joint element 3 is attached to carrier element 2 by way of two screws 8. Other types of connection such as soldering, welding or adhesive bonding are also conceivable. In addition, a single-piece or integrally formed configuration of web portions 4 with carrier element 2 while simultaneously omitting fastening portion 6 is additionally conceivable.

[0030] A respective joint element 3 is connected to carrier element 2 via fastening portion 8 at each of the two distal ends of carrier element 2 both at its upper side as well as at its underside.

[0031] With joint elements 3 in FIG. 1 arranged at the upper side of carrier element 2, two rod-shaped, elongated and flexible web portions 4 each extend starting out from fastening portion 6 in a direction facing away from the carrier element, where the two web portions 4 extend from a common center in the region of fastening portion 6 in oppositely facing directions from each other or in a divergent arrangement, respectively, and at their unattached end are connected to each other by way of a contact portion 5 that is formed integrally or as a single piece therewith.

[0032] The two web portions 4, connected to each other by way of contact portion 5, of a joint element 3 attached to the upper side extend within a first common plane, where this plane is arranged at an angle deviating from 0 relative to the plane defined by the upper side of carrier element 2.

[0033] Contact portion 5 comprises two circular breakthroughs which are provided to connect contact portion 5 and therefore joint 1, for example by way of screws, either to a fixed base or to an element to be moved that is mounted movable relative to a base by the joint.

[0034] The two web portions 4 of the joint element arranged at the upper side of the carrier element together with contact portion 5 form a triangle in the broadest sense, where the web portions represent the legs and the contact portion forms the base. It is conceivable that the length of the joint elements and the length of the contact portion match, so that an equilateral triangle is thus formed by the joint elements and the contact portion.

[0035] In joint elements 3 in FIG. 1 arranged at the underside of carrier element 2, two rod-shaped, elongated and flexible web portions 4 each extend starting out from fastening portion 6 in a direction facing away from the carrier element, where the two web portions 4 extend from a position in the region of fastening portion 6 that is at different locations or spaced apart in directions extending towards each other or in a convergent arrangement, respectively, and at their unattached end are connected to each other by way of a contact portion 5 that is formed integrally or as a single piece therewith.

[0036] The two web portions 4, connected to each other by way of contact portion 5, of a joint element 3 attached to the underside extend within a second common plane which differs from the first common plane in which the web portions, arranged at the same distal end of the carrier element, of the joint element attached at its upper side extend and where the second common plane is arranged at an angle deviating from 0 relative to plane defined by the underside of carrier element 2

[0037] Also respective contact portion 5 of the joint elements attached to the underside of the carrier element comprises two circular breakthroughs, which are likewise provided to connect contact portion 5 and therefore joint 1, for example by way of screws, either to a fixed base or to an element to be moved that is mounted movable relative to a base by the joint.

[0038] The two web portions 4 of the joint element arranged at the underside of the carrier element together with fastening portion 6 form a triangle in the broadest sense, where the web portions represent the legs and the fastening portion forms the base. It is conceivable that the length of the joint elements and the length of the fastening portion match, so that an equilateral triangle is thus formed by the joint elements and the fastening portion.

[0039] The first common plane, in which the web portions of a joint element arranged at a distal end of the carrier element extend, and there at its upper side, differs from the second common plane, in which the web portion of an element arranged at the same distal end of the carrier element extend, and there at its underside. In other words, the first common plane and the second common plane are not disposed parallel to each other, so that the first and second common planes intersect or cross each other. This is realized specifically in that web portions 4 of the joint element arranged at the upper side diverge, whereas the web portions of the joint element arranged at the underside converge, where in the region of the crossing of the respective web portions, the distance between the two web portions of one joint element differs from the distance between the two web portions of the other joint element. This means that the web portions of the joint element arranged at the upper side of the carrier element in sections, i.e. in the region of the crossing, extend between the web portions of the joint element arranged at the underside of the carrier element, so that both web portions of the joint element arranged at the upper side of the carrier element penetrate through the triangle formed by the two web portions of the joint element arranged at the underside of the carrier element together with its fastening portion.

[0040] Contact portion 5 does not necessarily have to be configured to be formed integrally or as a single piece with the respective web portions connected via the former. It is also conceivable that contact portion 5 represents a separate part of the joint, which is connected to be releasable, for example by way of screws, or inseparable, for example by adhesive bonding, soldering or welding, to the respective web portions.

[0041] An elastically deformable support element 7 is respectively arranged at both distal ends of carrier element 2. The respective support element is there inserted with one of its end portions into a corresponding recess of the carrier element and attached there by way of a clamping connection. Other types of attachment, such as screwing or adhesive bonding, are also conceivable.

[0042] The support element extends with its elongated shape in a direction facing away from the carrier element and at its free end comprises a broadening end portion, where the free end portion is provided for engagement with a higher-level structure in which the joint according to the invention is used, preferred by way of a clamping connection. By connecting the support element to the higher-level structure, this support element is to be acted upon with a compressive force, and this compressive force causes a tensile force load of the joint elements and in particular a corresponding preload of the web portions in a direction that corresponds substantially to the direction of extension of the carrier element or joint, respectively.

[0043] FIG. 2 shows an arrangement or use, respectively, of the joint of the invention according to FIG. 1 in a hexapod-like, parallel-kinematic adjustment device 30. The latter comprises a platform 40 which can be tilted about two axes extending perpendicular to each other and which is linearly slideable along a further axis and with which a total of six joints 1 according to the invention are each attached by way of a screw connection. Platform 30 is movable or tiltable relative to a fixed base, not shown in FIG. 2.

[0044] Each of the six joints 1 comprises four joint elements 3 arranged on carrier element 2 and two support elements 7 arranged on the carrier element, where joint elements 3 are arranged in pairs at the oppositely disposed ends of carrier element 2 and support elements 7 are provided individually at the oppositely disposed ends of e carrier element 2.

[0045] Three of the six joints 1 are aligned substantially perpendicular to platform 40, while the remaining three joints are arranged inclined relative to platform 40. At their end facing away from the platform, drive elements, unrecognizable in FIG. 2, are arranged at joints 1 aligned or arranged substantially perpendicular to platform 40 and are used to move the respective joints in the direction toward the platform or in the respective opposite direction. These three joints moved actively by drive elements therefore represent actively moved joints (hereinafter also referred to as active joints). The three other joints arranged inclined to the platform, however, are not connected to drive elements and are not actively moved, but only indirectly or passively due to the motion of the actively moved joints (hereinafter also referred to as passive joints).

[0046] The passive joints or their corresponding contact portions 5, respectively, are each connected with their end facing away from the platform to a contact element 50 by way of a screw connection. Contact element 50 itself is connected to a guide platform 60. Guide platform 60 is in engagement via a corresponding recess, unrecognizable in FIG. 2, with a guide element 70 which protrudes through the recess in the guide platform. A linear guide of the guide platform in its motion towards platform 40 is thus accomplished.

[0047] At their end facing platform 40, passive joints 1 are attached with their respective contact portions 5 by way of a screw connection to a common inner holding portion 80 of platform 40, where inner holding portion 88 is formed integrally or as a single piece with the platform. This inner holding portion 80 is located substantially at the center of platform 40, and the three passive joints are therefore substantially aligned toward the center of platform 40 or their directions of longitudinal extension extend towards the center of platform 40, respectively.

[0048] The passive joints are there used primarily to guide the platform when it tilts in two tilting axes extending perpendicular to each other, where the intersection of the tilting axes defines the so-called pivot point. The tilting axes or the pivot point, respectively, are ideally located outside the parallel-kinematic adjustment device, namely on the surface of the object to be adjusted, for example, a mirror. Other positions or locations of the pivot point, for example, within platform 40, are also conceivable, where the position or location of the pivot point can be adjusted by way of the distance of the passive joints to each other or by way of the inclination angle of the passive joints, respectively, i.e. the angle which the passive joints define with the platform or the base, respectively.

[0049] Support element 7 of a joint that is facing platform 40 engages in a corresponding recess of inner holding portion 80, while support element 7 of a joint that is facing away from platform 40 engages in a corresponding recess of contact element 50. The two support elements 7 are each held in the corresponding recess by way of a clamping connection. Since the locations of attachment of the respective contact portion have a distance to the respective carrier element which is less than the length of the support element, the simultaneous arrangement of the support element in the recess of the contact element or the holding portion, respectively, results in an elastic compression of the support element which causes a tensile force load with respect to the joint elements and in particular their web portions. A corresponding preload of the web portions substantially in the direction of extension of the joint is thus accomplished.

[0050] The three joints that are actively moved by way of drive elements are arranged spaced from the guide platform and not connected thereto. Contact portions 5 of the active joints facing platform 40 are each connected by way of a screw connection to an associated outer holding portion 90 of platform 40, where also the in total three outer holding portions 9 are formed integrally or as a single piece with platform 40.

[0051] Contact portions 5 of the active joints facing away from platform 40 are each connected by way of a screw connection to an actuation portion 100 of the base of the parallel-kinematic adjustment device, where the associated drive element acting upon respective actuation portion 100 and not shown in FIG. 2 can act in such a way that it and thus also the joint arranged at the actuation portion is moved toward platform 40, and therefore eitherin the case of a simultaneous motion of the joints and in the same direction toward the platforma purely translational motion of the guide platform guided by way of the guide platform together with the guide element arises in a direction facing away from the base of the parallel-kinematic adjustment device, orin the case that only one joint or only two joints are moved in the same direction or the joints are moved in the opposite direction, respectivelya tilting motion of the platform about the pivot point largely guided by way of the passive joints results.

[0052] Due to support elements 7 of joint 1 according to the invention, a comparatively high axial stiffness is obtained in the active joints, so that the force introduced by the drive elements into the respective active joint can be converted to an effective and largely loss-free adjustment motion of the platform.

[0053] On the other hand, the support elements of the passive joints provide a defined motion about the tilting axes and a stable position or location of the pivot point.

LIST OF REFERENCE NUMERALS

[0054] 1 Joint [0055] 2 carrier element [0056] 21 upper side of the carrier element [0057] 22 underside of the carrier element [0058] 3 joint element [0059] 4 web portion [0060] 5 contact portion [0061] 6 fastening portion [0062] 7 support element [0063] 8 fastening element [0064] 30 parallel-kinematic adjustment device [0065] 40 platform [0066] 50 contact element [0067] 60 guide platform [0068] 70 guide element [0069] 80 inner holding portion [0070] 90 outer holding portion [0071] 100 actuation portion