DRIVE DEVICE COMPRISING A DRIVE COMPONENT THAT HAS A LIGHT-STABILISED DYNAMIC MATERIAL, AND ROBOT

Abstract

A drive device including at least one motor and at least one additional drive component from the group of a transmission, a torque converter, a clutch and/or a brake, wherein the at least one motor and/or the at least one additional drive component includes a control means which changes the torque transmission and which includes at least one illuminant and a material that influences the torque transmission and that includes at least one light-stabilized dynamic material (LSDM). The control means is configured to change the torque transmission by actuating the illuminant, which radiates onto the light-stabilized dynamic material (LSDM). A robot includes at least one such drive device.

Claims

1-11. (canceled)

12. A drive device, comprising: at least one motor; at least one additional drive component coupled with the motor selected from the group of a transmission, a torque converter, a clutch, or a brake; and a control device configured to automatically control the at least one motor; wherein at least one of the at least one motor or the at least one additional drive component comprises a torque adjustment means that changes torque transmission of the drive device; the torque adjustment means comprising: at least one illuminant, and a material that influences the torque transmission and that comprises at least one light-stabilized dynamic material (LSDM); wherein the torque adjustment means is configured to change the torque transmission by actuating the illuminant, which then radiates onto the light-stabilized dynamic material (LSDM).

13. The drive device of claim 12, wherein: the at least one additional drive component is at least one brake; the torque adjustment means is associated with at least one of the brakes of the drive device; the respectively associated brake comprises a brake member that is torque-coupled to the associated motor; the respectively associated brake is rotatably mounted in a brake casing and comprises first brake transmission structures; the brake casing comprises second brake transmission structures; and the first brake transmission structures are in contact with the second brake transmission structures via the material, whereby torque transmission between the first brake transmission structures and the second brake transmission structures is controlled as a function of the light radiated by the illuminants onto the light-stabilized dynamic material (LSDM).

14. The drive device of claim 12, wherein: the at least one additional drive component is at least one clutch; the torque adjustment means is associated with the at least one clutch; the at least one clutch comprises a first clutch member that is torque-coupled to the associated motor, is rotatably mounted in a clutch casing, and comprises first clutch transmission structures; the at least one clutch further comprises a second clutch member rotatably mounted in the clutch casing and comprising second clutch transmission structures; and the first clutch transmission structures are in contact with the second clutch transmission structures via the material, whereby torque transmission between the first clutch transmission structures and the second clutch transmission structures is controlled as a function of the light radiated by the illuminants onto the light-stabilized dynamic material (LSDM).

15. The drive of claim 12, wherein: the at least one additional drive component is at least one torque converter; the torque adjustment means is associated with the at least one torque converter; the at least one torque converter comprises a first converter member which is torque-coupled to the associated motor, is rotatably mounted in a converter casing, and comprises first converter transmission structures; the at least one torque converter further comprises a second converter member rotatably mounted in the converter casing and comprising second converter transmission structures; the converter casing comprises third converter transmission structures; and the first converter transmission structures are in contact with the second converter transmission structures and the third converter transmission structures via the material, WHEREBY torque transmission between the first converter transmission structures and the second converter transmission structures is controlled as a function of the light radiated by the illuminants onto the light-stabilized dynamic material (LSDM).

16. The drive device of claim 12, wherein: the at least one additional drive component is at least one transmission; the torque adjustment means is associated with the at least one transmission; the transmission comprises a transmission member which is torque-coupled to the associated motor, is rotatably mounted in a transmission casing, and comprises first transmission structures; at least one transmission stage comprising second transmission structures is arranged in the transmission casing; and the first transmission structures are in contact with the second transmission structures via the material, whereby torque transmission between the first transmission structures and the second transmission transmission structures is controlled as a function of the light radiated by the illuminants onto the light-stabilized dynamic material (LSDM).

17. The drive device of claim 12, wherein: the torque adjustment means is associated with the at least one motor; the at least one motor comprises a torque member which is torque-coupled to the associated motor shaft, is rotatable in a motor casing, and comprises first motor torque transmission structures; the motor shaft comprises second motor torque transmission structures; and the first motor torque transmission structures are in contact with the second motor torque transmission structures via the material, whereby torque transmission between the first motor torque transmission structures and the second motor torque transmission structures is controlled as a function of the light radiated by the illuminants onto the light-stabilized dynamic material (LSDM).

18. The drive device of claim 12, wherein: the at least one illuminant is at least one light emitting diode (LED); the at least one LED is arranged inside at least one of the brake casing, the clutch casing, the converter casing, the transmission casing, or the motor casing; and the at least one illuminant is electrically actuated from outside the respective casing.

19. The drive device of claim 12, wherein: the at least one illuminant is at least one LED; the at least one LED is arranged outside at least one of a light-transmissive brake casing, a light-transmissive clutch casing, a light-transmissive converter casing, a light-transmissive transmission casing, or a light-transmissive motor casing; and light emitted by the at least one LED radiates onto the light-stabilized dynamic material (LSDM) from outside the respective casing.

20. The drive device of claim 12, wherein: the at least one additional drive component comprises at least first and second transmission structures in contact with one another via the material, whereby torque transmission between the first transmission structures and the second transmission structures is controlled as a function of light radiated by the illuminants onto the light-stabilized dynamic material (LSDM); and the at least first and second transmission structures comprise projections that extend into the light-stabilized dynamic material (LSDM).

21. The drive device of claim 20, wherein the projections are blade-shaped wave-shaped projections

22. The drive device of claim 12, wherein: the at least one additional drive component comprises a casing that encloses the light-stabilized dynamic material (LSDM); and the casing comprises: outwardly extending cooling ribs, or cooling channels formed in a casing wall and configured to circulate cooling liquid.

23. The drive device of claim 12, further comprising: a chamber that encloses the light-stabilized dynamic material (LSDM); the chamber comprising: outwardly extending cooling ribs, or cooling channels formed in a chamber wall and configured to circulate cooling liquid.

24. A robot, comprising: a robot arm comprising multiple joints and multiple links which are adjustable relative to one another by movements of the of the respective joints; and a plurality of drive devices in accordance with claim 12, each drive device operatively associated with a respective one of the joints, and controlling movement of the respective joint to thereby automatically and individually adjust the links relative to one another.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

[0048] FIG. 1 is a schematic illustration of an exemplary robot comprising a robot arm and a robot controller, as well as associated drive components,

[0049] FIG. 2 is a schematic illustrated of an exemplary inventive drive component in the embodiment of a brake comprising a light-stabilized dynamic material,

[0050] FIG. 3 is a schematic illustration of an exemplary inventive drive component in the embodiment of a clutch comprising a light-stabilized dynamic material,

[0051] FIG. 4 is a schematic illustration of an exemplary inventive drive component in the embodiment of a torque converter comprising a light-stabilized dynamic material,

[0052] FIG. 5 is a schematic illustration of an exemplary inventive drive component in the embodiment of a transmission comprising a light-stabilized dynamic material, and

[0053] FIG. 6 is a schematic illustration of an exemplary inventive drive component in the embodiment of a motor comprising a light-stabilized dynamic material.

DETAILED DESCRIPTION

[0054] FIG. 1 shows a robot 8 which comprises a robot arm 9 and a control device 10a designed as a robot controller 10. In the case of the present exemplary embodiment, the robot arm 9 comprises several, successively arranged links G1 through G7 connected to one another by means of joints L1 through L6 so as to be able to rotate. In the case of the exemplary embodiment shown, the robot 8 comprises an associated drive device 1 for each joint L1 to L6.

[0055] The robot 8 has the robot controller 10, which is designed to execute a robot program and to move the links G1-G7 and joints L1-L6 of the robot arm 9 automatically. One of the several links G1-G7 forms an end link (G7) of the robot arm 9, which has a tool flange 11.

[0056] The robot controller 10 of the robot 8 is designed or configured to execute a robot program by which the links L1 to L6 of the robot arm 9 can be adjusted or moved in rotation in automated fashion or automatically in a manual mode in accordance with the robot program. For this purpose, the robot controller 10 is connected to controllable electric drives, the motors M1 through M6, which are designed to move the respective joints L1 through L6 of the robotic arm 9.

[0057] In the instance of the present exemplary embodiment, the links G1 through G7 are a robot base frame 13 and a carousel 14 which is borne so as to be rotatable, relative to the robot base frame 13, about a vertically traveling axis A1. Further elements of the robot arm 9 are a link arm 15, a boom arm 16, and a preferably multi-axis robot hand 17 with a fastening device designed as a tool flange 11 for fastening a tool. The link arm 15 is mounted at the lower end on the carousel 14, i.e., at the link L2 of the link arm 15, which can also be referred to as the pivot bearing head, so as to be pivotable about a preferably horizontal axis of rotation A2.

[0058] At the upper end of the link arm 15, the boom arm 16 is in turn mounted at the one link L3 of the link arm 15 so as to be pivotable about a likewise preferably horizontal axis A3. At its end, said boom arm supports the robot hand 17 with its preferably three axes of rotation A4, A5, A6. The joints L1 to L6 can be driven in a program-controlled manner by a respective one of the electric motors M1 to M6 via the robot controller 10, and can be braked and arrested in place by means of the brakes B1 to B6 associated with the joints L1 to L6 or the motors M1 to M6.

[0059] In the case of the robot arm 9, each driven joint L1-L6 is associated with a motor M1-M6 and at least one additional drive component 20 from the group of a transmission 25, a torque converter 24, a clutch 23 and/or a brake 22, wherein the motor M1-M6 and/or the at least one additional drive component 20 comprises a control means 21 which changes the torque transmission and which comprises at least one illuminant 21.1 and a material 21.2 that influences the torque transmission and that comprises at least one light-stabilized dynamic material LSDM, and wherein the control means 21 is configured to change the torque transmission by actuating the illuminant 21.1, which radiates onto the light-stabilized dynamic material LSDM.

[0060] FIG. 2 shows an exemplary inventive drive component 20 in the first embodiment of a brake 22, wherein the control means 21 which changes the torque transmission is associated with at least one of the brakes 22 of the robot arm 9, wherein the respective brake 22 comprises a brake member 22b which is torque-coupled to the associated motor M1-M6, is rotatably mounted in a brake casing 22a of the brake 22 and comprises first brake transmission structures 22c, and the brake casing 22a comprises second brake transmission structures 22d, wherein the first brake transmission structures 22c are in contact with the second brake transmission structures 22d via the material 21.2 comprising the at least one light-stabilized dynamic material LSDM in order to control the torque transmission between the first brake transmission structures 22c and the second brake transmission structures 22d as a function of the light radiated by the illuminants 21.1 onto the light-stabilized dynamic material LSDM.

[0061] FIG. 3 shows an exemplary inventive drive component 20 in the second embodiment of a clutch 23, wherein the control means 21 which changes the torque transmission is associated with at least one clutch 23 of the robot 8, wherein the clutch 23 comprises a first clutch member 23a which is torque-coupled to the associated motor M1-M6, is rotatably mounted in a clutch casing 23e of the clutch 23 and comprises first clutch transmission structures 23c, and said clutch comprises a second clutch member 23b rotatably mounted in the clutch casing 23e of the clutch 23 and comprising second clutch transmission structures 23d, wherein the first clutch transmission structures 23c are in contact with the second clutch transmission structures 23d via the material 21.2 comprising the at least one light-stabilized dynamic material LSDM in order to control the torque transmission between the first clutch transmission structures 23c and the second clutch transmission structures 23d as a function of the light radiated by the illuminants 21.1 onto the light-stabilized dynamic material LSDM.

[0062] In the case of the first and second embodiments, as shown in FIG. 2 and FIG. 3, the illuminants 21.1 are arranged inside the brake casing 22a (FIG. 2) or inside the clutch casing 23e (FIG. 3) and are electrically actuated from outside of the brake casing 22a (FIG. 2) or the clutch casing 23e (FIG. 3).

[0063] However, in the cases of the third to fifth embodiments, as shown in FIG. 4 to FIG. 6, the illuminants 21.1 can also be arranged, for example, inside the converter casing 24g, inside the transmission casing 25e and/or inside the motor casing 26e and can accordingly be electrically actuated from the outside.

[0064] FIG. 4 shows an exemplary inventive drive component 20 in the third embodiment of a torque converter 24, wherein the control means 21 which changes the torque transmission is associated with at least one torque converter 24 of the robot 8, and wherein the torque converter 24 comprises a first converter member 24a which is torque-coupled to the associated motor M1-M6, is rotatably mounted in a converter casing 24f of the torque converter 24 and comprises first converter transmission structures 24c, and said converter comprises a second converter member 24b rotatably mounted in the converter casing 24f of the torque converter 24 and comprising second converter transmission structures 24d, and the converter casing 24f comprises third converter transmission structures 24g, wherein the first converter transmission structures 24c are in contact with the second converter transmission structures 24d and third converter transmission structures 24g via the material 21.2 comprising the at least one light-stabilized dynamic material LSDM in order to control the torque transmission between the first converter transmission structures 24c and the second converter transmission structures 24d as a function of the light radiated by the illuminants 21.1 onto the light-stabilized dynamic material LSDM.

[0065] In the third embodiment according to FIG. 4, in a modification, the illuminants 21.1 are arranged outside of a light-transmissive converter casing 24f and the light emitted by the illuminants 21.1 is radiated onto the light-stabilized dynamic material LSDM from outside of the light-transmissive converter casing 24f.

[0066] In the same sense, in the other embodiments according to FIG. 2, FIG. 3, as well as FIG. 5 and FIG. 6, the illuminants 21.1 can also be arranged outside of a light-transmissive brake casing 22a, outside of a light-transmissive clutch casing 23e, outside of a light-transmissive transmission casing 25e and/or outside of a light-transmissive motor casing 26e, wherein the light emitted by the illuminants 21.1 radiates onto the light-stabilized dynamic material LSDM from the outside.

[0067] FIG. 5 shows an exemplary inventive drive component 20 in the fourth embodiment of a transmission 25, wherein the control means 2 which changes the torque transmission is associated with at least one transmission 25 of the robot 8, and wherein the transmission 25 comprises a transmission member 25a which is torque-coupled to the associated motor M1-M6, is rotatably mounted in a transmission casing 25e of the transmission 25 and comprises first transmission structures 25b, and at least one transmission stage 25c comprising second transmission transmission structures 25d is arranged in the transmission casing 25e, wherein the first transmission structures 25b are in contact with the second transmission structures 25d via the material 21.2 comprising the at least one light-stabilized dynamic material LSDM in order to control the torque transmission between the first transmission structures 25b and the second transmission structures 25d as a function of the light radiated by the illuminants 21.1 onto the light-stabilized dynamic material LSDM.

[0068] In the fourth embodiment according to FIG. 5, the transmission casing 25e in which the light-stabilized dynamic material LSDM is enclosed is provided by way of example with a casing wall in which cooling channels 30 are formed, in which a cooling liquid circulates (arrows P1, P2).

[0069] In the other embodiments too, in deviation from the illustrations, the brake casing 22a, the clutch casing 23e, the converter casing 24f, the motor casing 26e and/or another chamber in which the light-stabilized dynamic material (LSDM) is enclosed, may comprise cooling channels 30 in which a cooling liquid circulates in a chamber wall of the chamber or in a casing wall of the respective casing.

[0070] FIG. 6 shows an exemplary inventive drive component 20 in the fifth embodiment of a motor M1-M6, wherein the control means 21 which changes the torque transmission is associated with at least one of the motors M1-M6, wherein the motor M1-M6 comprises a torque member 26b which is torque-coupled to the associated motor shaft 26a, is rotatable in a motor casing 26e of the motor M1-M6, and comprises first motor torque transmission structures 26c, and the motor shaft 26a comprises second motor torque transmission structures 26d, wherein the first motor torque transmission structures 26c are in contact with the second motor torque transmission structures 26d via the material 21.2 comprising the at least one light-stabilized dynamic material LSDM in order to control the torque transmission between the first motor torque transmission structures 26c and the second motor torque transmission structures 26d as a function of the light radiated by the illuminants 21.1 onto the light-stabilized dynamic material LSDM.

[0071] In the fifth embodiment according to FIG. 6, by way of example, the motor casing 26e is provided with cooling ribs 31 which extend outwards.

[0072] However, in the other embodiments, in deviation from the illustrations, the brake casing 22a, the clutch casing 23e, the converter casing 24f, the transmission casing 25e and/or another chamber, in which the light-stabilized dynamic material LSDM is enclosed, may also be provided with cooling ribs 31 which extend outwards.

[0073] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such de-tail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.