ROBOT ARM HAVING AN ARTICULATED JOINT

Abstract

The invention relates to a robot arm having at least two limbs (2), which are connected to one another at their ends via an articulated joint (10) so that they can be pivoted relative to one another about a rotation axis (A), the two limbs (2) each comprising at least one joint portion (3) and a transition region (4) adjoined thereto and each extending in a longitudinal direction (L). According to the invention, the transition region (4) of at least one of the limbs (2, 2a) has a circumferential edge (6) which, when viewed from a direction running transverse to the rotation axis (A) and transverse to the longitudinal direction (L), crosses a parting line (9) between the two joint portions (3) and runs at a predefined distance radially outside the joint portion (3) of the other limb (2), the circumferential edge (6) running at a distance, in relation to the rotation axis (A), of less than 25 mm outside the surface of the joint portion (3) of the other limb (2) arranged beneath. In addition, a portion of the circumferential edge (6) extends obliquely to the rotation axis (A) when viewed from a direction running transverse to the rotation axis (A) and transverse to the longitudinal direction (L).

Claims

1. A robot arm having at least two limbs (2), which are connected to one another at one of their ends via an articulated joint (10) so that they can be pivoted relative to one another about a common rotation axis (A), wherein at least one of the limbs (2) extends in a longitudinal direction (L) and comprises a joint portion (3) and a transition region (4) adjoined thereto, which runs from the joint portion (3) of the limb (2) in the direction of the joint portion (3) of the other limb (2), characterised in that the transition region (4) of at least one of the limbs (2, 2a) has a peripheral edge (6) which, when considered from a direction running transverse to the rotation axis (A) and transverse to the longitudinal direction (L), crosses a parting line (9) present between the two joint portions (3); the peripheral edge (6) runs at a distance of less than 25 mm outside the surface of the underlying joint portion (3) of the other limb (2) with respect to the rotation axis (A); and in that a portion of the peripheral edge (6), when considered from the direction running transversely to the rotation axis (A) and transversely to the longitudinal direction (L), extends obliquely to the rotation axis (A) at the position where the peripheral edge crosses the parting line (9).

2. The robot arm according to claim 1, characterised in that the peripheral edge (6), along its course, has a substantially constant radial distance from the surface of the other limb (2).

3. The robot arm according to claim 1, characterised in that the peripheral edge (6), when considered from a direction transverse to the rotation axis (A) and transverse to the longitudinal direction (L), runs at least in the region of the parting line (9) at an angle () between 1 and 70 relative to the rotation axis (A).

4. The robot arm according to claim 1, characterised in that the peripheral edge (6) defines a bottom surface (7) that is V-shaped or parabolic when viewed in the direction of the rolling axis (B) and has two legs (8) that run obliquely with respect to the rotation axis (A).

5. The robot arm according to claim 4, characterised in that the legs (8) of the peripheral edge (6) run at least in the region of the parting line (9) at an angle () between 10 and 30 relative to the rotation axis (A).

6. The robot arm according to claim 1, characterised in that the other limb (2, 2b) also comprises a transition region (4) which extends from its joint portion (3) in the direction of the joint portion (3) of the first limb (2, 2a), crosses the parting line (9) present between the two joint portions and then runs at a predetermined distance radially above the joint portion (3) of the first limb (2a), wherein the transition region (4) of the second limb (2, 2b) has a peripheral edge (6) which is arranged at a radial distance of less than 25 mm above the surface of the underlying joint portion (3) of the first limb (2a) with respect to the rotation axis (A) and, when considered from a direction transverse to the rotation axis (A) and transverse to the longitudinal direction (L), extends obliquely to the rotation axis (A).

7. The robot arm according to claim 6, characterised in that the two limbs (2) in the region of an articulation joint (10) have adjacent edges (6, 17) which run substantially in parallel in a particular position of the robot arm.

8. The robot arm according to claim 1, characterised in that the transition regions (4) of the two limbs (2) are shaped in such a way that a distance between adjacent transition regions (4) measured in the region of the peripheral edges (6) in the peripheral direction with respect to the rotation axis (A) increases with increasing distance from the rotation axis (A).

9. The robot arm according to claim 8, characterised in that the transition regions (4) of the two limbs (2) are shaped such that, in the region of adjacent peripheral edges (6), a V-shaped free space remains between the transition regions when the two limbs (2) are angled to the maximum.

10. The robot arm according to claim 1, characterised in that the parting line (9) present between the joint portion (3) of the first and the joint portion (3) of the second limb (2) lies substantially in the middle between the two joint portions (3).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The invention is explained in more detail below by way of example with reference to the accompanying drawings, in which:

[0025] FIG. 1 shows an exploded view of a robot arm with a plurality of limbs connected to one another via articulated joints and rolling joints;

[0026] FIG. 2a-d show different views of the robot arm of FIG. 1 in a fully stretched state;

[0027] FIG. 3 shows a schematic representation of an articulated joint, which serves to explain the basic principles of the present invention;

[0028] FIG. 4 shows an exploded view of an articulated joint of the robot arm of FIG. 1;

[0029] FIG. 5 shows an exploded view of a plurality of limbs of the robot arm of FIG. 1; and

[0030] FIG. 6 shows a plan view of a bottom surface of the transition region of a limb.

EMBODIMENTS OF THE INVENTION

[0031] FIG. 1 shows an exploded view of a robot arm 1 with a plurality of limbs 2 connected to one another via a plurality of articulated joints 10 and rolling joints 19. The articulated joints 10 each allow a pivoting movement of the associated limbs 2 about a rotation axis A, and the rolling joints 19 each allow a rotational movement of the associated limbs 2 about a rotation axis B.

[0032] In this exemplary embodiment, the robot arm 1 comprises exactly eight limbs, namely, from bottom to top, a limb G0, which is connected via a rolling joint 19 to a limb G1. The latter is pivotably connected to a limb G2 via an articulated joint 10. At the upper end of the limb G2, a rolling joint 19 is again provided, which connects the limb G2 to a subsequent limb G3. The latter is connected to a further limb G4 via an articulated joint 10. The limb G4 is connected to a limb G5 via a rolling joint 19, and the limb G5 is connected to a further limb G6 via an articulated joint 10. Lastly, the limb G6 is connected to a limb G7 via a rolling joint 19.

[0033] In the design of the robot arm 1 shown here, the articulated joints 10 and rolling joints 19 are arranged one above the other. The rotation axes A of the articulated joints 10 and the rotation axes B of the rolling joints 19 are also perpendicular to one another.

[0034] The limbs G1-G6 each comprise a joint portion 3, which receives a part of the associated articulated joint 10 therein, a transition region 4 and a leg portion 5, which receives a part of the associated rolling joint 19. Each articulated joint 10 comprises two joint portions 3 of adjacent limbs 2 arranged side by side in the direction of the rotation axis A. Between the two joint portions 3 of an articulated joint 10 there is a parting line 9, which is arranged centrally here. However, it could also be arranged laterally offset from the centre.

[0035] FIGS. 2a-2d show different views of the robot arm 1 of FIG. 1 in a fully extended state. Here, FIG. 2a is a view from the front, FIG. 2b is a view from the left, FIG. 2c is a view from behind and FIG. 2d is a view from the right. In the fully extended state of the robot arm 1, as shown, the longitudinal direction L of the individual limbs 2 corresponds to the main extension direction of the robot arm 1.

[0036] The robot arm 1 shown here is based on the physiognomy of a human arm. The articulated joints 10 can therefore also be referred to as a shoulder joint 12, elbow joint 13 and wrist joint 14. The limb G6 is the robot head 15, to which, depending on the particular application, for example a tool or a sensor is attached, with which a desired activity can be carried out.

[0037] As can be seen in FIGS. 2a-2d, the shoulder joint 12 and the elbow joint 13 in particular have a very compact and stable construction. The design principles of these articulated joints 12, 13 are explained in more detail below with reference to FIG. 3.

[0038] FIG. 3 shows a schematic view of an articulated joint 10 pivotably connecting two limbs 2a and 2b. The limbs 2a, 2b each comprise a joint portion 3a, 3b, which accommodates part of the articulation mechanism of the articulated joint 10, as well as a transition region 4a, 4b, which projects beyond the joint portion 3a, 3b of the other limb 2a, 2b. At their free ends (top and bottom in the picture), the limbs 2a, 2b are each connected to a subsequent limb 2 (not shown) via a rolling joint 19.

[0039] As can be seen in FIG. 3, the transition region 4b of the upper limb 2b extends from the joint portion 3b to the right in the direction of the joint portion 3a of the other limb 2a, crosses a parting line 9 in the direction of the rotation axis A and then runs at a predetermined distance just above the joint portion 3a of the limb 2a. The same applies also to the transition region 4a of the other limb 2a, only in the opposite direction. The leg portions of the two limbs 2a, 2b are marked with the reference sign 5. In the state shown, the limbs 2 each extend in a longitudinal direction L, which is transverse to the rotation axis A. The longitudinal direction L and the rolling axis B point in the same direction.

[0040] The transition region 4a, b of the two limbs 2a, 2b has in each case, on its side facing the rotation axis A, a peripheral edge 6 which extends at a small radial distance of less than 10 mm, preferably about 1-4 mm above the surface of the underlying joint portion 3a, 3b of the other limb 2a. In other words, the transition region 4a, 4b of the limbs 2a, 2b protrudes above the joint portion 3a, 3b of the other limb 2a, 2b and hovers a small distance thereabove.

[0041] If the peripheral edges 6a, 6b are viewed, as here, from a direction that is transverse to the rotation axis A and transverse to the longitudinal direction L or rolling axis B, the peripheral edge 6a, 6b in question extends obliquely to the rotation axis A. This has the advantage that the robot arm 1 is particularly compact and has a high rigidity. The peripheral edges 6a, 6b can, for example, assume an angle of between 1 and 70, preferably 15 and 30, relative to the rotation axis A.

[0042] In the schematic sketch shown, the peripheral edges 6a, 6b are drawn in simplified form as straight lines. In reality they can also be curved. The angle defined above between a peripheral edge 6a, 6b and the rotation axis A should therefore be present at least at one point of the peripheral edge 6a, 6b, in particular at the parting line 9.

[0043] In FIG. 3 it can also be seen that the peripheral edges 6a, 6b of the transition regions 4a, 4b each continue in the region of the joint portion 3a, 3b of the same limb 2a, 2b as a housing edge 17a, 17b. The course of the edges 6, 17 is substantially continuous, i.e. there is no step in the course, or only a minimum step of a few mm, in particular about 1 mm to 4 mm.

[0044] The limbs 2a, 2b are further configured in the region of the articulated joint 10 such that a portion of the peripheral edge 6a of the limb 2a and a portion of the housing edge 17b of the other limb 2b are substantially parallel when the articulated joint 10 is in an end position.

[0045] Instead of both limbs 2a, 2b, only one of the limbs 2a, 2b could have a transition region 4a, 4b with an oblique peripheral edge 6a, 6b. The limbs 2a, 2b can be symmetrical on the other side of the rotation axis A (that is to say, viewed from behind in the picture). Alternatively, only one of the limbs 2a, 2b can be symmetrical.

[0046] FIG. 4 shows two limbs 2 embodied according to the aforementioned principles, which are pivotably connected to one another via an articulated joint 1. In particular, the peripheral edge 6 of the transition region 4 is clearly visible on the limb 2 shown on the right in the picture. The transition region 4 also has a bottom surface 7 which, viewed in the direction of the rolling axis, is V-shaped or parabolic and has two legs which run obliquely or converge with respect to the rotation axis A.

[0047] The bottom surface 7 of one limb 2 and the surface therebeneath of the articulated portion 3 of the other limb 2 are preferably parallel surfaces. The surface of a joint portion 3 can be cylindrical or cylindrically barrel-shaped or -bellied, for example, as shown.

[0048] In FIG. 4 it can also be clearly seen how the peripheral edges 6 of the transition regions 4 each continue in the region of the joint portion 3 of the same limb 2 as an edge 17. The course of the edges 6, 17 is substantially continuous here.

[0049] Looking at FIG. 2c, it can also be seen that the transition regions 4 of the two limbs 2b, 2c are shaped in such a way that a distance between the transition regions 4 measured in the region of adjacent peripheral edges 6 in the peripheral direction (with respect to the rotation axis A) increases as the distance from the rotation axis A increases. The transition regions 4 of the adjacent limbs 2b, 2c are shaped here in such a way that a V-shaped free space 11 remains between the transition regions 4 in the region of adjacent peripheral edges 6 when the limbs 2b, 2c are angled to the maximum. This free space 11 prevents a user's fingers from being pinched when the joint 10 moves to an end position. The free space 11 is preferably provided on both sides of the joint 10 in the same or similar manner.

[0050] FIG. 5 shows an exploded view of a plurality of limbs in the region of the shoulder joint 12 and the elbow joint 13 of the robot arm 1 of FIG. 1. In particular, the structure of the individual limbs 2 and their position within the robot arm can be clearly seen.

[0051] FIG. 6 shows an example of the peripheral edge 6 of the bottom surface 7 of a limb 2 of the shoulder joint 12. The peripheral edges 6 of the other limbs 2 can be formed in the same way or in a similar way. As can be seen, when viewed from above, the peripheral edge 6 has a V-shaped or parabolic contour with two legs 8 which run obliquely with respect to the rotation axis A.

[0052] If a tangent 16 is placed on the peripheral edge 6 at the location of the parting line 9, the tangent 16 preferably assumes an angle of between 0 and 30 with the rotation axis A. The legs 8 of the peripheral edge 6 thus run (viewed from above) in the region of the parting line at an angle between 0 and 300 relative to the rotation axis A. According to a preferred embodiment, the angle can be about 15 to 25.

[0053] The individual limbs 2 are preferably made of metal or plastic. The controller of the robot arm 1 can be integrated in the robot arm 1 or provided at an external location.