Gear arrangement as well as robot with gear arrangement

Abstract

Gear arrangement (14, 14a) with the following features: a drive body (16, 16a) with at least one drive-side drum (20, 22) arranged rotatably about a drive axis (18, 18a), a drive output body (24, 24a) with at least one output-side drum (28, 30) arranged rotatably about a drive output axis (26, 26a), at least one cable (32, 38), which can be wound on the at least one drive-side drum (20, 22) as well as on the at least one output-side drum (28, 30), and has a drive-side cable end (34, 40) as well as an output-side cable end (36, 42),
wherein the drive-side cable end (34, 40) is arranged on the at least one drive-side drum (20, 22) and the output-side cable end (36, 42) is arranged on the at least one output-side drum (28, 30), as well as robot (12) with a gear arrangement (14, 14a).

Claims

1. Gear arrangement (14, 14a) with the following features: a drive body (16, 16a) with at least one drive-side drum (20, 22) arranged rotatably about a drive axis (18, 18a), a drive output body (24, 24a) with at least one output-side drum (28, 30) arranged rotatably about a drive output axis (26, 26a), at least one cable (32, 38), which can be wound onto the at least one drive-side drum (20, 22) as well as onto the at least one output-side drum (28, 30), and has a drive-side cable end (34, 40) as well as an output-side cable end (36, 42), wherein the drive-side cable end (34, 40) is arranged on the at least one drive-side drum (20, 22) and the output-side cable end (36, 42) is arranged on the at least one output-side drum (28, 30).

2. Gear arrangement according to claim 1, characterized in that the at least one cable (32, 38) with a contact circumference (60, 62) is simultaneously in contact with the at least one drive-side drum (20, 22) and the at least one output-side drum (28, 30).

3. Gear arrangement according to claim 1, characterized in that the drive axis (18, 18a) and the drive output axis (26, 26a) have an angled axis offset (31a) to one another.

4. Gear arrangement according to claim 1, characterized in that the drive-side cable end (34, 40) is attached to the at least one drive-side drum (20, 22) and/or the output-side cable end (36, 42) is attached to the at least one output-side drum (28, 30) in a form-fitting, frictionally engaged and/or materially engaged manner.

5. Gear arrangement according to claim 1, characterized in that the at least one drive-side drum (20, 22) and/or the at least one output-side drum (28, 30) has a groove (72) extending in the circumferential direction for receiving the at least one cable (32, 38).

6. Gear arrangement according to claim 5, characterized in that the groove (72) on at least one of the at least one drive-side drum (20, 22) and/or the at least one output-side drum (28, 30) is configured with a helical shape.

7. Gear arrangement according to claim 1, characterized in that the at least one drive-side drum (20, 22) is arranged to be axially displaceable as a function of a drive-side angle of rotation and/or the at least one output-side drum (28, 30) is arranged to be axially displaceable as a function of an output-side angle of rotation.

8. Gear arrangement according to claim 1, characterized in that a tensioning device (80) for tensioning the at least one cable (32, 38) is arranged on the drive body (16, 16a) and/or on the drive output body (24, 24a).

9. Gear arrangement according to claim 1, characterized in that a deflection body (84, 84a) with at least one deflecting drum (86, 88) rotatable about a deflection axis (90, 90a) is arranged in such a way that the at least one cable (32, 38) with a contact circumference (60, 62) is simultaneously in contact with the at least one deflecting drum (86, 88) and the at least one drive-side drum (20, 22) or the at least one deflecting drum (86, 88) and the at least one output-side drum (28, 30).

10. Gear arrangement according to claim 1, characterized in that the drive body (16, 16a) comprises a first drive-side drum (20) and a second drive-side drum (22), respectively corresponding to the at least one drive-side drum (20, 22), the drive output body (24, 24a) comprises a first output-side drum (28) and a second output-side drum (30), respectively corresponding to the at least one output-side drum (28, 30), the gear arrangement (14, 14a) comprises a first cable (32) corresponding to the at least one cable (32, 38) as well as a second cable (38) corresponding to the at least one cable (32, 38), wherein the first cable (32) is operatively connected to the first drums (20, 28, 86) and the second cable (38) is operatively connected to the second drums (22, 30, 88).

11. Gear arrangement according to claim 10, characterized in that at least one of the second drums (22, 30, 88) is arranged axially offset relative to the corresponding first drum (20, 28, 86) and/or at least one of the second drums (22, 30, 88) has a different diameter than the corresponding first drum (20, 28, 86).

12. Gear arrangement according to claim 10, characterized in that with respect to the drive axis (18, 18a), the first cable (32) and the second cable (38) are arranged on the drive body (16, 16a) in opposite directions and/or with respect to the drive output axis (26, 26a), on the drive output body (24, 24a) in opposite directions.

13. Gear arrangement according to claim 10, characterized in that the drive-side drums (20, 22) and/or the output-side drums (28, 30) are arranged to be rotatable relative to one another.

14. Gear arrangement according to claim 10, characterized in that with respect to the drive output axis (26, 26a), the first drive-side drum (20) and the second drive-side drum (22) are arranged offset by 180? relative to one another and/or with respect to the drive axis (18, 18a) the first output-side drum (28) and the second output-side drum (30) are arranged offset by 180? relative to one another.

15. Gear arrangement according claim 1, characterized in that with respect to the drive axis (18, 18a), the drive body (16, 16a) is arranged between the first output-side drum (28) and the second output-side drum (30) and/or, with respect to the drive output axis (26, 26a), the drive output body (24, 24a) is arranged between the first drive-side drum (20) and the second drive-side drum (22).

16. Robot (12) with a gear arrangement (14, 14a) according to claim 1.

Description

[0050] FIG. 1a shows a section of a robot arm with a gear arrangement according to the state of the art,

[0051] FIG. 1b shows a section of a robot arm with a first embodiment example of a gear arrangement according to the invention,

[0052] FIG. 2 shows a perspective view of the first embodiment example of a gear arrangement according to the invention,

[0053] FIG. 3 shows an exploded view of the embodiment shown in FIG. 2,

[0054] FIG. 4 shows a cross-sectional view of the embodiment example shown in FIG. 2,

[0055] FIG. 5 shows a section of a rear view of the embodiment example shown in FIG. 2 with an adjusting screw,

[0056] FIG. 6 shows a section out of a second embodiment example of a gear arrangement according to the invention with a tensioning device,

[0057] FIG. 7 shows a perspective view of a third embodiment example of a gear arrangement according to the invention,

[0058] FIG. 8 shows a perspective view of a fourth embodiment example of a gear arrangement according to the invention,

[0059] FIG. 9 shows a perspective view of a fifth embodiment example of a gear arrangement according to the invention,

[0060] FIG. 10 shows a cross-sectional view of the embodiment example shown in FIG. 9,

[0061] FIG. 11 shows a perspective view of a sixth embodiment example of a gear arrangement according to the invention,

[0062] FIG. 12 shows a cross-sectional view of the embodiment example shown in FIG. 11,

[0063] FIG. 13 shows a cross-sectional view of an embodiment example of a robot according to the invention.

[0064] FIG. 1b through FIG. 13 show different views of various embodiments. The same reference signs are used for identical and functionally identical parts. For the sake of clarity, not all reference signs are used in every figure.

[0065] FIG. 1a shows a section of a robot arm 200 with a gear arrangement 202 according to the state of the art. The gear arrangement comprises cone gear wheels 204 and therefore has a relatively heavy weight and is also subject to play.

[0066] FIG. 1b contrasts the section of the robot arm 200 of the prior art shown in FIG. 1a with a section of a robot arm 10 of a robot 12 according to the invention, with a first embodiment example of a gear arrangement 14 according to the invention. The gear arrangement 14 is relatively light and also free of play.

[0067] The first embodiment example of the gear arrangement 14 is shown in detail in FIG. 2 through FIG. 5. The gear arrangement 14 comprises a drive body 16 and a drive axis 18. The drive body 16 can comprise a first drive-side drum 20 rotatably arranged about the drive axis 18 as well as a second drive-side drum 22 rotatably arranged about the drive axis 18. The gear arrangement, moreover, comprises a drive output body 24 and a drive output axis 26. The drive output body 24 can comprise a first output-side drum 28 rotatably arranged about the drive output axis 26 as well as a second output-side drum 30 rotatably arranged about the drive output axis 26. Preferably, the drive axis 18 and the drive output axis 26 intersect at a common axis intersection point 31. An angular axis offset 31a between the drive axis and the drive output axis is particularly preferably 90?.

[0068] The gear arrangement 14 can, moreover, comprise a first cable 32, which is windable on the first drive-side drum 20 as well as on the first output-side drum 28, and comprises a first drive-side cable end 34 as well as a first output-side cable end 36. Preferably, the first drive-side cable end 34 is arranged on the first drive-side drum 20 and the first output-side cable end 36 is arranged on the first output-side drum 28. The gear arrangement 14 can, moreover, comprise a second cable 38, which can be wound on the second drive-side drum 22 as well as on the second output-side drum 30, and comprise a second drive-side cable end 40 as well as a second output-side cable end 42. The second drive-side cable end 40 is, preferably, arranged on the second drive-side drum 22 and the second output-side cable end 42 is, preferably, arranged on the second output-side drum 30.

[0069] The first cable 32 and the second cable 38 are, preferably, arranged in opposite directions on the drive body 16 with respect to the drive axis 18 and in opposite directions on the drive output body 24 with respect to the drive output axis 26. Opposing rotational speeds and torques can be transmitted by means of the first cable 32 and the second cable 38.

[0070] By rotating the drive-side drums 20, 22 about the drive axis 18 in a first direction of rotation 44, the rotational speed and the torque can thus be transmitted via the first cable 32 to the first output-side drum 28 and thus to the drive output body 24. In a corresponding manner, by rotating the drive-side drums 20, 22 about the drive axis 18 in a second direction of rotation 46, the rotational speed and torque can be transmitted via the second cable 38 to the second output-side drum 30 and thus to the drive output body 24. The angle of rotation of the drive-side drums 20, 22 and the output-side drums 28, 30 can, in particular, be limited by the length of the cables 32, 38.

[0071] A transmission ratio of the gear arrangement 14 can be formed by the quotient of a first output-side drum diameter 48 of the first output-side drum 28 and a first drive-side drum diameter 50 of the first drive-side drum 20. The corresponding quotient of a second output-side drum diameter 52 of the second output-side drum 30 and a second drive-side drum diameter 54 of the second drive-side drum 22 is preferably of the same size. The embodiment example shown in FIG. 2 through FIG. 5 exhibits a transmission ratio of 1. A maximum drive-side angle of rotation 56 and a maximum output-side angle of rotation 58 are thus of the same size and are defined to be less than 360? in the embodiment example shown in FIG. 2 by the length of the cables 32, 38.

[0072] Preferably, the drive body 16 is rotatable about the drive axis 18 together with the drive-side drums 20, 22. Correspondingly, the drive output body 24 can also be rotatable about the drive output axis 26 together with the output-side drums 28, 30. The drive body 16 and the drive output body 24 can be configured as a wheel.

[0073] The first cable 32 with a first contact circumference 60 marked in FIG. 3 and FIG. 4 is, preferably, simultaneously in contact with the first drive-side drum 20 and the first output-side drum 28. Correspondingly, the second cable 38 with a second contact circumference 62 can simultaneously be in contact with the second drive-side drum 22 and the second output-side drum 30.

[0074] The respective contact circumference 60, 62 can mark the inflection point of the corresponding cable 32, 38 adjacent to the corresponding drive-side drum 20, 22 and the corresponding output-side drum 28, 30. As shown in FIG. 4 using the example of the second drums 22, 30, an imaginary drive-side tangent 64 of the second drive-side drum 22, which is arranged on a cable centerline 66 of the second cable 38, and an imaginary output-side tangent 68 of the second output-side drum 30, which is arranged on the cable centerline 66, can be coincident at the position of the second contact circumference 62. The correlation applies correspondingly to the first contact circumference 60.

[0075] As can, in particular, be seen from FIG. 3, the drive-side cable ends 34, 40 are form-fittingly and frictionally fastened to the drive-side drums 20, 22 and the output-side cable ends 36, 42 are form-fittingly and frictionally fastened to the output-side drums 28, 30 by means of a screw connection 70.

[0076] As can be seen, in particular, from the illustration in FIG. 4, the first drive-side drum 20 and the first output-side drum 28 as well as the second drive-side drum 22 and the second output-side drum 30 can each respectively have a groove 72 running in the circumferential direction for receiving the first cable 32 or alternatively the second cable 38. The groove 72 can thereby form the interface of the first drive-side drum 20 or the first output-side drum 28 to the first cable 32 as well as the interface of the second drive-side drum 22 or the second output-side drum 30 to the second cable 38. With the aid of the groove 72, the first cable 32 and the second cable 38 can be accommodated on a defined circumference of the corresponding drive-side drums 20, 22 and the corresponding output-side drums 28, 30. As shown in FIG. 4, the groove 72 preferably comprises a curved contour 74 with a constant radius, such that the contour 74 is configured like a circular arc.

[0077] As can, in particular, be seen in FIG. 2 and FIG. 4, the gear arrangement 14 can be configured in such a way that the second drive-side drum 22 and the second output-side drum 30 are each axially offset with respect to the corresponding first drum 20, 28 and each has a different, preferably smaller, diameter than the corresponding first drum 20, 28. The axial offset of the second drive-side drum 22 and the first drive-side drum 20 preferably relates to the corresponding axis of rotation, namely the drive axis 18. Correspondingly, the axial offset of the second output-side drum and the first output-side drum 28 preferably relates to the drive output axis 26. With such an arrangement, a contact-free cross-over of the first cable 32 and the second cable 38 can be achieved, in particular with an angular axis offset 31a.

[0078] If the angular axis offset 31a is 90?, openings 76 of the grooves 72 of the first drive-side drum 20 and of the second drive-side drum 22 can each be inclined relative to the drive axis 18, preferably by 45?. The same can apply, in this case, to the openings 76 of the grooves 72 of the output-side drums 28, 30 with respect to the drive output axis 26.

[0079] The drive-side drums 20, 22 and/or the output-side drums 28, 30 can respectively be arranged to rotate relative to one another. For this purpose, the two drive-side drums 20, 22 and/or the two output-side drums 28, 30 can respectively be connected to one another by means of an adjusting screw 78 shown in FIG. 5. The adjusting screw 78 is preferably arranged on the rear side of the drive body 16 and/or drive output body 24. This allows the first cable 32 and the second cable 38 to be pretensioned against one another. The rotation of the drive-side drums 20, 22 preferably occurs about the drive axis 18. The rotation of the output-side drums 28, 30 preferably occurs about the drive output axis 26. The drive-side drums 20, 22 and/or the output-side drums 28, 30 are also, particularly preferably, lockable against one another. Locking can also be achieved by means of the adjusting screw 78.

[0080] With regard to the other embodiment examples of the gear arrangement 14 shown in FIG. 6 through FIG. 12, their differences from the first embodiment example shown in FIG. 2 through FIG. 5 will, in particular, be discussed.

[0081] As shown by the section of a second embodiment example of the gear arrangement 14 illustrated in FIG. 6, instead of rotating the drive-side drums 20, 22 and/or the output-side drums 28, 30 relative to one another, the first cable 32 and/or the second cable 38 can be tensioned by means of a tensioning device 80, which can be arranged on the drive body 18 and/or on the drive output body 24. The tensioning device 80 is, preferably, arranged in the respective groove 72. Particularly preferably, one of the tensioning devices 80 is respectively arranged on the first output-side drum 28 and the second output-side drum 30. The tensioning device 80 may comprise a tensioning screw 82 for tensioning the respective cable 32, 38.

[0082] FIG. 7 shows a third embodiment example of the gear arrangement 14, which substantially corresponds to the first embodiment example shown in FIG. 2 through FIG. 5, the angular axis offset 31a of which is 60? in contrast to the first embodiment example.

[0083] In a fourth embodiment example shown in FIG. 8, the gear arrangement 14, moreover, comprises, in addition to the features of the first embodiment example of FIG. 2 through FIG. 5, a deflection body 84 with a first deflecting drum 86 and a second deflecting drum 88, which can respectively be rotatably arranged about a deflection axis 90. The first deflecting drum 86 can be arranged in such a way that the first cable 32 with the first contact circumference 60 is simultaneously in contact with the first deflecting drum 86 and the first drive-side drum 20. In a corresponding manner, the second deflecting drum 88 can be arranged in such a way that the second cable 38 with the second contact circumference 62 is simultaneously in contact with the second deflecting drum 88 and the second drive-side drum 22.

[0084] As shown in FIG. 8, the deflection body 84 can enable the drive body 16 and the drive output body 24 to be arranged at a distance from one another. Provided that the drive axis 18 and the drive output axis 26 have an angular axis offset 31a, the corresponding deflection of the cables 32, 38 can be achieved by means of the deflection body 84. The deflection axis 90 can enclose a corresponding deflection angle 92 with the drive axis 18.

[0085] According to the configuration of the drive body 16 and the drive output body 24, the second deflecting drum 88 can be arranged axially offset with respect to the first deflecting drum 86 relative to the deflection axis 90. The diameter of the second deflecting drum 88 may, likewise, differ from that of the first deflecting drum 86, preferably such that the second deflecting drum 88 has a smaller diameter than the first deflecting drum 86.

[0086] FIG. 9 and FIG. 10 show a fifth embodiment example of the gear arrangement 14. In these figures, the groove 72 arranged on the first drive-side drum 20 and the second drive-side drum 22 is helical. As a result, a maximum angle of rotation of the drive-side drums 20, 22 of more than 360? can be achieved. Preferably, the opening 76 of the groove 72 is arranged at a right angle to the drive axis 18, so that the first cable 32 and the second cable 38 can be inserted into the groove 72 at a right angle to the drive axis 18 and removed from the groove 72.

[0087] In the illustrations in FIG. 9 and FIG. 10, the axis offset 31a of the drive output axis 26 to the drive axis 18 is 90?. The first drive-side drum 20 and the second drive-side drum 22 are, moreover, offset by 180? relative to the drive output axis 26. By arranging the drive-side drums in this way, a first transfer point 94, at which the first cable 32 is transferred from the first drive-side drum 20 to the first output-side drum 28, can be offset by 180?, with respect to the output axis 26, to a second transfer point 96, at which the second cable 38 is transferred from the second drive-side drum 22 to the second output-side drum 30. The first drive-side drum 20 and the second drive-side drum 22 are preferably arranged on a common drive shaft 98, which intersects the drive output axis 26.

[0088] As can be taken from the cross-sectional view in FIG. 10, dependent on a drive-side angle of rotation, the drive-side drums 20, 22 can be arranged to be displaceable axially, which is to say along the drive axis 18. Due to such a dependency, in particular in the case of a helical configuration of the groove 72, a transition of the cables 32, 38 from the drive-side drums 20, 22 to the output-side drums 28, 30 and vice versa can take place while maintaining the first contact circumference 60 and the second contact circumference 62. The axial displaceability of the drive-side drums 20, 22 can be realized by means of a screw guidance 100. To further ensure a perfect transition of the cables 32, 38 from the drive-side drums 20, 22 to the output-side drums 28, 30 and vice versa, a roller-shaped hold-down device 102 can respectively be arranged on the first output-side drum 28 and on the second output-side drum 30, which hold-down device can position the first cable 32 and the second cable 38 in the corresponding output-side drum 28, 30.

[0089] The sixth embodiment of the gear arrangement 14 shown in FIG. 11 and FIG. 12 differs from that shown in FIG. 9 and FIG. 10 primarily in that, with respect to the drive output axis 26, the drive output body 24 is preferably arranged between the first drive-side drum 20 and the second drive-side drum 22. The drums of the drive output body 24 can be arranged, with respect to the drive axis 26, on opposite sides of the drive output body 24.

[0090] FIG. 13 shows an embodiment example of a robot 12 with a gear arrangement 14. The robot 12 can comprise a base 104 and a robot arm with a first arm section 106 and a second arm section 108, wherein the second arm section 108 is preferably arranged on the first arm section 106 so as to be rotatable about a first articulation axis 110. The first arm section 106 can be arranged on the base 104. Relative to the environment, the robot arm 10 can be mounted by means of the base 104. The drive body 16 can be arranged in the first arm section 106. A drive unit 112 for driving the drive body 16 is also, preferably, arranged in the first arm section 106.

[0091] The drive output body 24 can be arranged in the second arm section 108 such that the drive output axis 18 lies on the first articulation axis 110. The drive output body 16 can be arranged in such a way that the first cable 32 and the second cable 38, with the first contact circumference 60 and the second contact circumference 62, are simultaneously in contact with the corresponding drive-side drums 20, 22 and the corresponding output-side drums 28, 30 to transmit the rotational speed and the torque from the drive unit 112 to the drive output body 16. The drive axis 18 and the drive output axis 26 can have an axis offset 31a of 90? to one another. Such an arrangement allows the relatively heavy drive unit 112 to be arranged in the first arm section 106 that is near the base.

[0092] The robot 12 may comprise a third arm section 114, which is arranged on the second arm section 108 so that it is rotatable about a second articulation axis 116. A second drive unit 118 can be arranged in the second arm section 109, preferably close to the first articulation axis 110. The robot may have a second gear arrangement 14a comprising a deflection body 84a. A second drive body 16a of the second gear arrangement 14a is preferably arranged in the second arm section 108 at the second drive unit 118. A second drive output body 24a of the second gear arrangement 14a may be arranged on the third arm section 114 such that a second drive output axis 26a is located on the second articulation axis 116. In order to transmit the rotational speed and torque from the second drive unit 118 to the second drive output body 24a, the deflection body 84a can be arranged in such a way that a first cable 32a of the second gear arrangement 14a and a second cable 38a of the second gear arrangement 14a with corresponding contact circumferences are simultaneously in contact with the deflection body 84a and the second drive body 16a. The deflection body 84a may further be arranged such that a deflection axis 90a of the second gear arrangement 14a lies on the first articulation axis 110. A drive axis 18a of the second gear arrangement 14a and the deflection axis 90a can have an offset of 90? to one another. Inasmuch as the second gear arrangement 14a comprises the deflection body 84a, it can bridge the length of the second arm section 108 between the second drive body 16a and the associated second drive output body 24a.

LIST OF REFERENCE SIGNS

[0093] 10 robot arm [0094] 12 robot [0095] 14 gear arrangement [0096] 14a second gear arrangement [0097] 16 drive body [0098] 16a second drive body [0099] 18 drive axis [0100] 18a drive axis of the second gear arrangement [0101] 20 first drive-side drum [0102] 22 second drive-side drum [0103] 24 drive output body [0104] 24a second drive output body [0105] 26 drive output axis [0106] 26a second drive output axis [0107] 28 first output-side drum [0108] 30 second output-side drum [0109] 31 axis intersection point [0110] 31a axis offset [0111] 32 first cable [0112] 32a first cable of the second gear arrangement [0113] 34 first drive-side cable end [0114] 36 first output-side cable end [0115] 38 second cable [0116] 38a second cable of the second gear arrangement [0117] 40 second drive-side cable end [0118] 42 second output-side cable end [0119] 44 first direction of rotation [0120] 46 second direction of rotation [0121] 48 first output-side drum diameter [0122] 50 first drive-side drum diameter [0123] 52 second output-side drum diameter [0124] 54 second drive-side drum diameter [0125] 56 maximum drive-side angle of rotation [0126] 58 maximum output-side angle of rotation [0127] 60 first contact circumference [0128] 62 second contact circumference [0129] 64 drive-side tangent [0130] 66 cable centerline [0131] 68 output-side tangent [0132] 70 screw connection [0133] 72 groove [0134] 74 contour [0135] 76 opening [0136] 78 adjusting screw [0137] 80 tensioning device [0138] 82 tensioning screw [0139] 84 deflection body [0140] 84a deflection body of the second gear arrangement [0141] 86 first deflecting drum [0142] 88 second deflecting drum [0143] 90 deflection axis [0144] 90a deflection axis of the second gear arrangement [0145] 92 deflection angle [0146] 94 first transfer point [0147] 96 second transfer point [0148] 98 drive shaft [0149] 100 screw guidance [0150] 102 hold-down device [0151] 104 base [0152] 106 first arm section [0153] 108 second arm section [0154] 110 first articulation axis [0155] 112 drive unit [0156] 114 third arm section [0157] 116 second articulation axis [0158] 118 second drive unit [0159] 200 robot arm (state of the art) [0160] 202 gear arrangement (state of the art) [0161] 204 Cone gear wheel