MANIPULATOR ARM FOR A ROBOT, AND ROBOT HAVING A MANIPULATOR ARM OF THIS TYPE

Abstract

A manipulator arm for a robot, including a printed circuit board motor and a transmission, the printed circuit board motor including a multi-layer board having at least one first solenoid coil with flat coils lying vertically on top of each other, the flat coils being connected electrically in series or in parallel, two vertically adjacent coils being orthogonally offset to each other in each case such that, in a cross-section perpendicular to the surface of the multi-layer board, conducting track portions of the one flat coil are arranged in partial overlap vertically with two conducting track portions of the other flat coil. A robot having at least one manipulator arm of this type and the use of a printed circuit board motor in a manipulator arm of a robot are also provided.

Claims

1. A manipulator arm for a robot, comprising: a printed circuit board motor and a transmission; the printed circuit board motor comprises a multi-layer board having at least one first solenoid coil, which comprises flat coils lying vertically on top of each other, and the flat coils are connected electrically in series or in parallel; two vertically adjacent ones of the flat coils are arranged orthogonally offset with respect to each other such that, in a cross-section perpendicular to a surface of the multi-layer board, conducting track portions of one of the two vertically adjacent flat coils are arranged vertically in partial overlap with two conducting track portions of an other of the two vertically adjacent flat coils.

2. The manipulator arm according to claim 1, further comprising at least one coil core that passes through the multi-layer board orthogonally to the surface of the multi-layer board.

3. The manipulator arm according to claim 1, wherein the transmission comprises a strain wave transmission.

4. The manipulator arm according to claim 1, wherein the transmission comprises a cycloidal transmission.

5. The manipulator arm according to claim 1, wherein the transmission comprises a planetary transmission with at least one planetary gear stage.

6. The manipulator arm according to claim 1, further comprising a controller configured to control and regulate the printed circuit board motor.

7. The manipulator arm according to claim 6, further comprising at least one angle encoder configured to detect an angular position of the manipulator arm.

8. (canceled)

9. A robot, comprising at least one manipulator arm according to claim 1.

10. A manipulator arm for a robot, comprising: a printed circuit board motor including a multi-layer board having at least one first solenoid coil, which comprises flat coils lying vertically on top of each other, and the flat coils are connected electrically in series or in parallel; and two vertically adjacent ones of the flat coils are arranged orthogonally offset with respect to each other such that, in a cross-section perpendicular to a surface of the multi-layer board, conducting track portions of one of the two vertically adjacent flat coils are arranged vertically in partial overlap with two conducting track portions of an other of the two vertically adjacent flat coils.

11. The manipulator arm according to claim 10, further comprising at least one coil core that passes through the multi-layer board orthogonally to the surface of the multi-layer board.

12. The manipulator arm according to claim 10, further comprising a strain wave transmission connected to the printed circuit board motor.

13. The manipulator arm according to claim 10, further comprising a cycloidal transmission connected to the printed circuit board motor.

14. The manipulator arm according to claim 10, further comprising a planetary transmission with at least one planetary gear stage connected to the printed circuit board motor.

15. The manipulator arm according to claim 10, further comprising a controller configured to control and regulate the printed circuit board motor.

16. The manipulator arm according to claim 15, further comprising at least one angle encoder configured to detect an angular position of the manipulator arm.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Further measures are described below together with two preferred exemplary embodiments according to the disclosure using the figures. In the figures,

[0020] FIG. 1 shows a highly schematic view of a manipulator arm according to the disclosure of a robot according to the disclosure according to a first embodiment,

[0021] FIG. 2 shows a cross section through a multi-layer board of a circuit board motor of the manipulator arm according to FIG. 1, and

[0022] FIG. 3 shows a cross section of a multi-layer board of the printed circuit board motor according to a second embodiment.

DETAILED DESCRIPTION

[0023] According to FIG. 1, a manipulator arm 1 of a robot—only partially shown here—is shown in a highly schematic and simplified manner. In the present case, the manipulator arm 1 has a horizontally arranged robot joint 17 with two manipulator arm segments 18a, 18b articulated above it. To position the first manipulator arm segment 18a relative to the second manipulator arm segment 18b, a printed circuit board motor 2 and a transmission 3 are arranged on the robot joint 17 of the manipulator arm 1, wherein the printed circuit board motor 2 is set up to set an angular position of the first manipulator arm segment 18a relative to the second manipulator arm segment 18b by energization.

[0024] The printed circuit board motor 2 is a so-called PCB motor, which, according to FIGS. 2 and 3, has a multi-layer board 4 with at least one solenoid coil 5, which comprises multiple vertical flat coils 6, 7, 8, 9, 10, 11 lying on top of each other. The multi-layer board 4 is arranged on a stator—not shown—or rotor—also not shown—which is at least indirectly non-rotatably connected to one of the manipulator arm segments 18a, 18b. On the other hand, a plurality of permanent magnets—not shown here—are arranged at least indirectly on the respective other manipulator arm segment 18a, 18b, which permanent magnets are arranged at a distance from the respective solenoid coil 5 of the multi-layer board 4 due to an air gap, and as a result of an energization of the printed circuit board motor 2 or the respective solenoid coil 5 and a magnetic field generated thereby, the rotor is made to rotate with respect to the stator, so that the first manipulator arm 18a is displaced with respect to the second manipulator arm 18b, or vice versa. The control and regulation of the actuating movement of the respective manipulator arm segment 18a, 18b is carried out by a controller 14 arranged on the manipulator arm 1.

[0025] The transmission 3 acts as a step-down transmission or as a speed reducer and in the present case is designed as a strain wave transmission. Alternatively, the transmission 3 can also be designed as a cycloidal transmission or as a planetary transmission with at least one planetary gear stage. Furthermore, an angle encoder 15 for detecting an angular position of the first manipulator arm 18a relative to the second manipulator arm 18b, or vice versa, is arranged on the manipulator arm 1 in the area of the robot joint 17. The angle encoder 15 is also connected to the controller 14, which processes the measured variables detected and uses them to control or regulate the actuating movement of the manipulator arm 1.

[0026] According to FIG. 2, the printed circuit board motor 2 has a multi-layer board 4 with a solenoid coil 5, which comprises six flat coils 6, 7, 8, 9, 10, 11 lying vertically on top of each other. The first and second flat coils 6, 7, the third and fourth flat coils 8, 9 and the fifth and sixth flat coils 10, 11 are each printed on a single layer—not shown here—with the single layers being stacked to form the multi-layer board 4. The individual layers are individual circuit boards, each consisting of a PCB substrate (“Printed Circuit Board” substrate). In other words, the first, the third or the fifth flat coil 6, 8, 10 is arranged on the upper side of the respective individual layer while the second, the fourth or the sixth flat coil 7, 9, 11 is arranged on the respective underside of the respective individual layer. The flat coils 6, 7, 8, 9, 10, 11 are electrically connected to one another, and depending on the requirements of the printed circuit board motor 2, individual or multiple flat coils 6, 7, 8, 9, 10, 11 can be electrically connected in series or in parallel.

[0027] Vertically directly adjacent flat coils 6, 7, 8, 9, 10, 11 are offset to each other in the orthogonal or transverse direction, whereby as a result, a first conducting track portion 12 of the second flat coil 7 partially overlaps vertically on the one hand with two conducting track portions 13 of the first flat coil 6, and on the other hand is arranged with two conducting track portions 13 of the third flat coil 8. In other words, two vertically adjacent flat coils 6, 7, 8, 9, 10, 11 are arranged orthogonally or laterally offset to each other in such a way that, in a cross section perpendicular to the surface 19a, 19b of the multi-layer board 4, conducting track portions 12 of one flat coil 6, 7, 8, 9, 10, 11 are arranged vertically in partial overlap with two conducting track portions 13 of the respective other flat coil 6, 7, 8, 9, 10, 11. Since this results in a smaller distance between the turns of the adjacent flat coils 6, 7, 8, 9, 10, 11 in the vertical direction, heat transport to the surfaces 19a, 19b of the circuit board 4 is improved. The distances between the flat coils 6, 7, 8, 9, 10, 11 in the vertical direction depends on the thickness of the PCB substrate of the individual layers.

[0028] According to an alternative embodiment according to FIG. 3, the multi-layer board 4 has two solenoid coils 5a, 5b, which are arranged next to one another. The first solenoid coil 5a, which is arranged on the left in the present figure, comprises six flat coils 6, 7, 8, 9, 10, 11, which are arranged vertically on top of each other and are arranged according to FIG. 2. These flat coils 6, 7, 8, 9, 10, 11 are comb-like in the immediately laterally adjacent second solenoid coil 5b, which is arranged on the right in the present figure, also with six flat coils 6a, 7a, 8a, 9a, 10a, 11a. The engagement is in the area of the respective outer conducting track portions 20a, 20b. In other words, an outer conducting track portion 20a of the first solenoid coil 5a is vertically arranged in partial overlap with at least one outer conducting track portion 20b of the second solenoid coil 5b. As a result, heat is transported particularly effectively between the two solenoid coils 5a, 5b and to the surface 19a, 19b. For the rest, the heat transfer takes place analogously to the solenoid coil 5 according to FIG. 2. A large number of solenoid coils 5 can thus be arranged next to one another in a simple manner, with sufficient overlapping of the conducting track portions always being ensured between the adjacent solenoid coils 5 in order to improve the thermal behavior.

[0029] The multi-layer board 4 has a coil core 16 passing through it orthogonally to the surface 19a, 19b of the multi-layer board 4. In the present case, the coil core 16 is made of iron and extends through the multi-layer board 4 perpendicularly to the surfaces 19a, 19b. The magnetic flux generated by the solenoid coils 5a, 5b can be bundled by the coil core 16, thereby increasing the magnetic flux density.

LIST OF REFERENCE NUMERALS

[0030] 1 manipulator arm [0031] 2 circuit board motor [0032] 3 transmission [0033] 4 multi-layer board [0034] 5 solenoid coil [0035] 5a first solenoid coil [0036] 5b second solenoid coil [0037] 6 first flat coil of the first solenoid coil [0038] 6a first flat coil of the second solenoid coil [0039] 7 second flat coil of the first solenoid coil [0040] 7a second flat coil of the second solenoid coil [0041] 8 third flat coil of the first solenoid coil [0042] 8a third flat coil of the second solenoid coil [0043] 9 fourth flat coil of the first solenoid coil [0044] 9a fourth flat coil of the second solenoid coil [0045] 10 fifth flat coil of the first solenoid coil [0046] 10a fifth flat coil of the second solenoid coil [0047] 11 sixth flat coil of the first solenoid coil [0048] 11a sixth flat coil of the second solenoid coil [0049] 12 first conducting track portion [0050] 13 second conducting track portion [0051] 14 controller [0052] 15 angle encoder [0053] 16 coil core [0054] 17 robot joint [0055] 18a, 18b manipulator arm segment [0056] 19a, 19b surface of the multi-layer board [0057] 20a, 20b outer track portion