EP3084246A1 - Dispositif articulé entre un arbre d'entraînement et un arbre de sortie - Google Patents

Dispositif articulé entre un arbre d'entraînement et un arbre de sortie

Info

Publication number
EP3084246A1
EP3084246A1 EP14821077.6A EP14821077A EP3084246A1 EP 3084246 A1 EP3084246 A1 EP 3084246A1 EP 14821077 A EP14821077 A EP 14821077A EP 3084246 A1 EP3084246 A1 EP 3084246A1
Authority
EP
European Patent Office
Prior art keywords
joint
hinge
output shaft
drive shaft
bearings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14821077.6A
Other languages
German (de)
English (en)
Inventor
Peter Nagler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gentis & Co KG GmbH
Original Assignee
Gentis & Co KG GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gentis & Co KG GmbH filed Critical Gentis & Co KG GmbH
Publication of EP3084246A1 publication Critical patent/EP3084246A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • F16D3/42—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another with ring-shaped intermediate member provided with bearings or inwardly-directed trunnions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members

Definitions

  • the invention relates to a hinge device to a drive, in particular to a manipulator such as a robot or the like., And consists of a drive shaft and an output shaft, which are connected via a hinge.
  • the output shaft is adjustable and rotatable via the joint in all three spatial directions. In this case, the output shaft can be adjusted relative to a normal by a maximum adjustment angle.
  • a more or less large control room can be covered with the output shaft forming an actuating arm.
  • the forces acting on the joint as the adjustment angle increases can lead to inaccuracies in the adjusting movement.
  • the invention has the object of providing a hinge device of the type mentioned in such a way that a large adjustment range of the output shaft is ensured with a simple structure and high positioning accuracy.
  • the formation of the joint of at least a first, preferably inner joint element, a second, preferably outer joint element and two joint axes allows a pivoting movement of the output shaft in a large adjustment, so that a Stellarmende the output shaft can approach any point of a structurally predetermined ball cap.
  • the first, preferably inner joint member has two diametrically opposed bearings which form a first, inner hinge axis.
  • the outer joint member has two each other diametrically opposite bearing, which determine a second, preferably outer hinge axis.
  • the bearings of the first, preferably inner joint element lie on a common first, preferably inner circle and the bearings of the second, outer joint element lie on a common second, preferably outer circle.
  • the joint according to the invention can be designed so that z. B. at different axial positions of the circles, the respective camps move on different trajectories, so on different circles. At any bending angle of the rotating joint, a collision of the moving on the different circles bearing can be excluded.
  • the first joint element forms an inner joint element and the second joint element forms an outer joint element.
  • the first, inner circle is formed with a smaller diameter than the second, outer circle.
  • the inner circle lies in particular within the outer circle.
  • the bearings of the inner joint element are within the outer circle.
  • the joint axes of the joint device according to the invention are preferably in a common plane.
  • the first inner circle and the second, outer circle of the bearings lie in a further common plane.
  • the plane of the hinge axes and the plane of the circles coincide and form an overall plane.
  • the axes of articulation advantageously intersect at a common point of intersection which forms the center of the joint.
  • the outer circle and the inner circle each have a circle center, which is conveniently located in the center of the joint. If the displacement angle is zero, the outer circle is concentric with the inner circle in plan view of the joint.
  • the construction is provided in a first exemplary embodiment such that the drive shaft is held on the first, inner joint element via the second, outer joint element and a second, outer joint axis.
  • the output shaft is coupled to the first, inner hinge member via the first, inner hinge axis.
  • This design results in an adjustment angle between the drive shaft and the output shaft over a large adjustment.
  • the second, outer joint member is mechanically fixedly connected to the drive shaft.
  • the structural design of the hinge device is advantageously chosen such that the hinge elements are nested, d. H. lie in each other.
  • the first, inner joint element can be arranged within the second, outer joint element.
  • At least one further joint element with a further joint axis is arranged between the second, outer joint element and the first, inner joint element.
  • the construction may be designed such that the further joint element is held pivotably about the second, outer joint axis on the second, outer joint element, and the first, inner joint element is held pivotably about the further joint axis on the further joint element.
  • the ball cap forms the adjustment range of the end of the output shaft or the Stellarmendes, due to the extended design of the hinge device with three hinge axes, the ball cap can have an opening angle of up to 160 °, which corresponds to a control range of about 80 °.
  • a bending angle of up to 80 ° is possible. If more than two joint elements and joint axes are provided, such. Three or more, a high sensitivity and a particularly smooth adjustment movement can be achieved. Also, with three or more axes, turning forces can be measured very well, even with a large bending angle.
  • the coupling element is designed as a pivot lever which is mounted in the second, outer joint element and with a
  • the hinge axes are advantageously arranged so that they lie in the circumferential direction about the center of the joint with the same angular distance from one another. It may be appropriate, the joint axes in several, z. B. to arrange two levels to
  • the circumferential distance of the joint axes corresponds to a circumferential angle of 60 °; i.e. the bearings of the joint axes are in the circumferential direction with a circumferential distance of 60 ° to each other. This corresponds to an axis angle of 120 °.
  • the joint elements are formed by joint rings.
  • the second, outer joint member may be formed by a second, outer joint ring and the first, inner joint member by a first, inner joint ring.
  • the further joint element forms an intermediate ring.
  • the joint is formed, inter alia, by the outer joint ring, which surrounds the inner joint ring.
  • Between the outer joint ring and the inner joint ring of the intermediate ring is arranged.
  • Outer hinge ring, intermediate ring and inner joint ring are mutually such that they form in a rest position about a common plane, preferably form exactly one plane. This corresponds to an opening angle of 0 °.
  • the embodiment with joint rings is one possibility of a constructive embodiment of the invention. Rectangular rings or other rectangular shapes, partial shells or else half shells and the like forms may be expedient instead of joint rings. With such adapted forms, the invention may, for. B. be used in confined spaces or z. B. are designed for high mechanical loads.
  • the joint elements are formed as spherical shells or partial spherical shells.
  • a partial spherical shell is preferably designed to be larger than a hemisphere, so that an inner partial spherical shell is held captive in an outer partial spherical shell.
  • Such a construction can be achieved, in particular, by sintering, the partial spherical shells being produced together, preferably in the assembled state.
  • the construction with partial spherical shells has the advantage of a better force distribution, whereby an expansion of the joint is counteracted under load. Due to the structure with spherical shells and the resulting uniform force distribution during operation, a resilient joint device can be made in particular of plastic.
  • the hinge device may also be made of metal, metal alloys and suitable sintered materials.
  • the adjustment stop is formed between the output shaft and the drive shaft.
  • an opening edge of a ball shell held on the output shaft forms the adjustment stop, which cooperates with the drive shaft.
  • the spherical shell engages over the - advantageously connected to the drive shaft - outer joint element and strikes upon reaching the maximum allowable adjustment angle with its opening edge on the drive shaft.
  • the outer joint element is formed by an outer part ball shell, which is overlapped by a ball shell held on the output shaft, an encapsulated joint results.
  • the ball socket of the drive shaft closes the hinge device movable.
  • a hollow drive shaft or a hollow output shaft - injected compressed air into the joint device internal pollution of the joint can be prevented in a simple manner.
  • the injection of z. B. Compressed air can be regular or irregular; In any case, an internal contamination of the joint is counteracted.
  • FIG. 1 is a side view of an inventive hinge device in a first embodiment
  • FIG. 2 is a schematic perspective view of the hinge device of FIG. 1 with removed drive shaft
  • Fig. 3 is a schematic section through the hinge device along the line
  • FIG. 1 a schematic sectional view of the hinge device along the line IV-IV in Fig. 3, a perspective view of a second embodiment of a hinge device according to the invention, a side view of the hinge device of FIG. 5, a plan view of the hinge device of FIG. 5 with removed intermediate ring and remote output shaft,
  • FIG. 8 is a perspective view of the hinge device according to FIG. 5 with the outer joint ring removed, FIG.
  • FIG. 9 is a perspective view of the hinge device of FIG. 5 with removed outer joint ring and intermediate ring,
  • FIG. 11 in perspective a partial section through the outer
  • Fig. 12 is a perspective view of the hinge device in the second
  • Fig. 13 is a plan view of a third embodiment of one of several
  • Ball cups constructed hinge device, 13, a side view of the joint device according to the invention according to FIG. 14, a side view of the joint device according to FIG. 15 with a maximum adjustment angle of about 50 °, a side view of a further exemplary embodiment of the joint device according to the invention with coupling element 17 shows a schematic section through the hinge device according to FIG. 17 along the line XVIII-XVIII, a schematic section through the hinge device according to FIG. 17 along the line XIX-XIX, a schematic perspective view of the hinge device according to FIG. 17 with the drive shaft removed, a schematic view of another embodiment of the hinge device with a plugged tube as the output shaft, a schematic section through the hinge device of FIG. 22nd
  • an inventive joint 3 which shows two joint elements 110 and 130.
  • the first joint element 110 is formed as an outer joint element in the form of an outer ball shell 53, wherein the ball shell 53 is designed larger than a hemisphere.
  • the opening width 100 of the outer spherical shell 53 is preferably smaller than its largest diameter.
  • an inner spherical shell 51 is arranged as an inner joint element 130.
  • the outer diameter of the inner spherical shell 51 is slightly smaller than the inner diameter of the outer spherical shell 53.
  • bearings 42 are provided, into the bearing pin 12 and 13 of the inner spherical shell 51 (FIG.
  • the inner spherical shell 51 has an opening width which is preferably smaller than its largest diameter.
  • the output shaft 8 is hingedly connected. As can be seen in Figures 3 and 4, the output shaft 8 terminates in a ball 50 which is received within the ball socket 51 of the inner joint member 130.
  • the ball 50 engages with bearing pins 32, 33 in bearing 43, which are held in the wall of the inner joint element 130, in the embodiment in the ball socket 51.
  • the bearings 43 of the inner joint element 130, in the embodiment of the inner spherical shell 51, lie on a common inner circle 230, as shown in FIG. 4.
  • the drive shaft 2 is rotatably connected to the ball socket 53 of the outer joint member 110, so that via the bearings 42 of the ball socket 53, the drive shaft 2 via the outer joint member 110 and the outer hinge axis 10 on the inner
  • Joint member 130 is held.
  • the inner joint element 130 is coupled via the inner joint axis 30 with the output shaft 8, whereby a drebmoment- transmitting connection between the drive shaft 2 and the output shaft 8 is formed.
  • the output shaft 8 are bent relative to the drive shaft 2 by the angle 45.
  • Each angle 45 can be up to 25 °, so that an adjustment angle 44 of a total of approximately 50 ° can be present.
  • the joint elements 110, 130 lie on nested circles 210, 230, d. that is, the inner hinge member 130 is received within the outer hinge member 110.
  • the circles 210, 230 are concentric with each other.
  • the bearings 42, 43 will continue on their associated circles 210th , 230, wherein - regardless of the adjustment angle - the inner circle 230 of the bearing 43 will always lie within the path of movement of the bearings 42 on the outer circle 230. As a result, a uniform rotational movement is given even under large adjustment angles.
  • the mechanical load of the joint 3, in particular the bearings 42, 43, is low even at large adjustment angles. A collision of the bearing in a rotational movement to be executed is avoided.
  • the adjustment angle 44 is limited by a Verstellanschlag 60.
  • the adjustment stop 60 is formed by the opening edge 61 of a ball socket 54, which covers the hinge 3.
  • the ball socket 54 is advantageously fixed to the output shaft 8 and engages over the outer ball socket 53, ie the outer joint element 110.
  • the ball socket 54 may be larger than a hemisphere, its opening diameter preferably being slightly smaller than the maximum outer diameter of the outer ball socket 53.
  • the size of the ball socket 54 and the outer diameter of the drive shaft 2 is matched.
  • the opening edge 61 cooperates with the outer periphery of the drive shaft 2;
  • an inclination limitation of +/- 23.5 ° to the next ball shell is given constructively so that an adjustment angle 44 or an overall inclination angle of 47 ° results.
  • a hinge device 1 is shown in a second embodiment, the z. B. may be provided on an axis. This axis can be the axis of a
  • the hinge device 1 of the exemplary embodiment shown consists of a drive shaft 2, a joint 3 and a held on the drive shaft 2 via the hinge 3 output shaft 8, the z. B. forms an actuating arm.
  • the output shaft 8 is adjustable via the joint 3 with respect to the drive shaft 2 in all three spatial directions x, y and z.
  • the joint 3 is designed as a multiple joint which has three joint elements 110, 120, 130 and three joint axes 10, 20 and 30.
  • the joint axes 10, 20 and 30 of the joint 3 lie in a common plane 4 (FIG. 2); It may be sufficient if, for example, a common plane is formed, that is, there is a small distance between the joint axes. It may be advantageous to arrange the joint axes 10, 20, 30 structurally in different planes. The levels can be parallel to each other.
  • the outer joint element 110 can also be used as the first joint element, the inner joint element
  • Joint element 130 may also be referred to as a third joint element and the further joint element 120 as a second joint element.
  • the center 5 of the possible pivotal movements of the output shaft 8 in the plane 4 lies on a mid-perpendicular 6, which forms a longitudinal central axis of a cylinder body 7.
  • an outer joint ring 11 is set in the exemplary embodiment according to FIGS 5 to 12.
  • the cylinder body 7 with the attached at its end outer hinge ring 11 forms the drive shaft 2 or, more generally, a base support.
  • the joint ring 11 is expediently formed integrally with the cylinder body 7 and forms the outer joint element 110.
  • an intermediate ring 21 which is pivotally supported by bearing pins 12, 13 (FIG. 4) on the outer joint ring 11.
  • the bearing pins 12, 13 are diametrically opposite each other and form the first hinge axis 10.
  • the bearings of the bearing pins 12, 13 lie on a common, outer circle 210.
  • the intermediate ring 21 forms the further joint element 120th
  • an inner joint ring 31 which is pivotally supported by bearing pins 22 and 23 on the intermediate ring 21.
  • the bearings of the bearing pins 22, 23 lie on a common intermediate circuit 220.
  • the inner joint ring 31 is at a distance b to the inner radius of the intermediate ring 21, whereby an engagement space 9 is formed for a terminal end 18 of the output shaft 8, which are also commonly referred to as actuator can.
  • the inner hinge 31 forms the inner hinge 130.
  • the connecting end 18 of the output shaft 8 surrounds the inner joint ring 31, wherein held in the inner joint ring 31 bearing pin 32 and 33 engage in the free legs of the U-shaped connection end 18, whereby the output shaft 8 is held about a third hinge axis 30 pivotally mounted on the inner joint ring 31 ,
  • the bearings of the bearing pins 32, 33 lie on a common inner circle 230.
  • the inner joint ring 31 may alternatively be in the form of a filled ring or disk, or else as a complete ball 50, as shown by way of example in FIG. 14. If the joint ring 31 is designed as an outer joint ring, the connection end 18 can be designed as an internal ball 50 with a flanged output shaft 8.
  • the arrangement of the joint axes 10, 20 and 30 is - as FIG. 7 shows - provided such that the hinge axes 10, 20, 30 intersect at the center 5 of the joint 3.
  • the center distance is preferably 120 °.
  • the circles 210, 220, 230 of the bearings 12, 13; 22, 23; 32, 33 each have a circle center, which is advantageous in the center 5 of the hinge device.
  • the outer circle 210 concentrically surrounds the intermediate circuit 220, the intermediate circuit 220 concentrically surrounds the inner circle 230.
  • the bearings move on separate, circular trajectories, which are independent of the adjustment angle, of the circles 210, 220, 230 correspond.
  • the number of hinge axes corresponds to the divider of 180 ° by the circumferential angle at which the hinge axes are spaced apart.
  • the number of hinge axes corresponds to the divider of 180 ° by the circumferential angle at which the hinge axes are spaced apart.
  • the joint axes 10, 20, 30 are - regardless of the number of joint axes - relative to the center 5 of the joint 3 with equal angular intervals 16 to each other.
  • the joint axes 10, 20, 30 clamp on a common plane 4, on which the longitudinal center axis 6 of the drive shaft 2 is perpendicular.
  • the puncture point of the longitudinal central axis 6 through the plane 4 is at the same time the center 5 of the joint 3.
  • the output shaft 8 can each pivot about the hinge axes 10, 20, 30, whereby the output shaft end 28 can approach any point of a spherical cap 17, the center of the center of the 5 Joint 3 is.
  • the opening angle 15 of the ball cap can be up to 160 °, whereby a large working range of the actuating arm or the output shaft 8 is given.
  • the pivoting movement of the output shaft 8 about the third hinge axis 30 is limited by abutment against the inner edge 24 of the intermediate ring 21.
  • the pivot angle of the inner joint ring 31 relative to the intermediate ring 21 is limited by rotation stops 34.
  • a rotation stop 34 is formed on the inner joint ring 31 in the region of the bearing bolts 32 and 33.
  • the rotation stop extends advantageously over 180 °, thus forming in view expediently a semicircle.
  • the rotation stops 34 on the inner joint ring 31 are counter stops 35 on
  • the counter-stop 35 extends in the embodiment about about 60 ° to 120 ° circumferential angle about the bearing pin 22 and 23 around.
  • the intermediate ring 21 carries in the region of its bearing pin 12, 13 a rotation stop 25 which extends over approximately 180 ° about the bearing pin 12 and 13 respectively.
  • a counter-abutment 14 is provided on the outer joint ring 11 in the region of the bearing pin 12 (FIG. 11), which forms abutment surfaces 19 for the rotational stop 25 of the intermediate ring 21.
  • the counter-stop 14 extends over a circumferential angle of about 60 ° to 120 ° around the bearing pin 12 around, so that the stop surfaces 19 at an angular distance of z. B. 80 ° to 120 ° to each other.
  • the angular distance can be up to 160 °.
  • the position of the rotation stops and the counter stops to limit the pivotal movement about the hinge pins 10 and 20 is provided so that the intermediate ring and the joint ring from a position in the plane 4 both clockwise around the one direction of rotation and left around the other direction with can be pivoted about the same angle.
  • rotation stops for the pivoting movements may be formed by a structural design of the outer edge of a joint ring.
  • the drive shaft 2 or the base support can, as shown in Fig. 12, fixed in a receiving sleeve 40 of the manipulator or the robot and moved by appropriate actuators.
  • FIGS. 13 to 16 The structural design of the hinge device 1 according to the invention is also possible with other geometric shapes than with joint rings.
  • FIGS. 13 to 16 the construction of a further articulated device 1 from spherical shells is shown in FIGS. 13 to 16.
  • This third embodiment corresponds in its basic structure to the second embodiment with joint rings according to FIGS. 5 to 12, for which reason the same reference numerals are used for identical parts.
  • the spherical shells used 51, 52, 53 respectively have openings with a
  • Opening width 100 which is smaller than the maximum diameter of the respective ball shell 51, 52, 53.
  • the output shaft 8 is connected in the center 5 of the joint 3 with an internal ball 50.
  • the spherical shells 51, 52, 53, 54 may be formed with a honeycomb pattern.
  • the exemplary embodiment according to FIGS. 13 to 16 has three joint elements 110, 120 and 130.
  • the inner joint element 130 corresponds to the inner joint ring 31;
  • the outer joint element 110 corresponds to the outer joint ring 11.
  • the further joint element 120 which forms a further joint axis 20, is arranged between the outer joint element 110 and the inner joint element 130. This results in a hinge device 1 with a joint 3 of the outer joint member 110 as a ball shell 53, the inner joint member 130 as a ball shell 51 and the other joint member 120 as a further ball shell 52.
  • the adjustment angle 44 is shown;
  • the opening edge 61 forms an adjustment stop 60, which interacts with the outer circumference of the drive shaft 2 and constructively limits the adjustment angle 44.
  • the joint 3 shown in section in FIG. 14 has ball shells 51 and 52, which show openings in the ball jacket.
  • These spherical shells can also be referred to as skeletonized spherical shells.
  • the bearings provided in the wall of the ball socket 53 move along a trajectory along an outer circle 210 ( Figure 13).
  • the bearings provided in the wall of the ball socket 52 move along a path of movement along an intermediate circuit 220.
  • the bearings provided in the wall of the ball socket 51 move along a path of movement along an inner circle 230 ( Figure 13).
  • the circles 210, 220, 230 each have a circle center, which is advantageously located in the center 5 of the hinge device 1.
  • the outer circle 210 concentrically surrounds the
  • the intermediate circuit 220 concentrically surrounds the inner circle 230.
  • the bearings move on separate, circular trajectories corresponding to the circles 210, 220, 230.
  • openings, holes or the like can be provided in the spherical shells, in particular the covering ball shell 54 of the output shaft 8 as well as the outer ball shell 51 of the drive shaft 2.
  • compressed air injected into the joint device this can escape through the various openings.
  • the injection of compressed air can be regular, irregular or continuous; In any case, contamination of the joint is counteracted, since environmental dirt can not enter via the movement gaps between the covering ball socket 54 and the outer ball socket 53.
  • FIGS. 17 to 20 show a further exemplary embodiment of a hinge device according to the invention.
  • the structure of the joint 3 of three spherical shells corresponds to that of the exemplary embodiment of FIGS. 13 to 16, for which reason the same reference numerals are used for identical parts.
  • a coupling element 70 is provided within the joint 3, which couples the further joint element 120, in the exemplary embodiment the further ball socket 52, position-dependent with a joint element.
  • the coupling element 70 is designed as a pivot lever 71, which is held pivotably in a bearing 72 of the outer joint element 110.
  • the pivot lever 71 engages with pivot arms 73 and 75 between the spherical shells.
  • a first, inner pivot arm 73 engages in a gap 74 between the further ball shell 52 and the inner joint element 120 and the outer ball shell 53 and the outer joint element 110.
  • the articulated arm is formed adapted to the radius of the gap 74 and engages with an extension 76th into a guide slot 77 of the further joint element 120, ie in the further ball socket 54 a.
  • the guide slot 77 extends approximately at the height of the level 4, which is determined by the joint axes 10, 20, 30.
  • the pivot axis 80 of the pivot lever 71 is preferably in the plane 4; the pivot axis passes through the center of the joint 3.
  • the swing arm 75 has a greater length than the swing arm 73, so that the coupling is carried out with a gear ratio. Preferably, a transmission ratio of 1: 2 is provided.
  • the length of the pivot arm 75 is twice as long as the length of the pivot arm 73.
  • the ball socket 52 is guided over the coupling element 70 on the ball socket 54, so that the ball socket 52 lying between the outer ball socket 53 and the inner ball socket 51 always has a defined position occupies.
  • the second pivot arm 75 extends in a gap 78 between the covering ball shell 54 and the outer ball shell 53 and the outer
  • the pivot arm 75 engages with an extension 79 in one
  • Guide slot 81 which is formed in the covering ball shell 54.
  • the guide slot 81 is at the level of the level 4 and extends in the circumferential direction of the ball shell 54 approximately on the largest diameter.
  • FIGS. 18 to 20 show, two pivoting levers 71 and 7 ⁇ are provided, which-with respect to the center 5 of the joint 3-are diametrically opposed to one another.
  • Two pivot levers result in a redundant coupling; an embodiment with only one coupling element or a pivot lever can be sufficient in principle.
  • a pivot lever and a spring element can be arranged as a coupling element.
  • FIGS. 21 and 22 a variant of the hinge device with a drive shaft 2 and an output shaft 8 is shown.
  • the drive of the joint 3 takes place via a toothed belt wheel 90, which acts on the outer circumference of the outer joint element 110.
  • a gear may be provided as part of a transmission.
  • the output shaft 8 is formed by a tube 88 which is inserted through the hinge 3.
  • the plug-in receptacle 91 is held by pins 92 and 93 in an inner joint member 130 pivotable; the inner joint member 130 is pivotally supported by bearing pins 12 and 13 in the outer joint member 110.
  • the embodiment thus corresponds in principle to the structure of the biaxial design of that of the embodiment of Figures 1 to 4.
  • the adjustment angle 44 is limited by the opening edge 61 of the covering ball cap 99, which in a circumferential slot 96 between the outer joint member 110 and the driving Gear 90 dips.
  • the angular offset is divided between the individual hinge rings 10, 20, 30, the spherical shells 51, 52, 53 or the geometric shapes used. This means that at an opening angle of the joint 3 of 100 degrees, a single angle of maximum 40 ° must be traversed.
  • the individual joint elements such as the joint rings 10, 20, 30, the spherical shell 51, 52, 53, 54 or the like. Geometric shapes are arranged sprung to each other. This means that the hinge elements are preferably held in a 0 ° rest position by a spring. If the opening angle of the joint increases, the angle of all joint elements is pre-tensioned by the spring until the rotation stop finally pushes the next joint element forward. As a result, all joint elements are always in the correct position in most operating positions, so that the set total opening angle is always optimally divided between the joint elements.
  • a solid cover of the open joint is easily possible in the structure according to the invention, so that contamination of the joint can be effectively prevented.
  • the hinge device can be cascaded like a cardan as a double joint.
  • two joints are connected by a tube, the hinge axes are then not in a plane.
  • All embodiments have in common that the pairs of a hinge axis 10, 20, 30 forming bearings each lie on a circle 210, 220, 230, wherein an outer circle 210 concentrically surrounds an inner circle 230.
  • Any intermediate circuit 220 is located concentrically between the outer circle 210 and the inner circle 230.
  • the centers of all circles 210, 220, 230 of a joint 3 lie in the center 5 of the joint 3.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Pivots And Pivotal Connections (AREA)

Abstract

L'invention concerne un dispositif articulé sur un entraînement, en particulier sur un manipulateur tel qu'un robot ou similaire. Ce dispositif est constitué d'un arbre d'entraînement (2) et d'un arbre de sortie (8) retenu par l'intermédiaire d'une articulation (3), lequel arbre de sortie (8) est monté mobile dans toutes les directions spatiales. Selon l'invention, l'articulation (3) est constituée d'au moins un premier élément intérieur (130) d'articulation pourvu de deux paliers (43) diamétralement opposés et d'un deuxième élément extérieur (110) d'articulation pourvu de deux paliers (42) diamétralement opposés. Les paliers (43) du premier élément intérieur (130) d'articulation forment un premier axe intérieur (30) d'articulation et se situent sur un premier cercle intérieur (230) commun ; les paliers (42) du deuxième élément extérieur (110) d'articulation forment un deuxième axe extérieur (10) d'articulation et se situent sur un cercle extérieur (210) commun. Afin d'obtenir une rotation sensible et sans à-coups de l'articulation, y compris lorsque les angles d'articulation sont importants, le cercle intérieur (230) peut présenter un diamètre (Di) inférieur à celui du cercle extérieur (210).
EP14821077.6A 2013-12-21 2014-12-20 Dispositif articulé entre un arbre d'entraînement et un arbre de sortie Withdrawn EP3084246A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013021830.6A DE102013021830A1 (de) 2013-12-21 2013-12-21 Gelenkvorrichtung an einem Manipulator
PCT/EP2014/003453 WO2015090614A1 (fr) 2013-12-21 2014-12-20 Dispositif articulé entre un arbre d'entraînement et un arbre de sortie

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EP3084246A1 true EP3084246A1 (fr) 2016-10-26

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EP (1) EP3084246A1 (fr)
DE (1) DE102013021830A1 (fr)
WO (1) WO2015090614A1 (fr)

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GB2531994B (en) * 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
GB2540339B (en) * 2015-06-11 2020-09-30 Punk Couplings Ltd Nuts and bolts
CN108673562B (zh) * 2018-05-31 2021-07-13 哈尔滨理工大学 一种基于球齿轮齿盘机构的迎宾机器人头颈部结构
CN109331379B (zh) * 2018-11-18 2020-07-17 温州安普消防科技有限公司 一种消防设备的远端控制方法和控制系统
TWI920833B (zh) * 2024-11-05 2026-04-01 財團法人工業技術研究院 機器人關節裝置

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US4452654A (en) * 1982-05-28 1984-06-05 General Dynamics, Pomona Division Method of assembling a gyroscope gimbal fixture
US5215386A (en) * 1990-04-04 1993-06-01 Mpb Corporation Gimbal bearing
US5728004A (en) * 1994-07-06 1998-03-17 Chrysler Corporation Universal joint with layered bushings
GB0314685D0 (en) * 2003-06-24 2003-07-30 Imp College Innovations Ltd Drive system and method
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WO2015090614A1 (fr) 2015-06-25

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