阅读说明：本技术 用于将张紧元件固定在单元上的固定单元 (Fixing unit for fixing a tensioning element to a unit ) 是由 G.巴赫梅尔 I.维特托利亚斯 W.佐尔斯 C.巴赫曼 G.派斯 于 2018-05-15 设计创作，主要内容包括：本发明涉及一种固定单元(1),用于将张紧元件(20)固定在单元(30)上,所述固定单元具有具备至少一个第一开口(12)的头部(11)、具备至少一个第二开口(14)和至少一个外螺纹(15)的杆部(13)和通道(16),其中,所述通道(16)从所述头部(11)的至少一个第一开口(12)沿头部(11)向所述杆部(13)的至少一个第二开口(14)至少部分沿杆部(13)延伸,其中,至少一个外螺纹(15)和通道(16)分别设计用于容纳所述张紧元件(20)。本发明还涉及一种相应的张紧元件驱动系统。(The invention relates to a fastening unit (1) for fastening a tensioning element (20) to a unit (30), having a head (11) with at least one first opening (12), a shaft (13) with at least one second opening (14) and at least one external thread (15), and a channel (16), wherein the channel (16) extends from the at least one first opening (12) of the head (11) along the head (11) to the at least one second opening (14) of the shaft (13) at least partially along the shaft (13), wherein the at least one external thread (15) and the channel (16) are each designed to accommodate the tensioning element (20). The invention also relates to a corresponding tensioning element drive system.)

1. A fixing unit (1) for fixing a tensioning element (20) on a unit (30), the fixing unit having:

a. a head (11) provided with at least one first opening (12),

b. a shank (13) provided with at least one second opening (14) and at least one external thread (15),

c. a channel (16) in which, among other things,

d. the channel (16) extending from the at least one first opening (12) of the head (11) along the head (11) to the at least one second opening (14) of the shaft (13) at least partially along the shaft (13), wherein,

e. at least one external thread (15) and a channel (16) are each designed to accommodate the tensioning element (20).

2. Fixing unit (1) according to claim 1, characterized in that a counterpart (17) provided with at least one internal thread (18) is provided for fixing the tensioning element (20) on the unit (30), the shank (13) being insertable into the unit (30), wherein the counterpart (17) is in particular a nut.

3. Fixing unit (1) according to claim 2, wherein the tensioning element (20) is tensioned if the stem (13) is inserted into the counterpart (17).

4. Fixing unit (1) according to claim 3, wherein the tensioning element (20) is released if the stem (13) is released from the counterpart (17).

5. Fixing unit (1) according to one of the preceding claims, wherein at least one external thread (15) is arranged in the end region of the shank (13).

6. The fixing unit (1) according to one of the preceding claims, wherein the shank (13) has two external threads (15), the two external threads (15) being arranged in mutually opposite end regions of the shank (13).

7. Fixing unit (1) according to claim 6, wherein the two external threads (15) differ from each other in their diameter.

8. Fixing unit (1) according to one of the preceding claims, wherein the fixing unit (1) is at least partially manufactured by 3D printing.

9. Fixing unit (1) according to one of the preceding claims, wherein the head (11) and the shank (13) are designed as bolts.

10. The fixation unit (1) according to one of the preceding claims, wherein the fixation unit (1) is driven in one direction (42) by a drive unit (40).

11. A tension element drive system, comprising:

a. at least one tensioning element (20), wherein the at least one tensioning element (20) is arranged on a unit (30),

b. at least one fixing unit (1) according to one of claims 1 to 10 for fixing a tensioning element (20) on a unit (30),

c. at least one drive unit (40) for operating the unit (30) in one direction (42), wherein the at least one drive unit (40) is an actuator.

12. Tensioning element drive system according to claim 11, wherein, when the at least one drive unit (40) is operated, the shank (13) is inserted into the counterpart (17) and the tensioning element (20) is tensioned.

13. Tensioning element drive system according to claim 12, wherein, when the at least one drive unit (40) is not operating, the shank (13) is released from the counterpart (17) and the tensioning element (20) is released.

1. Field of the invention

The invention relates to a fastening unit for fastening a tensioning element to a unit. The invention also relates to a corresponding tensioning element drive system.

2. Background of the invention

Tensioning element drive systems ("linear-drive systems") are becoming increasingly important. Such systems are located in the area of robots and mechanical mechanisms. For example, tensioning element-driven robot units are known, which have a body element that simulates the musculoskeletal system. The tensioning element drive system usually has an actuator which pulls or exerts a pulling force on the tensioning element. The actuator also applies a force to the joint through the application of a force. In other words, the force is transmitted from the actuator to the joint via the tensioning element. However, a single tensioning element may only apply force in one direction.

Thus, according to the prior art, two drive units are arranged for each degree of freedom or each joint. It is also known to arrange two drive units in the muscle of a person in a contracting-antagonistic manner.

In principle, a joint action or interaction of the muscles acting in opposition is always required in order to be able to perform the movement. The contraction muscle (the exerciser) performs the exercise, while the opponent muscle (the corresponding exerciser) is responsible for the movement in the opposite direction. An actuator or a spring is used as the drive unit.

In the case of a robot unit designed as a robot arm and having a sensation similar to a human arm, an actuator is used, for example, for closing a joint of a finger and an actuator (also referred to as a counter-actuator) is provided for opening a joint of a finger.

In this respect, it is necessary to fix the tensioning element on the actuator and to fix the joint reliably so that the joints can move in opposite directions to one another. However, the fastening of the tensioning element is not standardized and should meet certain requirements.

For example, it is necessary for the fixed tensioning element to be in tension. Otherwise, insufficient power of the entire system adversely affects efficiency. Furthermore, the material of the tensioning element can be disadvantageously elongated under certain conditions, such as high loads, aging or irradiation. This disadvantageously results in a reduction or loss of stress of the entire system.

Furthermore, it is necessary to fasten the tensioning element to the respective actuator or to allow additional adaptation of parameters, such as the degree of stress and the length of the tensioning element. In a multiple-actuated system it may also be desirable for the length of the tensioning element of each actuator to be the same in order to simplify the modeling and control of the system.

Are commonly used in the prior art to secure tensioning elements to actuators or joints ("knobs"). However, as a disadvantage, after the tensioning element has been fixed by means of the joint, the joint cannot be adapted to the stress further or afterwards, since the tensioning element has a fixed length after the fixing. Furthermore, as a further disadvantage, the previously provided joint is difficult or impossible to release again with regard to the defined material and strength of the tensioning element. It may be desirable that the nodes must be cut or severed in order to release them. Furthermore, it has the additional disadvantage that the nodes can be realized only with difficulty and with a defined length. Thus, the length of the tensioning element of each actuator is not the same in a multiple drive system. Furthermore, springs, for example, are used in series, but these springs also have serious disadvantages.

The object of the present invention is therefore to provide a fastening unit which is inexpensive, long-lasting, compact and user-friendly and which is arranged in a simple and reliable manner.

3. Summary of the invention

The object is achieved according to the invention by a fastening unit for fastening a tensioning element to a unit, comprising:

a. a head portion provided with at least one first opening,

b. a shank provided with at least one second opening and at least one external thread,

c. a channel in which, in the open position,

d. said channel extending at least partially along the stem from at least one first opening of said head along the head to at least one second opening of said stem, wherein,

e. at least one external thread and a channel are each designed to receive the tensioning element.

Accordingly, the fastening unit according to the invention is suitable for fastening or fastening a tensioning element to the unit. Thus, securing may also be referred to as fastening. The tensioning element is for example a rope and advantageously has a certain rigidity or stiffness. But is not limited to ropes. For this purpose, Dyneema high-strength nylon fiber ropes or Vectran high-strength fiber ropes have been conventionally used. The cord may be flexibly selected by the user depending on the particular application. The unit is designed, for example, as a joint unit, if a robot unit or any other unit, such as a drive unit.

The head of the fastening unit can also be referred to as the upper subunit and is arranged above the shank of the fastening unit in accordance therewith. Thus, the stem may also be referred to as a lower subunit. The diameter of the head portion may be greater than the diameter of the shaft portion. Further, the head may have a circular shape and the stem has a rod-like shape.

A through-passage is arranged between the head and the shank, so that the tensioning element can project into the head through the opening of the head and out of the opening of the shank. For example, the cord is threaded through the channel in one step and wound around the external thread of the stem in another step.

The fastening unit according to the invention is therefore very simple and easy to use. The tensioning element can be pulled at will and is thereby fastened and/or fixed under stress on the unit. Conversely, the stress can also be reduced and the tensioning element can be locked or completely released accordingly. In other words, the fixation can be re-established at any time in a simple manner. Accordingly, the fixation is reversible.

By the degree or strength of the tensile force, the stress of the tensioning element can be influenced and varied. The tension of the tensioning element and the length of the tensioning element can thus be adapted or adjusted arbitrarily and effectively to the requirements of the user or other corresponding units before and after fixing. Accordingly, the fixing unit is adjustable.

In one embodiment, the fastening unit also has a counterpart with at least one internal thread for fastening the tensioning element, into which counterpart the shank can be inserted, wherein the counterpart is in particular a nut. Correspondingly, for a shank having an external thread, the corresponding counter-piece is provided with an internal thread or a counter-thread. For example, the cable has been passed through the channel, the cable is wound around the external thread of the shank and can also be tensioned by the counterpart.

In a further embodiment, the tensioning element is tensioned if the shank is inserted into the counter part.

In a further embodiment, the tensioning element is released if the shank is released from the counter element. Accordingly, the thread of the lever and the thread of the counter element can engage with each other. By the mutual engagement of the threads, a force acts on the tensioning element. The tensioning element is clamped and held. Otherwise, the retention force is reduced by the threads separating or moving away from each other. The tension element is relieved of load or locked.

In a further embodiment, at least one external thread is arranged in the end region of the shank. Accordingly, the external thread is provided in particular at the end facing the head. This region has proven to be particularly advantageous with regard to stability and reliability of the fastening.

In a further embodiment, the shank has two external threads, which are arranged in mutually opposite end regions of the shank. Correspondingly, a second external thread is provided in addition to the first external thread. The first external thread is used for fastening the tensioning element. The second external thread is then used to fasten the tensioning element to any unit, such as a joint unit or a drive unit. The fastening unit can thus advantageously be flexibly arranged in any desired system.

In a further embodiment, the two external threads differ from one another in their diameter. Accordingly, the diameter of the first external thread is greater than the diameter of the second external thread. Alternatively, the additional diameter may be flexibly selected. For example, a larger diameter than the stop can be provided.

In a further embodiment, the fastening unit is produced at least partially by 3D printing. Accordingly, a part of the fixing unit or the entire fixing unit is built up by 3D printing step by step. 3D printing in particular enables fast manufacturing. However, the fixing unit is not limited to this manufacturing method.

In a further embodiment, the head and the shank are designed as bolts. Accordingly, the fastening unit without the counter-part is designed as a conventional screw. Accordingly, the counterpart for screwing can also be designed as a nut adapted thereto.

In a further embodiment, the fastening unit is driven in one direction by a drive unit. In accordance therewith, a drive unit is provided, which drives the tensioning element in one direction. The tensioning element fixed to the unit runs in one direction. The units move in the same direction accordingly. Thereby, the movement can be performed in one direction. For example, an actuator or other drive unit may be provided for closing the joints of the fingers or for opening the joints of the fingers.

The invention further relates to a tensioning element drive system having:

a. at least one tensioning element, wherein the at least one tensioning element is arranged on the unit,

b. at least one fixing unit for fixing the tensioning element to the unit,

c. at least one driving unit for moving the unit in one direction.

Accordingly, one or more fixation units of the joint unit can be arranged. A contracting-versus-antagonizing arrangement is generally desired so that movements in opposite directions to each other can be achieved. For this purpose, two tensioning elements, such as cables, are arranged on the joint unit and are fixed to the joint unit by means of a fixing unit. The two tensioning elements are operated by two actuators. It is thereby advantageously possible for the drive unit to drive the tensioning element in one direction and for the drive unit to drive the other tensioning element in the opposite direction. For example, an actuator or a spring may be used as the driving unit.

4. Description of the drawings

Preferred embodiments of the present invention are further explained in the following detailed description in conjunction with the accompanying drawings. In the drawings:

figure 1 shows a detail view of a fixing unit according to the invention,

figure 2 shows a detailed view of the channel of the fixation unit according to the invention,

figure 3 shows a front view of a tension element drive system according to the present invention.

5. Detailed description of the preferred embodiments

Preferred embodiments of the present invention are explained below with reference to the drawings.

Fig. 1 shows a fixing unit 1, which is composed of two subunits 11, 13. The upper subunit 11 may be referred to as a head and the lower subunit 13 may be referred to as a stem. The fixed unit may be manufactured by means of a 3D printing process or other manufacturing processes. The subunits 11, 13 have openings 12, 14, respectively.

For example, the head 11 has a plurality of edges and is flat. The shaft 13 is arranged below the head 11 and is designed in the shape of a thin stick. Furthermore, the shank 13 has a threaded section 15. For example, an external thread 15 is arranged on an end region of the shank 13. The shank 13 can be inserted correspondingly into the internal thread 18 of the counterpart 17. The fixing unit 1 may be a bolt, for example.

Between the two openings 12, 14, a channel 16 extends continuously from the first opening 12 through the head 11 and through the shank 13 up to the second opening 14. The channel 16 is shown in particular in fig. 2. The tensioning element 20 (not shown) may pass into the first opening 12, through the channel 16 and out of the second opening 14. Furthermore, the tensioning element 20 can then be wound around the external thread 50. The tensioning element 20 may be a rope, for example.

The tensioning element 20 is tensioned and fixed by the mutual engagement of the threaded sections 15, 18 of the shank 13 and the counterpart 17. In other words fastened. Furthermore, the tensioning element 20 is released by the threaded segments sliding apart from each other.

Figure 3 shows a tension element drive system. The tensioning element drive system has a fixing unit 1, by means of which the cable 20 is fixed to the unit 30. The first cable 20 is fixed to the joint unit and/or the drive unit by the first fixing unit 1. Furthermore, the second cable is fixed to the joint unit and/or the drive unit by means of a second fixing unit 1. The second rope is shown by means of a dashed line. The fixing unit 1 can achieve a reversible, calibratable and reliable fixing.

The second ropes 20 are moved in opposite directions to each other by the respective driving units 40. The first drive unit 40 runs the first rope 20 and thus the joint unit 30 in one direction 42 and the further second drive unit 40 runs the second rope and thus the joint unit 30 in the opposite direction.

If the shaft 13 has two external threads according to fig. 1, the cable 20 is fastened at one end of the shaft 13 by a first thread section and at the other end of the shaft 13 by a second thread section 15 to the associated drive unit 40.