阅读说明：本技术 具有通过至少一个线形连接元件连接的外壳的机器人臂 (Robot arm with shells connected by at least one linear connecting element ) 是由 马丁·里德尔 安德烈·雷克尔斯 于 2019-07-31 设计创作，主要内容包括：本发明涉及一种机器人臂,其具有多个关节(5)和多个节肢(4),这些节肢分别将两个相邻的关节(5)以相对于彼此固定布置的方式相互连接,其中,至少一个节肢(4)具有至少一个第一外壳(6.1)和至少一个第二外壳(6.2),并且第一外壳(6.1)与第二外壳(6.2)通过连接装置形状配合地连接,以形成中空的节肢(4),其中,连接装置具有至少一个拉链(7,7a,7b)。(The invention relates to a robot arm having a plurality of joints (5) and a plurality of limbs (4) which each connect two adjacent joints (5) to one another in a fixed arrangement relative to one another, wherein at least one limb (4) has at least one first housing (6.1) and at least one second housing (6.2), and the first housing (6.1) and the second housing (6.2) are connected in a form-fitting manner by a connecting device to form a hollow limb (4), wherein the connecting device has at least one zipper (7, 7a, 7 b).)

1. A robot arm having a plurality of joints (5) and a plurality of limbs (4) which respectively connect two adjacent joints (5) to one another in a fixed arrangement relative to one another, wherein at least one of the limbs (4) has at least one first shell (6.1) and at least one second shell (6.2), and the first shell (6.1) and the second shell (6.2) are connected in a form-fitting manner by a connecting device to form a hollow limb (5), characterized in that the connecting device has at least one zip (7, 7a, 7 b).

2. The robot arm according to claim 1, characterized in that the zipper (7) is a toothed zipper (7a), a toothless zipper (7b), a pair of sliding closure strips and/or a pair of press closure strips.

3. The robot arm according to claim 1 or 2, characterized in that the zipper (7, 7a, 7b) has a first strap (18.1) fastened to the first shell (6.1) and a second strap (18.2) fastened to the second shell (6.2) such that the zipper (7, 7a, 7b) in its closed state covers at least one gap portion (S) in a separation plane (T) between the first shell (6.1) and the second shell (6.2).

4. The robot arm according to any of claims 1 to 3, characterized in that the first shell (6.1) has a connecting edge (8.1), the second shell (6.2) has a mating connecting edge (8.2) which is placed on the connecting edge (8.1) of the first shell (6.1) in the joined state of the first shell (6.1) and the second shell (6.2), and the zipper (7, 7a, 7b) is configured to absorb not only shear forces along the connecting edge (8.1) and the mating connecting edge (8.2), but also shear forces transverse to the connecting edge (8.1) and the mating connecting edge (8.2) and pull forces perpendicular to the separation plane (T) of the connecting edge (8.1) and the mating connecting edge (8.2).

5. The robot arm according to one of claims 1 to 3, characterized in that the connecting edge (8.1) of the first housing (6.1) and the mating connecting edge (8.2) of the second housing (6.2) are respectively offset configured, in particular by means of a tongue (9a) or a groove-tongue connection (9b), in order to transmit shear forces transverse to the connecting edge (8.1) and the mating connecting edge (8.2), and the zipper (7, 7a, 7b) is configured to absorb not only shear forces along the connecting edge (8.1) and the mating connecting edge (8.2), but also tensile forces perpendicular to the separation plane (T) of the connecting edge (8.1) and the mating connecting edge (8.2).

6. The robot arm according to claim 5, characterized in that, for transferring shear forces transverse to the connecting edge (8.1) and the counter-connecting edge (8.2), the connecting edge (8.1) of the first shell (6.1) and the counter-connecting edge (8.2) of the second shell (6.2) are configured offset correspondingly by: namely, the connecting edge (8.1) of the first housing (6.1) and/or the mating connecting edge (8.2) of the second housing (6.2) are provided with a protruding rib (10) against which the respective other housing (6.1, 6.2) rests flush.

7. The robot arm according to one of claims 1 to 3, characterized in that, for transmitting shear forces along the connecting edge (8.1) and the counter-connecting edge (8.2) and shear forces transverse to the connecting edge (8.1) and the counter-connecting edge (8.2), the first shell (6.1) and the second shell (6.2) are respectively configured with form-fittingly mutually engaging, internally located reinforcing ribs (12), and the zipper (7, 7a, 7b) is configured to absorb only tensile forces perpendicular to the separation plane (T) of the connecting edge (8.1) and the counter-connecting edge (8.2).

8. The robot arm according to any of the claims 1 to 3, characterized in that the connecting edge (8.1) of the first shell (6.1) and the mating connecting edge (8.2) of the second shell (6.2) are respectively configured with teeth (11) engaging each other form-fittingly in order to transfer shear forces along the connecting edge (8.1) and the mating connecting edge (8.2), and the zipper (7, 7a, 7b) is configured to absorb not only shear forces transverse to the connecting edge (8.1) and the mating connecting edge (8.2), but also tensile forces perpendicular to a separation plane (T) of the connecting edge (8.1) and the mating connecting edge (8.2), and in order to form said form-fittingly engaging teeth (11), the first shell (6.1) has teeth (11) protruding from its connecting edge (8.1) with teeth sides inclined in the longitudinal direction of the connecting edge (8.1), such that the teeth (11) taper from a tooth root in the tooth tip direction, and the second housing (6.2) has a mating tooth projecting from its mating connecting edge (8.2) with a mating flank which is correspondingly inclined in the longitudinal direction of the mating connecting edge (8.2) relative to the teeth (11) of the first housing (6.1), such that the mating tooth tapers from a tooth root in the tooth tip direction, and in the engaged state of the first housing (6.1) and the second housing (6.2) the flank lies flush against the mating flank.

9. The robot arm according to any of the claims 1 to 3, characterized in that the connecting edge (8.1) of the first shell (6.1) and the mating connecting edge (8.2) of the second shell (6.2) are respectively configured with teeth (11) engaging each other form-fittingly in order to transfer shear forces along the connecting edge (8.1) and the mating connecting edge (8.2) and shear forces transverse to the connecting edge (8.1) and the mating connecting edge (8.2), and that the zipper (7, 7a, 7b) is configured to absorb only tensile forces perpendicular to the separation plane (T) of the connecting edge (8.1) and the mating connecting edge (8.2).

10. The robot arm according to claim 9, characterized in that, in order to form the form-fittingly intermeshing teeth (11), the first shell (6.1) has a tooth (11) projecting from its connecting edge (8.1), which tooth has flanks which are inclined in the longitudinal direction and in the transverse direction of the connecting edge (8.1), such that the tooth (11) tapers not only in the tooth-top direction from the tooth root, but also in the transverse direction, and the second shell (6.2) has a mating tooth projecting from its mating connecting edge (8.2), which mating tooth has mating flanks which are correspondingly inclined relative to the tooth (11) of the first shell (6.1) in the longitudinal direction and in the transverse direction of the mating connecting edge (8.2), such that the mating tooth tapers not only in the tooth-top direction from the tooth root, but also in the transverse direction, and in the engaged state of the first shell (6.1) and the second shell (6.2), the tooth flanks bear flush against the counter-tooth flanks.

11. The robot arm according to any of the claims 1 to 10, characterized in that the first shell (6.1) has on its outer housing wall a receiving channel connected to the connecting edge (8.1) extending longitudinally along the connecting edge (8.1), which receiving channel is configured to at least substantially flush with the outer housing wall, lockingly receive the zipper (7, 7a, 7b), and/or the second shell (6.2) has on its outer housing wall a receiving channel connected to the mating connecting edge (8.2), extending longitudinally along the mating connecting edge (8.2), which receiving channel is configured to at least substantially flush with the outer housing wall, lockingly receive the zipper (7, 7a, 7 b).

12. The robot arm according to any of the claims 1 to 11, characterized in that the zipper (7, 7a, 7b) has a locking device configured to lock the slider of the zipper (7, 7a, 7b) in its closed position.

13. The robot arm according to any of the claims 1 to 12, characterized in that the zipper (7, 7a, 7b) has a sealing lip extending longitudinally along the length of the zipper (7, 7a, 7b) configured to cover gaps, openings and/or cracks in the closed zipper (7, 7a, 7b) dust-tight and/or splash-proof.

14. The robot arm according to any of the claims 1 to 13, characterized in that the at least one first shell (6.1) and the at least one second shell (6.2) are each made of plastic.

Technical Field

The invention relates to a robot arm having a plurality of joints and a plurality of limbs which respectively connect two adjacent joints to one another in a fixed arrangement relative to one another, wherein at least one limb has at least one first housing and at least one second housing, and the first housing and the second housing are connected in a form-fitting manner by a connecting device to form a hollow limb.

Background

From WO2017/029263a1, a robot system with at least one robot arm is known, which consists of a plurality of limbs which are connected to one another by joints and have a housing for accommodating mechanical, electromechanical and/or electronic components, which is designed to transmit torques and forces introduced into the limbs to adjoining limbs, wherein the housing consists of at least two housing parts of complementary shape, which are connected to one another in a torque-and force-transmitting manner. Here, a casting made of metal (e.g. aluminum), plastic or carbon can be provided as the material of the bowl-shaped housing part.

Disclosure of Invention

The object of the invention is to provide a robot arm having limbs, at least one of which has at least one first housing and at least one second housing, which housings should be particularly stably connected on the one hand and on the other hand can be connected together in a simple manner and/or can be separated as required.

The object is achieved according to the invention by a robot arm having a plurality of joints and a plurality of limbs which respectively connect two adjacent joints to one another in a fixed arrangement relative to one another, wherein at least one limb has at least one first and one second housing, and the first and second housings are connected in a form-fitting manner by a connecting device to form a hollow limb, wherein the connecting device has at least one zipper (Rei β verseschluss).

A robot arm, in particular an industrial robot, is an execution machine which can be equipped with tools for automatically handling and/or processing objects, wherein an arm of the robot arm is programmable by means of its joints for a plurality of movement axes, for example with respect to direction, position and workflow.

Industrial robots usually have a robot arm and a programmable controller (control device) which controls or regulates the movement process of the industrial robot during operation, whereby one or more joints (robot axes) which can be adjusted automatically or manually are moved by means of a motor or drive, in particular an electric motor, wherein the controller controls or regulates the motor or drive.

The robot arm may further comprise a stand and a turntable rotatably mounted with respect to the stand by means of a joint, on which turntable a swing arm is pivotably mounted by means of another joint. Here, a cantilever may be pivotably attached to the rocker arm at one side thereof via another joint. The boom carries the robot hand here, in which connection the boom and/or the robot hand can have a plurality of further joints.

The robot arm having a plurality of articulated limbs can be configured as an articulated arm robot having a plurality of limbs and joints arranged in series, which can be configured in particular as a six-or seven-articulated arm robot. In another embodiment, the robot arm may also be a horizontally articulated arm robot, i.e. a SCARA robot.

A motor or a drive and/or a gear mechanism can be assigned to each joint, which adjustably connects two adjacent members to one another, for example. Each gear mechanism serves to increase or decrease the rotational speed or torque brought about by the motor or drive and allows the respective member to be adjusted with respect to the adjacent members.

Tools, such as grippers, fastened to the hand flange of the robot arm have formed a load which is carried by the robot arm and moves in space. Alternatively or in addition to the tool or the holder, the load can also be formed by a workpiece to be handled or treated. In order to be able to hold and move such loads, forces and moments must be transmitted through the load-bearing structure of the robot arm. In particular for forming a load-bearing cantilever, one or more limbs of the robot arm can therefore be constructed as a housing body with a cavity, wherein the housing body absorbs all forces and moments of the load, in which cavity a motor, a drive, a transmission and/or a supply line can be arranged. The hollow housing body is composed of at least two shells, namely at least one first shell and at least one second shell. In this case, the at least one first housing and the at least one second housing must be connected to one another by connecting means in order to be able to form a complete housing body. According to the invention, the connecting device has at least one zipper.

Under the framework of the present invention, arthropods and enclosures mean such structural elements: it mechanically interconnects two adjacent joints so as to be able to transmit loads in all six degrees of freedom, i.e. translationally in three cartesian space directions and rotationally about three axes of rotation oriented in said three cartesian space directions, respectively. The materials used are usually predominantly metals, for example steel or aluminium, in particular in welded, cast or milled structures. The exception is the embodiment implemented by e.g. carbon fiber or plastic. At present, plastic is used only for covering and covering in order to completely or partially cover the underlying load-bearing metal structure. However, the transmission of loads in all six degrees of freedom has not hitherto been carried out by such sheathing and covering, especially when they are made of plastic.

However, it has been found by the present invention that: the plastic construction of arthropods can offer a great number of advantages in terms of design and is particularly suitable for very cost-effective robots. However, critical here is the very limited stiffness and load capacity of the plastic material, which requires a particularly load-optimized design. The solution according to the invention and its advantages are, however, not limited to arthropods made of plastic, but can also be used for other materials used, such as aluminum or carbon fiber materials.

The at least one first housing and the at least one second housing may in this case form a load-bearing shell joint (schalenverbundle) of the arthropod of the robot arm. Such a case joint structure enables the components of the robot arm to be assembled quickly and easily. The shell unitizing structure according to the invention may also improve the maintenance, repair and/or service of components of the robot arm, in particular of electrical cables and electrical components. Good rigidity can be obtained with the shell joint structure according to the invention, but this depends on the type of connection technique of the shells. In this case, in particular the joints of the housing can be problematic, since these joints are often less rigid and subject to tolerances.

The shell joint structure according to the invention may be composed of two or more load-bearing elements, such as half-shells or segments, which may generally be regarded as a good compromise between stiffness and ease of assembly/maintenance, in particular with regard to built-in cables and electronic components. However, a special weak point is the connection device which connects the segments, i.e. the outer shells, to the shell assembly, which up to now has been realized only in a point-type manner, for example in the form of a screw connection or a snap-on/snap-on connection, as long as it is a detachable connection.

Due to the local limitation of the force transmission between the sections subjected to planar loading in the prior art, the joint is locally highly loaded. This can easily lead to local overloading of the material, in particular in the plastic sections, in particular in the direct region of the thread and/or the bolt or of the nut bearing surface. Furthermore, creep or relaxation phenomena may occur over time, with the result that the connecting means of the bolt and/or the nut loosen or that the components twist and are no longer placed one on top of the other in a defined manner.

In the case of an improperly reinforced interior of the shell section, warping effects may also occur between the joining points in the case of loading.

It is therefore an object of the present invention to improve the connection between two or more shell-like elements, in particular plastic shells, in particular plastic half-shells for robot members, so that they can not only be connected stably, rigidly and robustly, but also be joined very easily, i.e. can be assembled and/or disassembled in a simple manner, in particular quickly and without the need for special machines or hand tools.

Variants of the solution are given by the claims. Some core ideas of the invention are for example an optimal load distribution in the joint. On the other hand, known detachable solutions are based on a point-type connection between the components, for example by means of bolts, rivets or hook locks (Verhakung). In the prior art, it is considered disadvantageous that loads such as forces and/or moments are transmitted completely or partially only via local regions between the components.

In contrast to the prior art, in the present invention, the load is particularly advantageously transmitted over a large area, i.e. at least substantially or completely along the entire joint edge between the components. This prevents, on the one hand, overloading of the engagement means, for example clips, hooks, bolts or threads, in particular in plastics, and, on the other hand, also local overloading of the material around the engagement site. Here, overload is not only understood as a failure or fracture of a component, but also as a local elastic or plastic deformation which has a negative effect on the overall flexibility or accuracy of the component and thus of the robot arm. Such deformations can occur both in a short time during operation and over a long time, i.e. within days or weeks, for example due to creep or relaxation phenomena.

By the large area connection, the load is distributed evenly or more evenly and local stresses in the component are reduced. This is achieved by the force-transmitting connection being built up along a large area, in particular along the entire joint edge.

According to the invention, such a force-transmitting connection along a large area of the housing of the limbs of the robot arm, in particular along the entire joining edge, has a zipper.

The robot arm can thus comprise a plurality of load-transmitting joints and a plurality of load-transmitting joints, which each connect two adjacent load-transmitting joints to one another in a fixed arrangement relative to one another, wherein at least one load-transmitting joint has at least one first load-transmitting shell and at least one second load-transmitting shell, and the first load-transmitting shell is connected to the second load-transmitting shell in a form-fitting manner by means of a connecting device to form a hollow joint which transmits loads, wherein the connecting device has at least one zip fastener. A joint for transferring loads, a joint for transferring loads and a housing for transferring loads are to be understood as meaning components of a robot arm which can carry the weight of the robot arm itself and, in addition, can carry loads attached to the robot arm. Such loads may be, for example, a tool guided by the robot arm, a gripper fastened on a flange of the robot arm, and/or a workpiece handled or gripped by the tool or gripper.

A zipper according to the invention is understood not only to be a zipper with a number of intermeshing teeth or loops (Krampe), as known from the textile field, but also to be a sliding closure strip and a press closure strip, as for instance known from the field of reclosable plastic bags. Thus, in general, the slide fastener according to the present invention forms an arbitrary linear connecting means. From a functional point of view, a linear connection means can be understood as a connection means that: it is not only a connection of one shell to the other shell at a few discrete points or points, but also at least substantially continuously or completely continuously over the longitudinal extension of the respective connecting edges of one shell and the other shell.

Thus, the zipper may be a toothed zipper, a toothless zipper, a pair of sliding closure strips, and/or a pair of press closure strips.

The zipper may have a first strip fastened to the first housing and a second strip fastened to the second housing, whereby the zipper in its closed state will cover at least one gap portion in the separation plane between the first and second housings.

In a first basic embodiment variant, the first shell can have a connecting edge and the second shell can have a mating connecting edge which rests on the connecting edge of the first shell in the joined state of the first shell and the second shell, wherein the zipper is configured to absorb not only shear forces along the connecting edge and the mating connecting edge, but also shear forces transverse to the connecting edge and the mating connecting edge and tensile forces perpendicular to the plane of separation of the connecting edge and the mating connecting edge.

The slide fastener according to the invention thus forms a linear connecting device which in this embodiment absorbs not only tensile forces perpendicular to the connecting plane but also shear or transverse forces in the main connecting direction and transversely to the main connecting direction, i.e. the longitudinal extension of the connecting edge and the counter-connecting edge. A pressure force perpendicular to the connection plane can be transmitted on the contact surfaces of the connection edge and the counter-connection edge. The connecting device, i.e. the slide fastener according to the invention, can have a plurality of individual structural elements (i.e. teeth) which engage with one another in a form-fitting manner, or the slide fastener according to the invention can have a continuous pair of profile lips (profiplenpaar), i.e. sliding closure strips or press closure strips, which are pressed together in a form-fitting and/or force-fitting manner.

In this first basic embodiment variant, all other forces and moments of the relevant members, which are mainly due to loads, are transmitted by the zip fastener, except for the pressure pressing the opposing shells against each other.

In a further basic embodiment variant to be described below, an additional positive-locking connection is provided, which interacts with the respective slide fastener in such a way that forces and moments in certain directions, i.e. in selected directions, are blocked by the slide fastener and are transmitted via the respective additional positive-locking connection in order to relieve the slide fastener of the load corresponding to this force or moment. In each case, however, there should be at least one force direction which remains unchanged, preferably a pulling force perpendicular to the separation plane of the connecting edge of the first housing and the mating connecting edge of the second housing. The tensile force perpendicular to the separation plane of the connecting edge of the first housing and the mating connecting edge of the second housing can be, for example, a force component of a further force or of a combined force which occurs if the separation plane does not extend perpendicular to the separation direction along which the first housing and the second housing are separated by being moved away from one another.

In a second basic embodiment variant, the connecting edge of the first shell and the mating connecting edge of the second shell can be configured so as to be offset in each case in order to transmit shear forces transverse to the connecting edge and the mating connecting edge, wherein the slide fastener is configured so as to absorb not only shear forces along the connecting edge and the mating connecting edge, but also tensile forces perpendicular to the plane of separation of the connecting edge and the mating connecting edge.

In particular, in order to transmit shear forces transverse to the connecting edge and the mating connecting edge, the connecting edge of the first housing and the mating connecting edge of the second housing can be configured offset in each case by means of a tongue (zapfenverbinding) or a groove-tongue (Nut-Federverbinding), wherein the slide fastener is configured such that it absorbs not only shear forces along the connecting edge and the mating connecting edge, but also tensile forces perpendicular to the plane of separation of the connecting edge and the mating connecting edge.

In this second basic embodiment variant, the tongue or groove-tongue connection can extend in the longitudinal extension of the connecting edge and the mating connecting edge, so that a lateral displacement of the first housing relative to the second housing can be prevented by the tongue or groove-tongue connection. The corresponding forces then no longer have to be absorbed by the at least one zipper.

In order to transmit shear forces transverse to the connection edge and the counter-connection edge, the connection edge of the first housing and the counter-connection edge of the second housing can be configured offset in each case as follows: that is, the connecting edge of the first housing and/or the mating connecting edge of the second housing are provided with protruding ribs, against which the respective other housing rests flush.

In this embodiment variant, the shear forces are transmitted transversely to the main connection direction, i.e. transversely to the longitudinal extension of the connection edge and the counter-connection edge, unlike the transmission via a surface pair of connection edge and counter-connection edge described previously.

In a third basic embodiment variant, the connecting edge of the first shell and the mating connecting edge of the second shell can be designed with corresponding teeth that engage in one another in a form-fitting manner in order to transmit shear forces along the connecting edge and the mating connecting edge, wherein the slide fastener is designed to absorb not only shear forces transverse to the connecting edge and the mating connecting edge, but also tensile forces perpendicular to the plane of separation of the connecting edge and the mating connecting edge.

The feature that the connecting edge of the first housing and the mating connecting edge of the second housing are configured to have correspondingly form-fittingly intermeshing teeth for transmitting shear forces along the connecting edge and the mating connecting edge means that: the first housing can be equipped with first teeth, and the second housing can have corresponding, co-operating second or mating teeth which cooperate in a form-fitting manner with the teeth of the first housing. This can be designed analogously to known gear pairings from transmission gears.

In this third basic embodiment variant, the teeth transmit forces not only along the longitudinal extension of the connecting edge and the counter-connecting edge, but also transversely to the longitudinal extension of the connecting edge and the counter-connecting edge, so that these forces no longer have to be absorbed by the at least one zip fastener.

In order to form the form-fittingly intermeshing teeth, the first housing may have teeth projecting from its connecting edge, which teeth have flanks (Zahnflanken) which are inclined in the longitudinal direction of the connecting edge, so that the teeth taper from the tooth root in the tooth tip direction; and the second housing can have mating teeth projecting from its mating connecting edge, which have mating flanks (Gegenzahnflanken) that are correspondingly inclined in the longitudinal direction of the mating connecting edge relative to the teeth of the first housing, so that the mating teeth taper from the tooth root in the tooth tip direction; and in the engaged state of the first housing and the second housing, the tooth flank lies flush against the counter-tooth flank.

In a fourth basic embodiment variant, the connecting edge of the first shell and the mating connecting edge of the second shell can be configured with teeth that engage in one another in a form-fitting manner in order to transmit shear forces along the connecting edge and the mating connecting edge and shear forces transverse thereto, wherein the slide fastener is configured such that only tensile forces perpendicular to the plane of separation of the connecting edge and the mating connecting edge are absorbed.

In such an embodiment, the line-shaped connection means will only absorb tensile forces perpendicular to the connection plane, which is an ideal load type for this. All other directional loads, such as compressive forces and shear or transverse forces in all other directions, are transmitted by the additional pairs of functional surfaces, i.e. the direct contact of the teeth. This embodiment, although more complex in design due to the need for additional structural elements, has the following advantages: in other words, the rigidity and strength at the connection point can be increased again in a targeted manner.

In order to form the form-fittingly intermeshing teeth, the first housing may have teeth projecting from its connecting edge, which teeth have flanks which are inclined in the longitudinal direction and in the transverse direction of the connecting edge, so that the teeth taper not only from the tooth root in the tooth tip direction, but also in the transverse direction; the second housing can have mating teeth projecting from its mating connection edge, which have mating flanks which are inclined in relation to the teeth of the first housing in the longitudinal direction and in the transverse direction of the mating connection edge, so that the mating teeth taper not only from the tooth root in the tooth tip direction, but also in the transverse direction; and in the engaged state of the first housing and the second housing, the tooth flank lies flush against the counter-tooth flank.

This embodiment accordingly achieves: the serrated or toothed projections, each having a particular geometry, are placed continuously, i.e. without or with only little interruption, on the corresponding connecting edges of the members of the housing of the arthropod. This geometry ensures that the components are placed on top of one another without play on the one hand and that loads such as forces and/or moments can be transmitted in all directions (except in the direction of the tensile force) on the other hand. For this purpose, each tooth is provided with two inclined functional surfaces, which, after engagement, are in each case in pairs in contact with the functional surfaces of the other component. The geometry is selected such that the teeth overlap each other with a spacing between the root of one housing and the tip of the other housing, while the flanks are in contact with each other. This is necessary to ensure a tension free from gaps which occur when the zipper is closed and the teeth are pressed against each other. In addition to the teeth, an additional web may be required for each connecting edge in the joining partners. The web can be supported on the back of the teeth of the opposing component and absorb forces transverse to the main connecting edge. With this structure, each connecting edge is individually defined and self-supporting in all three spatial directions.

In order to provide sufficient material thickness to achieve the toothing even in thin and light components, the wall can be thickened in the region of the connecting edge. Additional or alternative thickening can also be carried out inwards, but this can mean more complicated demoulding, for example in an injection moulding process. Thickening may also be undesirable for visual reasons. However, such effects are very small and can be well masked by the outer shaping.

In a fifth basic embodiment variant, the first and second outer shells are respectively designed with form-fitting, mutually engaging, inwardly located reinforcing ribs in order to transmit shear forces along and transverse to the connecting edge and the counter-connecting edge, wherein the zipper is designed to absorb only tensile forces perpendicular to the plane of separation of the connecting edge and the counter-connecting edge.

In this embodiment variant, the highest rigidity or strength is combined at the same time with simple production. A visually invariant outer surface can be realized hereby, which is particularly advantageous. In this exemplary variant, the teeth or tooth sections are offset inwardly and are supplemented by a rib structure. The ribs of the two components are always supported against one another in such a way that a defined form fit is formed in the longitudinal and transverse direction of the main connecting direction.

In this way, for example, the functional surfaces of the ribs of one component, i.e. of one housing, rest against the functional surfaces of the ribs of the other component, i.e. of the other housing, so that longitudinal forces can be transmitted. However, the ribs of one component can also be supported at the end face on the inner side of the housing of the other component and thus transmit transverse forces. Similarly, the ribs of the other housing may also bear on the face of the one component, i.e. the one housing. The pressure forces between the shells are guided along the connecting edges through the bearing surfaces, while the tensile forces are guided through the linear connecting means.

The ribs therefore not only play a reinforcing role here, but also have an important role in connection technology. It is essential here that the ribs project beyond the respective half-shell at least in the edge region, so that they can engage in the respective other shell when engaged. In the middle region of the component housing, the rib should have a recess in order not to collide with the rib of the other component and thus with the electronic assembly, and the cabling and installation of the cable can be continued.

The principles described herein are independent of the actual rib shape, except for the elements and features described.

In a further variant of this variant, the ribs can also engage one another in a form-fitting manner away from the edges in order to transmit transverse and longitudinal forces, for example by embedding the rib elements of one component in the slots of the other component.

In all embodiments, the first shell may have a receiving channel on its shell wall connected to and extending longitudinally along the connecting edge, the receiving channel being configured to at least substantially flush, lockingly receive the zipper with the shell wall; and/or the second housing has a receiving channel on its housing wall connected to and extending longitudinally along the mating connecting edge, the receiving channel being configured to at least substantially flush, lockingly receive the zipper with the housing wall.

Since the zipper usually has a slightly bulged shape and for purely visual reasons may not be placed on the outer skin of the shell, a longitudinally extending receiving channel or groove may be provided along the connecting edge for receiving the zipper cross-section and allowing the zipper outer side to be locked flush with, in particular, the outer surface of the shell.

In all embodiments, the zipper may have a latch configured to lock the slider of the zipper in its closed position.

Thus, the zipper may have a blocking means or safety element in the closed state that prevents accidental opening. To this end, the zipper slider may be manually secured in the terminal position or have a locking element that is pressed into the zipper in a position where the zipper butt is folded down and prevents the zipper slider from moving along the zipper.

In all embodiments, the zipper may have a sealing lip extending longitudinally along the length of the zipper, the sealing lip being configured to dust and/or splash-proof cover gaps, openings and/or slits in the closed zipper.

The zipper can therefore have an additional lip on the outside which lies flat (i.e., folds) in the closed state of the zipper and thus seals the two half-shells and prevents dirt and water from splashing. The force-fitting lip zip fastener type already incorporates this function and is sealed in the closed state dust-and/or water-tight.

Typically, the at least one first housing and the at least one second housing may each be made of plastic.

By embodying innovations as design elements, the exposed toothed zipper can provide many other advantages in progressive design in addition to functional aspects. The teeth can be made visible, conspicuous and/or realized uniquely, for example by a targeted selection of the size, tooth shape and/or color of the teeth, for example in the form of a white robot arm with an orange-toothed zip fastener.

Drawings

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The specific features of these exemplary embodiments may be considered as general features of the invention, individually or in other combinations, regardless of where they are mentioned in context. Wherein:

fig. 1 shows an exemplary robotic arm, having a plurality of joints and limbs connecting the joints,

fig. 2 shows a schematic partial cross-section of a representative limb of a robot arm having two shells according to a first embodiment, which are connected by a zipper,

fig. 3 shows a second embodiment in the form of a toothed zipper, with a groove-like offset connecting edge and a mating connecting edge,

fig. 4 shows a second embodiment of the improvement in the form of a sliding closure strip, with a groove-like offset connecting edge and a mating connecting edge,

fig. 5 shows, in an exploded view, a third embodiment in the form of a reinforcing rib in the form of mutually engaging retaining ribs, seen from below, with a smooth connecting edge and a mating connecting edge, the zipper being omitted here,

fig. 6 shows, in an exploded view, a third embodiment in the form of a reinforcing rib in the form of mutually engaging retaining ribs, seen from above, with a smooth connecting edge and a mating connecting edge, the zipper being omitted here,

fig. 7a-b show a third embodiment according to fig. 5 and 6, with a toothed zip fastener in fig. 7a, a non-toothed zip fastener in fig. 7b,

figure 8 shows an enlarged partial view of a retaining rib or reinforcing rib according to the third embodiment of figures 5 to 7b,

fig. 9 shows a fourth embodiment in the form of a toothed zipper, having a toothed connecting edge and a mating connecting edge and incorporating intermeshing ribs,

fig. 10 shows a fourth embodiment of a modification in the form of a sliding closure bar, with a toothed connecting edge and a counter-connecting edge and incorporating intermeshing ribs,

fig. 11 shows an enlarged partial view of the connecting edge of a half-shell with teeth which are inclined in the longitudinal direction of the connecting edge and in a transverse direction with respect to the longitudinal direction of the connecting edge,

fig. 12 shows an enlarged partial view of the connecting edge of one half-shell and the mating connecting edge of the other half-shell, with interengaging reinforcing ribs,

fig. 13a-d show various alternative variants, in which the connecting edges of the half-shells lying against one another are configured differently,

fig. 14 shows an alternative design of a robot arm with a visible zipper.

Detailed Description

In fig. 1 a representative embodiment of a robot 1 is shown having a robot arm 2 and an associated robot controller 3. The robot arm 2 has a plurality of limbs 4 and joints 5 which adjust the limbs 4 relative to one another. Each joint 5 is driven by a corresponding joint motor of the robot arm 2. The robot controller 3 is constructed and designed to operate a joint motor in order to move the limbs 4 of the robot arm 2 by automatically adjusting the joints 5. The robot arm 2 has at least one leg 4 with shells 6.1 and 6.2 according to the invention, which are connected by at least one zipper 7. As shown in fig. 11, several limbs 5 or all limbs 5 of the robot arm 2 can also be provided with shells 6.1 and 6.2 according to the invention, which are connected by at least one zip 7.

The robot arm 2 therefore has a plurality of joints 5 and a plurality of limbs 4 which respectively connect two adjacent joints 5 to one another in a fixed arrangement relative to one another, wherein at least one limb 4 has at least one first housing 6.1 and at least one second housing 6.2, and the first housing 6.1 and the second housing 6.2 are connected in a form-fitting manner by a connecting device having at least one zip fastener 7 to form a hollow limb 4.

As shown in fig. 2, 3, 7a and 13a-d, the zipper 7 may be a toothed zipper 7 a. Alternatively, it is also possible to combine the variants of the other figures of the zip fastener 7, as shown in fig. 4 and 10, with a non-toothed zip fastener 7 b. The toothless zipper 7b may have, for example, a pair of sliding closure strips and/or a pair of press closure strips.

The zipper 7 has a first strip 18.1 fastened on the first housing 6.1 and a second strip 18.2 fastened on the second housing 6.2 such that the zipper 7 covers in its closed state at least one gap section S in the separation plane T between the first housing 6.1 and the second housing 6.2.

In a first embodiment, for example according to fig. 2, the first housing 6.1 has a connecting edge 8.1, the second housing 6.2 has a mating connecting edge 8.2, which in the joined state of the first housing 6.1 and the second housing 6.2 rests on the connecting edge 8.1 of the first housing 6.1, and the zippers 7, 7a are configured to absorb not only shear forces along the connecting edge 8.1 and the mating connecting edge 8.2, but also shear forces transverse to the connecting edge 8.1 and the mating connecting edge 8.2 and tensile forces perpendicular to the plane of the connecting edge 8.1 and the mating connecting edge 8.2.

In a second embodiment, for example according to fig. 3 and 4, the connecting edge 8.1 of the first shell 6.1 and the mating connecting edge 8.2 of the second shell 6.2 are each offset by a tongue 9a or a groove-tongue 9b in order to transmit shear forces transverse to the connecting edge 8.1 and the mating connecting edge 8.2, and the zipper 7 is designed to absorb not only shear forces along the connecting edge 8.1 and the mating connecting edge 8.2, but also tensile forces perpendicular to the plane of the connecting edge 8.1 and the mating connecting edge 8.2. In the case of the embodiment variant according to fig. 3, the zipper 7 is configured as a toothed zipper 7 a. In the case of the embodiment variant according to fig. 4, the zipper 7 is designed as a toothless zipper 7 b. The toothless zipper 7b may have, for example, a pair of sliding closure strips and/or a pair of press closure strips.

For the purpose of transmitting shear forces transverse to the connecting edge 8.1 and the mating connecting edge 8.2, the connecting edge 8.1 of the first housing 6.1 and the mating connecting edge 8.2 of the second housing 6.2 can be configured offset in each case in the following manner: that is, the connecting edge 8.1 of the first housing 6.1 and/or the mating connecting edge 8.2 of the second housing 6.2 are provided with protruding ribs 10, against which the respective other housing 6.1, 6.2 rests flush, as is also the case in the further fourth embodiment according to fig. 5 to 8.

In a third embodiment, for example according to fig. 9 and 10, the connecting edge 8.1 of the first shell 6.1 and the mating connecting edge 8.2 of the second shell 6.2 are respectively configured with teeth 11 that mesh with one another in a form-fitting manner in order to transmit shear forces along the connecting edge 6.1 and the mating connecting edge 6.2, and the zipper 7 is configured to absorb not only shear forces transverse to the connecting edge 8.1 and the mating connecting edge 8.2, but also tensile forces perpendicular to the plane of the connecting edge 8.1 and the mating connecting edge 8.2. In the case of the embodiment variant according to fig. 9, the zipper 7 is configured as a toothed zipper 7 a. In the case of the embodiment variant according to fig. 10, the zipper 7 is designed as a toothless zipper 7 b. The toothless zipper 7b may comprise, for example, a pair of sliding closure strips and/or a pair of press closure strips.

In order to form the form-fittingly intermeshing teeth 11, the first housing 6.1 may have teeth 11 projecting from its connecting edge 8.1, which teeth have flanks which are inclined in the longitudinal direction of the connecting edge 8.1, such that the teeth 11 taper from the tooth root in the tooth tip direction; and the second housing 6.2 can have mating teeth projecting from its mating connecting edge 8.2, which have mating flanks which are correspondingly inclined in the longitudinal direction of the mating connecting edge 8.2 relative to the teeth 11 of the first housing 6.1, so that they taper from the tooth root in the tooth tip direction; and in the engaged state of the first housing 6.1 and the second housing 6.2, the tooth flanks lie flush against the counter-tooth flanks.

In a fourth embodiment, for example according to fig. 9 and 10, in order to transmit shear forces along the connecting edge 8.1 and the counter-connecting edge 8.2 and shear forces transverse to the connecting edge 8.1 and the counter-connecting edge 8.2, the connecting edge 8.1 of the first shell 6.1 and the counter-connecting edge 8.2 of the second shell 6.2 are correspondingly configured with teeth 11 that mesh with one another in a form-fitting manner, and the zipper 7 is configured to absorb only tensile forces perpendicular to the plane of the connecting edge 8.1 and the counter-connecting edge 8.2. In the case of the embodiment variant according to fig. 7, the zipper 7 is configured as a toothed zipper 7 a. In the case of the embodiment variant according to fig. 10, the zipper 7 is designed as a toothless zipper 7 b. The toothless zipper 7b may have, for example, a pair of sliding closure strips and/or a pair of press closure strips.

In order to form the form-fittingly intermeshing teeth 11, the first housing 6.1 has teeth 11 projecting from its connecting edge 8.1, which have flanks which are inclined in the longitudinal direction and in the transverse direction of the connecting edge 8.1, so that the teeth 11 taper not only from the tooth root in the tooth tip direction, but also in the transverse direction, as is shown enlarged in fig. 11; and the second housing 6.2 has mating teeth projecting from its mating connecting edge 8.2, which have mating flanks which are correspondingly inclined in relation to the teeth 11 of the first housing 6.1 in the longitudinal direction and in the transverse direction of the mating connecting edge 8.2, so that the mating teeth taper not only from the tooth root in the tooth-tip direction, but also in the transverse direction; and in the engaged state of the first housing 6.1 and the second housing 6.2, the tooth flanks lie flush against the counter-tooth flanks.

In a fifth embodiment, for example according to fig. 12, in order to transmit shear forces along the connecting edge 8.1 and the counter-connecting edge 8.2 and shear forces transverse to the connecting edge 8.1 and the counter-connecting edge 8.2, the first shell 6.1 and the second shell 6.2 are respectively configured with reinforcing ribs 12 engaging in a form-fitting manner with one another, which ribs are located inside, and the zipper 7 is configured to absorb only tensile forces perpendicular to the plane of the connecting edge 8.1 and the counter-connecting edge 8.2. In this fifth embodiment, the zipper 7 may be a toothed zipper 7 a. Alternatively, in this fifth embodiment, the zipper 7 may be a toothless zipper 7 b. The toothless zipper 7b may have, for example, a pair of sliding closure strips and/or a pair of press closure strips.

In all embodiments and variants, the first shell 6.1 can have on its outer shell wall a receiving channel connected to the connecting edge 8.1 and extending longitudinally along the connecting edge 8.1, which receiving channel is configured to at least substantially flush, lockingly receive the zipper 7 with the outer shell wall; and/or the second shell 6.2 may each have a receiving channel on its outer casing wall connected to the mating connecting edge 8.2 and extending longitudinally along the mating connecting edge 8.2, which receiving channel is configured to at least substantially flush, lockingly receive the zip fastener 7 with the outer casing wall.

In all embodiments and variants, the at least one first housing 6.1 and the at least one second housing 6.2 can each be made of plastic.

In various alternative variants, for example according to fig. 13b and 13c, the connecting edge 8.1 of the first housing 6.1 and the mating connecting edge 8.2 of the second housing 6.2 are respectively offset by a tongue 9a or a groove-tongue connection 9b in order to transmit shear forces transverse to the connecting edge 8.1 and the mating connecting edge 8.2.

The alternative variant according to fig. 13a has a flat connecting edge 8.1 of the first housing 6.1 and a flat mating connecting edge 8.2 of the second housing 6.2, similar to fig. 2.

The alternative variant according to fig. 13d has flat connecting edges 8.1, 8.2, i.e. simple butt edges (Sto β), and additionally has interengaging retaining ribs as reinforcing ribs 12, which can be constructed in a similar manner to that according to fig. 5 and 6.