Transmission module, gripper module with transmission module and gripper device with gripper module

Patent metadata

Field	Value
Publication number	US-11022205-B2
Application number	US-201916709303-A
Country	US
Kind code	B2
Filing date	Dec 10, 2019
Priority date	Dec 20, 2018
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

A transmission module for transmitting torques having a base, a first drive shaft, a second drive shaft parallel thereto, a first output shaft and a second output shaft, both rotatable about a common axis, the axes of the drive shafts are arranged parallel to the axis of the output shafts, a gear unit, where the two drive shafts, the gear unit and the first output shaft are rotatably supported in the base, and the second output shaft is rotatably supported in the first output shaft and the gear unit is designed in such a way that a synchronous rotary movement of the two output shafts can be effected by a rotary movement of the first drive shaft and a relative rotary movement of the two output shafts can be effected by a rotary movement of the second drive shaft.

First claim

The invention claimed is:

1. A transmission module for transmitting torques comprises
a base ( 1 ),
a first drive shaft ( 2 ) rotatable about a first axis (L1), a second drive shaft ( 7 ) parallel thereto rotatable about a second axis (L2),
a first output shaft ( 5 ) and a second output shaft ( 8 ), both of which are rotatable about a common third axis (L3), wherein the axes (L1;L2) of the drive shafts ( 2 ; 7 ) are arranged parallel to the axis (L3) of the output shafts ( 5 ; 8 ),
a gear unit ( 9 ),
wherein the two drive shafts ( 2 ; 7 ), the gear unit ( 9 ) and the first output shaft ( 5 ) are rotatably supported in the base ( 1 ) and wherein the second output shaft ( 8 ) is rotatably supported in the first output shaft ( 5 ),
wherein the gear unit ( 9 ) is designed in such a way that a synchronous rotary movement of the two output shafts ( 5 ; 8 ) is configured to be effected by a rotary movement of the first drive shaft ( 2 ) and in that a relative rotary movement of the two output shafts ( 5 ; 8 ) is configured to be effected by a rotary movement of the second drive shaft ( 7 ),
characterized in that the gear unit ( 9 ) comprises a planetary gear with a sun gear ( 92 ), a planet carrier ( 97 ), at least one planet gear ( 93 ) and a second ring gear ( 94 ), wherein the first drive shaft ( 2 ) is operatively connected to and is configured to drive the first output shaft ( 5 ), wherein the first drive shaft ( 2 ) is operatively connected to and is configured to drive the second output shaft ( 8 ) by the gear unit ( 9 ) and wherein the second drive shaft ( 7 ) is operatively connected to and is configured to drive the second output shaft ( 8 ) by the gear unit ( 9 ), wherein the gear unit ( 9 ) comprises a sixth spur gear ( 96 ), which is connected to the planet carrier ( 97 ) and wherein the planet carrier ( 97 ) is rotatably mounted on the gear shaft ( 90 ) by the sixth spur gear ( 96 ).

2. A gripper module comprising a transmission module according to claim 1 and a gripper unit ( 6 ), wherein the gripper unit ( 6 ) comprises at least two grippers ( 60 ) which are displaceably mounted in the first output shaft ( 5 ) in a first plane perpendicular to the third axis (L3) and which is configured to be displaced by the second output shaft ( 8 ).

3. The gripper module according to claim 2 , wherein the at least two grippers ( 60 ) are displaceably mounted in the second housing part ( 51 ).

4. The gripper module according to claim 2 , wherein each gripper ( 60 ) is connected to a rack ( 61 ) and the rack ( 61 ) is displaceably mounted in the first output shaft ( 5 ) in the first plane and wherein the second output shaft ( 8 ) comprises an output wheel ( 80 ) which is operatively connected to each rack ( 61 ) and with which each rack ( 61 ) is displaceable.

5. The gripper module according to claim 4 , comprising a cover ( 52 ) through which at least the grippers ( 60 ) project and which covers at least the racks ( 61 ).

6. A gripper device comprising at least one gripper module according to claim 2 , a structure ( 100 ), an object holder ( 101 ) and at least one displacement unit ( 102 ; 103 ), wherein the object holder ( 101 ) is arranged on the structure ( 100 ) with a first displacement unit ( 102 ) and/or the gripper module is arranged on the structure ( 100 ) with a second displacement unit ( 103 ).

7. The gripper device according to claim 6 , wherein the first displacement unit ( 102 ) and/or the second displacement unit ( 103 ) is configured to perform displacements in a first horizontal direction and/or in a second horizontal direction perpendicular to the first horizontal direction and/or in a vertical direction.

8. The transmission module according to claim 1 , the first output shaft ( 5 ) comprises a housing which completely surrounds the gear unit ( 9 ) and which comprises a first housing part ( 50 ) and a second housing part ( 51 ) connected thereto.

9. The transmission module according to claim 8 , comprising a first ring gear ( 4 ) which is rotatably mounted in the base ( 1 ) and which is connected to the first housing part ( 50 ).

10. The transmission module according to claim 9 , wherein the first ring gear ( 4 ) is rotatably mounted in the first base part ( 10 ) and wherein the first drive shaft ( 2 ), the second drive shaft ( 7 ) and the central gear shaft ( 90 ) are rotatably mounted in the second base part ( 11 ).

11. The transmission module according to claim 8 , wherein the second housing part ( 51 ) comprises a central passage opening, which is in alignment with the third axis (L3) and through which the second output shaft ( 8 ) protrudes.

12. The transmission module according to claim 8 , wherein the second ring gear ( 94 ) of the planetary gear is rotatably mounted in the first housing part ( 50 ) and is connected to the second output shaft ( 8 ).

13. The transmission module according to claim 1 , wherein the gear unit ( 9 ) comprises a central gear shaft ( 90 ) which is rotatable about the third axis (L3), wherein the sun gear ( 92 ) is connected to a first end of the gear shaft ( 90 ), wherein the planet carrier ( 97 ) is rotatably mounted on the gear shaft ( 90 ) and wherein a second spur gear ( 91 ), adjacent to the planetary gear, is connected to the gear shaft ( 90 ).

14. The transmission module according to claim 1 , wherein a first spur gear ( 3 ) is connected to the first drive shaft ( 2 ) and wherein the first spur gear ( 3 ) is operatively connected to the first output shaft ( 5 ) via the sun gear ( 92 ) of the planetary gear.

15. The transmission module according to claim 1 , wherein a fifth spur gear ( 95 ) is connected to the second drive shaft ( 7 ) and wherein the fifth spur gear ( 95 ) is operatively connected to the second output shaft ( 7 ) via the planet carrier ( 97 ) of the planetary gear.

Assignees

• Tecan Trading Ag

Inventors

• Leemann Joas
• Latzer Christoph

Classifications

• B25J15/026 Primary

  actuated by gears · CPC title

• B66C17/00

  Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports · CPC title

• F16H19/00

  Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion (with intermittently-driving members F16H27/00 - F16H31/00) · CPC title

• B66C1/445

  motor actuated · CPC title

• F16H2702/02

  Mechanical transmissions with planetary gearing combined with one or more other mechanical transmissions · CPC title