Cap for robot arm

Abstract

The invention relates to a cap removably connectable to a robotic arm element comprising a housing having an outer surface and an inner surface. The cap is removably connectable to the outer surface via an upper cavity connectable to the upper protrusion and via at least a first lower cavity connectable to the first lower protrusion. When the cap is connected to the robotic arm element, the upper protrusion is secured in an engaged position in the upper cavity by a flexible suspension element and the first lower protrusion is secured in an engaged position in the at least first lower cavity by the flexible suspension element.

Description

Technical Field

[0001] The invention relates to a cap connectable to a robot arm and a method of connecting the cap to a robot arm. Background Art

[0002] In the prior art, robot arm joints enclose the joint electronics and the joint mechanism in a housing closed by a cover. The cover is screwed onto the housing, which leads to problems with dust and dirt accumulation in the screw holes, which is unacceptable in certain industries, such as clean room applications, the pharmaceutical industry and / or the medical technology industry.

[0003] In the art, an example is CN111791263, which discloses a steering engine module for a robot arm, the module comprising a housing in which a control assembly and two steering engines are mounted. The control assembly is accessible by removing a closure cover.

[0004] Robot arm joints formed from two separate joint pieces, which when screwed together form a robot joint, are known in the art, e.g. from EP 3 331 666. Such robot arm joints do not require a cover for covering the opening in the robot arm joint and therefore do not have holes / screws for attaching such a cover to the robot arm joint. Summary of the invention

[0005] The inventors have identified the above-mentioned problems and challenges associated with attaching a cap to a robot arm, such as to a robot arm joint, and have solved these problems through the present invention as described below. Thus, through the present invention, it is now possible to add or replace a cap and thus change the aesthetic appearance of a robot arm and thereby convey a predetermined statement, opinion, brand, etc.

[0006] In one aspect, the present invention relates to a cap that can be removably connected to a robot arm element, the robot arm element comprising a shell having an outer surface and an inner surface, wherein the cap can be removably connected to the outer surface via an upper cavity that can be connected to an upper protrusion and via at least a first lower cavity that can be connected to a first lower protrusion, wherein, when the cap is connected to the robot arm element, the upper protrusion is fixed in an engaged position in the upper cavity by a flexible suspension element, and the first lower protrusion is fixed in an engaged position in the at least first lower cavity by the flexible suspension element.

[0007] The cap may be attached to a robot arm element by forming a cavity in one of the robot arm element or the cap and forming a protrusion in one of the robot arm element or the cap. The attachment according to the invention is advantageous because it can be done with one hand, without requiring any screws or other loose parts that could be lost, and because it can be disassembled with only one hand. Attaching the cap to the robot arm is very advantageous for being able to distinguish one robot arm from another. Therefore, the brand value of a cap according to the invention comprising brand specific features is priceless.

[0008] The robot arm element comprises a robot base, a plurality of robot arm joints (referred to as joints or robot joints for short) which can be interconnected via links, the links and a robot tool flange. For example, the upper part of a robot joint is the part of the joint facing the robot tool flange, and the lower part is the part of the joint facing the robot base.

[0009] A cap is to be understood as a covering structure intended to cover at least a portion of the outer surface of the robot arm.

[0010] According to an advantageous embodiment of the invention, the robot arm element is a robot joint or a robot link.

[0011] Typically, the cap can be connected to a robot joint, but in principle could also be connected to, for example, a robot arm link (connecting two robot joints), a robot base, a robot tube, etc. It should be noted that sometimes a robot link comprises a tube with a robot link connected to each end thereof, while at other times a robot link comprises two robot joints.

[0012] According to an advantageous embodiment of the invention, the robot joint is formed by a single hollow tubular element having only two openings.

[0013] Such a robot joint is advantageous because it is compact and therefore stronger and more rigid. In its simplest embodiment, such a robot joint does not require additional external elements. However, as mentioned above, for identification purposes, the robot joint can be equipped with a detectable cap with a logo, color, decoration, etc.

[0014] According to an advantageous embodiment of the invention, the cap is a robot arm identification cap.

[0015] Attaching a cap to a robot joint via which the robot arm can be identified is advantageous as this has the effect that the robot arm with the cap is visually distinguished from other robot arms and thus reinforces the value of the brand associated with the cap.

[0016] The cap may be a decorative cap having a light blue or other color, with a logo from the robot arm manufacturer, etc.

[0017] According to an advantageous embodiment of the invention, at least a portion of said cap follows the outer curvature of said robot arm element.

[0018] When the robot arm element is a robot joint, a cap following the robot joint will follow the curvature of the joint, i.e. the cap will define a portion of a circular shape (the same circular shape as defined by the robot joint). Depending on the exact location where the cap is attached to the robot arm joint, a larger or smaller portion of the cap is curved. Thus, a portion of the cap may be straight and a portion of the cap may be curved.

[0019] According to an advantageous embodiment of the invention, the cap comprises a seal.

[0020] The seal is advantageous because it ensures a tight connection between the outer surface of the robot arm joint and the cap. Friction of two rigid elements (joint and cap) is thus prevented, a flexible connection between joint and cap is achieved, and a sealed space is created between the outer surface of the joint and the inner surface of the cap. Dust is therefore not present in this space, which is advantageous in case, for example, an electrical connector to the joint electronics / joint mechanism is available.

[0021] According to an advantageous embodiment of the invention, the cap comprises a universal attachment arrangement.

[0022] A universal attachment arrangement such as a threaded rod, screw eye, magnet or the like is advantageous as it has the effect that cables, tubes or the like can be attached to the robot arm via the cap.

[0023] The universal attachment arrangement can be anchored in the robot arm joint and only pass through the cap via the hole in the cap. This is advantageous because the universal attachment arrangement can carry a greater load than if it were only anchored in the cap itself.

[0024] According to an advantageous embodiment of the invention, the cap is shock-absorbing.

[0025] According to an advantageous embodiment of the invention, the cap is made of acrylonitrile butadiene styrene, polycarbonate or polylactic acid.

[0026] According to an advantageous embodiment of the invention, the width of the cap is smaller than the diameter of the robot arm joint.

[0027] A cap having a width less than the diameter of the joint is not suitable as a robot arm cover because it does not cover the entire opening of the robot arm joint.

[0028] According to an advantageous embodiment of the invention, the upper cavity is formed in the robot arm joint, extending into the interior of the robot arm joint.

[0029] The upper cavity is visible as a protrusion extending from the inner surface of the material forming the robot arm joint. Therefore, the upper cavity is visible inside the robot arm joint and must therefore be located in a position where space is not occupied by joint electronics or joint mechanisms.

[0030] According to an advantageous embodiment of the invention, the upper cavity comprises an upper cavity protrusion.

[0031] The upper cavity protrusion is advantageous because in the engaged position it is arranged to engage with the upper protrusion of the cap and thereby at least partially ensure the connectivity of the cap to the robot arm joint.

[0032] According to an advantageous embodiment of the invention, the upper cavity comprises an upper cavity suspension stationary part formed by a first upper cavity part and a second upper cavity part.

[0033] The upper cavity is formed by at least a first upper cavity portion and a second upper cavity portion. The first upper cavity portion and the second upper cavity portion intersect at a point which may be referred to as an upper cavity suspension resting portion, i.e., the location where the flexible suspension element rests when the cap is attached to the robot arm joint.

[0034] According to an advantageous embodiment of the invention, said upper projection is part of said cap.

[0035] According to an advantageous embodiment of the invention, said first lower cavity is formed in said robot arm joint.

[0036] According to an advantageous embodiment of the invention, the robot arm joint further comprises a second lower cavity.

[0037] Having both a first lower cavity and a second lower cavity is advantageous because the connection of the cap to the robot joint is stronger and alignment of the cap to a desired position on the robot joint may be easier.

[0038] According to an advantageous embodiment of the invention, the first lower cavity and / or the second lower cavity are formed in the robot arm joint, wherein the robot arm joint comprises a spiral tower on its inner surface.

[0039] Positioning the lower cavity at the location where the housing of the robotic joint includes the helical tower is advantageous because the lower cavity does not take up space inside the robotic joint, thus leaving more room for the joint electronics and joint mechanism.

[0040] According to an advantageous embodiment of the invention, said first lower protrusion is part of said cap.

[0041] According to an advantageous embodiment of the invention, said second lower protrusion is part of said cap.

[0042] According to an advantageous embodiment of the invention, the angle between the lower cavity plane and the upper cavity plane is between 80 degrees and 125 degrees.

[0043] According to an advantageous embodiment of the invention, when the cap is in the engaged position, the portion of the upper projection and the portion of the upper cavity protrusion that engage with each other are adapted to each other to facilitate alignment of the cap with the robot arm element.

[0044] This way of aligning the physical positioning of the cap (eg with the robot joint) is advantageous because alignment is automatically performed when the cap is positioned on the robot joint. Thus, the cavity acts as a guide for the protrusion, ensuring the correct position of the cap.

[0045] It should be mentioned that the upper cavity and the lower cavity may also be formed in the cap. In this case, the upper protrusion and the lower protrusion are a part of the robot joint.

[0046] According to an advantageous embodiment of the invention, the flexible suspension element is a spring.

[0047] According to an advantageous embodiment of the invention, the flexible suspension element is rotatably mounted in the cap.

[0048] This is advantageous since it has the effect that once a force is applied to, for example, the spring, the cap may be displaced such that the upper protrusion engages with the upper cavity projection and thus connects the cap to the robot joint.

[0049] According to an advantageous embodiment of the invention, the cap removably connectable to a robot arm element according to any of paragraphs

[0005] to

[0046] is applied to the robot arm element according to the method described in any of paragraphs

[0049] to

[0060] .

[0050] Furthermore, in one aspect, the invention relates to a method of applying a cap to a robot arm element, the method comprising the steps of:

[0051] • providing a cap and a robot arm element, wherein the cap or the robot arm element comprises:

[0052] o a flexible suspension element, an upper protrusion and a first lower protrusion, an upper cavity and a first lower cavity, wherein the upper cavity comprises an upper cavity protrusion,

[0053] • applying the flexible suspension element in the upper cavity suspension stationary part of the upper cavity,

[0054] • applying a force to the flexible suspension element towards the upper cavity suspension stationary portion,

[0055] • engaging the upper protrusion with the upper cavity projection and engaging the first lower protrusion with the first lower cavity, and

[0056] • Releasing the force, thereby allowing the flexible suspension element to maintain an engaged position of the upper projection against the upper cavity protrusion and an engaged position of the first lower projection in the first lower cavity.

[0057] Furthermore, in one aspect, the invention relates to a method of applying a cap to a robot arm element, the method comprising the steps of:

[0058] • providing a cap comprising a flexible suspension element, an upper protrusion and a first lower protrusion,

[0059] • providing a robotic arm element comprising an upper cavity and a first lower cavity, wherein the upper cavity comprises an upper cavity protrusion,

[0060] • applying the flexible suspension element in the upper cavity suspension stationary part of the upper cavity,

[0061] • applying a force to the flexible suspension element via the cap towards the upper cavity suspension stationary part,

[0062] • engaging the upper protrusion with the upper cavity projection and engaging the first lower protrusion with the first lower cavity, and

[0063] • Releasing the force, thereby allowing the flexible suspension element to maintain an engaged position of the upper projection against the upper cavity protrusion and an engaged position of the first lower projection in the first lower cavity.

[0064] This method is advantageous because it enables the aesthetic appearance of the robotic arm to be changed. Thus, during one period, the robotic arm may represent a particular political viewpoint, for example by a particular combination of colors, during another period, the robotic arm may present branding elements of the robotic arm's manufacturer, during another period, the robotic arm may be used to advertise a third party product or campaign, etc.

[0065] Applying a force to the flexible suspension element towards the upper cavity suspension stationary portion should be understood as the resultant of the component forces applied towards the first upper cavity portion and the second upper cavity portion.

[0066] According to an advantageous embodiment of the invention, the applied force is a force applied manually by the hand of a worker.

[0067] The method of applying the cap is a manual process and the force that needs to be applied can be provided by the hands of a standard worker working as an integrator or robotic service provider.

[0068] According to an advantageous embodiment of the invention, the method further comprises the step of removing the cap by applying a force to the cap in the direction of the upper cavity suspension stationary part or in the direction of the first upper cavity part or in the direction of the second upper cavity part.

[0069] The cap may also be removed by a manual process, i.e., if the cap is damaged or it is determined that the robotic arm communicates special information that a special cap is required, a worker can remove the cap, for example to replace the cap.

[0070] According to an advantageous embodiment of the invention, the flexible suspension element is replaceable.

[0071] The flexible suspension element is rotatably mounted in the base element and can be replaced from the base element if necessary. In one embodiment, replacement requires application of a force substantially perpendicular to the normal direction of compression and decompression of the spring.

[0072] According to an advantageous embodiment of the invention, said step of engaging said first lower protrusion with said first lower cavity further comprises engaging a second lower protrusion with a second lower cavity.

[0073] It should be mentioned that the protrusion may be part of the cap and the cavity may be part of the robot arm element, such as a robot arm joint. Having two or more pairs of arms and cavities is advantageous because it increases the force to connect the cap to the robot arm element. In other words, the force required to detach the cap from the robot arm element is increased.

[0074] According to a preferred embodiment of the invention, a method for applying a cap to a robot arm element is provided according to any of paragraphs

[0049] to

[0060] , wherein the cap is a cap according to any of paragraphs

[0005] to

[0047] . BRIEF DESCRIPTION OF THE DRAWINGS

[0075] For a more complete understanding of the present disclosure, reference is now made to the following brief description in conjunction with the accompanying drawings and detailed description, wherein like reference numerals represent like parts. The accompanying drawings illustrate embodiments of the present invention, and elements of different drawings may be combined within the scope of the present invention:

[0076] Figure 1 A prior art robot arm is illustrated,

[0077] Figure 2a , 2b, 2c, 2d, 2f and 2g illustrate the robot joint connected to the cap from different perspectives,

[0078] Figure 2f 'Illustrated Figure 2f Details of 2f',

[0079] Figure 2g 'Illustrated Figure 2g Details of 2g',

[0080] Figure 3a to Figure 3c The cap is shown in different perspectives without being connected to the robot joint.

[0081] Figure 3a 'Illustrated Figure 3a Detail 3a',

[0082] Figure 3b 'Illustrated Figure 3b Detail 3b',

[0083] Figure 3c 'Illustrated Figure 3c Detail 3c',

[0084] Figure 4 illustrates the robot joints,

[0085] Figure 5 The cap is illustrated,

[0086] Figure 5 'Illustrated Figure 5 Details of 5', and

[0087] Figure 6 A flow chart illustrating a method of mounting a cap to a robot arm element. DETAILED DESCRIPTION

[0088] The present invention has been described in view of exemplary embodiments intended only to illustrate the principles and specific implementations of the invention. A skilled person will be able to provide several embodiments within the scope of the claims.

[0089] Figure 1 A prior art robot arm RA is disclosed, which includes a plurality of robot arm elements, such as a robot joint RJ and a robot link RL connecting a robot base RB to a robot tool flange RTF. The robot arm RA is controlled by a robot controller RC, which can be programmed via a user interface UI, as known in the art. The robot joint RJ includes a joint housing JH (also simply referred to as housing), which has an opening closed by a joint housing cover JHL (also simply referred to as cover, cover or end cap), which is fixed to the joint housing JH via a plurality of screws SC.

[0090] Figure 2a , Figure 2b , Figure 2d 2e illustrates a robot joint RJ according to an embodiment of the present invention. Figure 2a In FIG. 1 , the robot joint RJ is shown in a top view; in FIG. Figure 2b In the figure, the robot joint RJ is shown in a front view; Figure 2c In, the robot joint RJ is shown in a side view; and Figure 2d , the robot joints are shown in a bottom view. Figure 2a to Figure 2g The robot joint RJ illustrated in exemplifies a cap CA comprising a decorative element DE.

[0091] The cap CA is to be understood as a covering or covering structure configured to cover and / or cover at least a portion of the outer surface OS of the robot arm RA. The color of the cap CA alone may be a decorative element DE that may convey any message, from advertising, branding, affiliation to political or religious views. Additionally or alone, the decorative element DE of the cap CA may be a logo, text, graphic, etc. that supports the messaging of any of the above-mentioned fields.

[0092] exist Figure 2b , Figure 2c , the robot joint RJ is also illustrated as having, for example, a flange FL for connecting the robot joint RJ to the robot link RL. Figure 2c and Figure 2b It is also indicated by arrows that one part of the robot joint RJ is referred to as the upper part and another part is referred to as the lower part. This directional orientation is used to identify the cavities referred to as the upper part and the lower part.

[0093] Figure 2g A cross-sectional view of a robot joint RJ and a cap CA attached thereto is illustrated. The cap CA includes a decorative element DE. The cross-sectional view is Figure 2c The view at line BB of illustrates the robot joint RJ. Figure 2g The illustrated cross-sectional view illustrates the first lower cavity 1LC and the second lower cavity 2LC, in which the first lower protrusion 1LP and the second lower protrusion 2LP are joined.

[0094] The curved part indicated as ST is a spiral tower ST which can be used to attach joint mechanisms and / or joint electronics inside the joint, to attach flanges to the joint, to attach links to the joint, etc. In order to ensure sufficient space inside the joint housing JH for the joint electronics and mechanisms, a first lower cavity 1LC and a second lower cavity 2LC are built into the outer surface so that the space required for these cavities is available from a large spiral tower ST.

[0095] It is also illustrated that the first and second lower protrusions 1LP, 2LP engage with the first and second lower cavities 1LC, 2LC and thus help secure the cap CA to the outer surface OS of the joint housing JH / robot joint RJ.

[0096] Figure 2f A cross-sectional view of a robot joint RJ and a cap CA attached thereto is illustrated. Figure 2a The view at line AA of illustrates the robot joint RJ. Figure 2f The illustrated cross-sectional view illustrates the upper protrusion UP and the flexible suspension element FSE engaging with the upper cavity UC, thereby removably attaching the cap CA to the outer surface OS of the joint housing JH of the robot joint RJ.

[0097] Figure 2f The illustrated robot joint RJ comprises a visual representation of some of the robot electronics JE and the joint mechanism JM, which are constituted by a joint housing JH. In addition, the robot joint RJ illustrates a connection flange FL and indications in the form of arrows for identifying the upper and lower directions of the upper protrusion / upper cavity and the lower protrusion / lower cavity. The decorative element DE is Figure 2f It is not visible in the figure, and it should be noted that the upper orientation and the lower orientation also define the orientation of the letters or logos provided on the cap. Therefore, the letters inverted on the cap have an upper part facing the upper cavity and a lower part facing the lower cavity. It should be noted that the joint motor and the joint gear can be arranged in the joint housing so that the output flange driven by the joint motor and the joint gear extends out of the flange FL, and the output flange can be connected to another robot element. The joint housing also includes a screw hole SH for attaching another connecting flange to the upper part of the joint housing.

[0098] At the lower part of the cap and at the upper part of the cap CA, where the cap is physically connected to the outer surface OS of the joint housing JH, a seal SE is illustrated. The seal SE ensures that no dust or other foreign matter can enter the space between the cap CA and the outer surface OS. It should be noted that the seal SE extends all the way around the circumference of the cap CA.

[0099] Figure 2f The lower protrusions 1LP, 2LP and the lower cavities 1LC, 2LC are not illustrated.

[0100] However, an upper cavity UC is illustrated. It should be noted that the upper cavity UC physically occupies space inside the joint housing JH, and this is acceptable because this space is not required by either the joint mechanism JM or the joint electronics JE.

[0101] The upper cavity UC comprises a first upper cavity portion 1UCP extending from the inner surface IS of the joint housing towards the center of the joint housing JH and a second upper cavity portion 2UCP substantially perpendicular to the first upper cavity portion 1UCP. These portions together form an upper cavity suspension static portion UCSRP for a static flexible suspension element FSE which in this embodiment is part of the cap CA.

[0102] The upper cavity UC also includes an upper cavity protrusion UCPP that is configured to engage with an upper projection UP, which in this embodiment is part of the cap CA.

[0103] exist Figure 2f , Figure 2f ', the cap CA is connected to the joint housing JH, and therefore the upper protrusion UP is in an engaged position relative to the upper cavity protrusion UCPP. This position is maintained by the flexible suspension element FSE, which forces the upper protrusion UP towards the lower side of the upper cavity protrusion UCPP.

[0104] Figure 3a The robot joint RJ is illustrated in a side view, wherein an upper cavity and one of the lower cavities are illustrated. The flexible suspension element FSE is illustrated alone, i.e. not connected to the cap CA. The flexible suspension element FSE is usually implemented as a spring FSE. In one embodiment, such a spring FSE is a compression spring. It should be noted that the spring can also be integrated as part of the cap CA.

[0105] As in Figure 3b As can be seen more clearly in FIG. 1 , the spring FES can be detached from the upper protrusion UP or the spring anchor SA, which can be a part of the upper protrusion UP or a separate base. Figure 3b In FIG. 4 , two spring anchors are provided near the upper protrusion UP, but it should be noted that the spring anchors may also be provided as part of / built into the upper protrusion UP.

[0106] about Figure 2f Other exemplified parts are illustrated and explained.

[0107] As shown, a so-called lower cavity plane LCP and upper cavity plane UCP may be defined that intersect at the robot joint at an angle ANG. Due to the curvature of the outer surface OS of the joint housing JH, this angle ANG is typically at or below 90 degrees.

[0108] The cavity for fastening the cap CA is separated into two or more cavities (which may also be referred to as recesses). These cavities may be referred to as an upper cavity and a lower cavity. In one embodiment, at least one cavity referred to as an upper cavity is located as part of the upper portion, and at least one cavity referred to as a lower cavity is located as part of the lower portion (see Figure 2c ). The separation of the cavities is advantageous because a sufficiently strong grip / friction is thereby ensured, determined by the design of the cavities with a minimal cavity footprint on the joint housing. Furthermore, this is advantageous because the mounting of the cap is easy in an embodiment in which the cap only has to engage with, for example, two lower cavities and one upper cavity, to mention only one non-limiting example.

[0109] Figure 3b The cap CA is illustrated as seen from below, i.e. all upper and lower projections can be seen. As shown, the lower projections 1LP, 2LP are arranged at an angle, i.e. not parallel to the center axis of the robot joint RJ when installed. The lower cavities 1LC, 2LC are correspondingly angled, and therefore the position of the cap CA on the outer surface OS when installed is mainly predetermined by the position and angle of the lower arms and cavities.

[0110] Thus, in one embodiment, when the lower arm and the cavity are in the engaged position, ie, when the cap CA is attached to the outer surface OS, the cap CA is aligned with the central axis of the robot joint RJ.

[0111] Of course, the orientation and geometry of the cap CA and the positions of the cavities and protrusions may be modified so that any desired position of the cap CA may be obtained when it is attached to the outer surface OS.

[0112] Figure 3b The spring FSE illustrated in the example can be removed from the spring base, which in this embodiment coincides with the upper protrusion UP. The spring FES can be removed by pulling the two ends of the spring FES apart from each other.

[0113] exist Figure 3c , the angled lower cavities 1LC, 2LC are illustrated. Thus, when the lower protrusions 1LP, 2LP are engaged therein, the orientation of the cap CA is fixed.

[0114] Figure 4 A view illustrating the outer surface OS of a robot joint RJ according to an embodiment of the present invention and how the cavities are established / oriented relative to each other. The lower cavities 1LC, 2LC are each formed at three angles. The three sides may be straight sides that form cavities in the robot joint RJ, for example, in a direction that may be substantially perpendicular to the outer surface OS.

[0115] As described above, one, two, three or more lower cavities may be formed by at least one of the sides having an acute angle relative to the outer surface OS of the robot joint RJ. Therefore, with the hook-shaped lower protrusion formed to engage at such an acute angle, the cap CA can only be installed and removed "from below", that is, the lower protrusions 1LP, 2LP must be installed in the lower cavities 1LC, 2LC before the upper protrusions UP are installed in the upper cavity UC.

[0116] It should be noted that the cavity (and therefore the associated protrusion) may have any geometric shape, such as circular, any kind or square, and any oriented triangle, etc. The depth of the cavity into the robot joint RJ (and therefore the length of the associated protrusion) may be in the range of 4 mm to 20 mm.

[0117] Figure 5 A view of the cap CA and how the protrusions are built / oriented relative to each other as seen from below according to an embodiment of the present invention is illustrated. The lower protrusions 1LP, 2LP may be formed as illustrated to mainly engage with one of the three sides of the lower cavity 1LC, 2LC forming the robot joint RJ. The protrusions may alternatively be formed, for example, to engage substantially completely with one side, and, for example, to engage with two-thirds of one or two sides of the other sides.

[0118] It should be mentioned that Figure 4 and Figure 5 The cap CA and the robot joint RJ illustrated in the figure only illustrate one way of fixing the cap CA to the robot joint RJ. Thus, the flexible suspension element FSE can be mounted, for example, on the robot joint RJ. Furthermore, as an example, the flexible suspension element FSE can be built into a protrusion, such as into an upper protrusion UP, which itself can be flexible and can therefore be bent and snapped into a customized cavity.

[0119] It should be noted that when reference is made to the robot joint RJ in the above embodiments, the robot joint RJ can be replaced, for example, with a robot link RL, with little or no modification to the above principles. Thus, the cap CA can be mounted on the robot link RL as described in this document with respect to the robot joint RJ.

[0120] It should be noted that the robot joint RJ or the cap CA may contain or include a universal attachment (not shown) via which, for example, wires or pipes required by the robot tool can be attached or retained. Such universal attachments may be implemented as hooks, grommets, custom-designed holders for custom-designed electrical, fluid or mechanical connections.

[0121] Figure 6A flow chart describing a method of connecting a cap CA to a robot joint RJ according to an embodiment of the present invention is illustrated.

[0122] In a first step S1, a cap CA is provided with at least one upper protrusion and one lower protrusion. The number of protrusions should match the number of cavities in the robot arm element RAE, which in this embodiment is a robot joint RJ, but could also be, for example, a robot link RL. Furthermore, the orientation of the protrusions should match the orientation of the cavities in the robot joint RJ. Go to Figure 5 The illustrated cap CA is provided with two lower protrusions 1LP and 2LP and one upper protrusion UP.

[0123] Furthermore, the cap CA provided should include a flexible suspension element FSE, such as a spring. The spring may be removably fastened, for example, in the upper protrusion UP or in a spring seat / spring anchor as described above. Furthermore, the spring FSE may be rotatably mounted in the upper protrusion or in the spring seat / spring anchor.

[0124] In a second step S2, a robot joint RJ is provided, which comprises a cavity matching the protrusion of the cap CA as described above. In one embodiment, the upper cavity UC comprises an upper cavity suspension stationary part UCSRP.

[0125] In a third step S3, the spring FSE is positioned in the upper cavity UC, preferably in the upper cavity suspension stationary part UCSRP.

[0126] In a fourth step S4, a force is applied to the spring FSE, for example by applying a force downwardly and rearwardly to the outer surface of the cap, i.e. against the upper cavity suspension stationary part UCSRP. Thus, if the spring FSE is not positioned in the upper cavity suspension stationary part UCSRP in step S3, the spring is forced into this position in step S4.

[0127] This force may be applied by hand and may not need to exceed 100N in order to attach the cap CA to the robot joint RJ.

[0128] In a fifth step S5, the lower protrusions 1LP, 2LP are positioned in the lower cavities 1LC, 2LC. In addition, the upper protrusion UP is positioned below the level of the lower side of the upper cavity protrusion UCPP or at least below the level so that when the force is released in step S6, the upper side of the upper protrusion UP engages with the lower side of the upper cavity protrusion UCPP.

[0129] In a sixth step S6, the force is released from the spring (e.g., by removing the hand applying the force), allowing the spring to return toward its rest position and thereby maintain engagement between the upper protrusion UP and the upper cavity suspension stationary part UCSRP and between the lower protrusions 1LP, 2LP and the lower cavity 1LC, 2LC.

[0130] After the sixth step, the cap CA is mounted to the robot joint RJ. If the cap CA is to be removed from the robot joint RJ later, this can again be done manually by applying a force downwards and backwards or backwards (i.e. away from the upper cavity suspension stationary part UCSRP). The force required to remove the cap CA from the robot joint RJ may be similar to the force required to install it, so this force is typically below 100N.

[0131] From the above, it is now clear that the present invention relates to a cap CA that can be installed and subsequently removed from a robot arm element (such as a robot joint RJ or a robot link RL). The cap CA is installed by engaging the (preferably) upper protrusion UP of the cap CA with the upper cavity protrusion UCPP of the (preferably) upper cavity UC of the robot joint RJ. In addition, one or more lower protrusions 1LP, 2LP are engaged with one or more lower cavities 1LC, 2LC. When engaged, the engagement position of the protrusion in the cavity is maintained by a flexible suspension element FSE such as a spring. The position of the protrusion in the cavity is obtained by applying a force to the spring, and the engagement position is maintained by releasing the force.

[0132] The present invention has been illustrated above with reference to specific examples of methods and robotic systems for purposes of illustration and not limitation. Details such as specific methods and system structures have been provided for the purpose of understanding the embodiments of the present invention. It should be noted that detailed descriptions of well-known systems, devices, circuits, and methods have been omitted so as not to obscure the description of the present invention with unnecessary detail.

[0133] List

[0134] RA.Robot Arm

[0135] RJ.Robot Joint

[0136] RL.Robot Link

[0137] RB.Robot base

[0138] RTF.Robot tool flange

[0139] RC.Robot Controller

[0140] UI. User interface

[0141] JH.Joint housing

[0142] JHL. Joint housing cover

[0143] SC.Screw

[0144] DE.Decorative elements

[0145] FL. Flange

[0146] OS.Outer surface

[0147] IS.Inner surface

[0148] ST. Spiral Tower

[0149] CA.Cap

[0150] 1LC. First lower cavity

[0151] 2LC. Second lower cavity

[0152] 1LP. First lower protrusion

[0153] 2LP. Second lower protrusion

[0154] UC.Upper cavity

[0155] UP. Upper protrusion

[0156] SE.Seals

[0157] FSE. Flexible suspension element

[0158] UCPP.Upper cavity protrusion

[0159] FUCP. First upper cavity part

[0160] SUCP. Second upper cavity part

[0161] UCSRP.Upper cavity suspension stationary part

[0162] JE. Joint Electronics

[0163] JM. Joint mechanism

[0164] UAA. Universal Attachment

[0165] LCP. Lower cavity plane

[0166] UCP. Upper cavity plane

[0167] ANG.Angle

Claims

1. A cap (CA) removably connectable to a robot arm element (RAE), the robot arm element (RAE) comprising a housing having an outer surface (OS) and an inner surface (IS), wherein the cap (CA) is removably connectable to the outer surface (OS) via an upper cavity (UC) connectable to an upper protrusion (UP) and via at least a first lower cavity (1LC) connectable to a first lower protrusion (1LP), in, When the cap (CA) is connected to the robot arm element (RAE), the upper protrusion (UP) is fixed in an engaged position in the upper cavity (UC) by a flexible suspension element (FSE), and the first lower protrusion (1LP) is fixed in an engaged position in the at least first lower cavity (1LC) by the flexible suspension element (FSE).

2. A cap (CA) removably connectable to a robot arm element (RAE) according to claim 1, wherein the robot arm element (RAE) is a robot joint (RJ) or a robot link (RL).

3. A cap (CA) removably connectable to a robot arm element (RAE) according to claim 2, wherein the robot joint (RJ) is formed by a single hollow tubular element having only two openings.

4. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein the cap (CA) is a robot arm identification cap (CA).

5. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein at least a portion of the cap (CA) follows an outer curvature of the robot arm element (RAE).

6. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein the cap (CA) comprises a seal.

7. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the cap (CA) comprises a universal attachment arrangement.

8. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein the cap (CA) is shock absorbing.

9. Cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the cap (CA) is made of acrylonitrile butadiene styrene, polycarbonate or polylactic acid.

10. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the width of the cap (CA) is smaller than the diameter of the robot arm joint (RAJ).

11. Cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the upper cavity (UC) is formed in the robot arm joint (RAJ), extending into the interior of the robot arm joint (RAJ).

12. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein the upper cavity (UC) comprises an upper cavity protruding part (UCPP).

13. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the upper cavity (UC) comprises an upper cavity suspension stationary part (UCSRP) formed by a first upper cavity part (FUCP) and a second upper cavity part (SUCP).

14. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the upper protrusion (UP) is a part of the cap (CA).

15. Cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the first lower cavity (1LC) is formed in the robot arm joint (RAJ).

16. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein the robot arm joint (RAJ) further comprises a second lower cavity (2LC).

17. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the first lower cavity (1LC) and / or the second lower cavity (2LC) are formed in the robot arm joint (RAJ), wherein the robot arm joint (RAJ) comprises a spiral tower (ST) on its inner surface (IS).

18. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein said first lower protrusion (1LP) is part of said cap (CA).

19. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the second lower protrusion (2LP) is a part of the cap (CA).

20. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the angle (ANG) between the lower cavity plane (LCP) and the upper cavity plane (UCP) is between 80 and 125 degrees.

21. A cap (CA) removably connectable to a robot arm element (RAE) according to any one of the preceding claims, wherein when the cap (CA) is in an engaged position, the portion of the upper protrusion (UP) and the portion of the upper cavity protrusion that engage with each other are adapted to each other to facilitate alignment of the cap (CA) with the robot arm element (RAE).

22. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the flexible suspension element (FSE) is a spring.

23. A cap (CA) removably connectable to a robot arm element (RAE) according to any of the preceding claims, wherein the flexible suspension element (FSE) is rotatably mounted in the cap (CA).

24. Cap (CA) according to any of the preceding claims removably connectable to a robot arm element (RAE), said cap (CA) being applied to the robot arm element (RAE) according to the method of any of claims 25 to 30.

25. A method of applying a cap (CA) to a robotic arm element (RAE), the method comprising the steps of: • providing a cap (CA) and a robotic arm element (RAE), wherein the cap (CA) or the robotic arm element (RAE) comprises: o a flexible suspension element (FSE), an upper protrusion (UP) and a first lower protrusion (1LP), an upper cavity (UC) and a first lower cavity (1LC), wherein the upper cavity (UC) comprises an upper cavity protrusion part (UCPP), • applying the flexible suspension element (FSE) in the upper cavity suspension stationary part (UCSRP) of the upper cavity (UC), • applying a force to the flexible suspension element (FSE) towards the upper cavity suspension stationary part (UCSRP), • engaging the upper protrusion (UP) with the upper cavity protrusion (UCPP) and engaging the first lower protrusion (1LP) with the first lower cavity (1LC), and • Releasing the force, thereby allowing the flexible suspension element (FSE) to maintain the engaged position of the upper protrusion (UP) against the upper cavity protrusion (UCPP) and the engaged position of the first lower protrusion (1LP) in the first lower cavity (1LC).

26. Method of applying a cap (CA) to a robot arm element (RAE) according to claim 25, comprising the following steps: • providing a cap (CA) comprising a flexible suspension element (FSE), an upper protrusion (UP) and a first lower protrusion (1LP), • providing a robotic arm element (RAE) comprising an upper cavity (UC) and a first lower cavity (1LC), wherein the upper cavity (UC) comprises an upper cavity protruding part (UCPP), • applying the flexible suspension element (FSE) in the upper cavity suspension stationary part (UCSRP) of the upper cavity (UC), • applying a force to the flexible suspension element (FSE) via the cap (CA) towards the upper cavity suspension stationary part (UCSRP), • engaging the upper protrusion (UP) with the upper cavity protrusion (UCPP) and engaging the first lower protrusion (1LP) with the first lower cavity (1LC), and • Releasing the force, thereby allowing the flexible suspension element (FSE) to maintain the engaged position of the upper protrusion (UP) against the upper cavity protrusion (UCPP) and the engaged position of the first lower protrusion (1LP) in the first lower cavity (1LC).

27. Method of applying a cap (CA) to a robotic arm element (RAE) according to claim 25 or 26, wherein the applied force is a force applied manually by a worker's hand.

28. Method of applying a cap (CA) to a robot arm element (RAE) according to any one of claims 25 to 27, wherein the method further comprises the steps of: The cap (CA) is removed by applying a force to the cap (CA) in the direction of the upper cavity suspension stationary part (UCSRP) or in the direction of the first upper cavity part (FUCP) or in the direction of the second upper cavity part (SUCP).

29. Method of applying a cap (CA) to a robot arm element (RAE) according to any of claims 25 to 28, wherein said flexible suspension element (FSE) is replaceable.

30. Method for applying a cap (CA) to a robot arm element (RAE) according to any one of claims 25 to 29, wherein said step of engaging said first lower protrusion (1LP) with said first lower cavity (1LC) further comprises engaging a second lower protrusion (2LP) with a second lower cavity (2LC).

31. Method of applying a cap (CA) to a robot arm element (RAE) according to any one of claims 25 to 30, wherein the cap (CA) is a cap (CA) according to any one of claims 1 to 23.

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