Robotic element with illumination ring

Abstract

A robotic element for a robotic arm wherein the robotic element is connectable to at least another robotic element via a connecting flange having a central axis wherein the robotic element comprises: an annular light source array comprising a plurality of light sources arranged about the central axis, and wherein the plurality of light sources are configured to emit light in a direction along the central axis; at least one optical component disposed above the array of light sources and configured to direct at least a portion of the light in a direction away from the central axis.

Description

Technical Field

[0001] The invention relates to a robot element for a robot arm comprising a plurality of robot elements such as robot joints and robot links connecting a robot base and a robot tool flange, wherein the robot element is provided with a light source for providing a lighting ring around a part of the robot arm. Background Art

[0002] A robot arm comprising a plurality of robot elements such as robot joints and robot links, wherein motors or actuators can move parts of the robot arm relative to each other, is known in the field of robotics. Typically, a robot arm comprises a robot base serving as a mounting base for the robot arm and a robot tool flange to which various tools can be attached. A robot controller is configured to control the robot joints to move the robot tool flange relative to the base. For example, in order to instruct the robot arm to perform a plurality of work instructions. The robot joints may be rotational robot joints configured to rotate parts of the robot arm relative to each other, prismatic joints configured to translate parts of the robot arm relative to each other, and / or any other kind of robot joints configured to move parts of the robot arm relative to each other.

[0003] Typically, a robot controller is configured to control robot joints based on a dynamic model of a robot arm, wherein the dynamic model defines the relationship between the forces acting on the robot arm and the resulting acceleration of the robot arm. Typically, the dynamic model includes a kinematic model of the robot arm, knowledge about the inertia of the robot arm, and other parameters that affect the movement of the robot arm. The kinematic model defines the relationship between different parts of the robot arm and may include information about the robot arm (such as the lengths, dimensions of the joints and links), and may be described, for example, by Denavit-Hartenberg parameters, etc. The dynamic model enables the controller to determine which torques and / or forces the joint motors or actuators will provide in order to, for example, move the robot joints at a specified velocity, acceleration, or to keep the robot arm in a static pose.

[0004] The robot arm needs to be programmed by the user or robot integrator who defines various instructions for the robot arm, such as predefined movement patterns and work instructions, such as grasp, wait, release, thread engagement instructions. The instructions may be based on various sensors or input signals that typically provide a trigger signal for stopping or starting a given instruction. The trigger signal may be provided by various indicators, such as a safety curtain, a vision system, a position indicator, etc.

[0005] Typically, various end effectors may be attached to the robot tool flange or other portion of the robot arm, such as grippers, vacuum grippers, magnetic grippers, thread lathes, welding equipment, dispensing systems, vision systems, and the like.

[0006] The robot system may also include a light indicating device that can indicate the status of the robot system to the user by emitting light.It is difficult to provide an indicator light that is visible to the user from all positions around the robot arm.

[0007] US2019 / 0299420 discloses a robot system, which includes: a robot; a controller that controls the robot and makes the robot operate in multiple operation modes; and a display device that is attached to the robot and is operated by the controller in patterns according to the operation modes, which patterns are different from each other. The display device includes: a sheet-like base portion, the shape of which can be deformed according to the outer surface of the robot and has flexibility; one or more display members, which are fixed to the base portion; and a fixing member that maintains the base portion in a state in which the base portion is attached to the outer surface of the robot. The display device according to US 2019 / 0299420 is difficult to install to the robot arm in a quick, easy and safe manner. Summary of the invention

[0008] The object of the present invention is to solve the above limitations or other problems of the prior art. This is achieved by a robot element for a robot arm, wherein the robot element is connectable to at least one other robot element via a connecting flange having a central axis, wherein the robot element comprises:

[0009] an annular light source array, the annular light source array comprising a plurality of light sources arranged around the central axis, wherein the plurality of light sources are configured to emit light in a direction along the central axis;

[0010] - At least one optical component disposed above the array of light sources and configured to direct at least a portion of the light in a direction away from the central axis.

[0011] This enables an indicator light to be provided on a robot arm which is integrated into the robot arm in a seamless and aesthetically pleasing manner which can also be manufactured in an easy and quick manner. This is achieved because an array of light sources can be securely mounted on a mounting surface of a robot element and the optical component can then be easily and quickly arranged over the array of light sources. By arranging the light sources as an array around a central axis and providing the optical component to direct the light in a direction away from the central axis, it is possible to provide an illumination ring which can be seen from many positions around the robot arm.

[0012] The dependent claims describe possible embodiments of the method according to the invention. The advantages and beneficial effects of the invention are described in the detailed description of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A prior art robotic system including a robotic arm is illustrated;

[0014] FIG. 2A to FIG. 2C Two interconnected robotic elements are illustrated, one of which is according to an embodiment of the present invention;

[0015] FIG. 3A to FIG. 3C Two interconnected robotic elements are illustrated, one of which is according to an embodiment of the present invention;

[0016] FIG. 4A to FIG. 4C Two interconnected robotic elements are illustrated, one of which is according to an embodiment of the present invention;

[0017] Figure 5A and Figure 5B Two interconnected robotic elements are illustrated, one of which is according to an embodiment of the present invention;

[0018] FIG. 6A to FIG. 6J illustrates a robot element according to an embodiment of the present invention;

[0019] 7A to 7E and FIG. 7G to FIG. 7I illustrates a robot element according to an embodiment of the present invention;

[0020] FIG. 8A to FIG. 8C Two interconnected robotic elements are illustrated, one of which is according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The present invention is described in view of the exemplary embodiments intended only to illustrate the principles of the present invention. The skilled person will be able to provide several embodiments within the scope of the claims. Throughout the specification, reference numerals of similar elements providing similar effects are given the same last two digits. In addition, it should be understood that in the case where an embodiment includes multiple identical features, only some of the features may be marked by reference numerals.

[0022] Figure 1 The robot system 100 in which the present invention may be utilized is illustrated. However, Figure 1 The present invention is not illustrated in the . The robotic system comprises at least one robotic arm 101 and at least one robotic controller 110 configured to control the robotic arm.

[0023] The robot arm 101 includes a plurality of robot joints 102a, 102b, 102c, 102d, 102e, 102f, which connect a robot base 103 and a robot tool flange 104. The base joint 102a is configured to rotate the robot arm around a base axis 105a (illustrated by a dotted line); the shoulder joint 102b is configured to rotate the robot arm around a shoulder axis 105b (illustrated by a dotted line); the elbow joint 102c is configured to rotate the robot arm around an elbow axis 105c (illustrated by a dotted line); the first wrist joint 102d is configured to rotate the robot arm around a first wrist axis 105d (illustrated by a dotted line), and the second wrist joint 102e is configured to rotate the robot arm around a second wrist axis 105e (illustrated by a dotted line). The robot joint 102f is a robot tool joint comprising a robot tool flange 104 that is rotatable about a tool axis 105f (illustrated by a dotted line). Thus, the illustrated robot arm is a six-axis robot arm with six degrees of freedom, having six rotational robot joints, however, it should be noted that the present invention can be used for robot arms comprising fewer or more robot joints and other types of robot joints, such as prismatic robot joints that provide translation of parts of the robot arm, for example linear translation.

[0024] The robot joint may include a robot joint housing and an output flange that can rotate or translate relative to the robot joint housing, and the output flange is directly or via an arm portion known in the art connected to an adjacent robot joint. The robot joint includes a joint motor, which is configured to rotate or translate the output flange relative to the robot joint housing, for example, via a transmission or directly connected to a motor shaft. The robot joint housing may, for example, be formed as an angled joint housing, and the joint motor may be arranged in the joint housing, and the output flange may extend out of the joint housing. In addition, the robot joint may include at least one joint sensor that provides a sensor signal, and the sensor signal indicates, for example, at least one of the following parameters: the angular position and / or linear position of the output flange, the angular position and / or linear position of the motor shaft of the joint motor, the motor current of the joint motor, or an external force and / or torque that attempts to rotate the output flange or the motor shaft. For example, the angular position of the output flange may be indicated by an output encoder such as an optical encoder, a magnetic encoder, which may indicate the angular position of the output flange relative to the robot joint. Similarly, the angular position of the joint motor shaft may be provided by an input encoder such as an optical encoder, a magnetic encoder, which may indicate the angular position of the motor shaft relative to the robot joint. Note that both an output encoder indicating the angular position of the output flange and an input encoder indicating the angular position of the motor shaft may be provided, which in embodiments where a transmission is provided enables the relationship between the input side and the output side of the transmission to be determined.

[0025] The robot system includes at least one robot controller 110 configured to control the robot arm 101. The robot controller is configured to control the motion of the parts of the robot arm and the robot joints, for example, by controlling the motor torque provided to the joint motors based on the dynamic model of the robot arm, the direction of gravity work and the joint sensor signals. In addition, the robot controller can control the motion of the robot arm based on the robot program stored in the memory of the robot controller. The controller can be provided as Figure 1 The illustrated external devices or devices integrated into the robotic arm or a combination thereof.

[0026] The robot controller may include an interface device 111 that enables a user to control and program the robot arm. The interface device may, for example, be provided as a teach pendant known in the field of industrial robots, which may communicate with the controller via a wired or wireless communication protocol. The interface device may, for example, include a display 112 and a plurality of input devices 113, such as buttons, sliders, touch pads, joysticks, trackballs, gesture recognition devices, keyboards, microphones, etc. The display may be provided as a touch screen that acts as both a display and an input device. The interface device may also be provided as an external device configured to communicate with the robot controller, for example in the form of a smartphone, tablet, PC, laptop, etc.

[0027] The robotic system may also include an end effector (not illustrated) attached to the robotic tool flange, and it should be understood that the end effector can be any type of end effector, such as a gripper, a vacuum gripper, a magnetic gripper, a thread lathe, welding equipment, gluing equipment, dispensing systems, painting equipment, vision systems, cameras, etc.

[0028] FIG. 2A to FIG. 2C Two interconnected robot elements 220, 221 of a robot arm are illustrated, wherein one of the robot elements 220 is provided as an embodiment of a robot element according to the invention. Figure 2A is a cross-sectional view of the structure of two interconnected robot elements 220 and 221, Figure 2B is a top view of the robot element 220 with the optical component 232 removed, Figure 2C yes Figure 2A Magnified view of portion A.

[0029] The two robot elements are illustrated as two cylindrical housings with a central opening through the housing. The robot element may be, for example, a robot link, a robot joint and / or a robot base, and it should be understood that the robot element may also include one or more motors, one or more gears, one or more sensors and / or one or more controller circuits for controlling components of the robot arm (such as motors). It should also be understood that the housing of the robot element may have another shape other than cylindrical, for example the robot element may be an angle joint housing as known in the field of robot arms, wherein the robot joint includes two connecting flanges, which are at an angle of approximately 90 degrees relative to each other. In the illustrated embodiment, the connecting flange 222 of the robot element 221 is connected to another connecting flange 223 of another robot element 220 by a clamp 224. The connecting flanges 222, 223 and the clamp 224 may be provided, for example, as any known robot joint assembly as disclosed in WO 2018 / 130447 A1 or 9,505,136B1.

[0030] The robot element 220 includes an annular light source array 228, which includes a plurality of light sources 230 arranged around a central axis and configured to emit light in a direction along the central axis. In the illustrated embodiment, the light source is an LED (light emitting diode), however the skilled person recognizes that any kind of light source may be used, such as an OLED (organic light emitting diode), a PLED (polymer light emitting diode), a plasma source, an incandescent lamp, a fluorescent light source, a phosphor-based light source or other suitable light source. The light source 230 may include one or more light source units, such as two or more light source units emitting different colors. For example, the light source may be provided as a multi-die LED, which includes a plurality of LED dies emitting different colors, such as red, green and blue dies (referred to as a three-in-one RGB LED), or may include red, green, blue and white dies (referred to as a four-in-one RGBW LED). The robot element may also include a light controller configured to control the light source, for example so as to control the color of the emitted light, for example by utilizing additive color mixing as known in the field of lighting, where light of different colors, for example from a multi-die RGBW LED, varies relative to each other using a well-known pulse width modulation method. In one embodiment, each light source can be controlled individually and can therefore be used as a pixel. However, it should be understood that the light source can also be divided into a sub-array with a plurality of light sources, which can be controlled as a group, or all light sources can be controlled as a single light source group. In one embodiment, the light source can be provided as a multi-die LED, which includes both a drive circuit and a light controller capable of controlling the multi-die LED based on an input signal indicating, for example, color and / or intensity. In the illustrated embodiment, the annular light source array is provided as a single annular printed circuit board PCB on which a plurality of LEDs are arranged.

[0031] In an embodiment, the inner dimensions of the light source array are larger than the cross-sectional dimensions of the connecting flange. This enables the annular light source array to be mounted to the robot element in a single step, for example by passing the light source array over the connecting flange so that the connecting flange passes through the opening of the light source array. The light source array can then be mounted to the mounting surface 225 of the robot element, for example by glue, screws, rivets, nails, snap mechanisms or other types of fastening mechanisms. Thus, the light source array can be mounted below the connecting flange. However, it should be understood that the printed circuit board in an alternative embodiment can also be provided as a plurality of printed circuit boards each including some of the light sources 230.

[0032] At least one optical component 232 is arranged above the light source array, and the optical component is configured to guide at least a portion of the light in a direction away from the central axis. The at least one optical component can be any optical component capable of guiding light emitted in a direction along the central axis in a direction away from the central axis.

[0033] Light is emitted in a direction along the central axis means that the light emitted by the light source propagates along an axis parallel to the central axis at an angle lower than 45 degrees relative to the central axis. Therefore, if the light propagates along a propagation vector defined in a Cartesian coordinate system having a first coordinate axis parallel to the central axis and second and third coordinate axes perpendicular to the central axis, the vector component of the propagation vector of the first coordinate axis is greater than the vector components of the second and third coordinate axes.

[0034] Light propagating in a direction away from the central axis means that the light propagates in a radial direction away from the central axis. For example, the light may propagate along an axis perpendicular to the central axis at an angle lower than 45 degrees relative to the axis perpendicular to the central axis. Therefore, if the light propagates along a propagation vector defined in a Cartesian coordinate system having a first coordinate axis parallel to the central axis and second and third coordinate axes perpendicular to the central axis, the vector component of the propagation vector of the first coordinate axis is smaller than at least one of the vector components of the second and third coordinate axes.

[0035] In the illustrated embodiment, the optical component is provided as a solid transparent annular ring having an input surface facing the light source, a reflective surface configured to reflect at least a portion of the light toward an output surface forming an outer circumferential surface of the optical component. Figure 2CThree exemplary light rays are illustrated, wherein the first part of light rays 215A, 215B, 215C illustrates the light emitted by the light source and propagating in the direction along the central axis, and the second part of light rays 216A, 216B, 216C is guided by the optical component 232 in the direction away from the central axis. The first part of the light enters the input surface of the optical component and hits the reflective surface, and then the light is redirected in the direction away from the central axis as the second part of the light. It should be noted that the light rays are provided only to illustrate the principles of the present invention, rather than to illustrate accurate and precise light rays. The transparent optical component can be provided by any optically transparent material, such as glass, polymer, silicone, acrylic material. In the illustrated embodiment, a reflective surface is provided by utilizing the internal reflection principle of the optical component, wherein at least a portion of the light hitting the inner surface of the optical component is internally reflected inside the optical component. In one embodiment, the curvature of the reflective surface can be designed so that most of the light is reflected toward the output surface, which can be achieved, for example, by utilizing total internal reflection. In other embodiments, a reflective coating can be applied to the reflective surface. The optical component may also be provided as an annular reflective surface (e.g., a polished metal piece configured to reflect light), or provided as another material coated with a reflective coating. The optical component may also be provided as a plurality of optical components that receive light propagating in a direction along the central axis from one or more of the light sources and direct the received light in a direction away from the optical axis.

[0036] The optical component may also include a diffusing element configured to diffuse light propagating in a direction away from the central axis in many directions away from the central axis. This enables illumination to be observed from many directions and also provides uniformly distributed illumination. In the illustrated embodiment, the optical diffusing element 229 is disposed at the output surface of the optical component 232, and each of the second portions 216A, 216B, 216C of the light rays diffuses in many directions, as illustrated by the multiple arrows illustrating diffused light 217A, 217B, 217C.

[0037] In one embodiment, the inner dimensions of the annular optical component are larger than the cross-sectional dimensions of the connecting flange. This enables the annular optical component to be mounted on the robot element in a single step, for example by passing the optical component over the connecting flange so that the connecting flange passes through the opening of the optical component. The optical component can then be mounted on top of the light source array, for example by glue, screws, rivets, nails, snap mechanisms or other types of fastening mechanisms. Thus, the optical component can be mounted below the connecting flange.

[0038] In one embodiment, the outer dimensions of the annular optical component are substantially the same as the outer cross-sectional dimensions of the robotic element. In the illustrated embodiment, this is achieved by providing an output surface of the optical component with the same diameter as the robotic element.

[0039] FIG. 3A to FIG. 3C Two interconnected robot elements 220, 321 of a robot arm are illustrated, wherein one of the robot elements 220 is provided as an embodiment of a robot element according to the invention. Figure 3A is a cross-sectional view of the structure of two interconnected robot elements 220 and 321, Figure 3B is a top view of the robot element 220 with the optical component 232 removed, Figure 3C yes Figure 3A The interconnected robot elements 220, 321 are shown to be largely similar to FIG. 2A to FIG. 2C The interconnected robot elements 220, 221 illustrated are identical and the same features have been given to FIG. 2A to FIG. 2C The same reference numerals are used in the drawings and will not be described further.

[0040] In this embodiment, the connection flange 222 of the robotic element 220 is configured to interconnect with an output flange 340 of another robotic element 321 , wherein the other robotic element includes a motor 341 having a motor shaft 342 rotatable about the central axis 226 and connected to the output flange 340 .

[0041] FIG. 4A to FIG. 4C Two interconnected robot elements 420, 221 of a robot arm are illustrated, wherein one of the robot elements 420 is provided as an embodiment of a robot element according to the invention. Figure 4A is a cross-sectional view of the structure of two interconnected robot elements 420 and 221, Figure 4B is a top view of the robot element 420 with the optical component 232 removed, Figure 4C yes Figure 4A The interconnected robotic elements 420, 221 are shown to be largely similar to FIG. 2A to FIG. 2C The interconnected robot elements 220, 221 illustrated are identical and the same features have been given to FIG. 2A to FIG. 2C The same reference numerals are used in the drawings and will not be described further.

[0042] In this embodiment, the robotic element 420 comprises a motor 441 having a motor shaft 442 rotatable about a central axis, wherein the connecting flange is an output flange 440 connected to the motor shaft and to a further connecting flange 223 of a further robotic element 221 .

[0043] like FIG. 3A to FIG. 3C and FIG. 4A to FIG. 4C As illustrated, providing a motor, a motor shaft and an output flange enables the two robot elements to be rotated relative to each other, and the invention enables providing an illumination ring around a rotation axis coinciding with the central axis of the light source array. The motor and the motor shaft may be arranged as known in the field of robotics, and it should also be understood that a transmission unit such as a gear may be arranged between the motor shaft and the output flange.

[0044] In one embodiment, the annular array of light sources includes at least 12 light sources, which ensures that light is provided completely around the central axis of the robotic element. As a result, the optical component will appear as an illuminated ring with a substantially equal light distribution around the central axis. In an embodiment with 12 light sources, the light sources may be separated by an angle of 30 degrees. In an embodiment with 24 light sources, the light sources may be separated by an angle of 15 degrees, which ensures that substantially every point of the optical component around the central axis will receive light from a plurality of light sources. FIG. 2A to FIG. 3B In the illustrated embodiment, the light source array includes 36 light sources separated by an angle of 10 degrees; however, it should be understood that any number of light sources greater than 12 may be provided.

[0045] Figure 5A Fig. 5b illustrates two interconnected robot elements 520, 521 of a robot arm, wherein one of the robot elements 520 is provided as an embodiment of a robot element according to the invention. Figure 5A is a perspective cutaway view showing a cross section of two interconnected robotic elements 520, 521 in an assembled configuration, and Figure 5B is a perspective cutaway view showing a cross section of two interconnected robotic elements 520, 521 in a disassembled configuration. Figure 5A and Figure 5B In the present invention, components and elements providing similar effects to similar components have been given the same Figures 2A to 4C The same last two digits are used in the drawings, and the basic principles described in the previous figures also apply to these components.

[0046] The robot element 520 is a robot base configured to support a robot arm and is provided as a housing formed as a substantially hollow conical cone frustrum 551 having a plurality of screw holes 551 for fixing the robot base to a support structure such as a table, floor, wall, roof, AGV (automated guided vehicle) or other structure. A connecting flange 522 is provided as an integral part of the top portion of the housing, and a mounting recess 552 is formed as an integral part of the housing around and below the connecting flange. A light source array in the form of an annular PCB including a plurality of LEDs 530 is arranged in the mounting recess, and an annular optical component 532 is arranged above the light source array. In the illustrated embodiment, the annular PCB includes 48 LEDs. A bottom cover 553 is provided inside the housing and is used to provide a closed cavity inside the robot base. A light source control PCB 549 including circuits for providing power to the light source and / or controlling the light source is provided in the cavity. Further details of the robot element will be described in conjunction with FIG. 6A to FIG. 6J Give a description.

[0047] The robot element 521 is a robot joint including an angled joint housing having an angled connection flange 554, which is configured to interconnect with another robot element (such as, another robot joint or robot link). The angled connection flange 554 is set at an angle of 90 degrees relative to the output flange 540. The output flange 540 is connected to an inner ring 555 of a strain wave gear, which includes an outer ring 556, and the inner ring 555 is rotatably arranged in the outer ring. The inner ring includes an internal gear 557; a flexible key tooth 558 is arranged in the inner ring, and the flexible key tooth includes a flexible portion, and the flexible portion includes an external gear. A wave generator 559 is arranged in the flexible key tooth and is rotatable relative to the flexible key tooth, and is configured to flex the flexible portion in a radial direction to partially mesh the external gear with the internal gear, wherein the rotation of the wave generator moves the meshing position of the gear in a circumferential direction, thereby rotating the inner ring relative to the outer ring. In the illustrated embodiment, a portion of the inner ring extends out of the outer ring and constitutes an outwardly protruding output flange. The output flange and the strain wave gear may be provided, for example, as a strain wave gear as disclosed in WO 2019 / 096923 and / or as described in Danish patent application DK PA 202170142, European patent application EP 21216445.3, US patent application US 17 / 553,110, and Chinese patent application CN202210042102.4. However, it should be understood that the strain wave gear may be provided as any kind of strain wave gear (e.g., as disclosed in US 5,906,142, US 5,775,178, US 8,991,282), or alternatively as another gear unit (e.g., a sun / planetary gear or a circular wave gear).

[0048] The motor is arranged in the housing of the robot element 521, where it comprises a motor shaft 541, a magnetic motor rotor 543 mounted on the motor shaft and a motor stator 544 configured to rotate the motor rotor and the motor shaft. The motor shaft is configured to rotate the wave generator 559, and the output flange 540 will therefore rotate when the motor shaft rotates. The motor is controlled by a motor control circuit 560, as is known in the art of motor control.

[0049] The two robot elements are connected to each other by clamping the connecting flange 522 and the output flange 540 with a pair of clamps 524. The connecting flange and the output flange comprise a plurality of mating teeth and cavities, and the clamp is provided as a V-clamp as described in WO 2018 / 130447 A1. An outer sealing ring 561 is also provided around the clamp to prevent moisture and dust from entering the interior of the robot element through the small opening between the two robot elements.

[0050] exist Figure 5BIn FIG. 1 , arrows A1 , A2, A3, A4a, A4b illustrate various method steps of a method for providing a robot element. The method comprises:

[0051] • A step of providing a robot element comprising a connecting flange 522 having a central axis 526 (not shown by arrows);

[0052] ● a step (illustrated by arrow A1) of arranging an annular array of light sources 528 around the central axis so that the plurality of light sources emit light in a direction along the central axis by passing the array of light sources over the connecting flange so that the connecting flange passes through the opening of the array of light sources. In the illustrated embodiment, the array of light sources is thus arranged in the annular mounting recess 552;

[0053] A step (illustrated by arrow A2) of arranging the optical component 532 over the light source array 528 such that the optical component directs at least a portion of the emitted light in a direction away from the central axis by passing the annular optical component over the connecting flange 522 such that the connecting flange passes through a central opening of the annular optical component;

[0054] • A step of connecting the connecting flange 522 with the output flange 540 (illustrated by arrow A3) by moving the robot elements relative to each other so that the connecting flange and the output flange are aligned and in contact with each other.

[0055] A step of clamping the connecting flange and the output flange 540 (illustrated by arrows A4a and A4b) by mounting a pair of clamps to the connecting flange and the output flange. The illustrated clamps are connected to each other by clamping screws 527. Alternatively, the clamps may also be connected to each other by using a quick release mechanism.

[0056] FIG. 6A to FIG. 6K Illustrated Figure 5A and Figure 5B The robotic element 520 of two interconnected robotic elements 520 , 521 is illustrated. Fig. 6A is a perspective view of the robot components;

[0057] Figure 6B yes Fig. 6A an enlarged view of detail D; Figure 6K yes Figure 6K An enlarged view of detail G; Figure 6C is an exploded perspective view of the robot components. Fig.6D Illustrated Figure 6C Details of E, Fig. 6E Illustrated Figure 6C Details of F; Figure 6G is a top view of the robot components; Fig. 6F It is along Figure 6G A cross-sectional view of line AA; Figure 6H is an example of only following Figure 6G A cross-sectional view of the element along line AA; Fig.6I is an example of only following Figure 6G A cross-sectional view of the element along line BB; Figure 6J is an example of only following Figure 6G The cross-sectional view of the element along the CC line. The robot element 520 and Figure 5A and Figure 5B The illustrated robot element 520 is identical and the same features have been given to the FIG. 5A to FIG. 5B The same reference numerals are used in the drawings and will not be described further.

[0058] The annular optical component 532 includes at least one elastic snap element 633A, 633B, which is configured to snap-engage with the joint edge 662 of the robot element. In the illustrated embodiment, five snap elements extend inwardly from the inner circumference of the annular optical element and are provided as elastic hooks, wherein three hooks 633A are identical and two hooks 633B are identical. The elastic hooks are separated by about 90 degrees around the annular optical angle, and the two elastic hooks 633B constitute a hook pair arranged almost side by side. The joint edge is provided as an annular groove arranged below the connecting flange, however, it should be understood that the joint edge can also be provided as a flange extending outward. The joint edge can also be provided as a separate groove, recessed portion and / or protrusion of the robot element. Moreover, it should be understood that at least one elastic snap element can extend outwardly from the annular optical element and engage the joint edge with the outer part of the robot element (e.g., a groove arranged at the outer wall of the recessed portion 552). Providing the optical component with snap-fit ​​elements configured to participate in the engagement of the robotic element enables easy and quick arrangement of the optical component over the light source array.

[0059] The optical component includes an inner annular optical element 635 and an outer annular optical element 636, wherein Figure 6J As illustrated, the inner annular optical element is configured to direct a first portion 615 of the emitted light into a second portion 616 of light that propagates in a direction away from the central axis of the robotic element. Before exiting the robotic element, the second portion of light is diffused 617 by the second annular optical element 636 in many directions.

[0060] In the illustrated embodiment, the inner annular optical element is connected to the outer annular optical element via connecting elements 638 disposed at different positions between the inner annular optical element and the outer annular optical element. Moreover, it can be seen that the snap elements 633A, 633B protrude from the outer annular optical element and are arranged in an opening provided in the inner annular optical element. The optical component is provided as a single-piece component, for example molded in an optically transparent material such as glass, polymer, silicone, acrylic material. However, it should be understood that a person skilled in the art may provide the elements of the optical component as separate elements that can be located and arranged in the robot element.

[0061] In one embodiment, the inner optical element can be configured to diffuse and direct light in many directions away from the central axis. Thus, light directed away from the central axis hits the second annular optical element at many locations, which provides a more uniform illumination of the second annular optical element, whereby the optical element appears to be even more uniformly illuminated.

[0062] The outer circumferential cross-sectional dimension of the outer annular optical element is the same as the cross-sectional dimension of the robot element. Therefore, the diameters of the outer annular optical element and the robot element are the same. Moreover, the cross-sectional dimension of the clamps 524A, 524B having the outer sealing ring 561 arranged around the clamps is the same as the cross-sectional dimension of the outer annular optical element. Thus, the illuminated circular surface can be seamlessly integrated into the connection between the two robot elements.

[0063] In addition, the optical component includes a pressing element, which is configured to provide a pressing force to the light source array when the optical component is arranged above the light source array. Thereby, the pressing element can ensure that the light source array is pressed against the mounting surface. In the illustrated embodiment, the pressing element is provided as a resilient finger 634 extending downward from the optical component. Figure 6H As illustrated, the resilient fingers will press the light source array 228 against at least one resilient electrical contact 648 forming a part of the light source control PCB 549 when the optical component is installed. The light source array includes at least one electrical contact pad, and when the resilient electrical contact and the at least one electrical contact pad are pressed against each other, the at least one electrical contact pad can establish an electrical connection between the two. Thus, the light source array can be electrically connected to the light source control PCB 549, and the clamping element provides a clamping force that ensures a stable electrical connection. Therefore, when the light source array is installed in the recess and the annular optical component is installed on the robot element, the light source array will automatically connect to the light source control PCB.

[0064] An O-ring 637 is also provided between the optical component and the robotic element.

[0065] Fig. 7A FIG. 7J illustrates the Figure 5A and Figure 5B The illustrated robot element 520 is similar to the robot element 720, wherein Fig. 7A is a perspective view of the robot components; Figure 7B yes Fig. 7A An enlarged view of detail H; Figure 7C is an exploded perspective view of the robot components. Fig.7D Illustrated Figure 7C Details of I, Fig. 7E Illustrated Figure 7C Details of J; Figure 7G is a top view of the robot components; Figure 7H is an example of only following Figure 7G A cross-sectional view of an element of the EE line;

[0066] Fig.7I is an example of only following Figure 7G A cross-sectional view of an element of line FF; the robot element 720 is similar to FIG. 5A to FIG. 5B as well as FIG. 6A to FIG. 6K The robot element 520 is illustrated, and the same features have been given to FIG. 5A to FIG. 5B as well as FIG. 6A to FIG. 6K The same reference numerals are used in the drawings and will not be described further.

[0067] The annular optical component 732 includes three snap-fit ​​elements 733 configured to snap-fit ​​into engagement with the engagement edge 662 of the robot element. In the illustrated embodiment, the three snap-fit ​​elements extend inwardly from the inner circumference of the annular optical component and are provided as elastic hooks that engage with the engagement edge. The clamping element 734 is configured to provide a clamping force to the light source array 528 when the optical component is arranged above the light source array. Thereby, the clamping element can ensure that the light source array is clamped onto the mounting surface. In the illustrated embodiment, the clamping element 734 extends downward from the optical component and is wedged into the opening between the output flange and the light source array (see Figure 7H 749), whereby the lower surface of the pressing element 734 presses the light source array 528 against at least one elastic electrical contact 748 forming a part of the light source control PCB 749. The light source array includes at least one electrical contact pad, and when the elastic electrical contact and the at least one electrical contact pad are pressed against each other, the at least one electrical contact pad can establish an electrical connection between the two. As a result, the light source array can be electrically connected to the light source control PCB 749, and the pressing element provides a pressing force that ensures a stable electrical connection. Therefore, when the light source array is installed in the recess and the annular optical component is installed on the robot element, the light source array will automatically connect to the light source control PCB.

[0068] The optical component 732 includes an inner annular optical element 735 and an outer annular optical element 736. Fig.7I As illustrated (right side), the inner annular optical element is configured to diffuse at least a portion of the light 715 propagating in a direction along the central axis in many directions 717 away from the central axis. Thus, the light directed away from the central axis hits the second annular optical element at many locations, which provides a more uniform illumination of the second annular optical element, whereby the illumination of the optical element appears even more uniform. This principle, combined with the FIG. 8A to FIG. 8C To further describe.

[0069] FIG. 8A to FIG. 8C Two interconnected robotic elements 820, 221 of a robotic arm are illustrated, wherein one of the robotic elements 820 is provided as an embodiment of a robotic element according to the present invention, and wherein the at least one optical component 832 is configured to diffuse at least a portion of light propagating in a direction along the central axis in many directions away from the central axis. Fig. 8A is a cross-sectional view of the structure of two interconnected robot elements 820 and 221, Figure 8B is a top view of the robot element 820 with the optical component 832 removed, Figure 8C yes Fig. 8A The interconnected robotic elements 820, 221 are shown to be largely similar to FIG. 2A to FIG. 2C The interconnected robot elements 220, 221 illustrated are identical and the same features have been given to FIG. 2A to FIG. 2C The same reference numerals are used in the drawings and no further description is given.

[0070] In the illustrated embodiment, the optical component 832 is provided as a solid transparent annular ring having an input surface facing the light source, a diffusing element 829, and an output surface 831. The diffusing element 829 is configured to diffuse at least a portion of the light propagating along the central axis in many directions away from the central axis and toward the output surface 831. Figure 8C Three exemplary light rays are illustrated, wherein light rays 815A, 815B, 815C are at least partially diffused by diffusing element 829 in a direction away from the optical axis, as illustrated by arrows 817A, 817B, and 817C, respectively (for simplicity). Fig. 8A , only in Figure 8C Light that is diffused away from the optical axis will leave the optical component via output surface 831 and be emitted as diffuse light 817 (to simplify FIG. 8, only FIG. Fig. 8A This enables viewing of the illumination from many directions and also provides uniform illumination of the optical components. Note that the light is provided only to illustrate the principles of the invention, not to illustrate accurate and precise light.

[0071] Transparent optical components can be provided with any optically transparent material, such as glass, polymer, silicone, acrylic material. In the illustrated embodiment, the diffuse element is provided as a reflective diffuse surface, which reflects and diffuses light in many directions away from the optical axis. The reflective diffuse surface can be provided, for example, as an optical surface, which has been given a diffuse property, for example, by the following manner: sandblasting, molding, etc., so that the surface has a rough structure of scattered light, and the diffuse property scatters light in many directions away from the central optical axis, as known in the optical field. The diffuse surface can also be processed with a reflective coating, thereby reflecting more diffuse light in the direction away from the central axis. Moreover, the optical component can be provided with a material with scattering properties, wherein light is scattered inside the material. The optical component can also be provided as a plurality of optical components, which receive light propagating in the direction along the central axis from one or more light sources in the light source and diffuse the received light in the direction away from the optical axis.

[0072] The optical component may also include a diffusing element configured to diffuse light propagating in a direction away from the central axis in many directions away from the central axis. In the illustrated embodiment, the optical diffusing element is disposed at the output surface of the optical component 832, and the diffused light 817A, 817B, and 817C propagating away from the optical axis and hitting the diffusing element at the output surface is also diffused in many directions 817 ( Fig. 8A ). This enhances the diffusion effect and makes the illuminated surface appear more evenly illuminated.

[0073] In one embodiment, the inner dimensions of the annular optical component are larger than the cross-sectional dimensions of the connecting flange. This enables the annular optical component to be mounted on the robot element in a single step, for example by passing the optical component over the connecting flange so that the connecting flange passes through the opening of the optical component. The optical component can then be mounted on top of the light source array, for example by glue, screws, rivets, nails, snap mechanisms or other types of fastening mechanisms. Thus, the optical component can be mounted below the connecting flange.

[0074] In one embodiment, the outer dimensions of the annular optical component are substantially the same as the outer cross-sectional dimensions of the robotic element. In the illustrated embodiment, this is achieved by providing an output surface of the optical component with the same diameter as the robotic element.

[0075] It should be noted that the principle of diffusing at least a portion of the light propagating in the direction of the central axis in many directions away from the central axis can also be used in other embodiments described and illustrated in the present invention. FIG. 8A to FIG. 8C Replacement of optical components 832 FIG. 3A to FIG. 3C as well as FIG. 4A to FIG. 3CThe optical component 232 in FIG. 2A to FIG. 2C , FIG. 3A to FIG. 3C as well as FIG. 4A to FIG. 4C The reflective surface of the optical component 232 is modified to also have a diffuse property; FIG. 6A to FIG. 6K The inner annular optical element 635 or 7A to 7H The inner annular optical element 735 provides diffusing properties.

[0076] The present invention is beneficial for a robot arm comprising a plurality of interconnected robot elements, as the present invention enables providing an indicator light integrated into the robot arm in a seamless and aesthetically pleasing manner. It is noted that the robot element may comprise a plurality of output flanges that can be rotated and / or translated by the joint actuator, for example, one of the robot elements may comprise a first output flange that rotates / translates a first portion of the robot arm relative to the robot element, and a second output flange that rotates / translates a second portion of the robot arm relative to the robot element.

[0077] Brief Description of Figure Numbers

[0078]

[0079]

Claims

1. A robot element (220) for a robot arm (101), wherein the robot element (220) is connectable to at least another robot element (221) via a connecting flange (222) having a center axis (226), wherein the robot element comprises: ● an annular light source array (228), the annular light source array comprising a plurality of light sources (230) arranged around the central axis, wherein the plurality of light sources are configured to emit light in a direction along the central axis; ● At least one optical component (232) disposed above the array of light sources and configured to direct at least a portion of the light in a direction away from the central axis.

2. The robot element of claim 1, wherein an inner dimension of the light source array is larger than a cross-sectional dimension of the connecting flange.

3. The robotic element according to any one of claims 1 to 2, wherein the optical component comprises a diffusing element configured to diffuse light propagating in a direction away from the central axis in a number of directions (217) away from the central axis.

4. The robotic element according to claim 3, wherein the diffusing element is arranged as a part of an outer surface of the optical component.

5. The robotic element according to any one of claims 1 to 4, wherein the optical component comprises a diffusing element configured to diffuse a portion of the light propagating in a direction along the central axis in a number of directions away from the central axis.

6. The robotic element according to any one of claims 1 to 6, wherein the at least one optical component is provided as an annular optical component arranged around the central axis.

7. The robotic element of claim 6, wherein the annular optical component comprises an inner annular optical element (635, 735) and an outer annular optical element (636, 736), wherein the inner annular optical element is configured to direct light propagating in a direction along the central axis in a direction away from the central axis and toward the outer annular optical element.

8. The robotic element of claim 7, wherein the outer annular optical component includes a diffusing element configured to diffuse the light propagating in a direction away from the central axis in a number of directions away from the central axis.

9. The robotic element according to any one of claims 6 to 8, wherein the inner annular optical component includes a diffusing element configured to diffuse a portion of the light propagating in a direction along the central axis in a number of directions away from the central axis and towards the outer annular optical component.

10. The robot element according to any one of claims 6 to 9, wherein the inner dimension of the annular optical component is larger than the cross-sectional dimension of the connecting flange.

11. The robotic element according to any one of claims 6 to 10, wherein the outer dimensions of the annular optical component are substantially the same as the outer cross-sectional dimensions of the robotic element.

12. The robot element according to any one of claims 1 to 11, wherein the connecting flange is configured to be interconnected with an output flange (340) of another robot element (321), wherein the other robot element comprises a motor (341) having a motor shaft (342) rotatable about the central axis (226), and the motor shaft is connected to the output flange (340).

13. The robot element according to any one of claims 1 to 12, wherein the robot element comprises a motor (441) having a motor shaft (442) rotatable about the center axis, wherein the connecting flange is an output flange (440) connected to the motor shaft and to the further connecting flange (223) of the further robot element (221).

14. A robotic element according to any one of claims 1 to 13, wherein the array of light sources is arranged in an annular recess around the central axis.

15. The robotic element according to any one of claims 1 to 14, wherein the optical component comprises at least one resilient snap element configured to snap-fit ​​with a joining edge of the robotic element.

16. The robotic element according to any one of claims 1 to 15, wherein the optical component comprises at least one elastic force element configured to apply a force to the light source array when the light source array and the optical component are arranged on the robotic element.

17. The robot element according to any one of claims 1 to 16, wherein the light source array comprises an annular printed circuit board, the plurality of light sources being arranged on the annular printed circuit board.

18. The robot element according to any one of claims 1 to 17, wherein the robot element is a robot base configured to support a robot arm, the robot arm comprising a plurality of robot elements connecting the robot base with a robot tool flange.

19. The robot element according to any one of claims 1 to 18, wherein the robot element is a robot joint of a robot arm comprising a plurality of robot elements connecting a robot base with a robot tool flange.

20. The robotic element of any one of claims 1 to 19, wherein the annular array of light sources comprises at least 12 light sources.

21. A robot arm comprising a plurality of robot joints connecting a robot base with a robot tool flange, wherein at least one of the robot base and the robot joints is provided as a robot element according to any one of claims 1 to 20.

22. A method of providing a robotic element, the method comprising the steps of: • providing a robot element comprising a connecting flange (222) having a central axis (226); ● arranging an annular light source array (228) including a plurality of light sources (230) around the central axis, such that the plurality of light sources emit light in a direction along the central axis; ● Arranging at least one optical component (232) above the array of light sources such that the optical component directs at least a portion of the light in a direction away from the central axis.

23. The method of claim 22, wherein the step of arranging the annular light source array around the central axis includes the step of mounting the light source array to the mounting surface of the robot element by passing the light source array over the connecting flange so that the connecting flange passes through an opening of the light source array.

24. The method according to any one of claims 21 to 23, wherein the optical component is an annular optical component and the step of arranging the optical component around the central axis comprises the following steps: The annular optic is passed over the connection flange such that the connection flange passes through the central opening of the annular optic.

25. Method according to any of claims 20 to 24, comprising the step of connecting the connecting flange to a further connecting flange of a further robotic element, the further robotic element comprising the further connecting flange.

26. The method of claim 25, wherein the step of connecting the connecting flange to the further connecting flange comprises the step of mounting a clamp to the connecting flange and the further connecting flange.

Images