Integrated control unit

Abstract

The present disclosure relates to a robot (2) and a control unit (200) for such a robot. The control unit is adapted to be arranged between a base (4) of the robot and a structure (1) to which the robot is to be fastened. The control unit comprises a base plate (204) and optionally side walls (206), where the base plate is adapted to abut the structure, the base plate and / or the side walls forming an inner surface (210) of the control unit. The control unit comprises a control circuit (220) comprising a processing unit (222) having a heat dissipation surface (224), where the control circuit is arranged such that the heat dissipation surface of the processing unit abuts an inner surface of the control unit.

Description

[0001] The present disclosure relates to a robot, for example, a robot arm and / or a control unit for such a robot or robot arm. More specifically, the present disclosure relates to a control unit for integration with a robot. Background Art

[0002] Robots and in particular robot arms are widely used to perform a wide variety of automated tasks. Recently, lightweight robots have become increasingly popular in assisting human activities, for example, in production facilities. These robots are often referred to as collaborative robots or cobots.

[0003] For robots, such as robotic arms, it is desirable to enhance flexibility and facilitate more compact robotic solutions.

[0004] Furthermore, since the control of the robot may be computationally intensive, the robot electronics may generate a significant amount of heat. Furthermore, it is desirable to increase the amount of payload a particular robot can handle, which further adds to the robot generating more heat. Therefore, enhanced solutions for handling this heat generated by the robot are sought. Summary of the invention

[0005] It is an object of the present disclosure to at least provide an improvement in the prior art and / or to solve or reduce problems known in the prior art.It is another object of the present disclosure to provide an advantageous or at least alternative robot, robot assembly and / or parts thereof.

[0006] Thus, the present disclosure relates to a control unit for a robot and a robot comprising such a control unit.

[0007] Thus, a control unit for a robot is disclosed. The control unit is adapted to be arranged between a base of the robot and a structure to which the robot is to be fastened. The structure may be a factory floor or another structure from which the robot is intended to work.

[0008] In addition, a robot is disclosed. The robot includes a control unit that is arranged below a base of the robot, such as positioned between the base of the robot and a structure to which the robot is to be fastened (e.g., a factory floor or another structure from which the robot is intended to work). For example, the control unit can be arranged between the base of the robot and the structure to which the robot is to be fastened.

[0009] The control unit comprises a base plate and optionally a side wall. The side wall may be an integrally formed side wall. Alternatively, the side wall may be formed by a plurality of side wall members. The base plate may be adapted to abut against the structure so as to facilitate heat transfer between the control unit and the structure. The base plate and / or the side wall may form an inner surface of the control unit. The control unit may comprise a control unit housing. The control unit housing may be formed by the base plate and optionally the side wall. The inner surface may be an inner surface of the control unit housing.

[0010] The sidewalls may be integrally formed with the bottom plate, for example, the sidewalls and bottom plate may be cast as a single piece and / or may be machined from a single piece of material. Integrally forming the sidewalls and bottom plate may promote enhanced heat transfer between the sidewalls and bottom plate.

[0011] The base plate and / or the side walls may be made of a material having a thermal conductivity of at least 100 W / (m·K), such as at least 200 W / (m·K), at room temperature.

[0012] The bottom plate and / or the side wall may be made of aluminum. Alternatively, the bottom plate and / or the side wall may be made of other materials (such as copper). Alternatively, the bottom plate and / or the side wall may be made of alloys of different materials (e.g., including aluminum and / or copper), and alloys of different materials may be used for the bottom plate and / or the side wall.

[0013] The control unit may include a control circuit. The control circuit may include a processing unit. The processing unit has a heat dissipation surface. The control circuit may be arranged in a control unit housing. The control circuit may be arranged so that the heat dissipation surface of the processing unit abuts (e.g., contacts) an inner surface of the control unit so as to promote heat transfer between the processing unit and the base plate and / or the side wall. For example, the heat dissipation surface of the processing unit may abut (e.g., contact) the base plate and / or the side wall of the control unit. The heat dissipation surface of the processing unit may abut and / or contact the inner surface via a heat transfer element (e.g., a heat transfer block). The heat transfer element may be made of a material having a thermal conductivity of at least 100 W / (m·K) (e.g., at least 200 W / (m·K)) at room temperature. For example, the heat transfer element may be made of one or more alloys of aluminum, copper, or different materials (e.g., including aluminum and / or copper). The heat transfer element may be made of the same material as the base plate and / or the side wall. In some examples, the heat transfer element may form a core member of the base plate and / or the side wall.

[0014] The control unit may include an energy consumption unit. The energy consumption unit may be used for the purpose of processing excess power on the power bus of the robot and / or from the motor of the robot, which excess power may be generated in the case of the robot's motor braking ongoing movement. The energy consumption unit may include one or more resistors. One or more resistors of the energy consumption unit may be suitable for processing excess power by converting excess power into heat. The energy consumption unit may include a heat dissipation surface. The heat dissipation surface of the energy consumption unit may be the surface of one or more resistors of the energy consumption unit. The energy consumption unit may be arranged in the control unit housing. The energy consumption unit may be arranged so that the heat dissipation surface of the energy consumption unit abuts (e.g., contacts) the inner surface of the control unit so as to promote heat transfer between the energy consumption unit and the bottom plate and / or side walls, such as heat transfer between one or more resistors of the energy consumption unit and the bottom plate and / or side walls. Like the heat dissipation surface of the processing unit, the heat dissipation surface of the energy consumption unit may be adjacent to and / or contact the inner surface via a heat transfer element (which may be the same heat transfer element as described above with respect to the heat dissipation surface of the processing unit or a separate heat transfer element) (such as a heat transfer block).

[0015] The control unit may include a power supply unit. The power supply unit may be suitable for supplying power to the robot, such as electrical components of the robot, such as motors and / or circuits. The power supply unit may be arranged in a control unit housing. The power supply unit may be arranged with a heat dissipation surface of the power supply unit adjacent to (e.g., in contact with) an inner surface of the control unit so as to promote heat transfer between the power supply unit and the base plate and / or the sidewalls. Similar to the heat dissipation surface of the processing unit, the heat dissipation surface of the power supply unit may be adjacent to and / or contact the inner surface via a heat transfer element (which may be the same heat transfer element as described above with respect to the heat dissipation surface of the processing unit or a separate heat transfer element) (such as a heat transfer block).

[0016] The control unit may include one or more (such as, multiple) electrical control unit connectors (e.g., sockets or plugs). One or more or one electrical control unit connector may include a first electrical control unit connector, a second electrical control unit connector, and / or a third electrical control unit connector. Each of the one or more electrical control unit connectors may include a corresponding control unit terminal. The first electrical control unit connector, the second electrical control unit connector, and / or the third electrical control unit connector may be arranged to pass through the side wall. The first electrical control unit connector, the second electrical control unit connector, and / or the third electrical control unit connector may be suitable for coupling with a teach pendant connector of a teach pendant, for example, for controlling and / or programming a robot. The first electrical control unit connector, the second electrical control unit connector, and / or the third electrical control unit connector may be an Ethernet connector or a USB connector. The first electrical control unit connector, the second electrical control unit connector, and / or the third electrical control unit connector may be a power connector suitable for receiving power for powering the robot.

[0017] The robot includes one or more or more joint assemblies, for example, a first joint assembly and a second joint assembly. The robot also includes one or more or more motors, for example, a first main motor, a first auxiliary motor, a second main motor and / or a second auxiliary motor. The plurality of motors may be at least six motors, such as seven motors.

[0018] Each of the plurality of joint assemblies may include a joint housing and a primary motor connecting the joint housing to a primary connecting rod. The primary motor may be adapted to rotate the primary connecting rod relative to the joint housing about a primary axis. The joint assembly may also include a secondary motor connecting the joint housing to a secondary connecting rod. The secondary motor may be adapted to rotate the secondary connecting rod relative to the joint housing about a secondary axis. The secondary axis may not be parallel to the primary axis.

[0019] The first joint assembly includes a first joint housing and a first main motor. The first main motor connects the first joint housing with the first main connecting rod. The first main motor is suitable for rotating the first main connecting rod relative to the first joint housing around a first main axis. The first joint assembly may include a first secondary motor. The first secondary motor may connect the first joint housing with the first secondary connecting rod. The first secondary motor may be suitable for rotating the first secondary connecting rod relative to the first joint housing around a first secondary axis. The first secondary axis may be non-parallel to the first main axis.

[0020] The second joint assembly may include a second joint housing and a second main motor. The second main motor may connect the second joint housing to the second main connecting rod. The second main motor may be adapted to rotate the second main connecting rod relative to the second joint housing around a second main axis. The second joint assembly may include a second secondary motor. The second secondary motor may connect the second joint housing to the second secondary connecting rod. The second secondary motor may be adapted to rotate the second secondary connecting rod relative to the second joint housing around a second secondary axis. The second secondary axis may not be parallel to the second main axis.

[0021] The primary link associated with one joint assembly may be the secondary link associated with another joint assembly. For example, the second primary link and the first secondary link may be the same link.

[0022] The first main link may extend between the base of the robot and the first joint assembly.The second main link and / or the first secondary link may extend between the first joint assembly and the second joint assembly.

[0023] A processing unit, such as a processing unit of a control circuit, may be adapted to control the operation of one or more motors, such as a plurality of motors, to achieve a desired movement of the robot.

[0024] The robot may include one or more (such as, multiple) electrical base connectors (e.g., sockets or plugs), which may be arranged at the base of the robot. The one or more electrical base connectors may include a first electrical base connector and / or a second electrical base connector. The first electrical base connector may be a power connector suitable for receiving electricity for powering the robot. In such an example, the control unit may be powered via the first electrical base connector. The second electrical base connector may be an I / O port.

[0025] The control unit may include one or more attachment holes. The attachment hole may be a through hole, for example allowing a fastening bolt to extend therethrough. The robot may include a fastening bolt. The fastening bolt may extend from the base of the robot, through the attachment hole of the control unit, and reach the structure to which the robot is to be fastened. The fastening bolt may be fastened to the structure. The fastening bolt may fasten the base and / or the control unit to the structure. Preferably, the fastening bolt extends from the base through the attachment hole of the control unit and is fastened to the structure. Therefore, the thermal contact between the base and the control unit and between the control unit and the structure can be enhanced, and the heat conduction between the base and the control unit and between the control unit and the structure can be enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Embodiments of the present disclosure will be described in more detail below with respect to the accompanying drawings. The drawings illustrate one way of implementing the present disclosure and should not be interpreted as limiting other possible embodiments falling within the scope of the attached claim set.

[0027] Figure 1 is a schematic diagram showing an exemplary robot,

[0028] Figure 2 is a schematic diagram showing an exemplary joint assembly,

[0029] Figure 3 and Figure 4 An exemplary control unit is schematically shown,

[0030] Figures 5 to 7 schematically shows a simplified cross-sectional view of an exemplary control unit, and

[0031] Fig. 8A and Figure 8B An exemplary control unit is schematically shown. DETAILED DESCRIPTION

[0032] When relevant, various exemplary embodiments and details are described below with reference to the accompanying drawings. It should be noted that the drawings may be drawn to scale or not to scale, and that elements of similar structure or function are represented by the same reference numerals in all drawings. It should also be noted that the drawings are intended only to facilitate the description of the embodiments. They are not intended to serve as an exhaustive description of the invention or as a limitation on the scope of the invention. In addition, the illustrated embodiments do not need to have all the aspects or advantages shown. The aspects or advantages described in conjunction with a particular embodiment are not necessarily limited to that embodiment, and may be practiced in any other embodiment, even if not shown as such, or if not so explicitly described.

[0033] Figure 1 is a schematic diagram showing an exemplary robot 2, which in this example is a robot arm, more specifically a seven-axis robot arm. In this example, the robot 2 is fastened to a structure 1, which may be a factory floor or another structure from which the robot 2 is intended to work. In some examples, the structure 1 may be part of a movable unit, such as a mobile robot or vehicle, which will allow the robot 2 to move between different locations.

[0034] The robot 2 includes a plurality of joint assemblies, including a first joint assembly 8, a second joint assembly 12, a third joint assembly 16, and a fourth joint assembly 20. In other examples, the robot may include fewer or more joint assemblies. For example, in another configuration, the robot 2 may include only one joint assembly, such as the first joint assembly 8.

[0035] The robot 2 includes a plurality of links, including a first link 6, a second link 10, a third link 14, and a fourth link 18. The links extend between the joint assemblies. For example, the first link 6 extends between the base 4 of the robot 2 and the first joint assembly 8. The second link 10 extends between the first joint assembly 8 and the second joint assembly 12. The third link 14 extends between the second joint assembly 12 and the third joint assembly 16. The fourth link 18 extends between the third joint assembly 16 and the fourth joint assembly 20.

[0036] Each joint assembly 8, 12, 16, 20 is suitable for rotating one or more corresponding links relative to the joint assembly around an axis. For example, the first joint assembly 8 is suitable for rotating the first link 6 relative to the first joint assembly 8 around the first axis Ax1. The first joint assembly 8 is suitable for rotating the second link 10 relative to the first joint assembly 8 around the second axis Ax2. The second axis Ax2 is not parallel to the first axis Ax1. The second joint assembly 12 is suitable for rotating the second link 10 relative to the second joint assembly 12 around the third axis Ax3. The second joint assembly 12 is suitable for rotating the third link 14 relative to the second joint assembly 12 around the fourth axis Ax4. The fourth axis Ax4 is not parallel to the third axis Ax3. The third joint assembly 16 is suitable for rotating the third link 14 relative to the third joint assembly 16 around the fifth axis Ax5. The third joint assembly 16 is suitable for rotating the fourth link 18 relative to the third joint assembly 16 around the sixth axis Ax6. The sixth axis Ax6 is not parallel to the fifth axis Ax5. The fourth joint assembly 20 is adapted to rotate the fourth link 18 about the seventh axis Ax7 relative to the fourth joint assembly 20. The robot 2 can be placed in some configurations where none of the seven axes Ax1-Ax7 are parallel. However, in some other configurations, two or more of the seven axes may be parallel.

[0037] Although described with respect to a robot 2 operable with respect to seven axes, the present disclosure may alternatively be applied to a robot having only six axes, or even fewer axes. Figure 1In the example shown, the movement around the third axis Ax3 can be omitted to obtain a robot operable relative to six axes. In this case, the first joint assembly 8 can be adapted to rotate the first link 6 relative to the first joint assembly 8 around the first axis Ax1, and to rotate the second link 10 relative to the first joint assembly 8 around the second axis Ax2. The second joint assembly 12 can be adapted to rotate the third link 14 relative to the second joint assembly 12 around the fourth axis Ax4, and to rotate the third link 14 relative to the second joint assembly 12 around the fifth axis Ax5. The third joint assembly 16 can be adapted to rotate the third link 14 relative to the third joint assembly 16 around the sixth axis Ax6, and to rotate the fourth link 18 relative to the third joint assembly 16 around the seventh axis Ax7. The fourth joint assembly 20 can be omitted. Therefore, according to the present disclosure, a robot operable relative to six axes can be implemented with only three joint assemblies.

[0038] As shown, the robot 2 may include a control unit 200. The control unit 200 is adapted to be arranged between the base 4 of the robot 2 and the structure 1. The control unit 200 may be provided as an additional unit. Thus, in some examples, the base 4 may be fastened to the structure 1 so as to fasten the robot 2 to the structure 1, and an external control unit may be provided to control the robot 2. However, as shown, the control unit 200 may be arranged between the base 4 and the structure 1. The control unit 200 may include circuitry adapted to control the operation of the robot 2 to achieve the desired movement of the robot 2, such as one or more processing units.

[0039] The robot 2 can be fastened to the structure 1 by the fastening bolts 22. The fastening bolts 22 can extend from the base 4 through the attachment holes of the control unit 200 to the structure 1, thereby fastening both the robot and the control unit 200 to the structure 1. Preferably, the fastening bolts 22 extend from the base 4 through the attachment holes of the control unit 200 and are fastened in the structure 1. Thereby, the base 4 is pressed against the top of the control unit 200, and the control unit 200 is pressed against the structure 1. Therefore, the thermal contact between the base 4 and the control unit 200 and between the control unit 200 and the structure 1 is enhanced, and the heat conduction between the base 4 and the control unit 200 and between the control unit 200 and the structure 1 is enhanced.

[0040] The robot may include a first electrical base connector 24 arranged at the base 4 of the robot 2. In some examples, the first electrical base connector 24 may be a power connector suitable for receiving electricity for powering the robot 2. The robot may include a second electrical base connector 26 arranged at the base 4 of the robot 2. In some examples, the second electrical base connector 26 may be an I / O port. As shown, the control unit 200 may also include an electrical control unit connector, which may be suitable for connecting to a teach pendant connector of a teach pendant for controlling and / or programming the robot. Note that the connector shown as being arranged at the base 4 of the robot in this example may alternatively be provided in the control unit 200, and vice versa.

[0041] Figure 2 is a schematic diagram showing an exemplary joint assembly 90, which may be as shown in FIG. Figure 1 Any of the first joint assembly 8 , the second joint assembly 12 , or the third joint assembly 16 shown.

[0042] The joint assembly 90 includes a joint housing 100. The joint assembly 90 includes a joint housing 100 and a main link 92 (eg, Figure 1 The main motor 102 is connected to the first link 6, the second link 10 or the third link 14. The main motor 102 is suitable for moving the main link 92 relative to the joint housing 100 around the main axis (for example, Figure 1 The joint assembly 90 shown includes a joint housing 100 and a secondary link 94 (eg, Figure 1 The auxiliary motor 104 is adapted to move the auxiliary link 94 relative to the joint housing 100 about a secondary axis (e.g., Figure 1 The joint assembly 90 includes a circuit 106, such as a first PCB, housed in the joint housing 100. The circuit 106 is suitable for controlling the main motor 102 and the auxiliary motor 104. The main motor 102 and / or the auxiliary motor 104 may be a permanent magnet AC motor. In addition, the main motor 102 and / or the auxiliary motor 104 may include a gear assembly, such as an integral gear, such as a strain wave gear. Therefore, the main motor 102 and / or the auxiliary motor 104 may be a gear motor.

[0043] Figure 3 and Figure 4 Schematically shows that Figure 1 The control unit 200 is preferably arranged between a base of the robot and a structure to which the robot is to be fastened, such as Figure 1 shown.

[0044] The control unit housing 202 includes a bottom plate 204 and a side wall 206. The side wall 206 may be an integrally formed side wall, or may be composed of a plurality of side wall members, such as four side wall members. The bottom plate 204 and the side wall 206 form the control unit housing 202. The control unit 200 and / or the control unit housing 202 may also include a top plate 208, such as Figure 4 The bottom plate 204 is adapted to abut (eg, contact) a structure to which the robot is to be fastened. The bottom plate and / or the side walls form an inner surface 210 of the control unit 200 .

[0045] The control unit 200 may be adapted to facilitate heat transfer from the robot (such as from the control unit 200) to a structure to which the robot is fastened. For example, the sidewalls 206 and the bottom plate 204 may be integrally formed, for example may be cast as a single piece and / or may be machined from a single piece of material. Integrally forming the sidewalls 206 and the bottom plate 204 may facilitate enhanced heat transfer between the sidewalls 206 and the bottom plate 204. Additionally or alternatively, the bottom plate 204 and / or the sidewalls 206 and / or optionally the top plate 208 may be made of aluminum. Alternatively, other materials (such as copper) or alloys of different materials (e.g. including aluminum and / or copper) may be used for the control unit housing 202 or a control unit housing member. The material used preferably has a high thermal conductivity, such as at least 100 W / (m·K).

[0046] The control unit 200 includes a control circuit 220. The control circuit 220 may be a PCB. The control circuit 220 may include a processing unit.

[0047] The control unit 200 may include an energy dissipation unit 230. The energy dissipation unit 230 may be used for the purpose of handling excess power on the robot's power bus and / or from the robot's motors, which may be generated in the event that the robot's motors brake ongoing motion. The energy dissipation unit 230 may include one or more resistors 232, which may handle such excess power by converting the excess power into heat. In the example shown, the energy dissipation unit 230 includes four resistors 232. In other examples, the energy dissipation unit 230 may include one resistor 232 for each motor of the robot's joint assembly, i.e., seven resistors 232 for a seven-axis robot.

[0048] The control unit 200 may include a power supply unit 240. The power supply unit 240 may be suitable for powering the robot (such as electrical components of the robot). The power supply unit 240 may be connected to an input power source, such as a wall socket, for example, supplying 230V AC. In such an example, the power supply unit 240 may be configured to convert the 230V AC input to provide 12V, 24V and / or 48V DC to the components of the robot. In other examples, the power supply unit 240 may be connected to an external battery-powered power source, for example, supplying 48VDC. In such an example, the power supply unit 240 may be configured to also provide 12V and / or 24V to some components of the robot. In some examples, the power supply unit 240 may include an internal battery.

[0049] The control unit 200 may include one or more electrical control unit connectors 214, 216, 218, for example, including a first electrical control unit connector 214, a second electrical control unit connector 216 and / or a third electrical control unit connector 218. The electrical control unit connectors 214, 216, 218 may include a plurality of corresponding control unit terminals 215, 217, 219. The first electrical control unit connector 214 may include a first control unit terminal 215. The second electrical control unit connector 216 may include a second control unit terminal 217. The third electrical control unit connector 218 may include a third control unit terminal 219.

[0050] The first electrical control unit connector 214 may be adapted to be coupled to a teach pendant connector of a teach pendant for controlling and / or programming the robot. The second electrical control unit connector 216 may be a power connector for connecting a power chord for receiving power for powering the robot. For example, the power connector may be coupled to the power supply unit 240. The third electrical control unit connector 218 may be an Ethernet connector or a USB connector. One or more of the first electrical control unit connector, the second electrical control unit connector, or the third electrical control unit connector may be omitted, or an additional electrical control unit connector may be additionally included.

[0051] As shown, the first electrical control unit connector 214, the second electrical control unit connector 216, and / or the third electrical control unit connector 218 can be arranged to pass through the side wall 202, as shown. The electrical control unit connectors 214, 216, 218 can be arranged to pass through the same surface of the side wall 202, as shown. However, in other examples, the electrical control unit connectors 214, 216, 218 can be arranged to pass through different surfaces of the side wall 202.

[0052] The control unit 200 may include an attachment hole 212. The attachment hole allows the robot to be fastened on top of the control unit 200 and to the structure to which the robot is to be fastened. For example, the attachment hole 212 may be a through hole, allowing the bolt 22 (see FIG. 214 ) to be fastened. Figure 1 ) extends therethrough, thereby fastening both the control unit 200 and the robot to the structure. Preferably, the fastening bolts 22 extend through the attachment holes 212 of the control unit 200 and are fastened to the structure 1, so that the base 4 of the robot 2 is pressed against the top of the control unit 200, and the control unit 200 is pressed against the structure 1.

[0053] Figure 5 A simplified cross-sectional view of an exemplary control unit 200 including a control circuit 220 is schematically shown. The control circuit 220 includes a processing unit 222. The processing unit 222 can be adapted to control the operation of a plurality of motors of the robot, for example, to achieve a desired movement of the robot. For example, the processing unit 222 can process trajectory planning for the robot. The processing unit 222 can send data to individual processing units (such as the processing units of each joint assembly) of the robot. Figure 2 The processing unit of the circuit 106 sends instructions and receives information from it.

[0054] The processing unit 222 has a heat dissipation surface 224. The heat dissipation surface 224 of the processing unit 222 abuts against the inner surface 210 of the control unit 200. Therefore, the control circuit 220 is arranged in the control unit housing 202, and the heat dissipation surface 224 of the processing unit 222 abuts against the inner surface 210. Therefore, the heat generated by the processing unit 222 can be transferred to the control unit housing 202 of the control unit 200, and further transferred to the structure to which the robot is fastened.

[0055] Figure 6 A simplified cross-sectional view of an exemplary control unit 200 including an energy consumption unit 230 is schematically shown. The energy consumption unit may have one or more heat dissipation surfaces 234. As previously described, the energy consumption unit 230 may include one or more resistors 232. These resistors 232 may generate a large amount of heat. The one or more heat dissipation surfaces 234 of the energy consumption unit 230 may be surfaces of the resistors 232. The heat dissipation surfaces 234 of the energy consumption unit 230 are adjacent to the inner surface 210 of the control unit 200. Therefore, the energy consumption unit 230 is arranged in the control unit housing 202, and the heat dissipation surfaces 234 of the energy consumption unit 230 are adjacent to the inner surface 210. Therefore, the heat generated by the energy consumption unit 230 (e.g., from the resistors 232 of the energy consumption unit 230) can be transferred to the control unit housing 202 of the control unit 200, and then transferred to the structure to which the robot is fastened.

[0056] Figure 7A simplified cross-sectional view of an exemplary control unit 200 including a power supply unit 240 is schematically shown. The power supply unit 240 has a heat dissipation surface 244. The heat dissipation surface 244 of the power supply unit 240 abuts against the inner surface 210 of the control unit 200. Thus, the power supply unit 240 is arranged in the control unit housing 202, and the heat dissipation surface 244 of the power supply unit 240 abuts against the inner surface 210. Thus, the heat generated by the power supply unit 240 can be transferred to the control unit housing 202 of the control unit 200, and further transferred to the structure to which the robot is fastened.

[0057] exist Figures 5 to 7 In the example of FIG. 2 , the heat dissipation surfaces 224 , 234 , 244 abut the base plate 204 . However, in other examples, one or more of the heat dissipation surfaces 224 , 234 , 244 may abut the sidewall 206 .

[0058] Fig. 8A and Figure 8B An exemplary control unit 200 is schematically shown, which is suitable for being arranged between a base 4 of the robot and a structure to which the robot is to be fastened, such as Figure 1 As shown. Fig. 8A and Figure 8B In the example of FIG. 2 , the side wall 206 is formed by the base 4 of the robot.

[0059] Furthermore, the heat dissipation surface of the processing unit 222 adjoins the inner surface via a heat transfer element 226. Heat transfer element 226. The heat transfer element 226 may be made of the same material as the base plate 204 and / or may form a core component of the base plate 204.

[0060] In the example shown, the control unit 200 also includes an I / O board 250 located between the control circuit 220 including the processing unit 222 and the base plate 204. The I / O board includes an opening 252 for the heat transfer element 226 to extend therethrough.

[0061] The present disclosure has been described with reference to the preferred embodiments. However, the scope of the present invention is not limited to the embodiments shown, and changes and modifications may be made without departing from the scope of the present invention.

[0062] Throughout this disclosure, the use of the terms "first," "second," "third," "fourth," "primary," "secondary," "third," etc. does not imply any particular order or importance, but is included to identify the various elements. In addition, the labeling of the first element does not imply the presence of the second element, and vice versa.

[0063] Some exemplary embodiments of the present disclosure are set forth in the following bulleted list:

[0064] 1. A control unit for a robot, the control unit being adapted to be arranged between a base of the robot and a structure to which the robot is to be fastened, the control unit comprising a base plate and optionally side walls, wherein the base plate is adapted to abut against the structure, the base plate and / or the side walls forming an inner surface of the control unit.

[0065] 2. A control unit according to item 1, comprising a control circuit including a processing unit having a heat dissipation surface, wherein the control circuit is arranged so that the heat dissipation surface of the processing unit abuts an inner surface of the control unit.

[0066] 3. The control unit according to item 2, wherein the heat dissipation surface of the processing unit adjoins the inner surface via a heat transfer element.

[0067] 4. A control unit according to item 3, wherein the heat transfer element is a core component of the bottom plate and / or the side wall.

[0068] 5. A control unit according to any of the preceding items, wherein the control unit comprises a control unit housing, the control unit housing comprising the base plate and optional side walls.

[0069] 6. A control unit according to any of the preceding items, wherein the side wall is formed integrally with the bottom plate.

[0070] 7. A control unit according to any of the preceding items, wherein the base plate is made of aluminium.

[0071] 8. A control unit according to any of the preceding items, wherein the base plate is made of a material having a thermal conductivity of at least 100 W / (m·K), such as at least 200 W / (m·K) at room temperature.

[0072] 9. A control unit according to any one of the preceding items, comprising an energy consumption unit, wherein the energy consumption unit is arranged such that a heat dissipation surface of the energy consumption unit abuts an inner surface of the control unit.

[0073] 10. The control unit according to any of the preceding items, comprising a power supply unit, wherein the power supply unit is arranged such that a heat dissipation surface of the power supply unit abuts the inner surface of the control unit.

[0074] 11. A control unit according to any one of the preceding items, comprising a first electrical control unit connector, wherein the first electrical control unit connector is arranged to pass through the side wall, optionally wherein the first electrical control unit connector is suitable for connecting to a teach pendant connector of a teach pendant for controlling and / or programming the robot.

[0075] 12. A control unit according to any one of the preceding items, comprising a second electrical control unit connector, wherein the second electrical control unit connector is arranged to pass through the side wall, optionally wherein the second electrical control unit connector is an Ethernet connector or a USB connector.

[0076] 13. A robot, comprising a plurality of joint assemblies, the plurality of joint assemblies comprising a first joint assembly and a second joint assembly, the robot further comprising a plurality of motors, the plurality of motors comprising a first main motor and a second main motor,

[0077] The first joint assembly includes a first joint housing and the first main motor connecting the first joint housing with a first main link, wherein the first main motor is adapted to rotate the first main link relative to the first joint housing around a first main axis.

[0078] The second joint assembly includes a second joint housing and a second main motor connecting the second joint housing with a second main connecting rod, wherein the second main motor is adapted to rotate the second main connecting rod relative to the second joint housing around a second main axis.

[0079] The robot comprises a control unit according to any of the preceding items, the control unit being arranged below a base of the robot so as to be positioned between the base of the robot and a structure to which the robot is to be fastened.

[0080] 14. The robot according to item 13 referring to item 2, wherein the processing unit is adapted to control the operation of the plurality of motors to achieve the desired movement of the robot.

[0081] 15. A robot according to any one of items 13 to 14, wherein the first main link extends between a base and the first joint assembly of the robot.

[0082] 16. The robot according to any one of items 13 to 15, wherein the second main link extends between the first joint assembly and the second joint assembly.

[0083] 17. A robot according to any one of items 13 to 16, wherein the robot comprises a first electrical base connector, wherein the first electrical base connector is arranged at the base of the robot, and optionally, wherein the first electrical base connector is a power connector suitable for receiving electrical power for powering the robot.

[0084] 18. A robot according to any one of items 13 to 17, comprising a second electrical base connector, wherein the second electrical base connector is arranged at the base of the robot, optionally wherein the second electrical base connector is an I / O port.

[0085] Reference List

[0086] 2 Robots

[0087] 4 Base

[0088] 6 First connecting rod

[0089] 8 First joint assembly

[0090] 10 Second connecting rod

[0091] 12 Second joint assembly

[0092] 14 Third connecting rod

[0093] 16 Third joint assembly

[0094] 18 Fourth connecting rod

[0095] 20 Fourth joint assembly

[0096] 22 Fastening bolts

[0097] 24 First electrical base connector

[0098] 26 Second electrical base connector

[0099] 90 Joint Assembly

[0100] 92 Main connecting rod

[0101] 94 Auxiliary connecting rod

[0102] 100 Joint housing

[0103] 102 Main motor

[0104] 104 Auxiliary motor

[0105] 106 Circuit

[0106] 200 Control Unit

[0107] 202 Control unit housing

[0108] 204 Base Plate

[0109] 206 Sidewall

[0110] 208 Top Plate

[0111] 210 Inner surface

[0112] 212 Attachment holes

[0113] 214 First electrical control unit connector

[0114] 215 First control unit terminal

[0115] 216 Second electrical control unit connector

[0116] 217 Second control unit terminal

[0117] 218 Third electrical control unit connector

[0118] 219 Third control unit terminal

[0119] 220 Control circuit

[0120] 222 Processing Units

[0121] 224 heat dissipation surface

[0122] 226 Heat transfer element

[0123] 230 Energy Consumption Units

[0124] 232 Resistors

[0125] 234 heat dissipation surface

[0126] 240 Power supply unit

[0127] 244 heat dissipation surface

[0128] 250 I / O board

[0129] 252 Opening

[0130] Ax1 First axis

[0131] Ax2 Second axis

[0132] Ax3 The third axis

[0133] Ax4 Fourth axis

[0134] Ax5 Fifth Axis

[0135] Ax6 Sixth Axis

[0136] Ax7 Seventh Axis

Claims

1. A control unit for a robot, the control unit being adapted to be arranged between a base of the robot and a structure to which the robot is to be fastened, the control unit comprising: a base plate and optionally side walls, wherein the base plate is adapted to abut against the structure, the base plate and optionally the side walls forming an inner surface of the control unit, A control circuit comprises a processing unit having a heat dissipation surface, wherein the control circuit is arranged such that the heat dissipation surface of the processing unit abuts the inner surface of the control unit.

2. The control unit according to claim 1, wherein: The control unit comprises a control unit housing comprising the base plate and optionally the side walls.

3. A control unit according to any one of the preceding claims, wherein: The side wall is formed integrally with the bottom plate.

4. A control unit according to any one of the preceding claims, wherein: The bottom plate is made of aluminum.

5. A control unit according to any one of the preceding claims, wherein: The base plate is made of a material having a thermal conductivity of at least 100 W / (m·K), such as at least 200 W / (m·K) at room temperature.

6. A control unit according to any one of the preceding claims, comprising an energy consumption unit, wherein: The energy consumption unit is arranged such that a heat dissipation surface of the energy consumption unit abuts the inner surface of the control unit.

7. A control unit according to any one of the preceding claims, comprising a power supply unit, wherein: The power supply unit is arranged such that a heat dissipation surface of the power supply unit abuts against the inner surface of the control unit.

8. A control unit according to any one of the preceding claims, comprising a first electrical control unit connector, wherein: The first electrical control unit connector is arranged to pass through the side wall, optionally, wherein the first electrical control unit connector is suitable for connecting with a teach pendant connector of a teach pendant for controlling the robot and / or programming the robot.

9. A control unit according to any preceding claim, comprising a second electrical control unit connector, wherein: The second electrical control unit connector is arranged to pass through the side wall, optionally wherein the second electrical control unit connector is an Ethernet connector or a USB connector.

10. A control unit according to any one of the preceding claims, wherein: The heat dissipation surface of the processing unit adjoins the inner surface via a heat transfer element.

11. The control unit according to claim 10, wherein: The heat transfer element is a core component of the bottom plate and / or the side wall.

12. A robot, comprising a plurality of joint assemblies, the plurality of joint assemblies comprising a first joint assembly and a second joint assembly, the robot further comprising a plurality of motors, the plurality of motors comprising a first main motor and a second main motor, The first joint assembly includes a first joint housing and the first main motor connecting the first joint housing with a first main link, wherein the first main motor is adapted to rotate the first main link relative to the first joint housing around a first main axis. The second joint assembly includes a second joint housing and a second main motor connecting the second joint housing with a second main connecting rod, wherein the second main motor is adapted to rotate the second main connecting rod relative to the second joint housing around a second main axis. The robot comprises a control unit according to any of the preceding claims, the control unit being arranged below a base of the robot so as to be positioned between the base of the robot and a structure to which the robot is to be fastened.

13. The robot according to claim 12, wherein: The processing unit is adapted to control the operation of the plurality of motors to achieve a desired movement of the robot.

14. The robot according to any one of claims 12 to 13, wherein: The first main link extends between a base of the robot and the first joint assembly.

15. The robot according to any one of claims 12 to 14, wherein: The second main link extends between the first joint assembly and the second joint assembly.

16. The robot according to any one of claims 12 to 15, comprising a first electrical base connector, wherein: The first electrical base connector is arranged at the base of the robot, optionally wherein the first electrical base connector is a power connector adapted to receive electrical power for powering the robot.

17. The robot according to any one of claims 12 to 16, comprising a second electrical base connector, wherein: The second electrical base connector is arranged at the base of the robot, optionally wherein the second electrical base connector is an I / O port.

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