Motorised robot arm module equipped with a rotary contactor for transferring energy and / or data

Abstract

The invention relates to a motorised arm module (101) for a robot arm of an industrial robot, having a hollow casing (40) with a first end (1) provided with a fixed connector (10) and a second end (2) provided with a rotary connector (20). For the transmission of data and / or electrical energy compatible with the rotation, the arm module comprises a flat rotary contactor, made up of a first disc (27) and a second disc (26) which are coaxial and adjacent along the rotation axis (Axy) of the rotary connector (20). The discs comprise respective electrical contact faces facing each other, and opposite faces for electrically connecting the rotary contactor to the fixed connector and to the rotary connector (20) or to an on-board electronic board (50), respectively. The robotic arm module thus has reduced axial dimensions, regardless of the number of wires required.

Description

[0001] Motorized robot arm module equipped with a rotary contactor for energy and / or data transfer

[0002] Technical field

[0003]

[0001] The present invention relates to the field of robotics and concerns a motorized robot arm module equipped with a rotating contactor for the transfer of energy and / or data, a modular robot arm as well as an industrial robot incorporating it.

[0004]

[0002] It finds applications, in particular, in industrial robots provided with a modular arm which has a plurality of arm modules, among which motorized arm modules which each give the robot arm a degree of freedom in space.

[0005] Technological background

[0006]

[0003] An industrial robot is a programmable machine for handling, assembling and / or processing parts. Robots are used in industrial systems to spare people from dangerous, arduous and / or repetitive activities, to improve the quality of goods produced by the robotic system, to increase efficiency and to reduce the operating costs of the system.

[0007]

[0004] An industrial robot generally comprises a fixed robot base, and a modular robot arm, which extends from the robot base. The robot arm has a plurality of arm modules, which can be coupled together and uncoupled, as required. At least some of the arm modules are articulated, in that they can pivot and / or rotate relative to the robot base and / or to the other arm modules by which they are coupled to the robot base. This articulation is achieved by means of a motor embedded in the arm module. Therefore, in this disclosure, a motorized arm module will also be referred to as an articulated arm module. The robot arm also comprises a terminal actuator arranged at the end of the robot arm.

[0005] Thus, the modular robot arm comprises a plurality of arm modules coupled in series with a proximal arm module on the side of the robot base, a distal arm module at the end of the robot arm, and generally one or more intermediate arm modules arranged between these two end modules. The actuator is carried by the distal arm module (i.e. the one furthest from the robot base). It may be a single tool, for example a paint gun for a painting robot. It may also be a tool holder adapted to carry a specific tool from a set of interchangeable tools depending on the operation or operations to be carried out by the robot.Each intermediate arm module, since it is articulated by its own drive means, provides the robot arm with an additional degree of freedom (or "axis"), which increases its working capacity by complicating the stroke that can be given to the tool actuated by the distal arm module.

[0008]

[0006] The industrial robot also comprises a local control unit for the robot arm and / or, where appropriate, a global control unit for the industrial robot and / or the robotic system incorporating it. Furthermore, industrial robots are generally equipped with, or associated with, different sensors, and are programmed to carry out a work process autonomously (i.e., in a closed loop) and / or to vary the execution of a task depending on the information provided by the sensors.

[0009]

[0007] All of the aforementioned robotic components are connected or coupled together, in order to receive appropriate control information from the control unit, and / or to send back to the control unit useful information coming in particular (but not only) from the sensors: data representative of measurements carried out by the sensors, signaling data, diagnostic supervision data, etc. These data transfers obey a specific communication protocol. There are a certain number of such protocols, which are standardized and are associated with a suitable physical transmission channel. These protocols are often referred to as "fieldbus", in reference to the industrial context of their use.

[0010]

[0008] In addition to data, the robot arm modules of a modular robot arm must generally receive and possibly transmit energy necessary for their operation, and / or that of another arm module to which they are coupled, and / or the tool carried by the distal arm module. This may be, in particular, electrical energy or fluid energy (compressed air, pressurized oil, for example).

[0011]

[0009] In other words, each arm module receives data and energy from the robot base, where appropriate via an intermediate arm module which connects it to said base, directly or indirectly. This data is data necessary, in particular, for controlling the robot arm and / or the tool carried by the arm, where appropriate. In addition, each arm module other than the distal module transmits at least part of the received energy and / or data received to the distal module, where appropriate via an intermediate arm module which connects it to said distal module, directly or indirectly. Finally, each arm module can return useful information to the robot base as mentioned above, where appropriate via the arm module(s) which connect it to said base, directly or indirectly.

[0012]

[0010] In particular, each articulated arm module is motorized (i.e. it itself comprises a motor) in order to be able to rotate relative to the previous module in the series of modular arms arranged between the robot base and the distal module, and must therefore receive the energy consumed by this motorization. In addition, it must transmit the energy necessary for the motorization of the following articulated arm module in the series of arm modules, if applicable, and / or for the power supply of the tool carried and implemented by the distal arm module.

[0013]

[0011] In order to ensure all of the aforementioned transmissions, namely the transmission of electrical energy and / or the transmission of data, an arm module of a modular robot arm comprises a first coupling device and a second coupling device, for its operational coupling to the robot base, and / or to another arm module, and / or to the tool or to the tool holder, as the case may be. If it is an articulated arm module, at least one of these coupling devices is designed to be able to rotate in a controlled manner, around an axis of rotation, relative to the other. Generally, one of the coupling devices is fixed to the housing of the articulated arm module, and the other is rotatable around an axis relative to this housing.Furthermore, a rotation-compatible power and data transmission device is provided for transmission of electrical power and data signals between the first connection side and the second connection side. A rotation-compatible power and data transmission device operating according to the principle of continuity of electrical conduction despite the relative rotation between the two coupling devices is called a rotary contactor or a slip ring.

[0014]

[0012] For example, document WO 2021013994A discloses a motorized module for an industrial robot arm which comprises a device for transmitting electrical energy and data comprising a collector rotatably fixed to the housing of the arm module, on the one hand, and a transfer rotor rotatably mounted about the axis of the drive motor, on the other hand. By means of a hollow shaft, the transfer rotor is mechanically connected to the first connection side without being able to rotate and is electrically connected to the first power contact device by an electrical connection electrically insulated from the hollow shaft. The transfer rotor is further electrically connected to the collector. For this purpose, the collector and the transfer rotor comprise a slip ring device. The collector is electrically connected to a control device and to a second power contact device.Thus, the first power contact device is electrically connected to the second power contact device and to the control device for transmitting the electrical power. The control device is electrically connected, on the output side, to the drive motor.

[0015]

[0013] A rotary contactor of this type is specifically the subject of the prior art illustrated by document WO 2021013913A1, by the same applicant. This document discloses an arm module which has a housing provided with a first connection side and a second connection side. The first connection side is designed to be able to rotate in a controllable manner relative to the second connection side about an axis of rotation. The first connection side has a first rotatable connection device (or connector) and the second connection side has a second connection device (or connector) fixed relative to the housing. Furthermore, a multifunctional rotary transmission system is intended for rotational transmission of data signals, electrical energy and fluid between these two connectors.Finally, a drive device is provided with a shaft assembly having an output shaft, which is rotationally fixedly connected to the first rotary connection device on the first connection side, said shaft assembly forming a part of the multifunctional rotary transmission system. The multifunctional rotary transmission system comprises a rotary electrical transmission device. This rotary electrical transmission device comprises a cylindrical rotary contactor having an electrical contact brush device with a contact brush assembly and a sliding contact ring device comprising sliding contact rings.The sliding contact ring device is disposed on the output shaft of the shaft assembly such that the sliding contact rings of said device rotate with the output shaft and draw electricity from the associated brushes of the brush assembly of the electrical contact brush device.

[0016]

[0014] With a cylindrical rotating contactor such as the above rotary electrical transmission device taught by the aforementioned WO 2021013913A1, the contact forces between the sliding electrical contact rings and the associated brushes, by which electrical continuity is ensured upon rotation of one connector relative to the other, are exerted radially. A longitudinal section of the output shaft acts as a commutator for the rotary electrical transmission, carrying the set of sliding contact rings that cooperate with respective associated brushes to provide rotary electrical contact for the transmission of electrical power or data exchanged by electrical signals between the first and second connectors, even upon rotation of the first connector about its axis of rotation.All electrical connections to the sliding electrical contact rings are made by electrical conductors that pass inside the hollow shaft, in order to connect to the rings by their internal face (the one facing the collector rotation axis, which coincides with the hollow shaft axis).

[0017]

[0015] A first drawback of this prior art lies in the axial size of the sliding contact ring device. The sliding contact rings are in fact arranged adjacently in pairs, with an axial offset relative to each other, along the axis of rotation of the rotary connector. The sliding electrical contact ring device comprises, in the embodiment presented in document WO 2021013913A1, five sliding electrical contact rings. The axial length of the section of the output shaft which is used to make the rotary contactor is therefore significant. In addition, this number of rings is suitable for the transmission of electrical energy and data according to a conventional field protocol, such as for example the CAN OPEN protocol, but more recent protocols may comprise a greater number of wires. This trend towards an increase in the number of wires may continue in the future.It follows that, in order to upgrade an arm module to use a newer protocol requiring more wires, it may be necessary to increase the axial length of the shaft stub dedicated to the slip ring. In some cases, this may make it necessary to change the size of the housing, in order to enlarge it to accommodate a longer shaft.

[0018]

[0016] Another disadvantage results from the use of a hollow shaft through which the electrical conductors pass, which connect to the sliding electrical contact rings via their internal face. The shaft is also subject to mechanical constraints inherent in the application (need to transmit the force necessary for rotating the assembly constituted by the downstream arm modules plus the possible load applied to the tool controlled at the distal end of the robot arm), the hollow shaft is a relatively fragile part and must be supported by several bearings.

[0019]

[0017] A partial solution to the axial space requirement problem first mentioned above may consist of substituting wireless transmission means for some of the transmissions by sliding electrical contact of the slip ring / brush type. Such wireless transmission means are mentioned in the aforementioned documents WO 2021013994A WO 2021013913A1, and are also the subject specifically of document WO 2021250075A1 from the same applicant. The wireless transmission solution is applied there for the transmission of data only, the transmission of electrical energy remaining based on a rotating contactor with rotating electrical contact rings arranged axially adjacent to each other.

[0020]

[0018] WO 2021250075A1 discloses an arm module of an industrial robot, the arm module having a housing which has a first connection side and a second connection side, the first connection side being designed to be rotatable in a controllable manner about an axis of rotation relative to the second connection side, the first connection side having a first rotatable connection device and the second connection side having a second connection device integral with the housing, and with a rotation-compatible data transmission device for transmission of data signals along at least one transmission path between the first connection side and the second connection side,wherein the transmission path comprises at least one partial wireless transmission path for the wireless transmission of data signals and at least one partial wire-guided transmission path for the wire-guided transmission of data signals. For this purpose, the rotation-compatible data transmission device comprises at least one first wireless transceiver unit and at least one second wireless transceiver unit, which are respectively connected to each other via the transmission path and are adapted to transmit and receive data signals wirelessly along the partial wireless transmission path.,

[0021]

[0019] However, the above solution of using wireless data transmission means is complex to implement, and it requires optical and optoelectronic components (optical wave transmitters / receivers, lenses, optical fibers, etc.) which increase the cost of a robot arm module.

[0022]

[0020] Furthermore, this solution does not solve the aforementioned problems associated with the use of a hollow shaft. Indeed, the optical fibers which are substituted for current-conducting wires or guides for data transmission also extend at least partly axially in the hollow shaft of the motorized arm module.

[0023]

[0021] The invention aims to overcome all or part of the problems of the prior art mentioned above by proposing an advantageous alternative for the transmission of data and / or electrical energy between the two connection connectors of a motorized robot arm module.

[0024] Summary of the invention

[0025]

[0022] A first aspect of the proposed invention relates to a motorized arm module (101) for a robot arm (100) of an industrial robot, the arm module (101) comprising: a. a main body (40) forming a hollow housing, with at least two ends (1,2), of which: i. a first end (1) for connecting the arm module to another arm module (101,103) of the robot arm (100) or to a robot base (102) of the industrial robot; and, ii. a second end (2) for connecting the arm module to another arm module (101,103) of the robot arm (100) or to a tool (104) of the industrial robot, b. a first connector (10) arranged at the first end (1) of the housing (40), and having means for axial connection of the arm module, of a first axis (Axx) and of a first type, female or male; c.a second connector (20) arranged at the second end (2) of the housing (40), and having second axial connection means of a second axis (Axy) and of a second type, male or female, complementary to the connection means of the first type, said second axis (Axy) being intersecting with the first axis (Axx), and said second connector (20) being adapted to be driven in rotation by a rotary drive shaft (29) to be able to rotate in a controlled manner about said second axis (Axy) relative to the first connection means of the first connector (10); as well as, d. transmission means compatible with rotation, for the transmission of data and / or electrical energy between the first connector (10) and the second connector (20).

[0026] According to the invention, the rotation-compatible transmission means comprise a flat rotating contactor (26, 27) for transmitting data and / or electrical energy, said flat rotating connector having a first disc (27) rotatably secured to the first connector (10) and a second disc (26) secured to the second connector (20), said first disc (27) and said second disc (26) being coaxial and arranged axially adjacent along the drive shaft (Axx) of the rotating connector, and each comprising: i. a respective first face (27a, 26a) for electrical contact with the other disc, which faces towards and is in sliding contact with the first face of the other disc; and, ii. a respective second face (27b, 26b) opposite the first face, for electrical connection of the rotating contactor to the first connector (10) and to the second connector (20), respectively, of the arm module (101).

[0027]

[0023] Thus, instead of a cylindrical rotary contactor according to the prior art, which comprises electrical contact rings arranged axially adjacent to each other along the axis of the connector, the embodiments of the invention implement a flat rotary contactor, comprising two discs facing each other axially. In such a flat rotary contactor, the mechanical contact ensuring the electrical connection is made along the axial direction of the rotary connector, and no longer along the radial direction as in a cylindrical rotary contactor according to the prior art. It will be noted that the term "flat" is assessed in relation to the dimension of the contactor along the axis of rotation of the rotary connector of the arm module. In other words, the discs of the flat rotary contactor each extend in a plane orthogonal to said axis of rotation, and generally have a symmetry of revolution with respect to this axis.The axial footprint of the rotary contactor is reduced compared to a prior art rotary contactor with axially adjacent rings. Furthermore, the axial footprint is independent of the number of wires required by the field protocol.

[0028]

[0024] Thanks to this device, the means of transmitting electrical power and data have a reduced axial size. This results in a compact and weight-balanced arm module with a reduced overall size.

[0029]

[0025] Advantageous embodiments are described later in the description and are the subject of the dependent claims.

[0030]

[0026] A second aspect of the invention relates to a modular robot arm for an industrial robot, the robot arm comprising at least one articulated arm module according to the first aspect of the invention above, operatively coupled to another arm module of the robot arm or to a robot base of said industrial robot.

[0027] A third and final aspect of the invention relates to an industrial robot comprising at least one robot arm according to the second aspect above, as well as at least one tool adapted to be carried by the distal arm module of the robot arm, and as well as a control unit adapted to control the robot arm and to control the operational operation of the tool thus carried by the robot arm.

[0031] Brief description of the figures

[0032]

[0028] The description which follows with reference to the appended drawings, given as non-limiting examples, will make it clear what the invention consists of and how it can be implemented. In the drawings:

[0033] • [Fig.1] is a perspective diagram illustrating a modular robot arm that may include a motorized arm module according to embodiments;

[0034] • [Fig.2] is a perspective view of a motorized arm module according to embodiments;

[0035] • [Fig.3] is an exploded view of the motorized arm module of figure [Fig.2];

[0036] • [Fig.4] is an enlargement of the exploded view of figure [Fig.3] corresponding to the first connection end of said arm module;

[0037] • [Fig.5] is an enlargement of the exploded view of figure [Fig.3] corresponding to the second connection end of said arm module;

[0038] • [Fig.6] is a planar sectional view of the motorized robot arm module of Figure [Fig.2], in a sectional plane defined by the axis of the first connection connector and the axis of the second connection connector of said motorized arm module;

[0039] • [Fig.7] is a longitudinal sectional representation of a perspective view of the second connection end of the motorized arm module of Figure [Fig.2]; • [Fig.8A] and [Fig.8B] are perspective views of one face and the opposite face, respectively, of the fixed disc of the flat rotary contactor according to embodiments of the invention;

[0040] • [Fig.9A] and [Fig.9B] are perspective views of one face and the opposite face, respectively, of an alternative embodiment of the rotating disc of the flat rotating contactor according to embodiments of the invention, which can be used in cooperation with the rotating disc of [Fig.8A] and [Fig.8B]; and,

[0041] • [Fig.10] is a simplified functional diagram of an industrial robot suitable for implementing the invention.

[0042] Description of embodiment(s)

[0043]

[0029] In the following description of embodiments and in the figures of the accompanying drawings, the same or similar elements bear the same numerical references in the drawings.

[0044]

[0030] [Fig. 1] schematically illustrates a robot arm 100 of an industrial robot according to embodiments of the invention. The robot arm 100 extends from a robot base 102. The robot base 102 is fixed, such as being secured to a robot chassis, which itself is fixed relative to the ground of the site where the robot is installed, for example an industrial workshop. The robot arm 100 is modular in that it is composed of a series assembly of a plurality of arm modules, which can be coupled together and uncoupled according to the needs specific to each use of the robot. By convention, the term "proximal arm module" refers to the arm module which, in the series of arm modules as assembled, is closest to the robot base 102.And the term "distal arm module" refers to the one that is furthest from said robot base, that is to say the one that is at the end of the robot arm opposite said base, also called the "terminal end" of the robot arm 100 as opposed to the "proximal" end of said arm by which it is coupled to the robot base 102. The robot arm modules comprise motorized arm modules 101 and, where appropriate, one or more non-motorized arm modules 103 to which we will return briefly later. The robot arm 100 finally comprises a terminal actuator 104, arranged at the end of the robot arm 100. More particularly, the actuator 104 is carried by the distal arm module. In the example shown, it is a robotic arm module 101, but it could also be a non-robotic arm module. In the example shown, the actuator 104 is a tool, for example a clamp.This tool may be, and generally is, interchangeable with other compatible tools dedicated to performing respective operations by the industrial robot. The actuator 104 may also be a tool holder, capable of carrying more than one tool from a set of distinct tools. This set of tools may be arranged in a tool magazine, to be accessible by the robot arm itself.

[0045]

[0031] The motorized arm modules 101 serve as joints for the robot arm

[0046] 100, at a rate of at least one degree of freedom provided by each robotic arm module. For this purpose, they can pivot and / or rotate relative to the robot base 102 and / or to the other arm modules by means of which they are coupled to the robot base 102. This rotation is obtained by means of an electric motor embedded in the motorized arm module 101. With reference to the motorized arm module 101 designated by an arrow in the center of [Fig. 1] and which is arranged between two non-motorized arm modules 103, each motorized arm module comprises a housing 40 and two connectors 10 and 20 by which it is connected to the other arm modules, and / or to the robot base 102, and / or to the tool 104.

[0047]

[0032] The housing 40 is hollow, in order to house the constituent elements of the arm module

[0048] 101. In the following, and unless explicitly stated otherwise, the terms "interior" and "exterior", as well as derived terms and expressions, are used with reference to the internal volume defined by the hollow body 40.

[0049]

[0033] The first connector 10 is fixed relative to the housing 40 of the arm module 101. The second connector 20 is rotatable relative to the housing 40. In one example, as shown in [Fig. 1] for the aforementioned motorized arm module 101 which is designated by an arrow, each arm module is connected by the fixed connector 10 to the preceding arm module (or to the robot base 102 for the proximal module), and it is connected by the rotatable connector 20 to the following arm module (or to the tool 104 for the distal module), in the series of arm modules which are connected together to form the robot arm 100. Those skilled in the art will appreciate that this is only an example. The reverse is also possible.

[0050]

[0034] The non-motorized arm modules 103 do not have a rotating part relative to another part of the same arm module. They have two connectors, for connection to a preceding arm module to a following arm module, respectively, in the series of arm modules making up the robot arm. These two connectors are compatible, respectively, with the connectors 10 and 20 of a motorized arm module. They can therefore be connected to each other or to robotic arm modules. However, the two connectors of a non-robotic arm module are fixed in rotation relative to each other, and relative to the housing of the non-rotating arm module in question. The non-motorized arm modules 103 serve as extensions, to give the robot arm 100 the capacity to perform movements of greater amplitude, for example to manipulate larger parts, and / or to move them over greater distances.In the example shown in Figure 1, the non-robotic arm modules 103 are cylindrical sections. However, as a variant or in addition, non-motorized arm modules that are curved or bent can also be provided. Thanks to the non-motorized modules 103, the end of the robot arm 100 can follow trajectories further from the robot base 102.

[0051]

[0035] [Fig. 2] shows, in isometric perspective, a motorized arm module in which embodiments of the invention can be implemented. The motorized arm module 101 shown comprises a main body 40, made by casting and / or machining a metal block, for example aluminum or an aluminum alloy. The body 40 has a ternary shape, that is to say that it has three ends that are satellites of each other, namely: a first end 1, a second end 2 and a third end 3, respectively. The ends 1, 2 and 3 are open towards the outside of the body 40. These openings are circular in shape.

[0052]

[0036] The first end 1 is a connection end of the motorized arm module 101 to another arm module of a robot arm. For this purpose, the end 1 is provided with first axial connection means, forming a connector 10. In the example shown, the connector 10 is of the female type and is suitable for the axial connection of the motorized arm module 101 along a first axis Axx, which is an axis perpendicular to the plane of the circular opening of the end 1 of the body 40 of the module 101. It generally has a symmetrical rotation around the axis Axx. The connector 10 is fixed, in particular in rotation, relative to the housing 40 of the arm module 101. In other words, the connector 10 is non-rotatable, that is to say non-rotating.

[0053]

[0037] The second end 2 is also a connection end of the arm module 101 to another arm module of the robot arm. For this purpose, it has second axial connection means, forming a connector 20. The connector 20 is adapted for the axial connection of the arm module 101 along a second axis Axy, which is an axis perpendicular to the plane of the circular opening of the end 2 of the module 101. The connector 20 is of a complementary type to the connector 10 of the first end 1 of the body 40 of the module 101. In the example shown, the connector is therefore of the male type. Thus, similar arm modules can be connected to each other, by coupling the female connector 10 of one to the male connector 20 of the other. The connector 20 generally has a symmetrical rotation around the axis Axy. The connector 20 is rotatable (i.e., rotary) relative to the housing 40 of the arm module 101, and therefore relative to the first connector 10.More particularly, the connector 20 can pivot in rotation, in a controlled manner around its axis Axy, by one complete turn or more, and in practice by an unlimited or infinite angle.

[0054]

[0038] The third end 3 of the housing 40 of the arm module is provided for housing a drive assembly 30 comprising a drive motor with its control and its functional safety elements [Fig.2]; the end 3 is closed by a removable cover 38 of circular shape and of dimensions adapted to those of the circular opening of the housing 40 at its third end 3. The drive motor thus housed in the housing 40 on the side of the third end 3 has the function of motorizing the second connector 20 relative to the housing 40, and therefore relative to the first connector 10.

[0055]

[0039] Preferably, the axis of the circular opening of the third end 3 of the housing coincides with the axis Axy of the second connector 20. In other words, the second opening 2 and the third opening 3 are coaxial. This simplifies the motorization of the connector 20 by the electric motor in question, since the axis of the rotor of the motor can be engaged longitudinally directly in the axis of a rotary drive shaft of the second connector, which coincides with the axis Axy of the rotary connector 20. This is also favorable to the compactness of the motorized arm module 101. This arrangement is however not obligatory. A gear system can indeed be used, by which the axis of rotation of the rotary connector 20 can extend parallel to, but without being coaxial with the axis of the rotor of the motor. Such a gear system can be part of a geared motor.The two axes of the rotary connector 20 and its drive motor, respectively, may also not be parallel to each other, a cardan mechanism then ensuring the drive of the rotary connector 20 by the rotor of the motor.

[0056]

[0040] The second axis Axy of the rotary connector 20 is intersecting with the first axis Axx of the fixed connector 10. In this way, the rotational pivoting of the rotary connector 20 causes the rotation of the "downstream" part of the robot arm and / or the tool connected to it, relative to the "upstream" part of the robot arm and / or to the robot base 102 to which the first connector 10 is connected. As will be understood, the terms "upstream" and "downstream" are used here with reference to the chain of arm modules which are connected in series. In the example shown in [Fig.2], the first axis Axx and the second axis Axy are orthogonal to each other, that is to say that the angle formed between their respective directions is equal to 90°.In other words, the housing 40 has the general shape of a "T" with its three ends 1, 2 and 3 forming the ends of the "T", and more particularly the end 1 forming the end of the vertical leg of the "T" while the ends 2 and 3 form the respective ends of the horizontal bar of the "T". This arrangement is however not obligatory. In particular, the second axis Axx could intersect the first axis Axy at an angle other than 90°, so that the housing 40 would have the general shape of a "Y".

[0057]

[0041] The essential constituent means of the motorized arm module of [Fig. 2] will now be described, with reference to [Fig. 3] which is an exploded view of this motorized arm module. Reference may also be made, in addition, to [Fig. 4] and [Fig. 5] which are enlargements of the exploded view of figure [Fig. 3] corresponding to the area of ​​the first end 1 and the second end 2, respectively, of the arm module 101.

[0058]

[0042] As shown in [Fig. 4], the fixed connector 10 of the arm module 101 is arranged at the end 1 of the housing 40 of the arm module. The connector 10 essentially comprises a plate 12 with a main bore 121 whose axis is the axis Axx of the connector 10. The profile of the main bore 121 is conical, that is to say that the internal wall of this bore has an envelope corresponding to a cone section. The conicity of the main bore 121 is oriented towards the inside of the body 40 of the module, that is to say that the apex of the fictitious cone whose generatrices correspond to the internal wall of the main bore 121 would be contained inside the housing 40. In other words, the conical bore 121 opens towards the outside of the housing 40 in the sense that the diameter of a cross-section of axis Axx is all the greater as the axial distance separating said section from the end 1 of the housing increases.Thus designed, the conical bore 121 provides a female-type part of a connecting device in two pluggable male and female parts, being adapted to receive the corresponding male-type part.

[0059]

[0043] The plate 12 of the connector 10 also comprises a secondary bore 122 of smaller diameter than the smallest diameter of the main bore 121, so that a shoulder 124 is formed between the main bore 121 and the secondary bore 122. Axial bores of axis Axx (i.e. through holes extending in the direction of the axis Axx) are formed in the shoulder 124, for the passage of fixing screws (not shown in [Fig. 4]) of the plate 12 at the end 1 of the housing 40.

[0060]

[0044] The connector 10 also comprises a pin-carrying plate 11, in which electrical connection pins 110 are housed. In embodiments, the pins 110 may be mounted so as to be elastically slidable towards the inside of the housing 40, each against the action of a corresponding spring. In the example shown in [Fig. 4] there are four pins 110, one of which is shown in the retracted position inside the pin-carrying plate 11, while the other three are shown extending axially from the pin-carrying plate 11 towards the outside of the housing 40.

[0045] The exploded view of [Fig. 3] shows an electronic card 50 between the fixed connector 10 and the end 1 of the housing 40. The electronic card 50 comprises the management electronics of the arm module 101 which is adapted, in particular, to manage the reception, transmission and emission of data at the local level of the arm module 101.

[0061]

[0046] With particular reference to [Fig.5], we will now detail the constituent elements of the connector 20 of the motorized arm module 101 according to the exploded view of [Fig.3], of which [Fig.5] is only an enlargement for greater readability of the drawings.

[0062]

[0047] The constituent elements of the connector 20 comprise a speed reducer 29 with an axial extension towards the outside of the housing 40 in the direction of the second end 2 of said housing, this axial extension forming a drive shaft element 291 for driving the rotary connector 20. The reducer 29 is connected, by any suitable means including in particular bearings (ball bearings) and rotational fixing screws, to the motor shaft of the electric drive motor 32, to receive the driving force of the rotary connector 20, directly or via intermediate parts which it is unnecessary to detail here.

[0063]

[0048] The rotary connector 20 then comprises a flat rotary contactor, with two discs 27 and 26 which are in sliding contact with each other, via respective first faces of said discs which are opposite each other in the direction of the axis Axy. The first disc 27 is fixed relative to the housing 40, and therefore relative to the first connector 10. In the embodiment shown, it can be fixed to a spacer 271, for example by screwing, which spacer 271 is itself fixed, for example also by screwing by means of screws 273, to the body of the housing 40. The second disc 26 is rotatable, being integral in rotation with the reduction gear 29. In the embodiment shown, the rotating disc 26 can be fixed to a spacer 261, for example by screwing, which spacer 261 is itself integral in rotation with the drive shaft element 291 of the reduction gear 29.

[0064]

[0049] The rotary connector 20 also comprises a plate 25 which carries a lip seal 251. This plate 25 is fixed by screws 252 to the body of the housing 40 at the second end 2 of said housing. Thus arranged, the plate 25 does not rotate when the rotary connector 20 is rotated. Its function is to ensure sealing against water splashes and dust thanks to the lip seal 251. It also makes it possible to provide support for the rotation of 20 via the bearing 244.

[0065]

[0050] The rotary connector 20 further comprises a rotary head 24, which is rotationally fixed to the drive shaft element 291 to which it is coupled by any suitable means, here by four long screws 242. These screws pass through unthreaded bores, of axial extension in the direction of the axis Axy of the connector 20, which are made in an axial portion 241 of the rotary head 24 which extends towards the inside of the housing 40. The screws 242 are screwed towards the inside of the housing 40 in tapped blind holes which are provided for this purpose in the drive shaft element 291. As will be explained later with reference to the diagram of [Fig. 6], the rotary head 24 comprises a cylindrical recess 623, of axis the axis Axy of the rotary connector 20, which is open on the side facing the outside of the housing 40. Recess 623 has several functions.On the one hand, it allows the installation of the aforementioned long screws 242 which hold the rotary head 24 to the shaft element 291 of the hub 29. But also, it constitutes a cylindrical chamber which is part of a connection path for the passage of the wires of a connection harness 62 of the rotary disk 26 to the pins 210 of the rotary connector 20. The rotary head 24 also comprises an annular crown 243, which is hollowed out on the side facing the inside of the housing (which is not visible in [Fig. 5] but is apparent in [Fig. 6]), to receive the lip seal 251 carried by the plate 25 in order to ensure the seal between the head 24 which is rotary and the plate 25 which is fixed. It will be noted, with reference to the diagram in [Fig.6], that the rotation between the fixed plate 25 and the rotating head 24 is facilitated by the presence of a bearing, such as a ball bearing 244 between these two parts.

[0066]

[0051] The rotary connector 20 further comprises a conical tip 22, which is adapted to engage, by cooperation of shapes (namely, complementary male and female conical shapes), in the main bore (id. reference 121) of the plate (id. reference 12) of the fixed connector (id. reference 10) of another arm module of the robot arm 100. As a reminder, the fixed connector (id. reference 10) of such another arm module is identical to the connector 10 of the arm module 101 described here, and which was explained above with reference to [Fig. 4]. The conical tip 22 is fixed, for example by screwing by means of six screws 222 visible in [Fig. 6], which are inserted axially from the face of the tip 22 which is turned towards the outside of the housing 40, in the rotary head 24. The screws 222 are referenced to [Fig.2] and [Fig.7],

[0067]

[0052] Furthermore, the rotary connector 20 of the arm module considered here comprises a captive nut 23, having freedom of axial movement along an axial portion of the rotary head 24 of the rotary connector 20, in addition to a capacity for rotation around the axis Axy. This axial portion is defined by the axial extent between a flange of the conical end piece 23 on the outward side of the housing 40, on the one hand, and the flange of the annular crown of the rotary head 25 on the inward side of the housing 40, on the other hand. The nut 23 has the function of fixing, by screwing, the arm module 101 via its rotary connector 20 to another arm module via its fixed connector (id. reference 10).This screw fixing is suitable for withstanding the mechanical constraints linked to the cantilever mounting of the arm modules connected in series to the rotating connector 20 of the motorized arm module 101 in question, given the weight of said modules and the terminal tool 104, not to mention the load carried by this tool, if applicable.

[0068]

[0053] Finally, the rotary connector comprises a pin-carrying plate 21, closed towards the outside of the housing 40 by a cover 211 which is fixed to the plate 21 by a central screw 212. The pins 210, which are not visible in the section plane of [Fig.6] but are apparent in [Fig.2] and [Fig.7], are here four in number. They are fixed, as opposed to the pins 110 of the fixed connector 10 which are mounted sliding on a spring. The pin-carrying plate 21 is fixed to the center of the conical end piece 22, by screws which are engaged on the side of said end piece 22 which is turned towards the inside of the housing 40, and this before the mounting of the end piece 21 by axial screwing in the rotary head 24.

[0069]

[0054] Finally, those skilled in the art will appreciate that the end of the conical tip 22 can carry another lip seal, such as the seal 221 of the example shown. This lip seal provides a seal against splashing water and dust at the connection between the arm module 101 and another arm module of the robot incorporating it. Thanks to the seal 221 and the seal 251 already mentioned above, the product complies with the specifications of the IP54 standard.

[0070]

[0055] Embodiments of the connection of the discs 27 and 26 of the flat rotating contactor, to the fixed connector 10 (or the on-board electronic card 50) or to the rotating connector 20, respectively, will now be described in more detail with reference to the diagrams of [Fig.6] and [Fig.7]. These connections have the function of providing transmission means compatible with rotation, for the transmission of data and / or electrical energy between the fixed connector 10 (or the on-board electronic card 50) and the rotating connector 20, of the arm module 101.

[0071]

[0056] These rotation-compatible transmission means comprise the flat rotating contactor having as first disc the disc 27, on the one hand, and as second disc the rotating disc 26, on the other hand. The disc 27 is fixed to the housing 40 of the motorized arm module 101 and is therefore rotationally connected to the first connector 10 of said module. The disc 26 is integral with the second connector 20, which is free to rotate relative to the connector 10 and to the housing 40 of the module 101, and can rotate in an unlimited manner, that is to say without limitation of the number of revolutions or of the direction of rotation, relative to these elements 10 and 40. The discs 27 and 26 are coaxial and are arranged axially adjacent along the axis Axx which is also the axis of the drive shaft 291 of the rotating connector 20.

[0072]

[0057] The discs 27 and 26 each comprise: a. a first face 27a and 26a, respectively for electrical contact with the other disc. For each disc, this first face is turned towards, and is in sliding contact with, the first face of the other disc; and, b. a second face 27b and 26b, respectively, which is opposite the first face of the disc. This second face is used for the electrical connection of the rotary contactor to the first connector 10 (or to the electronic card 50) and to the second connector 20, respectively, of the motorized arm module 101.

[0073]

[0058] In embodiments, the electrical connection of the rotary contactor 26, 27 to the first connector 10 (or to the electronic card 50) and to the second connector 20 is provided by electrical conductors 61 and 62, respectively. These are, for example, flexible conductors, such as individual electrical wires each coated with an electrically insulating sheath, or such as a connection sheet. Whatever their embodiment, the electrical conductors 61 and 62 follow a connection path extending entirely outside the drive shaft of the second connector 20. This means that, thanks to the implementation of a flat rotary connector, the electrical conductors 61 and 62 do not need to pass through a hollow shaft. In other words, the drive shaft (or portions) of the drive shaft of the rotary connector 20 is not (or are not) hollow.This avoids the disadvantages associated with hollow shafts which were identified in the introduction to this description.

[0074]

[0059] In embodiments, the connection path for the electrical connection of the second face 26b of the second disc 26 of the rotary contactor 26,27 to the second connector 20 comprises: a. a radial passage 621 for cables of the connection harness 62, which extends radially in a plane angular sector, along the second face 26b of the second disc 26 of the rotary contactor 26,27; and / or b. an axial passage 622 for cables of the connection harness 62, which extends parallel to the axis Axy of the rotary connector 20 and at a non-zero radial distance from said axis Axy; and / or c. the cylindrical chamber 623 provided in the rotating head 24 and which has already been mentioned in the above, and which extends from the rear of the plate 21 which carries the connection pins of the second rotating connector 20, towards the interior of the housing 40 in the direction of the axis Axy of said rotating connector 20.This cylindrical chamber 623 makes it possible to accommodate an excess length of electrical wires from the connection harness 62, which is useful for assembly / disassembly.

[0075]

[0060] In embodiments, the fixed disc 27 of the flat rotary contactor is firmly fixed to the housing 40 of the arm module 101, while the rotary disc 26 is rotatable relative to said housing 40 (and therefore relative to the fixed connector 10) while being integral with the second connector 20 of the arm module 101.

[0076]

[0061] Furthermore, the rotary connector 20 can be adapted (by ad-hoc programming of its operational operation) to pivot in rotation in a controlled manner around the axis Axy by an unlimited angle, as already indicated above.

[0062] An embodiment of the fixed disc and the rotating disc of the rotating contactor will now be detailed, namely, respectively, the first disc 27 which will be described with reference to [Fig.8 A] and [Fig.8B], and the second disc 26 which will be described with reference to [Fig.9A] and [Fig.9B],

[0077]

[0063] As shown in [Fig.8A], the first face 27a of the first disc 27 may comprise conductive annular tracks 273, which are concentric and electrically insulated from each other. Each of the tracks 273 is in electrical continuity with a connection pad 279 arranged on the second face 27b of the first disc 27, as shown in [Fig.8B], for connection to a respective cable. These cables form a first electrical harness 61 ensuring the electrical connection of the disc 27 to the first connector 10 and to the electronic card 50.

[0078]

[0064] The annular conductive tracks 273 of the fixed disk 27 may be made of an electrically conductive material, such as copper or an alloy comprising copper.

[0079]

[0065] With reference to [Fig.9A] and [Fig.9B], the first face 26a of the second disc 26 may comprise at least one group 267 of conductive brushes 268. The brushes 268 of such a group 267 of brushes are electrically insulated from each other. Furthermore, they are spaced radially from each other, for example tangentially to arcs of a circle of respective radius. Each of the brushes 268 is in electrical continuity with a respective connection pad 269, arranged on the second face 26b of the second disc 26 for connection to a specific cable of the second electrical harness 62 which ensures the electrical connection of the second disc 26 to the second connector 20. The brushes of the brush assemblies 267, or at least the ends of the tangential extension tabs of these brushes, can be made, for example, of carbon or of a carbon-based composite material.

[0080]

[0066] In the embodiment shown in [Fig.9A] and [Fig.9B], the first face 26a of the second disc 26 comprises four groups 267 of conductive brushes, each group of brushes being identical to the other groups of brushes such as the group of brushes 268 already presented above, in terms of number of brushes, shape of the brushes, and radial position of the brushes of the group considered. The only difference is that the groups of conductive brushes are arranged along respective radii of the first face 26a of the second disc 26. Advantageously, said respective radii may be regularly angularly spaced, as in the example shown in which the four groups of brushes 267 are arranged with an angular spacing of 90° two by two, that is to say along the respective directions of four cardinal points.Thus, the bearing forces against the conductive brushes of the first face 26a of the second disc 26 which are exerted by the conductive tracks of the first face 27a of the first disc 27 are well balanced. This avoids any non-axial stress which would be likely to cause premature and / or irregular wear of the rotating parts and / or the electrical contact surfaces between the two discs 27 and 26. Of course, those skilled in the art will appreciate that the invention is not limited by the number of groups of brushes: it is thus possible to have, for example, two groups of brushes each extending along respective radii at 180° from each other, or three groups of brushes each extending along respective radii at 120° from each other, or six groups of brushes each extending along respective radii at 60° from each other, etc.

[0081]

[0067] Alternatively, the conductive brushes 268 of all the groups of brushes 267 present can be replaced by contactless couplers, for example electromagnetic type couplers.

[0082]

[0068] The fixed disc 27 comprises a central bore (i.e., a hole) 276, and the rotating disc 26 comprises an identical central bore 266, each provided for the passage of the drive shaft portion 291 of the rotating connector 20.

[0083]

[0069] Furthermore, the fixed disc 27 comprises a first series of axial bores 274, for example four such bores in the embodiment shown in [Fig. 8 A] and [Fig. 8B], which are preferably regularly angularly spaced in a radial position close to the central bore 276 of the disc 27. By "axial bores" is meant holes passing through the disc 27 which extend in an axial direction, that is to say a direction orthogonal to the plane of the disc 27. The disc 27 also comprises a second series of axial bores 275, for example four in number as shown in the figures, which are preferably regularly angularly spaced in a radial position close to the periphery of the disc 27. In the example shown in [Fig. 8 A] and [Fig. 8B], the bores 275 are in the same angular positions as the bores 274, considered two by two respectively.This is not, however, obligatory, the holes 275 being able to be, for example, in respective angular positions alternating with the respective angular positions of the holes 274. The holes 274 and 275 serve for fixing the disc 27 on the housing 40 of the arm module 101 by respective screws. The holes are advantageously milled on the side of the first face 27a of the disc 27 so that countersunk head fixing screws do not protrude from the plane of said face.

[0084]

[0070] Similarly, the rotating disc 26 comprises a first series of holes 264 and a second series of holes 265, as shown in [Fig.9A] and [Fig.9B], which are identical to the holes 274 and 275, respectively, of the fixed disc 27. The holes 264 and the holes 265 serve to fix the rotating disc 26 to the spacer 261, which is itself fixed to the crown 25 of the rotating head forming the connector 20.

[0085]

[0071] In [Fig.8B], the spacer 271 which supports the fixed disc 27 is symbolized by dotted lines in correspondence of angular position with the second face 27b of the fixed disc 27. Those skilled in the art will thus appreciate that the angular position of the spacer 271 relative to the face 27b of the fixed disc 27 is such that a "missing" angular sector of the spacer 271 corresponds to the area of ​​implantation of the contact pads 279. This makes it possible to provide a radial passage for the passage of the electrical harness, which is shown in [Fig.6] and [Fig.7] under the reference 272. It will be noted that the angular opening of this radial passage 272 corresponds to the opening angle of the "missing" angular sector of the spacer 271 as shown in [Fig.8B],

[0086]

[0072] The rotating disc 26 is integral in rotation with the drive shaft 291. More specifically, the rotating disc is fixed by screwing to a flat circular spacer 261 of substantially the same dimensions as the disc 26, but which has a "missing" angular sector 262. The spacer 261 is made integral in rotation with the drive shaft 291 of the rotary contactor, for example by means of a connection of the type of a "circlip" washer (visible but not referenced in [Fig.6], and shown in [Fig.7] under the reference 263).

[0087]

[0073] In [Fig.9B], the spacer 261 which supports the rotating disc 26 of the rotating contactor is symbolized by dotted lines in position correspondence with the second face 26b of said rotating disc 26. Those skilled in the art will appreciate that the angular position of the spacer 261 relative to the face 26b of the rotating disc 26 is such that the "missing" angular sector of the spacer 261 corresponds to the area of ​​implantation of the contact pads 269. This implantation makes it possible to provide a space for the radial passage 262 of the electrical harness 62, as described above with reference to [Fig.6] and [Fig.7]. It will be noted that the angular opening of the radial passage 262 corresponds to the opening angle of the "missing" angular sector of the spacer 261 as shown in [Fig.9B].

[0088]

[0074] By connecting several motorized arm modules that are designed in this way, the modular robot arm 100 of [Fig. 1 ] can be realized, which can be rotated as desired, so that rotation angles of the terminal tool 104 significantly greater than 360° can be achieved. Furthermore, data transmission between all arm modules of the modular robot arm is permanent and continuous. It is guaranteed for any rotation angle, while preserving the axial compactness of the arm module, even for transmission according to the specifications of a seven-wire field protocol instead of four wires, for example.

[0089]

[0075] In an alternative embodiment, the rotation-compatible transmission means may comprise a cylindrical contactor for transmitting data and / or electrical power, in addition to the flat rotating contactor 26, 27 described above. Such a cylindrical rotating contactor may be similar to those known in the prior art that have been identified in the introduction to this description. It may thus comprise a set of sliding contact rings aligned in parallel along a longitudinal section of the drive shaft of the rotary connector, which cooperate with respective associated brushes to provide sliding rotary electrical contact against the rings such that the forces ensuring electrical continuity are exerted radially, for transmitting electrical power or data exchanged by electrical signals between the first connector 10 and the second connector 20 of the motorized arm module 101.

[0090]

[0076] Those skilled in the art will appreciate that, for an identical number of transmission cables (for electrical energy and for data) between the first connector 10 and the second connector 20, this cylindrical rotating contactor can have a shorter longitudinal length than those of the prior art, since part of the transmissions take place via the flat rotating contactor. The robotic arm module 101 therefore advantageously remains more compact than those of the prior art, due to its smaller longitudinal dimensions.

[0091]

[0077] For example, the flat contactor 26, 27 can be arranged for the transmission of electrical energy while the cylindrical contactor (not shown) can be arranged for the transmission of data. But this is only an example, the reverse is also possible. It is also possible to provide any possible distribution of the different transmissions of electrical energy and data between the flat rotating contactor 26, 27 and the cylindrical rotating contactor.

[0092]

[0078] [Fig. 10] schematically illustrates an industrial robot according to the third aspect of the invention, which may use a modular robot arm such as the robot arm 100 of [Fig. 1], incorporating a modular robot arm having at least one motorized arm module as described in the foregoing.

[0093]

[0079] The robot comprises a control unit 150 which is adapted to control the robot arm 100 and to control the operational operation of the tool 104 carried by the distal arm module of the robot arm 100. The control unit 150 may, for example, comprise a computer capable of executing a computer program 153 comprising software instructions which implement the control of the robot arm 100 and the piloting of the tool 104. For this purpose, when the computer program 153 is loaded into a memory 152 of the computer 150 and is executed by a processor 151 of the computer 150. The execution of this program implements a sequence of control of the robot arm 100 and piloting of the tool 104 carried by the end of the robot arm 100, to carry out one or more determined tasks.The control of the tool 104 can be carried out in open loop, or in closed loop on the basis of useful information generated by the tool and / or one or more sensors and / or the robot arm module(s), and which is returned to the control unit via the robot arm itself.

[0094]

[0080] Control information may pass through the arm modules of the modular robot arm 100, which may be rotated independently of each other. Information may thus be sent down from the computer 150 to each of the arm modules of the modular robot arm as well as to the tool 104. Conversely, useful information may also be sent back to the computer 150 from each of the arm modules of the modular robot arm 100 as well as from the tool 104.

[0081] The present invention has been described and illustrated in this detailed description and in the figures of the accompanying drawings, in possible embodiments. The present invention is not limited, however, to the embodiments shown. Other variations and embodiments may be deduced and implemented by those skilled in the art upon reading this description and the accompanying drawings.

[0082] In the claims, the term "comprise" or "comprise" does not exclude other elements or other steps. The different features presented and / or claimed may be advantageously combined. Their presence in the description or in different dependent claims does not exclude this possibility. The reference signs should not be understood as limiting the scope of the invention.

Claims

Claims

1. A motorized arm module (101) for a robot arm (100) of an industrial robot, the arm module (101) comprising: ° a. a main body (40) forming a hollow housing, with at least two ends (1,2), including: ■ i. a first end (1) for connecting the arm module to another arm module (101,103) of the robot arm (100) or to a robot base (102) of the industrial robot; and, ■ ii. a second end (2) for connecting the arm module to another arm module (101,103) of the robot arm (100) or to a tool (104) of the industrial robot, ° b. a first connector (10) arranged at the first end (1) of the housing (40), and having means for axial connection of the arm module, of a first axis (Axx) and of a first type, female or male; ° c. a second connector (20) arranged at the second end (2) of the housing (40), and having second axial connection means of a second axis (Axy) and of a second type, male or female, complementary to the connection means of the first type, said second axis (Axy) being intersecting with the first axis (Axx), and said second connector (20) being adapted to be driven in rotation by a rotary drive shaft (29) to be able to rotate in a controlled manner around said second axis (Axy) relative to the first connection means of the first connector (10); as well as, ° transmission means compatible with rotation, for the transmission of data and / or electrical energy between the first connector (10) and the second connector (20), characterized in that: ° e. the rotation-compatible transmission means comprise a flat rotating contactor (26,27) for the transmission of data and / or electrical energy, said flat rotating connector having a first disc (27) integral with the first connector (10) and a second disc (26) integral in rotation with the second connector (20), said first disc (27) and said second disc (26) being coaxial and arranged axially adjacent along the drive shaft (Axy) of the rotating connector (20), and each comprising: ■ i. a respective first face (27a, 26a) for electrical contact with the other disc, which faces towards and is in sliding contact with the first face of the other disc; and, ■ ii. a respective second face (27b, 26b) opposite the first face, for the electrical connection of the rotary contactor to the first connector (10) and to the second connector (20), respectively, of the arm module (101).

2. An arm module according to claim 1 wherein the rotationally compatible transmission means further comprises a cylindrical contactor for transmitting data and / or electrical energy.

3. An arm module according to claim 1 and claim 2, wherein the flat rotary contactor is arranged for transmission of electrical energy and the cylindrical contactor is arranged for transmission of data.

4. An arm module according to any one of claims 1 to 3, wherein the electrical connection of the flat rotary contactor (26,27) to the first connector (10) and to the second connector (20) is provided by electrical conductors (61,62) which follow a connection path extending entirely outside the drive shaft of the second connector (20).

5. Arm module according to claim 4, wherein the connection path for the electrical connection of the second face (26b) of the second disc (26) of the flat rotary contactor (26, 27) to the second connector (20) comprises: a. a radial passage (621) for connection cables (62), said radial and / or circumferential passage (621) extending in a plane angular sector along the second face (26b) of the second disc (26) of the flat rotating contactor (26, 27); and / or b. an axial passage (622) for the connecting cables (62), said passage extending parallel to the second axis (Axy) and at a non-zero radial distance from said axis; and / or C. a cylindrical chamber (623) extending from the rear of a connection pin holder (21) of the second connector (20) towards the interior of the housing (40), along the axis (Axy) of said second connector.

6. Arm module according to one of claims 1 to 5, in which the first disc (27) of the flat rotating contactor is fixed relative to the housing (40) of the arm module (101), while the second disc (26) is movable in rotation relative to said housing (40) while being integral with the second connector (20) of the arm module (101).

7. An arm module according to any one of claims 1 to 6, wherein the second connector (20) is rotatable in a controllable manner about the second axis (Axy) through an unlimited angle.

8. An arm module according to any one of claims 1 to 7, wherein the housing (40) further comprises a third end (3) for housing an electric motor which is adapted for rotationally driving the second connector (20), the motor shaft of said drive motor being coaxial with the rotational drive shaft (29) of the second connector (20).

9. An arm module according to any one of claims 1 to 8, wherein: a. the first face (27a) of the first disc (27) comprises conductive tracks (273) concentric and electrically insulated from each other, which are each in electrical continuity with a connection pad (279) arranged on the second face (27b) of said first disc (27) for connection to a determined cable of a first electrical harness (61) ensuring the electrical connection to the first connector (10); b.the first face (26a) of the second disc (26) comprises at least a first group (267) of conductive brushes (268) which are. electrically insulated from each other and are radially spaced from each other, and which are each in electrical continuity with a connection pad (269) arranged on the second face (26b) of said first disc (26) for connection to a given cable of a second electrical harness (62) ensuring the electrical connection of the second disc (26) to the second connector (20); and, c. the conductive tracks (273) of the first face (27a) of the first disc (27) correspond in number and in respective radial positions to the conductive brushes (268) of the first face (26a) of the second disc (26), so that the rotating electrical contact between the first disc (27) and the second disc (26) is made by sliding contact, and more specifically by friction of the conductive brushes (268) of the first face (26a) of the second disc (26) against the conductive tracks (273) of the first face (27a) of the first disc (27).

10. An arm module according to claim 9, wherein the first face (26a) of the second disc (26) comprises further groups of conductive brushes such as the first group (267) of conductive brushes (268), said groups of conductive brushes being arranged along respective radii of said first face (26a) of the second disc (26) which are regularly angularly spaced.

11. A modular robot arm for an industrial robot, the robot arm comprising at least one motorized arm module (103) according to any one of claims 1 to 10, which is operatively coupled to another arm module (101,103) of said robot arm (100) or to a robot base (102) of said industrial robot.

12. An industrial robot comprising at least one robot arm (100) according to claim 1, as well as at least one tool (104) adapted to be carried by a distal arm module of said robot arm, and thus furthermore a control unit (150) adapted to control the robot arm and to pilot the operational functioning of the tool (104).

Images