Arm portion of a robot arm, arm portion of a robot arm, and a robot arm

Abstract

The invention relates to an arm section of a robot arm, comprising a partial longitudinal axis and at least one geared motor for actuating at least one arm section, the geared motor comprising a motor, a transmission and a geared motor housing, the support structure of the arm section being formed at least partially only by the geared motor housing in the region of the geared motor housing along the partial longitudinal axis.The invention also relates to a robot arm, comprising a first arm section having a first partial longitudinal axis and a first geared motor, and a second arm section adjacent to the first arm section, having a second partial longitudinal axis and a second geared motor, the second arm section being supported rotatably relative to the first arm section about a bending axis arranged at an angular offset to the first partial longitudinal axis and the second partial longitudinal axis.

Description

[Technical field]

[0001] The present invention relates to an arm portion of a robot arm, an arm section of a robot arm, and a robot arm. [Background technology]

[0002] Robots, especially collaborative and cognitive robots, are continuously being researched and developed for a wide range of applications in industries such as assembly, kitchens, massage, sorting, hotels, care homes, households and services.

[0003] Collaborative and cognitive robots usually work and cooperate with humans without protective devices, such as fences. Therefore, such robots have particularly high demands on safety to eliminate the risk of human injuries. Such robots are often designed as single-arm robots, with one robotic arm.

[0004] In the current state of the art, such robot arms are angular and very wide in the area of ​​the rotation axis where the different arm parts are supported relative to one another, which requires a large installation space and therefore necessarily increases the number of interfering working surfaces that can come into contact with a human being and therefore the risk of injury.

[0005] Such robot arms are known, for example, from US Pat. No. 5,399,623, US Pat. No. 5,499,637, or US Pat. No. 5,499,627. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] European Patent No. 3572192 [Patent Document 2] European Patent No. 1433576 [Patent Document 3] European Patent No. 1854590 Summary of the Invention

[0007] In general, and not only in collaborative and cognitive robots, it is desirable for a robot arm to be thin and light, occupy a small proportion of its installation space relative to the working space, and have a structure that is as straight as possible.

[0008] The invention is therefore based on the problem of providing an arm section which makes it possible to design a robot arm in such a way that it takes up as little installation space as possible with respect to the working space.

[0009] The above problem is solved according to the invention by an arm part of a robot arm having the features of claim 1. The invention is further based on the object of providing a part of a robot arm which takes up as little installation space as possible relative to the working space.

[0010] This problem is solved according to the invention by an arm part of a robot arm having the features of claim 8. The invention is further based on the object of providing a robot arm which takes up as little installation space as possible in the working space and which can be manufactured simply and cheaply.

[0011] This problem is solved according to the invention by a robot arm having the features of claim 7. Likewise, this problem is solved by a robot arm according to claims 10, 11, 15, 21 or 22.

[0012] Advantageous embodiments and developments of the invention are set forth in the dependent claims. The arm section of the robot arm according to the invention has a partial longitudinal axis and at least one geared motor for actuating at least one arm section. The geared motor has a motor, a transmission and a geared motor housing, and the support structure of the arm section is formed at least partially only by the geared motor housing in the region of the geared motor housing along the partial longitudinal axis. This makes it possible to completely dispense with additional support elements in the region of the geared motor housing. The arm section according to the invention can therefore have a smaller installation space compared to the prior art.

[0013] The arm section preferably extends further in one of the three spatial directions than in the other directions. The part longitudinal axis is preferably oriented along this spatial direction. Preferably, the part longitudinal axis is designed as a straight line. Particularly preferably, the arm section is at least partially substantially cylindrical. Here and below, the term actuation preferably includes both driving and braking. The geared motor can therefore also include a brake unit. Furthermore, the geared motor can have an encoder unit, in particular for determining the position of the geared motor. At least one arm section can be actuated relative to another arm section or the surroundings. In that case, preferably, the part of the robot arm that is movable relative to another part of the robot arm is referred to as the arm section. Usually, the arm section is supported at two connection points, in particular relative to another arm section or the surroundings. The support structure of the arm section is preferably responsible for connecting the two connection points to each other and for transmitting forces and torques between the connection points.

[0014] The support structure of the arm part is formed at least partially only by the geared motor housing in the region of the geared motor along the part longitudinal axis, whereby in this region the function "transmitting forces and torques between the connection points of the arm part" can be integrated into the geared motor housing, so that the arm part can be designed without additional support elements at least in the region of the geared motor housing.

[0015] The arm sections are preferably designed in a straight line. In that case, the section longitudinal axes can connect the connection points of the arm sections to one another in a straight line. The arm sections can therefore in particular have no curvature. This makes it possible to achieve a space-saving design of the robot arm. Furthermore, the manufacture of the arm sections can be simplified. In particular, a modular design of the robot arm can therefore be more easily realized.

[0016] Preferably, the output shaft of the geared motor is arranged parallel to the part longitudinal axis. With such an arrangement, a small installation space can be achieved, which in particular avoids the robot arm being made wide in the region of the connection points and taking up a lot of space. Furthermore, it is possible to depart from the winklig, often angular, constructional forms of conventional arm parts, which in particular reduces the risk of injuries. In that case, the term "parallel" preferably includes that the output shaft and the part longitudinal axis are arranged coincidentally or adjacently. The housing of the geared motor can be formed cylindrically, and the output shaft can exit the housing of the geared motor at one end face.

[0017] In one development of the invention, the geared motor has a motor shaft designed as a hollow shaft. The motor shaft can therefore be used in particular for passing lines through it. This allows the arm part to have a more compact design and can be further optimized in terms of installation space. The lines passed through the motor shaft can be, for example, electric wires or lines for passing media, such as compressed air lines.

[0018] The transmission is preferably designed as a three-shaft transmission, which allows a large transmission ratio to be achieved in a small installation space. The three-shaft transmission can be designed, for example, as a planetary, cycloidal or wave transmission.

[0019] Further geared motors and / or extension parts for extending the arm part and / or further functional modules can be arranged on the arm part along the part longitudinal axis. The further geared motors, the extension parts and the further functional modules preferably form components of the arm part. The further geared motors can be arranged such that each of them can actuate the arm part with respect to one of the connection points. By arranging the extension parts, the length of the arm part along the part longitudinal axis can be adapted to the respective boundary conditions. The extension parts are preferably available in different lengths. One of the further functional modules can be formed, for example, by a status display module which shows information about the operating state of the geared motor or the arm part. Furthermore, one of the further functional modules can be designed as an input module. Preferably, the further geared motors, the extension parts and the further functional modules each form an independent support structure for the arm part at least partially along the part longitudinal axis.

[0020] A robot arm according to the invention comprises at least one arm portion as described above. The arm section of the robot arm comprises a second arm section, which comprises a second part longitudinal axis and a second geared motor and a third geared motor. The arm section also comprises a third arm section adjacent to the second arm section, the third arm section having a fourth geared motor. The third geared motor can then actuate the third arm section about the second part longitudinal axis relative to the second arm section. Such an arrangement allows a large number of functions, in particular the drive devices, to be integrated in the arm section. A particularly high density of drive components can therefore be present in the arm section. The drive components can be accommodated in the robot arm in a particularly space-saving manner. Preferably, the second geared motor, the third geared motor and the fourth geared motor are arranged along the second part longitudinal axis. Each of these geared motors can have a motor shaft that is particularly preferably arranged on the second part longitudinal axis. The second geared motor, the third geared motor and the fourth geared motor can therefore be arranged in a row along the second part longitudinal axis. Preferably, the third motor is disposed adjacent to the second geared motor and / or adjacent to the fourth geared motor.

[0021] The second arm portion and / or the third arm portion may be formed by the arm portions previously described. The robot arm according to the invention may comprise a first arm part having a first part longitudinal axis and a first geared motor. Furthermore, the robot arm has a second arm part having a second part longitudinal axis and a second geared motor and adjacent to the first arm part. Alternatively, the robot arm has an arm part as described above, adjacent to the first arm part by a second arm part. In both alternatives, the second arm part is supported rotatably with respect to the first arm part about a bending axis arranged at an angular offset with respect to the first part longitudinal axis and the second part longitudinal axis. In that case, the first arm part and the second arm part are each formed by the arm part as described above. Preferably, the bending axis has a perpendicular offset with respect to the first part longitudinal axis and / or with respect to the second part longitudinal axis. The bending axis is preferably arranged outside the first and second arm parts.

[0022] The robot arm can be designed in such a way that a torque acting about the bending axis can be transferred between the second arm part and the first arm part by means of an angle transmission with a drive element arranged on the second arm part and a driven element arranged on the first part. This allows the torque to be transferred from the second arm part to the first arm part and vice versa with little space required. The robot arm can thus be realized without space-consuming and angular structures, in particular in the region of the bending axis. Preferably, the drive element of the angle transmission is connected to the second output shaft of the second geared motor so as to be rotatable together or is formed by this second output shaft. In a particularly preferred embodiment, the second output shaft can be arranged offset at an angle, in particular perpendicularly, to the bending axis.

[0023] In one embodiment of the invention, the drive element is arranged on the second geared motor and the driven element is arranged on the first arm part. The second arm part can thus be actuated from the second arm part with respect to the first arm part. The first arm part preferably only needs to have the driven element to be able to realize the torque transmission, so that the robot arm can be constructed in a less space-consuming manner, especially with regard to the first arm part.

[0024] The angle gear can have a reduction ratio starting from the drive element, in this way the required high torques can be generated directly at the bending shaft, and the drive train arranged in front of the second geared motor can also be dimensioned correspondingly lighter and more space-saving.

[0025] In a preferred embodiment of the invention, the angle gear is designed as a bevel gear, the driving element being formed by a driving bevel gear and the driven element being formed by a driven bevel gear. A bevel gear transmission is a simple and inexpensive realization of an angle gear.

[0026] In the robot arm according to the invention, the first arm part has a fork-shaped first connection element including a first fork prong and a second fork prong, and the second arm part can be supported relative to the first arm part around a bending axis such that the second connection element of the second arm part is located between the first and second fork prongs. This allows a rigid support and at the same time a low weight to be achieved. Preferably, the first and second fork prongs form the two legs of a U-shape.

[0027] The second connecting element is preferably formed in a fork shape including a third fork prong and a fourth fork prong, and the third fork prong can be supported against the first fork prong and the fourth fork prong can be supported against the second fork prong, which can further improve the weight and rigidity of the support.

[0028] The first connecting element can have a U-shaped cross section in a virtual first plane formed by the bending axis and the first partial longitudinal axis and / or the second connecting element can have a U-shaped cross section in a virtual second plane formed by the bending axis and the second partial longitudinal axis. The first connecting element and / or the second connecting element can thus preferably have a bowl-shaped cross section. This can increase the stiffness of the connecting elements. The U-shape can be designed with a constant radius. This can make the cross section of the respective connecting element spherical.

[0029] In a preferred embodiment of the invention, the driven element of the angle transmission is connected to the first and / or the second fork prong of the first connecting element so as to be rotatable together, in such a way that the transmission of torque about the bending axis can be realized in a simple and space-saving manner in design.

[0030] It is particularly preferred if the second connecting element has a housing for the angle gear, which can be integrated into the second connecting element, which allows the robot arm to be designed in a particularly safe manner, in particular with regard to collaboration with humans.

[0031] In one embodiment of the invention, the second connecting element can have an angle sensor for sensing the position of the driven element, which allows for redundant and therefore reliable position measurements, especially in conjunction with an encoder unit arranged on the second geared motor.

[0032] In one development of the invention, the robot arm has a fourth arm part, the third arm part being supported rotatably relative to the fourth arm part about a second bending axis arranged angularly offset relative to the second part longitudinal axis, the arrangement of the third arm part relative to the fourth arm part being formed in such a way that it corresponds to the arrangement of the second arm part relative to the first arm part, said arrangement including the bearings and all elements necessary for the operative connection between adjacent arm parts.

[0033] The robot arm can thus be formed such that a torque acting about the second bending axis is transmittable between the third and fourth arm parts by means of a second angular transmission having a drive element arranged in the third arm part and a driven element arranged in the fourth arm part. Preferably, the drive element of the second angular transmission is co-rotatably connected to or formed by a fourth output shaft of the fourth geared motor. In a particularly preferred embodiment, the fourth output shaft can be arranged offset at an angle, in particular at a right angle, to the second bending axis.

[0034] In one embodiment of the invention, the drive element of the second angle transmission is arranged on the fourth geared motor and the driven element of the second angle transmission is arranged on the fourth arm part. The fourth arm part can thus be actuated from the third arm part relative to the third arm part. The second angle transmission can have a reduction ratio starting from the drive element.

[0035] In a preferred embodiment of the invention, the second angle transmission can be formed as a bevel gear transmission, the driving element being formed by a driving bevel gear and the driven element by a driven bevel gear.

[0036] In the robot arm according to the invention, the third arm part can be supported relative to the fourth arm part about the second bending axis such that the fourth arm part has a fork-shaped fourth connection element comprising a first fork prong and a second fork prong, preferably corresponding to the first connection element. Preferably, a third connection element of the third arm part, preferably corresponding to the second connection element, is arranged between the first and second fork prongs of the fourth connection element. Preferably, the first and second fork prongs of the fourth connection element form the two legs of a U.

[0037] The third connecting element is preferably formed in a fork shape including a third fork protrusion and a fourth fork protrusion, and the third fork protrusion can be supported against the first fork protrusion of the fourth connecting element and the fourth fork protrusion can be supported against the second fork.

[0038] The fourth connecting element has a U-shaped cross section in an imaginary fourth plane formed by the second bending axis and the fourth partial longitudinal axis and / or the third connecting element has a U-shaped cross section in an imaginary third plane formed by the second bending axis and the second partial longitudinal axis. The third connecting element and / or the fourth connecting element thus preferably have a bowl-shaped cross section. The U-shape can be designed to have a constant radius. Thereby, the cross section of the respective connecting element can be formed spherically.

[0039] In a preferred embodiment of the invention, the drive element of the second angle gear is connected to the first fork lug and / or the second fork lug of the fourth connecting element so as to be rotatable together. It is particularly preferred that the third connecting element has a housing for the second angle gear. The housing can be integrated into the third connecting element.

[0040] In one embodiment of the invention, the third connecting element may comprise an angle sensor for sensing the position of the driven element, particularly in conjunction with an encoder unit arranged on the third geared motor, providing redundant and therefore reliable position measurements.

[0041] The robot arm may be formed such that a first arm portion is adjacent to the base and can be actuated relative to the base by a first geared motor, the second arm portion can be actuated relative to the first arm portion by a second geared motor, and the second arm portion has a third geared motor and the third arm portion adjacent to the second arm portion can be actuated relative to the second arm portion by the third geared motor. In that case, the base preferably forms an interface between the robot arm and the surrounding environment. The first arm portion can be formed very short along the first part longitudinal axis, by the first arm portion preferably having only the first geared motor. This allows the end of the robot arm remote from the base to reach points near the base with relatively small movements and little effort. Overall, therefore, the working space of the robot arm can be further expanded compared to its installation space. The term working space then refers to the totality of all points that can be reached by the end of the robot arm remote from the base.

[0042] In one development of the invention, the first arm part is rotatably mounted on the base about a first partial longitudinal axis and the third arm part is rotatably mounted on the second arm part about a partial longitudinal axis, such an arrangement makes it possible to realize a large working space of the robot arm while at the same time keeping the installation space small.

[0043] In one development of the invention, a flexible energy dissipating cover is arranged on at least one of the arm parts of the robot arm, which at least partially covers the robot arm, so that in the event of a collision between the robot arm and a person or object located in the surrounding environment in the area of ​​the cover, the energy acting at the point of contact can be quickly and effectively dissipated from the robot arm and the effect of the energy on the colliding person or object and the associated deformation of the person or object can be minimized, which can reduce the risk of injury, especially when the robot arm is used together with a collaborative robot.

[0044] This effect can be increased if the cover is spring-elastically supported on the robot arm, in particular by means of at least one fold, which can be spring-elastically supported on the robot arm.

[0045] The cover can have at least one sensor for detecting a collision of the robot arm. The sensor can in particular be designed as a contact sensor and / or a proximity sensor and / or a deformation sensor. A contact sensor detects a contact and thus can detect a collision with a person or an object. A proximity sensor can detect the approach of a person or an object already in the pre-collision stage. A deformation sensor can detect a deformation of the cover as a result of a collision. As a result of one or more of the aforementioned detections, measures can be taken to avoid and / or mitigate a collision or its consequences. In particular, the movement of the robot arm can be immediately interrupted. This can further increase safety, in particular when using the robot arm in collaborative tasks.

[0046] An embodiment of the present invention will be described with reference to the following figures. [Brief description of the drawings]

[0047] [Figure 1] FIG. 2 is a perspective view of a first exemplary embodiment of a robotic arm having multiple arm sections in a first pose. [Figure 1a] FIG. 2 is a diagram in which reference numerals have been added to the illustration in FIG. 1. [Figure 2a] FIG. 13 is an exploded view of a portion of the arm portion and a driven bevel gear. [Figure 2b] FIG. 4b is a perspective cross-sectional view of the assembly shown in FIG. 4a. [Diagram 3] 2 is a perspective view of a fork-shaped connecting element of a second arm portion and an adjacent arm portion of the exemplary embodiment shown in FIG. 1. FIG. [Figure 4] 2 is a perspective cross-sectional view of the robot arm shown in FIG. 1 in a second position. FIG. [Figure 4a] FIG. 5 is a diagram in which reference numerals are added to the illustration in FIG. 4. [Diagram 5] FIG. 2 is a perspective view of a second exemplary embodiment of a robotic arm. [Figure 6a] FIG. 2 is a diagram of the robot arm shown in FIG. 1 in a third position. [Figure 6b] FIG. 6b is a diagram of a prior art robot arm in the same pose as the robot arm shown in FIG. 6a. [Figure 7a] FIG. 6b is a cross-sectional view of the robot arm shown in FIG. 6b, with part A marked. [Figure 7b] FIG. 7b is a view of the cross section shown in FIG. 7a, at portion A marked in FIG. 7a. [Figure 8a] FIG. 13 is a perspective view of a third exemplary embodiment of a robotic arm having a cover. [Figure 8b] FIG. 8b is a perspective view of the cover shown in FIG. 8a. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0048] 1 to 8b show various exemplary embodiments, in which the same reference symbols are used for the same and functionally identical parts. Fig. 1 shows a first exemplary embodiment of a robot arm 10 with several arm sections 11. In Fig. 2a, a part of one of the arm sections 11 is shown with a driven gear 12. The arm section 11 has a part longitudinal axis 14 and a geared motor 16 for actuating the arm section 11. As shown in Fig. 2b, the geared motor 16 has a motor 18, a transmission 20 and a geared motor housing 22, such that the support structure of the arm section 11 is formed at least partially only by the geared motor housing 22 in the region of the geared motor housing 22 along the part longitudinal axis 14.

[0049] As can be seen in particular from Fig. 3, the arm portion 11 can extend further in one of three spatial directions than in the other spatial directions. The portion longitudinal axis 14 is preferably oriented along this spatial direction and is designed as a straight line. Particularly preferably, the arm portion 11 is at least partially formed substantially cylindrically.

[0050] The geared motor 16 may include a brake unit 24 (Figure 2b). Furthermore, the geared motor 16 may have an encoder unit 26 for determining, inter alia, the position of the geared motor 16, only the empty part of the geared motor housing 22 being shown in Figure 2b.

[0051] The arm part 11 can be actuated relative to another arm part 11 or relative to the surrounding environment. Typically, the arm part 11 is supported at two connection points 28, in particular relative to another arm part 11 or relative to the surrounding environment. A support structure for the arm part 11 preferably connects the two connection points 28 to each other and serves to transmit forces and torques between the connection points 28.

[0052] In the region of the geared motor housing 22 along the partial longitudinal axis 14, the support structure of the arm portion 11 is at least partially formed exclusively by the geared motor housing 22. Thereby, the function "transmitting forces and torques between the connection points 28 of the arm portion 11" can be integrated in this region into the geared motor housing 22. The arm portion 11 can therefore be designed such that at least in this region of the geared motor housing 22 there are no additional support elements.

[0053] Such an additional support element can be, for example, an additional robot housing 219 as shown in Fig. 6b. Whereas Fig. 6a shows a robot arm 10, Fig. 6b shows a robot arm 210 of the prior art. The robot arm 210 has an arm portion 211. In the prior art robot arm 210, the geared motors 216 used therein are arranged in respective robot housings 219 which form a support structure for the respective arm portion 211. Fig. 7a shows a cross-sectional view of the prior art robot arm 210. In particular, detail A shown enlarged in Fig. 7b shows that in the prior art robot arm 210, the geared motors 216 have a geared motor housing 222. The geared motor housing 222 is supported against the robot housing 219 which completely surrounds the geared motor housing 222. The support structure connecting the two connection points with each other and transmitting forces and torques between the connection points 228 of the arm portions is formed by the robot housing 219 in the area of ​​the geared motor housing 222. In the region of the geared motor 216 the support structure is therefore formed by the robot housing 219 .

[0054] The arm sections 11 are preferably formed straight, in particular as shown in Fig. 3. In that case, the part longitudinal axis 14 can connect the connection points 28 of the arm sections 11 to one another in a straight line. The arm sections 11 can therefore be in particular free of curves, whereby the robot arm 10 can be designed to take up significantly less space, as shown by a comparison of the robot arms 10, 210 shown in Fig. 6a and 6b, whereas the prior art robot arm 210 is made significantly wider, in particular due to the curved design of the arm section 211.

[0055] The cross-sectional view of Fig. 2b shows that the output shaft 30 of the geared motor 16 is preferably arranged parallel to the partial longitudinal axis 14. Such an arrangement makes it possible to avoid that the robot arm 10 is made wider and takes up a lot of space, particularly in the region of the connection point 28. For illustration, please refer to Fig. 6b. The robot arm 210 shown there has a particularly space-consuming structure compared to the robot arm 10, particularly in the region of the connection point 228. The geared motor housing 22 can be formed cylindrically, the output shaft 30 being able to exit the geared motor housing 22 at an end face 32.

[0056] The geared motor 16 can have a motor shaft 34 designed as a hollow shaft, which can therefore in particular be used for passing lines. The lines passed through the motor shaft 34 can be, for example, electric wires or lines for passing a medium, such as compressed air lines. The transmission 20 is preferably designed as a three-shaft transmission, particularly preferably as a planetary transmission.

[0057] The arm portion 11 may have an extension piece 36 disposed along the portion longitudinal axis 14 for extending the arm portion 11. The extension piece 36 is preferably available in a variety of lengths. The extension piece 36 is preferably an integral part of the arm portion 11.

[0058] The extension part 36 may be located along the portion longitudinal axis 14 , in particular adjacent the geared motor housing 22 , and at least partially form the sole support structure for the arm portion 11 . The robot arm 10 shown in Figures 1, 4 and 6a may have a first arm portion 11a with a first partial longitudinal axis 14a and a first geared motor 16a. Furthermore, the robot arm 10 may have a second arm portion 11b adjacent to the first arm portion 11a with a second partial longitudinal axis 14b and a second geared motor 16b. The second arm portion 11b may further have a third geared motor 16c. The second arm portion 11b may be a component of an arm section 15 which, besides the second arm portion 11b, includes a third arm portion 11c adjacent to the second arm portion 11b, the third arm portion having a fourth geared motor 16d. The third arm portion 11c is then actuable relative to the second arm portion 11b about the second portion longitudinal axis 14b by a third geared motor 16c (see in particular FIG. 4b).

[0059] Preferably, the second geared motor 16b, the third geared motor 16c, and the fourth geared motor 16d are arranged along the second partial longitudinal axis 14b. It is particularly preferred that the motor shaft 34 of each of the geared motors 16b, 16c, and 16d is arranged on the second partial longitudinal axis 14b. Thus, the second geared motor 16b, the third geared motor 16c, and the fourth geared motor 16d can be arranged in a line along the second partial longitudinal axis 14b. Preferably, the third geared motor 16c is arranged adjacent to the second geared motor 16b and adjacent to the fourth geared motor 16d.

[0060] The second arm portion 11b can be supported on the first arm portion 11a so as to be rotatable about a bending axis 38 arranged offset at right angles to the first and second partial longitudinal axes 14a, 14b. In this case, the first arm portion 11a, the second arm portion 11b and the third arm portion 11c are each formed by the above-mentioned arm portion 11. The bending axis 38 is preferably arranged outside the first and second arm portions 11a, 11b.

[0061] The robot arm 10 can be designed in such a way that the torque acting about the bending axis 38 can be transmitted between the second arm part 11b and the first arm part 11a by means of an angular transmission designed as a bevel gear transmission 40 with a driving bevel gear 42 arranged on the second arm part 11b and a driven bevel gear 12 arranged on the first part 11a (see in particular FIG. 4). The bevel gear transmission 40 is particularly clearly shown in FIGS. 2a and 2b. The robot arm 10 can thus be realized without space-consuming angular structures, in particular in the region of the bending axis 38. The driving bevel gear 42 preferably forms the second output shaft 30b of the second geared motor 16b. The second output shaft 30b can be arranged at an angle, in particular offset at a right angle, to the bending axis 38.

[0062] The effect of such an arrangement, in particular on the required installation space, is again evident when comparing the robot arm 10 shown in Fig. 6a with the prior art robot arm 210 shown in Fig. 6b. The robot arm 210 is made considerably wider in the region of the bending axis 238. The cross-sections in Fig. 7a and 7b show the design background. There is no angle transmission, such as the bevel gear transmission 40. In contrast, the geared motor 216 is arranged on the bending axis 238, such that the output shaft 230 of the geared motor 216 is arranged parallel to the bending axis 238.

[0063] Preferably, the driving bevel gear 42 is disposed on the second geared motor 16b and the driven bevel gear 12 is disposed on the first arm portion 11a, so that the second arm portion 11b can be actuated from the second arm portion 11b relative to the first arm portion 11a.

[0064] In particular, as is evident from the diameter ratio of the driving bevel gear 42 and the driven bevel gear 12, the bevel gear transmission 40 can have a reduction ratio starting from the driving bevel gear 12. In this way, the high torque required for the bent shaft 38 can be generated directly on the bent shaft 38, and the drive train arranged in front of the second geared motor 16b, in particular the transmission 20, can be dimensioned correspondingly in a lightweight and space-saving manner.

[0065] 1, the second arm portion 11b can be supported relative to the first arm portion 11a about the bending axis 38 such that the first arm portion 11a has a first connection element 46 including a first fork prong 48 and a second fork prong 50, and a second connection element 52 of the second arm portion 11b is disposed between the first fork prong 48 and the second fork prong 50. Preferably, the first fork prong 48 and the second fork prong 50 form two legs of a U. The driven bevel gear 12 is preferably connected to the first fork prong 48 for co-rotation.

[0066] The second connecting element 52 is preferably formed in a fork shape including a third fork protrusion 54 and a fourth fork protrusion 56, and the third fork protrusion 54 can be supported against the first fork protrusion 48 and the fourth fork protrusion 56 can be supported against the second fork protrusion 50.

[0067] It is particularly preferred that the second connecting element 52 comprises a housing for the bevel gear transmission 40. As can be seen from figures 2a and 2b, the housing for the bevel gear transmission 40 can be integrated into the second connecting element 52. The second connecting element 52 can comprise an angle sensor 60 for detecting the position of the driven bevel gear 12.

[0068] The first connecting element 46 may have a U-shaped cross-section in an imaginary first plane formed by the bending axis 38 and the first portion longitudinal axis 14a. The first connecting element therefore preferably has a bowl-shaped cross-section.

[0069] As shown in Fig. 5, the robot arm can be designed such that the torque for driving or braking about the bending axis 38 is provided by a drive unit arranged on the bending axis 38. In that case, the drive unit 58 can be arranged between the first fork prong 48 and the second fork prong 50, which themselves can be arranged between the third fork prong 54 and the fourth fork prong 56. Furthermore, the arrangement of Fig. 5 can be such that besides the first connecting element 46, the second connecting element 52 also has a U-shaped cross section, preferably in an imaginary second plane formed by the bending axis 38 and the second partial longitudinal axis 14b. The U-shape can be designed such that it has a constant radius. Thereby, the cross sections of the first connecting element 46 and the second connecting element 52 can each be formed spherical.

[0070] As can be seen in particular from Figures 1 and 4, and by the corresponding reference numbers in Figures 1a and 4a, the robot arm can have a fourth arm part 11d, with the third arm part 11c being supported rotatably relative to the fourth arm part 11d about a second bending axis 38 arranged angularly, in particular offset at a right angle, about the second part longitudinal axis 14b. Preferably, in that case, the arrangement of the third arm part 11c relative to the fourth arm part 11d is designed to correspond to the arrangement of the second arm part 11b relative to the first arm part 11a. This arrangement can include all elements necessary for the bearing and for the operative connection between the arm parts adjacent to each other.

[0071] The robot arm 10 can therefore be designed in such a way that a torque acting about the second bending axis 38b can be transmitted between the third arm part 11c and the fourth arm part 11d via the second bevel gear transmission 40b. The second bevel gear transmission 40b preferably corresponds to the bevel gear transmission 40 and can thus likewise have a driving bevel gear 42 and a driven bevel gear 12. The driving bevel gear 42 of the second bevel gear transmission 40b is preferably arranged on the third arm part 11c and the driven bevel gear 12 of the second bevel gear transmission 40b is preferably arranged on the fourth arm part 11d.

[0072] According to the illustration of Fig. 2b, the driving bevel gear 42 of the second bevel gear transmission 40b can be arranged on the fourth geared motor 16c, and the driven bevel gear 12 of the second angle transmission 40b can be arranged on the fourth arm portion 11d, so that the fourth arm portion 11d can be actuated from the third arm portion 11c with respect to the third arm portion 11c, as shown in Fig. 4.

[0073] As shown in Figures 1 and 4, in the robot arm 10, the third arm portion 11c can be supported on the fourth arm portion 11d about the second bending axis 38b, such that the fourth arm portion 11d has a fork-shaped fourth connection element 46b. Corresponding reference numbers are given in Figures 1a and 4a. The fourth connection element 46b preferably corresponds to the first connection element 46. The fourth connection element can thus also have a first fork protrusion 48 and a second fork protrusion 50, which form the two legs of a U. The third connection element 52b of the third arm portion 11c can be arranged between the first fork protrusion 48 and the second fork protrusion 50 of the fourth connection element 46b. Preferably, the first and second fork protrusions of the fourth connection element form the two legs of a U.

[0074] The third connecting element 52b is preferably designed to correspond to the second connecting element 52 and can therefore in particular be designed in the shape of a fork. The third connecting element 52b can thus also have a third fork protrusion 54 and a fourth fork protrusion 56. The third fork protrusion 54 can then bear against the first fork protrusion 48 of the fourth connecting element 46b and the fourth fork protrusion 56 against the second fork protrusion 50 of the fourth connecting element 46b.

[0075] The fourth connecting element 46b may have a U-shaped cross section in an imaginary fourth plane formed by the second bending axis 38b and the fourth partial longitudinal axis 14d, and the third connecting element 52b may have a U-shaped cross section in an imaginary third plane formed by the second bending axis 38b and the second partial longitudinal axis 14b. Thus, it is preferred that the third connecting element 52b and the fourth connecting element 46b have a bowl-shaped cross section.

[0076] The robot arm 10 shown in Figs. 1, 4 and 6 can be designed such that the first arm portion 11a is adjacent to the base 62 and can be actuated relative to the base 62 by the first geared motor 16a. The second arm portion 11b can then be actuated relative to the first arm portion 11a by the second geared motor 16b. Furthermore, the second arm portion 11b can have a third geared motor 16c, which can actuate the third arm portion 11c adjacent to the second arm portion 11b relative to the second arm portion 11b. In that case, the base 62 preferably forms an interface between the robot arm 10 and the surrounding environment. By the first arm portion 11a preferably having only the first geared motor 16a, the first arm portion can be made very short along the first portion longitudinal axis 14a. This allows the end 64 of the robot arm 10 remote from the base 62 to reach a point near the base 62 with relatively small movements and little effort.

[0077] The first arm portion 11a is preferably rotatably supported relative to the base 62 about a first partial longitudinal axis 14a. The third arm portion 11c is preferably rotatably supported relative to the second arm portion 11b about a second partial longitudinal axis 14b.

[0078] As shown in Figure 8a, a flexible energy dissipating cover 66 may be disposed on at least one of the arm sections 11, 11a, 11b of the robot arm 10, at least partially covering the robot arm 10. This may reduce the risk of injury, particularly when the robot arm 10 is used with a collaborative robot.

[0079] This effect can be increased if the cover 66 is spring-elastically supported on the robot arm 10. In particular, the cover 66 can be spring-elastically supported on the robot arm 10 by means of at least one fold 68. Only the cover 66 is shown in figure 8b.

[0080] The cover 66 may have at least one sensor, not shown in figures 8a and 8b, for detecting a collision of the robot arm, thereby further improving safety, especially when the robot arm 10 is used in a collaborative operation. [Explanation of symbols]

[0081] 10 Robot Arm 11 Arm part 11a First arm portion 11b Second arm part 11c Third arm section 11d Fourth arm part 12 Follower bevel gear 14 partial longitudinal axis 14a first part longitudinal axis 14b Second Part Longitudinal Axis 14d Fourth Part Longitudinal Axis 15 Arm section 16 Geared motor 16a First geared motor 16b Second geared motor 16c 3rd geared motor 16d 4th geared motor 18 Motor 20 Transmission 22 Geared motor housing 24 Brake unit 26 Encoder unit 28 Connection points 30 Output shaft 30b second output shaft 32 End face 34 Motor shaft 36 Extension parts 38 bending axis 38b Second bending axis 40 Bevel gear transmission 40b Second bevel gear transmission 42 Drive bevel gear 46 First connecting element 46 Fourth connecting element 48 First fork prong 50 Second fork prong 52 Second connecting element 52b Third connecting element 54 Third fork prong 56 Fourth fork prong 58 Drive unit 60 Angle Sensor 62 Base 64 Far End 66 Cover 68 Folding section 210 Robot Arm (Conventional Technology) 211 Arm part (conventional technology) 216 Geared motor (conventional technology) 219 Robot Housing 222 Geared motor housing 228 Connection point 230 Output shaft 238 bending axis

Claims

1. An arm section (11) of a robot arm (10), comprising a section longitudinal axis (14) and at least one geared motor (16) for actuating said at least one arm section (11), said geared motor (16) having a motor (18), a transmission (20) and a geared motor housing (22), The support structure of the arm portion is formed at least partially only by the geared motor housing (22) in the region of the geared motor housing (22) along the portion longitudinal axis (14). The arm portion is characterized by:

2. The arm portion (11) is designed to be straight. Characterized in that An arm portion (11) according to claim 1.

3. The output shaft (30) of the geared motor (16) is arranged parallel to the partial longitudinal axis (14). Characterized in that An arm portion (11) according to claim 1 or 2.

4. The geared motor (16) has a motor shaft (34) designed as a hollow shaft. Characterized in that An arm portion (11) according to any one of claims 1 to 3.

5. The transmission (20) is designed as a three-shaft transmission. Characterized in that An arm portion (11) according to any one of claims 1 to 4.

6. Another geared motor (16) and / or an extension part (36) for extending the arm part (11) and / or further functional modules can be arranged on the arm part (11) along the part longitudinal axis (14). Characterized in that An arm portion (11) according to any one of the preceding claims.

7. A robot arm (10) comprising at least one arm portion (11) according to any one of the preceding claims.

8. An arm portion (15) of a robot arm (10), A second partial longitudinal axis (14b); A second geared motor (16b); A third geared motor (16c); and A second arm portion (11b) including: a third arm portion (11c) adjacent to the second arm portion (11b) including a fourth geared motor (16d); having The third arm portion (11c) is actuable relative to the second arm portion about the second portion longitudinal axis (14b) by the third geared motor (16c).

9. The second arm portion (11b) and / or the third arm portion (11c) are each formed by an arm portion (11) according to any one of claims 1 to 6. Characterized in that An arm portion (15) according to claim 8.

10. A robot arm (10) comprising a first arm portion (11a) having a first portion longitudinal axis (14a) and a first geared motor (16a); a second arm portion (11b) adjacent to the first arm portion (11a) and having a second portion longitudinal axis (14b) and a second geared motor (16b); or 10. An arm portion (15) according to claim 8 or 9, which is adjacent to the first arm portion (11a) by the second arm portion (11b). And, A robot arm, the second arm portion (11b) being supported rotatably relative to the first arm portion (11a) about a bending axis (38) arranged at an angular offset to the first and second part longitudinal axes (14a, 14b), A robot arm, characterized in that the first arm portion (11a) and the second arm portion (11b) are each formed by an arm portion (11) according to any one of claims 1 to 6.

11. A torque acting about the bending axis (38) can be transmitted between the second arm portion (11b) and the first arm portion (11a) by means of an angular transmission having a driving element arranged on the second arm portion (11b) and a driven element arranged on the first portion (11a). Characterized in that A robot arm (10) according to the preamble of claim 10 or claim 10.

12. The driving element is disposed on the second geared motor (16b) and the driven element is disposed on the first arm portion (11a). Characterized in that A robotic arm (10) according to claim 11.

13. The angle transmission has a reduction ratio starting from the driving element. Characterized in that A robot arm (10) according to any one of claims 11 to 12.

14. The angle transmission is formed as a bevel gear transmission (40), the driving element being formed by a driving bevel gear (42) and the driven element being formed by a driven bevel gear (12). Characterized in that A robot arm (10) according to any one of claims 11 to 13.

15. The second arm portion (11b) is supported relative to the first arm portion (11a) about the bending axis (38) such that the first arm portion (11a) has a fork-shaped first connection element (46) including a first fork prong (48) and a second fork prong (50), and a second connection element (52) of the second arm portion (11b) is disposed between the first fork prong (48) and the second fork prong (50). Characterized in that A robot arm (10) according to the preamble of claim 10 or claim 10.

16. The second connection element (52) is formed in a fork shape including a third fork prong (54) and a fourth fork prong (56), the third fork prong (54) is supported against the first fork prong (48), and the fourth fork prong (56) is supported against the second fork prong (50). Characterized in that A robotic arm (10) according to claim 15.

17. The first connecting element (46) has a U-shaped cross section in an imaginary first plane formed by the bending axis (38) and the first partial longitudinal axis (14a) and / or the second connecting element (52) has a U-shaped cross section in an imaginary second plane formed by the bending axis (38) and the second partial longitudinal axis (14b). Characterized in that A robot arm (10) according to claim 15 or 16.

18. The driven element of the angle transmission is connected to the first fork lug (48) and / or the second fork lug (50) of the first connecting element (46) so as to be rotatable together. Characterized in that A robot arm (10) according to any one of claims 11 to 14 and any one of claims 15 to 17.

19. The second connecting element (52) comprises a housing for the angle transmission. Characterized in that A robot arm (10) according to any one of claims 11 to 14 and any one of claims 15 to 18.

20. The second connecting element (52) has an angle sensor (60) for sensing the position of the driven element. Characterized in that A robot arm (10) according to any one of claims 11 to 14 and any one of claims 15 to 19.

21. The robot arm (10) has a fourth arm portion (11d), the third arm portion (11c) being supported rotatably relative to the fourth arm portion (11d) about a second bending axis (38b) that is arranged angularly offset relative to the second portion longitudinal axis (14b), the arrangement of the third arm portion (11c) relative to the fourth arm portion (11d) being formed in such a way that it corresponds to the arrangement of the second arm portion (11b) relative to the first arm portion (11a). Characterized in that The arm portion (15) according to claim 8 or claim 9, which is adjacent to the first arm portion (11a) by the second arm portion (11b), or the arm portion (15) according to claim 8 or 9, adjacent to the first arm portion (11a) by the second arm portion (11b), Robot arm (10).

22. The first arm portion (11a) is adjacent to a base (62), and the first arm portion (11a) can be operated relative to the base (62) by the first geared motor (16a), the second arm portion (11b) can be operated relative to the first arm portion (11a) by the second geared motor (16b), and the second arm portion (11b) has a third geared motor (16c), and a third arm portion (11c) adjacent to the second arm portion (11b) can be operated relative to the second arm portion (11b) by the third geared motor. Characterized in that A robot arm (10) according to the preamble of claim 10, claim 10 or any one of claims 11 to 21.

23. The first arm portion (11a) is supported rotatably relative to the base (62) about the first partial longitudinal axis (14a), and the third arm portion (11c) is supported rotatably relative to the second arm portion (11b) about the second partial longitudinal axis (14b). Characterized in that A robotic arm (10) according to claim 22.

24. A flexible energy dissipating cover (66) is disposed on at least one of the arm portions (11, 11a, 11b), said cover at least partially covering the robot arm. Characterized in that A robot arm (10) according to any one of the preceding claims.

25. The cover (66) is supported by the robot arm (10) in a spring-elastic manner. Characterized in that A robotic arm (10) according to claim 24.

26. The cover (66) has at least one sensor for detecting a collision of the robot arm (10). Characterized in that A robot arm (10) according to claim 24 or 25.

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