Robotic arm with an integrated control unit

Abstract

A robot comprising a robotic arm is disclosed and a control unit for such robot. The robotic arm extends between a base end and a tool end and comprises a base at the base end and a plurality of joints including a first joint and a second joint. The plurality of joints connects the base and the tool end. The robotic arm comprises a plurality of motors including a first motor and a second motor. The plurality of motors causes movement of the robotic arm with respect to a plurality of axes. The base of the robotic arm comprises a control unit comprising a voltage converter, an IO board with a plurality of digital IO terminals, and a main processing unit.

Description

[0001] ROBOTIC ARM WITH AN INTEGRATED CONTROL UNIT

[0002] The present disclosure relates to a robot, e.g. a robotic arm and / or a control unit for such robot or robotic arm. More particularly, the present disclosure relates to an improved robotic arm having a base with an integrated control unit.

[0003] BACKGROUND

[0004] Robots and in particular robotic arms are widely used to perform a wide variety of automated tasks. Recently, lightweight robots have increased in popularity for assisting human activities, e.g. in production facilities. These robots are commonly known as collaborative robots or cobots.

[0005] For robots, such as robotic arms, it is desirous to enhance flexibility and facilitate more compact robot solutions. It is a further objective to increase productivity, e.g. by utilizing such robots in performing various tasks and / or by changing between different tasks.

[0006] SUMMARY

[0007] It is an object of the present disclosure at least to provide improvements of the prior art and / or to solve or reduce problems known from the prior art. It is a further object of the present disclosure to provide an advantageous or at least alternative robot, robotic assembly, and / or components thereof.

[0008] More particularly, the present disclosure provides a solution which affords enhanced flexibility, at least in terms of enhancing mobility and / or compactness of the robot. For example, the present disclosure may facilitate and / or enhance the ability of a robot forming part of an automated guided vehicle (AGV) and / or an autonomous mobile robot (AMR).

[0009] Furthermore, the present solution also provides for simplification of the robot itself as well as its connection with other units.

[0010] Accordingly, the present disclosure involves a robot comprising a robotic arm extending between a base end and a tool end and comprising a base at the base end and a plurality of joints including a first joint and a second joint. The present disclosure also relates to accompanying devices and elements associated with such robot and robotic arm, such as a control unit and / or a base for a robot.

[0011] The present invention is further defined by the appended set of claims.

[0012] It is an advantage of the present disclosure that components of a control unit may be fitted in the base of a robotic arm in a compact manner, thereby providing for a more compact base of a robotic arm. It is further an advantage of the present disclosure that components of the control unit may be assembled in an efficient manner, resulting in reduced production cost and time as well as reducing the risk of faulty assemblies.

[0013] It is a further advantage of the present disclosure that while facilitating a compact robot, the robot may be able to operate on different power sources, e.g. a battery or different batteries. The present disclosure may further facilitate better operation of the robot under such limited or changing power supply conditions, e.g. while observing the compactness of the robot.

[0014] GENERAL DESCRIPTION

[0015] A robot is disclosed. The robot comprises a robotic arm extending between a base end and a tool end. The robotic arm comprises a base at the base end. The robotic arm may be configured for coupling with a tool at the tool end. For example, the robotic arm may comprise a tool flange, e.g. for connecting the tool, at the tool end.

[0016] The robotic arm comprises a plurality of joints connecting the base and the tool end. The plurality of joints may include a first joint and a second joint, and optionally one or more of a third joint, a fourth joint, a fifth joint, a sixth joint and a seventh joint. The plurality of joints may comprise six or more joints, e.g. seven joints.

[0017] The first joint is positioned between the base and the second joint. The second joint may be positioned between the first joint and the tool end and / or between the first joint and the third joint. The third joint may be positioned between the second joint and the tool end and / or between the second joint and the fourth joint. The fourth joint may be positioned between the third joint and the tool end and / or between the third joint and the fifth joint. The fifth joint may be positioned between the fourth joint and the tool end and / or between the fourth joint and the sixth joint. The sixth joint may be positioned between the fifth joint and the tool end and / or between the fifth joint and the seventh joint. The seventh joint may be positioned between the sixth joint and the tool end, such as between the sixth joint and the tool flange at the tool end.

[0018] The robotic arm comprises a plurality of motors to cause movement of the robotic arm with respect to a plurality of axes. The plurality of motors includes a first motor and a second motor, and optionally one or more of a third motor, a fourth motor, a fifth motor, a sixth motor and a seventh motor. Any or all of the plurality of motors may be a permanent magnet AC motor. Any or all of the plurality of motors may comprise a gear assembly, e.g. an integral gear, such as a strain wave gear. Hence, any or all of the plurality of motors may be a gear motor. The first motor causes movement of the first joint with respect to a first axis. The second motor causes movement of the second joint with respect to a second axis. The third motor may cause movement of the third joint with respect to a third axis. The fourth motor may cause movement of the fourth joint with respect to a fourth axis. The fifth motor may cause movement of the fifth joint with respect to a fifth axis. The sixth motor may cause movement of the sixth joint with respect to a sixth axis. The seventh motor may cause movement of the seventh joint with respect to a seventh axis.

[0019] The robotic arm may comprise a plurality of motor controllers, i.e. processing units adapted to control the plurality of motors. For example, the plurality of motor controllers may include a first motor controller, a second motor controller, a third motor controller, a fourth motor controller, a fifth motor controller, a sixth motor controller and / or a seventh motor controller. The first motor controller may be adapted to control the first motor. The second motor controller may be adapted to control the second motor. The third motor controller may be adapted to control the third motor. The fourth motor controller may be adapted to control the fourth motor. The fifth motor controller may be adapted to control the fifth motor. The sixth motor controller may be adapted to control the sixth motor. The seventh motor controller may be adapted to control the seventh motor.

[0020] The base of the robotic arm is adapted to be fastened to a structure from which the robot is meant to work. The structure may be a mounting surface of a mobile robot, such as an AGV and / or an AMR. Thus, the robotic arm may form part of a mobile robot, such as an AGV and / or an AMR.

[0021] The base comprises a bottom plate and a wall section. The bottom plate may be adapted to abut the structure. The first axis may be substantially perpendicular to the bottom plate. For example, the first axis may be within 10 degrees, such as within 5 degrees, of perpendicular to the bottom plate. The wall section joins the bottom plate, e.g. along a joining line of the bottom plate, such as along a perimeter of the bottom plate. The wall section extends from the bottom plate to the first joint. The bottom plate and the wall section forms a base housing. The base housing accommodates a control unit, which is further described below.

[0022] The bottom plate and / or the wall section may be made of a material having a high thermal conductivity, such as at least 100 W / (nrK). For example, the bottom plate and / or the wall section may be made of metal, such as aluminium, copper or one or more alloys of different materials, e.g. comprising aluminium and / or copper. Thereby, the bottom plate and / or the wall section may facilitate transfer of heat from the control unit to the structure to which the robot is attached.

[0023] The robot may be adapted to receive a DC power input, e.g. between 15-75 volts. For example, a power bus of the robot may receive the DC power input. The robot, such as the power bus of the robot, may be adapted to receive the DC power input from an external AC / DC converter or from an external battery. The voltage of the DC power input may change over time, e.g. over a time period longer than 5 minutes, such as longer than 10 minutes, such as longer than 60 minutes. Such change in voltage, i.e. a change over a longer period in time not merely due to transient fluctuations, may be due to a battery supplying the DC power input being discharged or being subject to a change in temperature, or it may be due to a change in power source supplying a different voltage to the robot.

[0024] The robot may be adapted to receive the DC power input when the DC power input is a first DC power input and also be adapted to receive the DC power input when the DC power input is a second DC power input differing from the first DC power input by a minimum number of volts, e.g. at least 10 volts, or at least 15 volts. In some examples, the first DC power input may be 42 or less than 42 volts, such as 20 volts or 16 volts or 15 volts. In some examples, the second power input may be 52 volts or more than 52 volts, such as 58 volts or 63 volts. For example, in one example, the first DC power input may be 42 volts and the second DC power input may be 58 volts. In another example, the first DC power input may be 16 volts and the second DC power input may be 58 volts. In yet another example, the first DC power input may be 15 volts and the second DC power input may be 63 volts. However, other combinations, e.g. of the above-mentioned values, may of course be used.

[0025] Each of the plurality of motors may be adapted to receive the DC power input. Each of the plurality of motors may be adapted to receive the DC power input from the power bus. Each of the plurality of motors may be adapted to receive the DC power input when the DC power input is the first DC power input and also be adapted to receive the DC power input when the DC power input is the second DC power input. As mentioned above, the second DC power input may differ from the first DC power input by the minimum number of volts. The plurality of motors may be adapted to operate on a range of voltage inputs, such as to allow operation of the motors both if receiving the first DC power input and if receiving the second, and different, DC power input. This may be achieved both by the motor controllers of each individual motor adapting the signal to the motors to account for, at least part of, the varying voltage supplied to the motor, and by a central control unit, such as the main processing unit as described below, adapting the operational parameters for the plurality of motors in view of the voltage received. Such central adaptation of the operational parameters of the motors may be affected by automatically sensing the voltage of the DC power input, or it may be affected by an operator designating an expected voltage, or it may be affected by a combination of both automatic sensing and manual inputs. In this way, a robot is provided, which is flexible in that it may be capable of being powered by a power input at a range of voltage levels, e.g. as supplied by a battery. At the same time, the flexibility in power input is dealt with in a way, which facilitates an optimal operation of the robot, because the motors are able to work on a wide range of voltage inputs and thereby can operate as close to optimum as possible. In an alternative situation, the voltage of the input power might be lowered to a specific but lower voltage supplied to the motors, but in such case, the motors would have to operate on a possible lower voltage, which would lead to a reduced capability of rotation speed of the motor, and hence could lead to the robot performing sub-optimally or not performing as intended. Furthermore, not having to supply a specific (different) voltage to the motors may save components, and in effect save space, and may contribute to the robot being compact.

[0026] The control unit may comprise a voltage converter. The voltage converter may be adapted to receive the DC power input, e.g. between 15-75 volts. The voltage converter may be adapted to receive the DC power input from the power bus. The voltage converter may be adapted to receive the DC power input when the DC power input is the first DC power input and also be adapted to receive the DC power input when the DC power input is the second DC power input differing from the first DC power input by the minimum number of volts. The voltage converter may be adapted to supply a DC power output, e.g. between 15-28 volts, such as between 15-26 volts, such as between 15-24 volts, to internal components of the robotic arm, e.g. electronic circuitries of the robotic arm, e.g. of the control unit, such as the main board as described below and / or the IO board as described below. The voltage converter may be adapted to receive the DC power input from an external AC / DC converter or from an external battery.

[0027] The robot, the voltage converter and / or each of the plurality of motors may be adapted to receive the DC power input when the DC power input is the first DC power input and also be adapted to receive the DC power input when the DC power input is the second DC power input differing from the first DC power input by the minimum number of volts, e.g. at least 10 volts, or at least 15 volts. In other words, the robot may be flexible in that it may be capable of being powered by a range of voltage inputs. Thereby, the robot may be operable being supplied for instance 35 volts, and may also be operable being supplied for instance 55 volts. Thereby, the robot may be more flexibly powered. For example, it may facilitate that the robot is able to be battery powered, and / or it may enable the robot to operate on a limited and / or less reliable power supply.

[0028] The DC power input may change from the first DC power input to the second DC power input, or vice versa, over time, e.g. over a time period longer than 5 minutes, such as longer than 10 minutes, such as longer than 60 minutes. The change from the first DC power input to the second DC power input, or vice versa, over a longer period in time, may be not merely due to transient fluctuations. The voltage converter may be adapted to lower voltage of the DC power output to a predefined voltage value, if the DC power input is above the predefined voltage value. The predefined voltage value may be between 19-28 volts, such as between 23-25 volts, such as 24 volts. The voltage converter may be adapted to supply a DC power output below the predefined voltage value, if the DC power input is below the predefined voltage value.

[0029] The control unit comprises a main processing unit. For example, the control unit may comprise a main board with the main processing unit. The main board may be a printed circuit board (PCB). The main processing unit may be the main processing unit for control of the robot. The control unit, such as the main processing unit of the control unit, may be adapted to determine one or more operational parameters for the plurality of motors. For example, so as to let the robotic arm perform a desired movement or task. The one or more operational parameters may, for example, include torque, angular velocity and / or angular acceleration for each of the plurality of motors. The control unit, such as the main processing unit of the control unit, may be adapted to execute a program of movements and actions to be performed by the robotic arm.

[0030] The control unit, such as the main processing unit, may be adapted to determine a plurality of movements for the plurality of motors. The determination of the plurality of movements for the plurality of motors may be based on path data indicative of one or more paths for one or more parts of the robot to follow, e.g. for the first joint and / or for the second joint and / or for the tool end to follow. The path data may be received from a user interface, e.g. a user may designate that the tool end of the robot should follow a certain path and / or that one or more of the joints should follow one or more paths. The determination of the plurality of movements for the plurality of motors may further be based on one or more electrical level inputs indicative of at least a voltage level of the DC power input. Thus, a user may specify, e.g. during configuration of the robot, that the robot should be configured to be able to work at certain, e.g. lower than normal, voltage level. Alternatively, or additionally, the control unit, such as the main processing unit, may obtain the one or more electrical level inputs automatically e.g. via a voltage sensor. Accordingly, the plurality of movements for the plurality of motors may be determined based thereon.

[0031] Determining the plurality of movements may include determining velocity and / or acceleration of one or more of the plurality of motors. The velocities of the one or more or all of the plurality of motors may be first velocities when the one or more electrical level inputs are indicative of the first DC power input. The velocities of the one or more of the plurality of motors may be second velocities respectively higher than the first velocities when the one or more electrical level inputs are indicative of the second DC power input. The respective relative differences between the first velocities and the second velocities may be proportional with the relative difference between the first DC power input and the second DC power input.

[0032] The control unit comprises an IO board with a plurality of IO terminals. "IO" in the present disclosure refers to "input / output" and may alternatively be denoted I / O. Thus, the IO terminals are input / output terminals. Accordingly, the IO board is the board comprising the IO terminals. The plurality of IO terminals may be a plurality of digital IO terminals, such as 24 volts digital IO terminals, i.e. terminals facilitating a digital input / output connection, e.g. with programmable logic controller(s) (PLC), corresponding to a standard 24 volts input / output, such as an input / output signal having a voltage within a voltage range between 19-28 volts, such as between 23-25 volts. The plurality of IO terminals (e.g. the plurality of digital IO terminals) may comprise a primary IO terminal and a secondary IO terminal. The primary IO terminal may be a first primary IO terminal, e.g. of a first IO terminal block, and the secondary IO terminal may be a first secondary IO terminal, e.g. of the first IO terminal block. The plurality of IO terminals (e.g. the plurality of digital IO terminals) may comprise a second primary IO terminal and / or a second secondary IO terminal, e.g. of a second IO terminal block.

[0033] The IO board may be a printed circuit board (PCB). The IO board may be used for calculations relating to the entire robot as well as handling inputs and input interfaces of the robot. The plurality of IO terminals may be terminal blocks, such as pluggable terminal blocks. In some examples, the IO board may comprise the main processing unit.

[0034] The IO board may comprise one or more IO processing units, e.g. a first IO processing unit and / or a second IO processing unit. The one or more IO processing units may be responsible for calculating motion characteristics, such as movement and / or position and / or torque of the robotic arm and / or parts of the robotic arm. In the case of the IO board comprising a plurality of IO processing units, e.g. both a first IO processing unit and a second IO processing unit, the IO processing units may redundantly calculate the motion characteristics of the robotic arm and / or parts of the robotic arm, such as to ensure a safe operating robot. In some examples, the two processing units (the first IO processing unit and the second IO processing unit) may be two processor cores of the same chip. However, in other examples, the two processing units may be separate chips.

[0035] The primary IO terminal (e.g. the first primary IO terminal) may be electrically connected to the first

[0036] IO processing unit. The secondary IO terminal (e.g. the first secondary IO terminal) may be electrically connected to the second IO processing unit. The second primary IO terminal may be electrically connected to the first IO processing unit. The second secondary IO terminal may be electrically connected to the second IO processing unit. By connecting primary IO terminals to the first IO processing unit and secondary IO terminals to the second IO processing unit, inputs and / or outputs may be verified redundantly by separate processing units, thereby facilitating safe operation of the robot, e.g. in line with safety standards, such as ISO 13849-1. Thus, the IO board may facilitate redundant processing of input / output signals.

[0037] The IO board and the plurality of motor controllers may be connected by an ethernet connection. The IO board and the main board may be connected by an ethernet connection, e.g. the same ethernet connection. The IO board and the main board and the plurality of motor controllers may be connected by the ethernet connection, e.g. an ethernet daisy chain connection. For example, the IO board, the main board and the first motor controller may be connected by an ethernet daisy chain connection, e.g. from the main board to the IO board, and from the IO board to the first motor controller.

[0038] The IO board may be arranged substantially parallel to the bottom plate. The main board may be arranged substantially parallel to the bottom plate. The main board and the IO board may be substantially parallel. The IO board may be arranged between the bottom plate and the main board. In an alternative example, the main board may be arranged between the bottom plate and the IO board.

[0039] The IO board and / or the main board may be fastened to the bottom plate. The control unit may comprise a plurality of main standoffs connecting the main board and the bottom plate. For example, the plurality of main standoffs may facilitate connection of the main board to the bottom plate while the IO board is arranged between the bottom plate and the main board. The plurality of main standoffs may be sized such that the IO board may be arranged between the bottom plate and the main board. The main standoffs may be more than 1 cm, such as more than 2 cm, such as more than 3 cm. The control unit may comprise a plurality of IO standoffs connecting the IO board and the bottom plate. The IO standoffs may be smaller than the main standoffs. The IO standoffs may be less than 2 cm, such as less than 1 cm.

[0040] A heat-transferring block may thermally connect the main processing unit and the bottom plate. The heat-transferring block may be made of a material having a high thermal conductivity, such as at least 100 W / (nrK). For example, the heat-transferring block may be made of aluminium, copper or one or more alloys of different materials, e.g. comprising aluminium and / or copper. The heattransferring block may be made of the same material as the bottom plate. In some examples, the heat-transferring block may form an integral part of the bottom plate. In some examples, the heattransferring block is accommodated by the base housing. The IO board may comprise an opening. The opening may allow the heat-transferring block to extend through the IO board. Hence, the heat-transferring block may extend through the opening. Thereby, the heat-transferring block may thermally connect the main processing unit with the bottom plate, even in the example where the IO board is arranged between the bottom plate and the main board.

[0041] The plurality of IO terminals may have a connection direction. The connection direction may be the direction in which wires and / or connectors are being connected to the IO terminals. The connection direction may be substantially parallel to the first axis and / or substantially perpendicular to the bottom plate. The connection direction may be towards the structure to which the robot is attached.

[0042] The IO board may have an IO board length along a first direction. The first direction may be perpendicular to the first axis and / or parallel to the bottom plate. The main board may have a main board length along the first direction. The IO board may have an IO board width along a second direction. The second direction may be perpendicular to the first direction. The second direction may be perpendicular to the first axis and / or parallel to the bottom plate. The main board may have a main board width along the second direction. The IO board length may be longer than the main board length, e.g. more than 20% longer. The IO board width may be substantially the same as the main board width, e.g. within 5% of the same width.

[0043] The bottom plate has a plate width along a width direction, e.g. the second direction. The plate width may be between 80-230 mm, such as between 125-175 mm. The bottom plate has a plate length along a length direction, e.g. the first direction, perpendicular to the width direction. The plate length may be between 100-300 mm, such as between 150-250 mm. In case the joining line between the bottom plate and the wall section does not correspond to the perimeter of the bottom plate, the plate width and / or the plate length may be the width and / or length, respectively, of the part of the bottom plate inside the joining line. The bottom plate has a plate thickness along a thickness direction perpendicular to the width direction and the length direction, e.g. along the first axis. The plate thickness may be less than 20 mm, such as between 3-20 mm. In some examples, the plate thickness may be less than 10 mm, such as between 3-10 mm.

[0044] The bottom plate has a bottom plate circumference, e.g. along the joining line and / or the perimeter of the bottom plate. The bottom plate may have a bottom plate diameter, which may be defined as the diameter of the incircle of the bottom plate circumference.

[0045] The wall section may have a first joint circumference at the first joint. The wall section may form a circular opening at the first joint for cooperating with the first joint. The wall section may have a first joint diameter of the first joint circumference at the first joint. The bottom plate circumference, the first joint circumference, the bottom plate diameter and the first joint diameter may all be measured in the plane of the bottom plate and / or in the plane normal to the first axis. The bottom plate circumference may be larger than the first joint circumference. The bottom plate diameter may be larger than the first joint diameter. The first joint diameter may be less than the plate width and / or less than the plate length.

[0046] The wall section may comprise a primary wall section. The primary wall section may be substantially parallel to the first axis and / or substantially perpendicular to the bottom plate. The wall section may comprise a secondary wall section. The secondary wall section may extend from the primary wall section towards the first joint. The secondary wall section may be non-parallel to the first axis. For example, the secondary wall section may be angled towards the first axis. The secondary wall section may form the circular opening at the first joint for cooperating with the first joint.

[0047] The wall section may comprise a plurality of wall section attachment holes, e.g. at least three, such as four wall section attachment holes. The plurality of wall section attachment holes may be adapted to receive fastening bolts for fastening the base of the robotic arm to the structure. Each of the plurality of attachment holes may extend parallel to the first axis and / or perpendicular to the bottom plate. The bottom plate may comprise a plurality of bottom plate attachment holes, e.g. at least three, such as four bottom plate attachment holes. The bottom plate attachment holes may be adapted to receive fastening bolts for fastening the base of the robotic arm to the structure. Each of the plurality of bottom plate attachment holes may extend parallel to the first axis and / or perpendicular to the bottom plate. The bottom plate attachment holes may be adapted for being aligned with the plurality of wall section attachment holes, e.g. such that a fastening bolt may extend through a wall section attachment hole and a corresponding bottom plate attachment hole, to thereby fasten the base of the robotic arm to the structure.

[0048] The wall section, such as the primary wall section and the secondary wall section, may be manufactured, e.g. cast, as a monolithic structure. For example, the wall section may form a monolithic structure extending between the plurality of wall section attachment holes and the circular opening at the first joint for cooperating with the first joint. It is advantageous that the wall section is a monolithic structure, as it facilitates a rigid and stable connection between the joint and the fastening bolts.

[0049] The base, such as the wall section of the base, may comprise a base aperture providing access to the plurality of IO terminals. The base may further comprise a removable cover plate covering and / or being adapted to cover the base aperture. The base aperture and / or the removable cover plate may be angled relative to the first axis, e.g. an angle between the first axis and the base aperture and / or the removable cover plate may be between 10 and 60 degrees, such as between 20 and 50 degrees, such as between 25 and 40 degrees.

[0050] The base aperture may have a lower edge, e.g. substantially parallel to the bottom plate. A distance (e.g. along the first axis) from the lower edge to the bottom plate may be larger than a distance (e.g. along the first axis) from the lower edge to the IO board. The distance from the lower edge to the bottom plate may be larger than a distance from the IO board to the bottom plate. In some examples, the distance from the lower edge to the IO board may be larger than 10 mm, such as larger than 15 mm. Such distance between the lower edge and the IO board may provide for using the lower edge as a fulcrum for a lever when loosening connectors from the IO terminals. This is particularly advantageous when the plurality of IO terminals has a connection direction substantially parallel to the first axis and / or substantially perpendicular to the bottom plate.

[0051] The bottom plate may comprise a bottom plate aperture. The bottom plate aperture may form a passageway for wires being connected to the plurality of IO terminals.

[0052] The control unit may comprise an energy consumption unit. The energy consumption unit may serve the purpose of handling excess electrical power on the power bus of the robot and / or from motors of the robot, which may be generated in situations, where a motor of the robot is braking an ongoing motion. The energy consumption unit may comprise one or more resistors. The one or more resistors of the energy consumption unit may be adapted to handle the excess electrical power by converting it to heat. The energy consumption unit may comprise a heat-dissipating surface. The heatdissipating surface of the energy consumption unit may be a surface of the one or more resistors of the energy consumption unit. The energy consumption unit may be arranged at the bottom plate, e.g. with the heat-dissipating surface of the energy consumption unit abutting (e.g. contacting) the bottom plate, such as to facilitate heat transfer between the energy consumption unit and the bottom plate.

[0053] The base housing may accommodate the first motor controller and / or the first motor. The first motor controller may be arranged between the control unit and the first motor.

[0054] BRIEF DESCRIPTION OF THE FIGURES

[0055] Embodiments of the disclosure will be described in more detail in the following with regard to the accompanying figures. The figures show one way of implementing the present disclosure and are not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

[0056] Fig. 1 is a schematic diagram illustrating an exemplary robot, Fig. 2 is a schematic diagram illustrating exemplary joints,

[0057] Figs. 3A and 3B are schematic diagrams illustrating an exemplary base of a robotic arm, Fig. 4 is a schematic diagram illustrating an exemplary control unit and bottom plate, and Fig. 5 is a schematic diagram illustrating an exemplary base of a robotic arm.

[0058] DETAILED DESCRIPTION

[0059] Various exemplary embodiments and details are described hereinafter with reference to the figures, when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the invention or as a limitation on the scope of the invention. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.

[0060] Fig. 1 is a schematic diagram illustrating an exemplary robot 2, which in the present example comprises a robotic arm 3, more particularly, a seven-axis robotic arm.

[0061] The robotic arm 3 extends between a base end 20 and a tool end 22 and comprises a base 4 at the base end 20. A tool flange for connection with a tool may preferably be arranged at the tool end 22 of the robotic arm. The robotic arm 3 further comprises a plurality of joints 6, 8, 10, 12, 14, 16, 18. The plurality of joints 6, 8, 10, 12, 14, 16, 18 connects the base 4 and the tool end 22. In the illustrated example, the plurality of joints are seven joints, i.e. including a first joint 6, a second joint 8, a third joint 10, a fourth joint 12, a fifth joint 14, a sixth joint 16 and a seventh joint 18. However, in other examples, the robotic arm may comprise fewer or more joints. For example, in another configuration, the robotic arm 3 may comprise only six joints, such as the illustrated first, second, fourth, fifth, sixth, and seventh joints 6, 8, 12, 14, 16, 18. In other examples, the robotic arm 3 may comprise even fewer joints, such as three joints.

[0062] The first joint 6 is positioned between the base 4 and the second joint 8. The second joint 8 is positioned between the first joint 6 and the third joint 10. The third joint 10 is positioned between the second joint 8 and the fourth joint 12. The fourth joint 12 is positioned between the third joint 10 and the fifth joint 14. The fifth joint 14 is positioned between the fourth joint 12 and the sixth joint 16. The sixth joint 16 is positioned between the fifth joint 14 and the seventh joint 18. The seventh joint 18 is positioned between the sixth joint 16 and the tool end 22. The plurality of joints 6, 8, 10, 12, 14, 16, 18 causes movement of the robotic arm 3, e.g. movement of the tool end 22 relative to the base end 20. Each joint provides for rotation about a respective axis. The first joint 6 provides for rotation about a first axis Axl. The second joint 8 provides for rotation about a second axis Ax2. The third joint 10 provides for rotation about a third axis Ax3. The fourth joint 12 provides for rotation about a fourth axis Ax4. The fifth joint 14 provides for rotation about a fifth axis Ax5. The sixth joint 16 provides for rotation about a sixth axis Ax6. The seventh joint 18 provides for rotation about a seventh axis Ax7.

[0063] The robotic arm 3 may be put in some configurations, where none of the seven axes Axl-Ax7 is parallel. However, in some other configurations two or more of the seven axes Axl-Ax7 may be parallel. As illustrated, the second axis Ax2 may be non-parallel with the first axis Axl. The third axis Ax3 may be non-parallel with the second axis Ax2. The fourth axis Ax4 may be non-parallel with the third axis Ax3. The fifth axis Ax5 may be non-parallel with the fourth axis Ax4. The sixth axis Ax6 may be non-parallel with the fifth axis Ax5. The seventh axis Ax7 may be non-parallel with the sixth axis Ax6.

[0064] The robotic arm may comprise a plurality of motors as described in more detail in relation to Fig. 2, e.g. including a motor for each of the plurality of joints 6, 8, 10, 12, 14, 16, 18. Each of the plurality of motors may cause movement of a respective joint of the plurality of joints 6, 8, 10, 12, 14, 16, 18. For example, a first motor may cause movement of the first joint 6 with respect to the first axis Axl. A second motor may cause movement of the second joint 8 with respect to the second axis Ax2. A third motor may cause movement of the third joint 10 with respect to the third axis Ax3. And so forth.

[0065] The robotic arm 3 is fastened at the base end 20 to a structure 1, which may be a factory floor or another structure from which the robotic arm 3 is meant to work. For example, the base 4 may be adapted to be fastened to the structure 1 from which the robot 2 is meant to work. In some examples, the structure 1 may be part of a movable unit, such as a mobile robot or a vehicle, which would allow the robot 2 or at least the robotic arm 3 to be moved between different positions. The robotic arm 3 may be fastened to the structure 1 by fastening bolts 24.

[0066] The robot 2, as illustrated, further comprises a control unit 200, which in the present example may form an integral part of the base 4 of the robotic arm.

[0067] Although being described in relation to a robotic arm 3 being operable relative to seven axes, the present disclosure may alternatively be applied to a robot having only six axes, or even fewer axes. For example, with respect to the example illustrated in Fig. 1, movement around the third axis Ax3, may be omitted, to obtain a robot operable relative to six axes. Fig. 2 is a schematic diagram illustrating two exemplary joints 92, 94, e.g. a primary joint 92 and a secondary joint 94. The exemplary joints 92, 94 may be two successive joints of the plurality of joints 6, 8, 10, 12, 14, 16, 18 indicated in Fig. 1. For example, the primary joint 92 may be the first joint 6 of Fig. 1 and the secondary joint 94 may be the second joint 8 of Fig. 1.

[0068] Also illustrated is a primary motor 102 provided to rotate the primary joint 92. A secondary motor 104 is provided to rotate the secondary joint 94. Thus, the primary motor 102 may be a first motor for causing movement of the first joint 6 with respect to the first axis Axl of Fig. 1. The secondary motor 104 may be a second motor for causing movement of the second joint 8 with respect to the second axis Ax2 of Fig. 1. The primary motor 102 and / or the secondary motor 104 may be a permanent magnet AC motor. Furthermore, the primary motor 102 and / or the secondary motor 104 may comprise a gear assembly, e.g. an integral gear, such as a strain wave gear. Hence, the primary motor 102 and / or the secondary motor 104 may be a gear motor.

[0069] One or more motor controller units 108, 110 may be provided and adapted to control the motors 102, 104. A primary motor controller unit 108 may be adapted to control the primary motor 102. A secondary motor controller unit 110 may be adapted to control the secondary motor 104. Accordingly, each of the first, second, third, fourth, fifth, sixth, and seventh joints 6, 8, 10, 12, 14, 16, 18 indicated in Fig. 1 may have a corresponding first, second, third, fourth, fifth, sixth, and seventh motor, and first, second, third, fourth, fifth, sixth, and seventh motor controller unit, respectively.

[0070] Figs. 3A and 3B are schematic diagrams illustrating an exemplary base 4 of a robotic arm 3, such as the robotic arm 3 as illustrated in Fig. 1. Also, the first joint 6 is visible in Figs. 3A and 3B. Fig. 3B shows the upper part of the base 4 being separated from the bottom part to visualise internal parts of the base 4.

[0071] The base 4 comprises a bottom plate 210 and a wall section 211. The wall section 211 joins the bottom plate 210 along a joining line, which in the present example is a perimeter of the bottom plate 210. The wall section 211 extends from the bottom plate 210 to the first joint 6. The bottom plate 210 and the wall section 211 forms a base housing 5.

[0072] The bottom plate 210 forms a bottom surface 212 of the base 4. The bottom plate 210 and / or the wall section 211 may be made of a material having a high thermal conductivity, such as at least 100 W / (nrK). For example, the bottom plate 210 and / or the wall section 211 may be made of aluminium, copper or an alloy of different materials, e.g. comprising aluminium and / or copper. Thereby, the bottom plate 210 and / or the wall section 210 may facilitate transfer of heat from the control unit 200 and / or other electrical components to the structure to which the robot is attached. Thus, the botom plate 210 may be adapted to abut the structure to which the robot is to be fastened. The botom plate 210 may be arranged perpendicular and / or substantially perpendicular to the first axis Axl, i.e. the axis of rotation of the first joint 6.

[0073] The wall section 211 comprises a plurality of wall section attachment holes 240, e.g. four wall section atachment holes 240. The botom plate 210 comprises a plurality of botom plate atachment holes 242, e.g. four botom plate atachment holes 242. Each of the plurality of wall section attachment holes 240 and each of the plurality of botom plate attachment holes 242 extends parallel to the first axis Axl. The wall section atachment holes 240 and / or the botom plate atachment holes 242 are adapted to receive fastening bolts 24 (see Fig. 1) for fastening the base 4 to the structure. The botom plate attachment holes 242 may be adapted for being aligned with the plurality of wall section atachment holes 240, e.g. such that a fastening bolt may extend through a wall section atachment hole 240 and a corresponding botom plate atachment hole 242, to thereby fasten the base 4 to the structure.

[0074] The base 4 comprises a control unit 200. The control unit 200 may be accommodated by the base housing 5 formed by the botom plate 210 and the wall section 211. The control unit 200 comprises a main processing unit 204, which in the illustrated example is provided as part of a main board 202. The control unit 200 also comprises an IO board 206 with a plurality of IO terminals 208. The IO terminals 208 may be terminal blocks, such as pluggable terminal blocks. The IO terminals 208 may be digital IO terminals, such as 24 volts digital IO terminals.

[0075] The main board 202 is arranged to form an angle of less than 135 degrees with respect to the first axis Axl. In some examples, the angle formed between the main board 202 and the first axis Axl is less than 120 degrees, such as less than 105 degrees, such as less than 100 degrees, such as less than 95 degrees. In some examples the angle formed between the main board 202 and the first axis Axl may be perpendicular or substantially perpendicular.

[0076] As seen in the presently illustrated example, the IO board 206 may be arranged between the botom plate and the main board 202. In some examples, such as the one illustrated, the main board 202 and the IO board 206 may be substantially parallel. In some examples, such as the one illustrated the IO board 206 and / or the main board 202 may be parallel to the botom plate 210.

[0077] The control unit may comprise a plurality of main standoffs 214 connecting the main board 202 and the botom plate 210. The main standoffs 214 may be sized such that the IO board 206 may be arranged between the botom plate 210 and the main board 206. For example, the main standoffs 214 connecting the main board 202 and the botom plate 210 may be more than 1 cm, such as more than 2 cm, such as more than 3 cm. The control unit may comprise a plurality of IO standoffs 215 connecting the IO board 206 and the bottom plate 210. The IO standoffs 215 may be smaller than the main standoffs 214. The IO standoffs 215 may be less than 2 cm, such as less than 1 cm.

[0078] The plurality of IO terminals 208 may have a connection direction 218, i.e. the direction in which wires and / or connectors are being connected to the terminals. As illustrated, the connection direction 218 may be substantially parallel to the first axis Axl. The connection direction 218 may also or alternatively be substantially perpendicular to the IO board 206 and / or the main board 202.

[0079] The main board 202 has a main board length dl along a length direction of the main board, e.g. perpendicular to the first axis Axl. The IO board 206 has an IO board length d2 along a length direction of the IO board, which may be the same direction as the length direction of the main board, e.g. perpendicular to the first axis Axl. The IO board length d2 may be longer than the main board length dl. Thereby, the IO terminals 208 may be easily accessible, even though the IO board 206 may be provided underneath the main board 202, such as between the main board 202 and the bottom plate 210.

[0080] The bottom plate 210 has a bottom plate circumference and the base 4 has a circular opening 244 at the first joint 6 for cooperating with the first joint 6. The wall section 211 may form the circular opening 244. The circular opening 244 at the first joint 6 has a first joint circumference with a first joint diameter. The bottom plate 210 has a bottom plate diameter, which is the diameter of the incircle of the bottom plate circumference. The bottom plate circumference, the first joint circumference, the bottom plate diameter and the first joint diameter are measured in the plane normal to the first axis Axl. The bottom plate circumference is larger than the first joint circumference and / or the bottom plate diameter is larger than the first joint diameter.

[0081] In the illustrated example, the wall section 211 comprises a primary wall section 220 being substantially parallel to the first axis Axl and / or substantially perpendicular to the bottom plate 210. In the illustrated example, the wall section 211 comprises a secondary wall section 222 extending from the primary wall section 220 towards the first joint 6. The secondary wall section 222 is nonparallel to the first axis Axl. For example, the secondary wall section 222 may be angled relative to the first axis Axl, e.g. to transition the base 4 from the bottom plate circumference to the first joint circumference. The secondary wall section 222 may form the circular opening 244 at the first joint 6.

[0082] The wall section 211, such as the primary wall section 220 and the secondary wall section 222, may be manufactured, e.g. cast, as a monolithic structure. Particularly, the wall section 211 may form a monolithic structure extending between the plurality of wall section attachment holes 240 (e.g. all four wall section attachment holes 240) and the circular opening 244 at the first joint 6. The base 4 comprises a base aperture 224 providing access to the plurality of IO terminals 208. The base 4 further may comprise a removable cover plate 226 covering the base aperture 224, as illustrated in Fig. 5. The base aperture 224 and / or the removable cover plate 226 may be angled relative to the first axis Axl. Such angled aperture / cover plate may facilitate interaction with the IO terminals 208. For example, an angle between the first axis Axl and the base aperture 224 and / or the removable cover plate 226 may be between 10 and 60 degrees, such as between 20 and 50 degrees, such as between 25 and 40 degrees.

[0083] The base aperture 224 has a lower edge 225. The lower edge 225 is substantially parallel to the bottom plate 210. A distance from the lower edge 225 to the bottom plate 210 may be larger than a distance from the lower edge 225 to the IO board 206. The distance from the lower edge 225 to the bottom plate 210 may be larger than a distance from the IO board 206 to the bottom plate 210. Accordingly, the lower edge 225 may be above the IO board 206, which may help an operator to loosen connectors, e.g. pluggable connectors, from the IO terminals 208, by using the lower edge 225 as a fulcrum for a lever to push the connector opposite its connection direction. For example, a technician may use a screwdriver as the lever by placing its blade against the underside of the connector which is to be loosened, and positioning the shank on the lower edge 225, thereby the technician may loosen the connector by pushing downwards on the handle of the screwdriver. To further facilitate this advantage, a distance from the lower edge 225 to the IO board may be a certain height, e.g. at least 10 mm.

[0084] Fig. 4 is a schematic diagram illustrating an exemplary control unit 200, such as the control unit 200 as also illustrated in Figs. 3A and 3B mounted on the bottom plate 210 of the base 4. Fig. 4 further illustrates that a heat-transferring block 216 may be provided for thermally connecting the main processing unit 204 and the bottom plate 210. Thereby, heat from the main processing unit 204 may be transferred to the bottom plate 210 and from the bottom plate to the structure to which the robotic arm is attached. The heat-transferring block 216 may be made of a material having a high thermal conductivity, such as at least 100 W / (nrK). For example, the heat-transferring block 216 may be made of aluminium, copper or an alloy of different materials, e.g. comprising aluminium and / or copper. In some examples, the heat-transferring block 216 may be integrally formed with the bottom plate 210. In other examples, the heat-transferring block 216 may be a separate element arranged between the main processing unit 204 and the bottom plate 210.

[0085] The IO board 206 may comprise an opening 217 for the heat-transferring block 216 to extend through, thereby allowing the heat-transferring block 216 to extend from the main processing unit 204 and the bottom plate 210, even when the IO board 206 is positioned between the main board 202 and the bottom plate 210. Also visible in Fig. 4, the control unit 200 comprises a voltage converter 236. The voltage converter is adapted to receive a DC power input, e.g. between 15-75 volts, and supply a DC power output, e.g. between 15-24 volts, to internal components of the robotic arm, such as the plurality of motors and / or electronic circuitries of the robotic arm. Hence, the voltage converter 236 may be adapted to electrically power internal electrical components of the robotic arm. The voltage converter may be adapted to receive the DC power input from an external AC / DC converter or from an external battery.

[0086] The voltage converter may preferably be adapted to lower voltage of the DC power output to a predetermined voltage, e.g. 24 volts, if the DC power input is above the predetermined voltage. However, conversely, the voltage converter may preferably be adapted to supply a DC power output below the predetermined voltage, if the DC power input is below the predetermined voltage. In other words, the voltage converter may be adapted to step down the voltage, if it is too hight but may be adapted not to step up the voltage, if it is low.

[0087] Also illustrated in Fig. 4, the IO board comprises two IO processing units 209, where a first of the two IO processing units 209 is preferably electrically connected to a primary IO terminal of the IO terminals 208 and a second of the two IO processing units 209 is preferably electrically connected to a secondary IO terminal of the IO terminals 208 so as to facilitate safe provision of input / output signals and handling thereof, e.g. in compliance with safety standards, such as ISO 13849-1. In some examples, the two processing units 209 may be two processor cores of the same chip. However, in other examples, the two processing units 209 may be separate chips.

[0088] Also illustrated in Fig. 4, the bottom plate 210 may have a plate width Wp along a width direction. The width direction may be perpendicular to the first axis Axl (see Fig. 3a / 3b). The plate width Wp may be between 80-230 mm. The plate width Wp may be the diameter of the incircle of the bottom plate circumference. The plate width Wp may be larger than the first joint diameter, i.e. the diameter of the first joint circumference at the first joint (see Fig. 3a / 3b). The bottom plate 210 may have a plate length Lp along a length direction, e.g. perpendicular to the width direction and perpendicular to the first axis Axl (see Fig. 3a / 3b), as illustrated. The plate length Lp may be between 100-300 mm. The plate length Lp may be larger than the first joint diameter, i.e. the diameter of the first joint circumference at the first joint (see Fig. 3a / 3b). The plate length Lp may be larger than the plate width Wp. The bottom plate 210 may have a plate thickness Tp along a thickness direction, e.g. perpendicular to the width direction and perpendicular to the length direction, as illustrated. The thickness direction may be parallel to the first axis Axl (see Figs. 3a and 3b). The plate thickness Tp may be less than 20 mm, such as between 3-20 mm. The botom plate 210 may comprise a botom plate aperture 228. In the illustrated example, the botom plate 210 comprises two botom plate apertures 228. The one or more botom plate apertures 228 may form a passageway for wires being connected to the IO terminals 208. Thereby, wires connected to the IO terminals 208 may be routed out from the control unit 200 through the botom plate 210. Further, wires extending from the base 4 of the robot may be limited. Particularly, in situations, where the robot is positioned on an AGV / AMR, it may be beneficial to route wiring through the botom of the robot to other control units being provided on the AGV / AMR.

[0089] As also illustrated in Fig. 4, the control unit 200 may comprise one or more energy consumption units 234 adapted to handle excess electrical power on a power bus of the robot, e.g. due to motors of the robot generating energy in situations, where they are braking an ongoing motion. The energy consumption units 234 may be arranged at the botom plate 210. The energy consumption units 234 have for simplicity been left out from figures 3A and 3B.

[0090] Fig. 5 schematically illustrates the base 4 of the robotic arm 3, as previously described, where the base aperture 224 is covered by a removable cover plate 226. The cover plate may comprise cover plate openings 230 to form a passageway for wires being connected to the IO terminals, e.g. as an alternative to routing wires through the botom plate aperture 228 as illustrated in Fig. 4. In some examples, the cover plate 226 may be provided without cover plate openings 230, and the customer may decide where or whether to provide a cover plate opening 230 in the cover plate 226.

[0091] The disclosure has been described with reference to a preferred embodiment. However, the scope of the invention is not limited to the illustrated embodiment, and alterations and modifications can be carried out without deviating from the scope of the invention.

[0092] Throughout the description, the use of the terms "first", "second", "third", "fourth", "primary", "secondary", "tertiary" etc. does not imply any particular order or importance but are included to identify individual elements. Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.

[0093] LIST OF REFERENCES

[0094] 1 structure

[0095] 2 robot

[0096] 3 robotic arm

[0097] 4 base

[0098] 5 base housing

[0099] 6 first joint

[0100] 8 second joint

[0101] 10 third joint

[0102] 12 fourth joint

[0103] 14 fifth joint

[0104] 16 sixth joint

[0105] 18 seventh joint

[0106] 20 base end

[0107] 22 tool end

[0108] 24 fastening bolts

[0109] 92 primary joint

[0110] 94 secondary joint

[0111] 102 primary motor

[0112] 104 secondary motor

[0113] 108 primary processing unit

[0114] 110 secondary processing unit

[0115] 200 control unit

[0116] 202 main board

[0117] 204 main processing unit

[0118] 206 IO board

[0119] 208 IO terminals

[0120] 209 IO processing unit

[0121] 210 bottom plate

[0122] 211 wall section

[0123] 212 bottom surface

[0124] 214 main standoff

[0125] 215 IO standoff

[0126] 216 heat-transferring block 217 opening 218 connection direction 220 primary wall section 222 secondary wall section 224 base aperture 225 lower edge

[0127] 226 removable cover plate

[0128] 228 bottom plate aperture

[0129] 230 cover plate opening

[0130] 234 energy consumption unit

[0131] 236 voltage converter

[0132] 240 wall section attachment holes 242 bottom plate attachment holes 244 circular opening at first joint dl main board length d2 IO board length

[0133] Lp plate length

[0134] Wp plate width

[0135] Tp plate thickness

[0136] Axl first axis

[0137] Ax2 second axis

[0138] Ax3 third axis

[0139] Ax4 fourth axis

[0140] Ax5 fifth axis

[0141] Ax6 sixth axis

[0142] Ax7 seventh axis

Claims

CLAIMS1. A robot comprising a robotic arm extending between a base end and a tool end and comprising a base at the base end and a plurality of joints including a first joint and a second joint, the plurality of joints connecting the base and the tool end, the plurality of joints comprising six or more joints, the first joint being positioned between the base and the second joint, the robotic arm comprises a plurality of motors including a first motor and a second motor, the plurality of motors causes movement of the robotic arm with respect to a plurality of axes, the first motor causes movement of the first joint with respect to a first axis, and the second motor causes movement of the second joint with respect to a second axis, the base of the robotic arm is adapted to be fastened to a structure from which the robot is meant to work, and the base comprises a bottom plate and a wall section joining the bottom plate and extending from the bottom plate to the first joint, the bottom plate and the wall section being made of metal and forming a base housing accommodating a control unit, the bottom plate being adapted to abut the structure, the control unit comprises a voltage converter, a main processing unit, and an IO board with a plurality of digital IO terminals, the robot is adapted to receive a DC power input between 15-75 volts, the voltage converter is adapted to receive the DC power input, wherein the voltage converter is adapted to receive the DC power input when the DC power input is a first DC power input and the voltage converter is also adapted to receive the DC power input when the DC power input is a second DC power input differing from the first DC power input by at least 10 volts, the voltage converter is adapted to supply a DC power output between 15-28 volts to the IO board, and each of the plurality of motors is adapted to receive the DC power input, wherein each of the plurality of motors is adapted to receive the DC power input when the DC power input is the first DC power input, and each of the plurality of motors is also adapted to receive the DC power input when the DC power input is the second DC power input.

2. Robot according to claim 1, wherein the second DC power input differs from the first DC power input by at least 15 volts.

3. Robot according to any of the preceding claims, wherein the control unit is adapted to determine a plurality of movements for the plurality of motors based on path data indicative of one or more paths for one or more parts of the robot to follow, wherein the determination of the pluralityof movements for the plurality of motors is further based on one or more electrical level inputs indicative of a voltage level of the DC power input.

4. Robot according to claim 3, wherein determining the plurality of movements includes determining velocity and / or acceleration of one or more of the plurality of motors, wherein the velocities of the one or more of the plurality of motors are first velocities when the one or more electrical level inputs are indicative of the first DC power input, wherein the velocities of the one or more of the plurality of motors are second velocities respectively higher than the first velocities when the one or more electrical level inputs are indicative of the second DC power input.

5. Robot according to any of the preceding claims, wherein the voltage converter is adapted to lower voltage of the DC power output to a predefined voltage value (e.g. 24 volts), if the DC power input is above the predefined voltage value, and wherein the voltage converter is adapted to supply a DC power output below the predefined voltage value, if the DC power input is below the predefined voltage value.

6. Robot according to any of the preceding claims, wherein the bottom plate of the base has a plate width along a width direction, a plate length along a length direction perpendicular to the width direction, and a plate thickness along a thickness direction perpendicular to the width direction and the length direction, and wherein the plate width is between 80-230 mm and the plate length is between 100-300 mm, optionally the plate thickness is less than 20 mm, such as between 3-20 mm.

7. Robot according to claim 6, wherein the base has a first joint circumference at the first joint having a first joint diameter, and wherein the first joint diameter is less than the plate width and / or the plate length.

8. Robot according to any of the preceding claims, wherein the wall section comprises a plurality of wall section attachment holes, e.g. four wall section attachment holes, adapted to receive fastening bolts for fastening the base of the robotic arm to the structure, wherein each of the plurality of attachment holes extends parallel to the first axis, and / or wherein the bottom plate comprises a plurality of bottom plate attachment holes, e.g. four bottom plate attachment holes, adapted to receive fastening bolts for fastening the base of the robotic arm to the structure, wherein each of the plurality of bottom plate attachment holes extends parallel to the first axis.

9. Robot according to any of the preceding claims, wherein the wall section comprises a primary wall section being substantially parallel to the first axis and / or substantially perpendicular to the bottom plate, optionally the wall section comprises a secondary wall section extending from the primary wall section towards the first joint, wherein the secondary wall section is non-parallel to the first axis.

10. Robot according to any of the preceding claims, wherein the wall section forms a circular opening at the first joint for cooperating with the first joint.

11. Robot according to any of the preceding claims, wherein the wall section is manufactured as a monolithic structure.

12. Robot according to any of the preceding claims, wherein the first axis is substantially perpendicular to the bottom plate.

13. Robot according to any of the preceding claims, wherein the IO board is arranged substantially parallel to the bottom plate.

14. Robot according to any of the preceding claims, wherein the control unit comprises a main board with the main processing unit, optionally the IO board is arranged between the bottom plate and the main board, and / or optionally the main board and the IO board are substantially parallel.

15. Robot according to any of the preceding claims, wherein the plurality of digital IO terminals has a connection direction being substantially parallel to the first axis.

16. Robot according to any of the preceding claims, wherein the base of the robotic arm comprises a base aperture providing access to the plurality of digital IO terminals, wherein the base further comprises a removable cover plate covering the base aperture, and wherein the base aperture is angled relative to the first axis.

17. Robot according to claim 16, wherein the base aperture has a lower edge substantially parallel to the bottom plate, and a distance from the lower edge to the bottom plate is larger than a distance from the lower edge to the IO board.

18. Robot according to any of the preceding claims, wherein the bottom plate comprises a bottom plate aperture to form a passageway for wires being connected to the plurality of digital IO terminals.

19. Robot according to any of the preceding claims, wherein the control unit comprises an energy consumption unit, wherein the energy consumption unit is arranged at the bottom plate, e.g. with a heat dissipating surface of the energy consumption unit abutting the bottom plate.

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