EP-4739464-A1 - ROBOTIC ARM

EP4739464A1EP 4739464 A1EP4739464 A1EP 4739464A1EP-4739464-A1

Abstract

The present invention relates to a robot comprising a robotic arm comprising a plurality of joints including a first joint and a second joint, and a plurality of motor assemblies including a first motor assembly and a second motor assembly, and a plurality of circuitries including a first circuitry for controlling the motors of the first and second motor assemblies. Each of the first and second motor assemblies extends along an axis between an output end and a housing end and is configured to cause movement of a joint with respect to an axis by relative movement between the output end and the housing end. The motor assembly comprises a first motor connected to a first gear. The first circuitry is arranged between the first joint and the second joint within the robotic arm and is connected to the motors of the first and second motor assemblies by wires. The first motor assembly is arranged with the output end towards the first circuitry and comprises a first passage extending from the first housing end to the first output end along the first axis and the first wires are extending through the passage of the first motor assembly.

Inventors

KASSOW, KRISTIAN

Assignees

Kassow Robots ApS

Dates

Publication Date: 20260513
Application Date: 20240703

Claims (1)

CLAIMS 1. A robot (2) comprising a robotic arm (3) extending between a base end (30) and a tool end (32), the robotic arm (3) comprising: a plurality of joints (6, 8, 10, 12, 14, 16, 18) including a first joint (6) and a second joint (8), wherein the first joint (6) is positioned between the base end (30) and the second joint (8), and wherein the second joint (8) is positioned between the first joint (6) and the tool end (32), a plurality of motor assemblies (50, 60, 70, 80, 90, 100, 110) including a first motor assembly (50) and a second motor assembly (60), wherein the first motor assembly (50) extends along a first axis (Axl) between a first output end (53) and a first housing end (54) and configured to cause movement of the first joint (6) with respect to the first axis (Axl) by relative movement between the first output end (53) and the first housing end (54), and wherein the first motor assembly (50) comprises a first motor (51) connected to a first gear (52), and a first passage (59) extending from the first housing end (54) to the first output end (53) along the first axis (Axl), and wherein the second motor assembly (60) extends along a second axis (Ax2) between a second output end (63) and a second housing end (64) and configured to cause movement of the second joint (8) with respect to the second axis (Ax2) by relative movement between the second output end (63) and the second housing end (64), and wherein the second motor assembly (60) comprises a second motor (61) connected to a second gear (62), and a number of circuitries (210, 220, 230, 240) including a first circuitry (210) configured for controlling the first and second motors (51, 61), wherein the first circuitry (210) is arranged between the first joint (6) and the second joint (8) within the robotic arm (3), and wherein the first circuitry (210) is connected to the first motor (51) by first wires (58) and to the second motor (61) by second wires (68), and wherein the first motor assembly (50) is arranged with the first output end (53) towards the first circuitry (210), and wherein the first wires (58) extend through the first passage (59) of the first motor assembly (50). 2. A robot according to claim 1, wherein the second motor assembly (60) comprises a second passage (69) extending from the second housing end (63) to the second output end (64) along the second axis (Ax2) and wherein the second motor assembly (60) is arranged with the second output end (63) towards the first circuitry (210), and wherein the second wires (68) are extending through the second passage (69) of the second motor assembly (60). 3. A robot according to any of the preceding claims, wherein the first circuitry (210) is a PCB and comprises a first processing unit and a second processing unit, wherein the first processing unit is configured for controlling the first motor assembly (50) and the second processing unit is configured for controlling the second motor assembly (60). 4. A robot according to any of the preceding claims, wherein the robot (2) is a seventh-joint robot and the plurality of joints includes the 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), wherein: the first joint (6) is positioned between the base (4) end 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), fourth joint (12) is positioned between the third joint (10) and the fifth joint (14), 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), and the seventh joint (18) is positioned between the sixth joint (16) and the tool end (32). 5. A robot according to any of the preceding claims, wherein the robot (2) comprises a base (4) at the base end (30) of the robotic arm (3), wherein the base (4) is fixed to a structure (1) to which the robot is to be fastened, wherein the base (4) is further connected to the first joint (6) and wherein the robotic arm comprises a first rigid member (34) connecting the first joint (6) with the second joint (8). 6. A robot according to any of the preceding claims, wherein the first circuitry (210) is arranged within the first rigid member (34). 7. A robot according to any of the preceding claims, wherein the robotic arm (3) comprises a first access opening (250) arranged in the first rigid member (34), wherein the first access opening (250) is configured to allow access to the first circuitry (210). 8. A robot according to any of the preceding claims, wherein the first motor assembly (50) comprises a first output part (56) and a first housing part (57), wherein the first output part (56) is connected to the first gear (52) and comprises the first output end (53) and means for connecting the first output part (56) to a rigid member, and the first housing part (56) surrounds the first motor (51) and the first gear (52) and comprises the first housing end (54), and wherein the second motor assembly (60) comprises a second output part (66) and a second housing part (67), wherein the second output part (66) is connected to the second gear (62) and comprises the second output end (63) and means for connecting the second output part (66) to a rigid member, and the second housing part (67) surrounds the second motor (61) and the second gear (62) and comprises the second housing end (64). 9. A robot according to any of the preceding claims, wherein the first motor assembly (50) is configured to cause movement of the first joint (6) with respect to the first axis (Axl) by relative movement between the first output part (56) and the first housing part (57), and wherein the second motor assembly (60) is configured to cause movement of the second joint (8) with respect to the second axis (Ax2) by relative movement between the second output part (66) and the second housing part (67). 10. A robot according to any of the preceding claims, wherein the first motor (51) is arranged more proximal to the first housing end (54) than the first gear (52), and the first gear (52) is arranged more proximal to the first output end (53) than the first motor (51) and/or wherein the second motor (61) is arranged more proximal to the second housing end (63) than the second gear (62), and the second gear (62) is arranged more proximal to the second output end (63) than the second motor (61). 11. A robot according to any of the preceding claims, wherein the first motor (51) is arranged at the first housing end (54), and the first gear (52) is arranged at the first output end (53) and/or wherein the second motor (61) is arranged at the second housing end (64) and the second gear (62) is arranged at the second output end (63) and wherein the first motor (51) is not arranged at the first output end (53) and the first gear (52) is not arranged at the first housing end (54) and/or wherein the second motor (61) is not arranged at the second output end (63) and the second gear (62) is not arranged at the second housing end (64). 12. A robot according to any of the preceding claims, wherein the first gear (52) is arranged between the first circuitry (210) and the first motor (51) and/or wherein the second gear (62) is arranged between the first circuitry (210) and the second motor (61). 13. A robot according to any of the preceding claims, wherein the first motor (51) comprises a first hollow axle (55) extending through the first motor (51) forming part of the first passage (59), and wherein the second motor (61) comprises a second hollow axle (65) extending through the second motor (61) forming part of the second passage (69). 14. A robot according to any of the preceding claims, wherein the first housing part (57) is fixed to the base (4) of the robotic arm and wherein the first output part (56) is fixed to the first rigid member (34) of the robotic arm (3) such that relative movement between the first housing part (57) and the first output part (56) cause relative motion between the base (4) and the first rigid member (34). 15. A robot according to any of the preceding claims, wherein the robot (2) further comprises a control unit (200) being communicably connected to the number of circuitries (210, 220, 230, 240) and configured for controlling the robotic arm (3) and wherein the control unit (200) is arranged within or forms part of the base (4) of the robotic arm (3).

Description

ROBOTIC ARM The present disclosure relates to a robot comprising a robotic arm. BACKGROUND 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. For robots, such as robotic arms, it is desirous to facilitate simplified and more compact robot solutions which are easy to manufacture. Furthermore, easy access to the electronics/motor assemblies of the robotic arm would be advantageous. SUMMARY 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 advantageous or at least an alternative robot, robotic arm, and/or components thereof. More particularly, the present disclosure provides a solution which provides a more simple and compact design with fewer components and a reduced risk of overheating. The components of the robotic arm are easy to manufacture, Furthermore, the present solution also aids an operator in accessing the electronics/motor assembly more easily. This will allow the operator to set up and repair the robot more easily, which saves costs and reduces the risk of a faulty set-up. Accordingly, a robot is disclosed. The robot comprises a robotic arm. The robot may further comprise a control unit. The robotic arm extends between a base end and a tool end. The robotic arm may comprise a base at the base end. The base may be fixed to a structure to which the robot is to be fastened. The structure may be a factory floor or another structure from which the robotic arm is meant to work. 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. The control unit may be adapted to be arranged at the base end of the robotic arm. For example, the control unit may be adapted to form part of the base of the robotic arm. The control unit may be adapted to be arranged between the robotic arm and a structure to which the robotic arm is to be fastened. The robotic arm comprises a plurality of joints between the base end and the tool end. The robotic arm may further comprise a plurality of rigid members connecting the joints between the base end and the tool end. The plurality of joints includes a first joint and a second joint. Optionally, the plurality of joints further comprises one or more of a third joint, a fourth joint, a fifth joint, a sixth joint and a seventh joint. The first joint is positioned between the base end and the second joint. The second joint is positioned between the first joint and the tool end. If the robotic arm comprises more than two joints, these are positioned between the second joint and the tool end. If the robotic arm comprises a third joint and a fourth joint, the third joint is positioned between the second joint and the fourth joint, and the fourth joint is positioned between the third joint and the tool end. If the robotic arm comprises more than four joints, these are positioned between the fourth joint and the tool end. If the robotic arm further comprises a fifth joint and a sixth joint, the fifth joint is positioned between the fourth joint and the sixth joint, and the sixth joint is positioned between the fifth joint and the tool end. If the robotic arm further comprises a seventh joint, the seventh joint is positioned between the sixth joint and the tool end. Preferably, the robotic arm comprises seven joints. If the robotic arm is a seventh-joint robot, the plurality of joints includes the first joint, the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint and the seventh joint. In that case, the first joint is positioned between the base end and the second joint. The second joint is positioned between the first joint and the third joint. The third joint is positioned between the second joint and the fourth joint. The fourth joint is positioned between the third joint and the fifth joint. The sixth joint is positioned between the fifth joint and the seventh joint, and the seventh joint is positioned between the sixth joint and the tool end. The plurality of rigid members connects the joints between the base end and the tool end. The plurality of rigid members may form an external skin of the robotic arm. The plurality of rigid members may enclose motor assemblies and circuitries. The plurality of rigid members may include the base and a first rigid member, and optionally one or more of a second rigid member, a third rigid member, a fourth rigid member, a fifth rigid member, and a sixth rigid member. The base may extend between the base end and the first joint. The first rigid member may extend between the first joint and the second jo