Kuka Roboter Gmbh

Kuka Deutschland Gmbh

Zf Friedrichshafen Ag

Rainer Krumbacher

Franz Liebl

Stefan Karlinger

Andre Reekers

Joachim Markert

Moritz Zasche

Günther Merk

Leander Eisenwinter

Christoph Groll

Matthias Fürstenberger

Bernhard Koegl

Michael Marquart

Benjamin Kuhl

Valentina Antonovsky

A robot arm includes a first structural component, in particular a main frame for fixing the robot arm in its surroundings, a second structural component, in particular a carousel, which is mounted rotatably about an axis of rotation on the first structural component and a transmission for twisting the second structural component relative to the first structural component. The transmission includes a transmission casing and, a casing of the first structural component has at least one integrated cavity for receiving lubricant for the transmission. The cavity is fluidically connected to the transmission casing by at least one connecting duct in the casing of the first structural component.

Robot joint with lubricant reservoir

A robot arm has a transmission output-side mating running surface on which a dynamic contact seal that seals off the transmission casing in a lubricant-tight manner is seated. A gap is determined by a main bearing arrangement between an upstream link and a downstream link, to which an output flange of a joint torque sensor is coupled, is sealed off by means of a further dynamic seal, with the objective of increasing the accuracy of the torque measurement by optimizing the secondary force flows.

Robot arm with at least one joint torque sensor

The invention relates to a transmission, to a transmission housing, to a driving member mounted rotatably in the transmission housing, to an output member mounted rotatably in the transmission housing and to at least one speed-changing transmission stage which couples the output member to the driving member and has a torque-supporting member, wherein the driving member together with the output member and the torque-supporting member forms a preassembled assembly in which the torque-supporting member is mounted rotatably on the transmission housing by means of a transmission-stage rolling bearing device and has a toothing which is in engagement with a driving pinion mounted rotatably in the transmission housing. The invention also relates to an electric driving device and to an industrial robot having at least one such transmission.

Transmission, electric driving device, and industrial robot

An industrial robot includes a robot arm with multiple elements connected via joints, one element of which is designed as a linkage and another designed as an arm extension. The arm extension is mounted on one side of the linkage in a pivotal manner about a rotational axis by one of the joints and supports at least two other elements which form hand elements of the robot arm. An arm extension drive on the arm extension pivots the arm extension relative to the linkage, and a first hand element drive on the arm extension moves one of the hand elements relative to the arm extension. A motor shaft of the arm extension drive on the arm extension is offset from and runs parallel to the rotational axis, and a motor shaft of the first hand element drive on the arm extension is perpendicular to and spaced from the rotational axis.

Industrial robot with a drive arrangement arranged on an arm extension

A robotic arm of an industrial robot includes successive links connected by joints having respective drives and associated transmissions for moving the links. First and second links have respective first and second housings that transfer forces and moments arising from the weight of the robotic arm, or a load carried by the arm, to adjacent links. A first drive rotatably connecting the first and second links includes a drive housing, a rotor, and a stator connected to the drive housing. The drive housing is fastened to the first housing of the first link and forms an external wall of the robotic arm. The transmission associated with the first drive includes an input link that is joined with the rotor of the first drive. An output of the first drive is connected to a flange that is fastened to the second housing and rotatable relative to the drive housing.

Industrial robot with at least one drive

An industrial robot includes a robot arm having multiple connecting links connected by joints, wherein at least two adjacent connecting links are connected by a swivel joint and can be adjusted by a motor. A mechanical stop device defines a maximum rotatable adjustment angle between the adjacent links and includes a stop projection connected to one of the two adjacent connecting links, an engaging piece connected to the other one of the two adjacent connecting links, and a trailing stop which can be adjusted by the engaging piece. The trailing stop comprises a trailing stop body and an annular body which is connected with the trailing stop body and which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

Industrial robot with a ring-shaped trailing stop

An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.

Industrial robot with actuators extending in a primary hand enclosure

The invention relates to a conducting line protection device for an industrial robot having at least one power line, having a basic ring section, a hollow cylinder section whose diameter is matched to an inside diameter of a pipe component of the industrial robot that rotates relative to the conducting line protection device, an inner edge rounding section whose rounding radius is matched to a diameter of the power line, and a radial bearing section for rotatable support of the conducting line protection device relative to the pipe component of the industrial robot. The invention also relates to an industrial robot having such a conducting line protection device.

Cable protection device for an industrial robot and industrial robot with such a cable protection device

To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design.

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Rettenbach, Germany

Rainer Krumbacher