# US 11,440,205 B2 · Robot joint module and wireless power supply apparatus, system and method therefor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,205 B2 - Document ID: US11440205B2 - Status: Granted - Kind: B2 - Application number: 17/281,191 - Filed: 2018-09-29 - Published: 2021-12-23 - Granted: 2022-09-13 - Earliest claimed: 2018-09-29 - Assignees: Rethink Robotics, Inc. - Applicants: Rethink Robotics GmbH - Inventors: Sheng Zhang; Ji Long Yao - Web page: https://patentgrep.com/patent/US11440205B2 ## CPC - B25J 19/0045: {Contactless power transmission, e.g. by magnetic induction} - H02J 50/50: using additional energy repeaters between transmitting devices and receiving devices - B25J 17/025: {mounted in series} - H02J 50/40: using two or more transmitting or receiving devices (H02J50/50 takes precedence) - H02J 50/80: involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY ## Abstract A robot joint module and a wireless power supply apparatus, system, and method therefor. The apparatus includes: a wireless power receiver arranged at a connecting end of a current robot joint module and adapted to receive electrical power from a previous robot joint module of the current robot joint module; and a wireless power transmitter arranged at an output end of the current robot joint module and adapted to transmit the electrical power to a next robot joint module of the current robot joint module. By receiving electrical power from a previous robot joint module in a wireless power supply mode and sending the electrical power to a next robot joint module in a wireless power supply mode, the electrical power can be transferred between a plurality of robot joint modules, without arranging any power cable. The cost of and difficulty in arranging power cables can be reduced, and cable breakage caused by winding of the power cables can also be avoided, thereby implementing infinite continuous rotation of joints. ## Claims ### Claim 1 A wireless power supply apparatus for a robot joint module, comprising: a wireless power receiver arranged at a connecting end of a current robot joint module and adapted to receive electrical power from a previous robot joint module that is connected to the current robot joint module; a wireless power transmitter arranged at an output end of the current robot joint module and adapted to transmit the electrical power to a next robot joint module that is connected to the current robot joint module; and a wireless communication module disposed on the current robot joint module and programmed to perform at least the following processes: establish a first handshake conversation with the previous robot joint module, the first handshake conversation facilitating transmission of electrical power from the previous robot joint module to the current robot joint module; and establish a second handshake conversation with the next robot joint module, the second handshake conversation facilitating transmission of electrical power from the current robot joint module to the next robot joint module. ### Claim 2 (depends on 1) The wireless power supply apparatus for a robot joint module according to claim 1, wherein the wireless communication module is further programmed to execute at least one of the following processes: receive, from a robot controller, a control instruction adapted to control the current robot joint module; send a status parameter of the current robot joint module to the robot controller; receive, from a handheld terminal, a control instruction adapted to control the current robot joint module; or send a status parameter of the current robot joint module to the handheld terminal. ### Claim 3 (depends on 1) The wireless power supply apparatus for a robot joint module according to claim 1, wherein the wireless communication module is arranged inside a joint body of the robot joint module. ### Claim 4 A robot joint module, comprising: a joint body comprising a connecting end, an output end, and a rear cover end; a main board arranged inside the joint body; a wireless power receiver arranged at the connecting end and adapted to receive electrical power from a previous robot joint module that is connected to the joint body; a wireless power transmitter arranged at the output end and adapted to transmit the electrical power to a next robot joint module that is connected to the joint body; and a wireless communication module disposed on the main board and programmed to perform at least the following processes: establish a first handshake conversation with the previous robot joint module, the first handshake conversation facilitating transmission of electrical power from the previous robot joint module to the wireless power receiver; and establish a second handshake conversation with the next robot joint module, the second handshake conversation facilitating transmission of electrical power from the wireless power transmitter to the next robot joint module. ### Claim 5 (depends on 4) The robot joint module according to claim 4, wherein: the wireless communication module is programmed to execute at least one of the following processes: receive, from a robot controller, a control instruction; send a status parameter to the robot controller; receive, from a handheld terminal, a control instruction; or send a status parameter to the handheld terminal. ### Claim 6 (depends on 4) The robot joint module according to claim 4, wherein the wireless power receiver is arranged on an end surface of the connecting end. ### Claim 7 (depends on 4) The robot joint module according to claim 4, wherein the wireless power transmitter is arranged on an end surface of the output end. ### Claim 8 (depends on 4) A robot, comprising the robot joint module according to claim 4. ### Claim 9 (depends on 8) The robot according to claim 8, wherein the robot is a collaborative robot. ### Claim 10 A wireless power supply method for a current robot joint module, the method comprising the current robot joint module: establishing a first handshaking session with a previous robot joint module using a wireless communication mode, and establishing a second handshaking session with a next robot joint module using a wireless communication mode; receiving a power supply request from the next robot joint module based on the second handshaking session; transmitting the power supply request to the previous robot joint module based on the first handshaking session; receiving electrical power from the previous robot joint module or receiving electrical power from a robot controller in a wired power supply mode; and transmitting the electrical power to a next robot joint module. ### Claim 11 (depends on 10) The wireless power supply method for the current robot joint module according to claim 10, wherein: the receiving electrical power from a previous robot joint module comprises receiving the electrical power from the previous robot joint module through a first electromagnetic resonance relationship established with the current robot joint module by the previous robot joint module based on the power supply request, and the transmitting the electrical power to a next robot joint comprises establishing a second electromagnetic resonance relationship with the next robot joint module based on the power supply request, and sending the electrical power to the next robot joint module through the second electromagnetic resonance relationship. ### Claim 12 (depends on 10) A wireless power supply apparatus for a robot joint module, comprising a processor and a memory, wherein the memory stores an application program executable to the processor, so that the processor executes the wireless power supply method for a robot joint module according to claim 10. ### Claim 13 (depends on 10) A non-transitory computer readable storage medium having computer readable instructions stored therein, wherein the computer readable instructions are used for executing the wireless power supply method for a robot joint module according to claim 10. ### Claim 14 (depends on 1) The wireless power supply apparatus for a robot joint module according to claim 1, wherein the current robot joint module includes a body having an outer surface, the wireless communication module being provided on the outer surface of the body.