US 12,005,577 B2Granted

Robot assembly

AssigneeKUKA Deutschland GmbH

InventorsWolfgang Schober, Moritz Zasche, Andre Reekers, Jorge Torres, Martin Riedel, Sabine Beck

Life of this patent

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Abstract

A robot assembly includes at least four load-bearing structural parts connected by joints between each two adjacent structural parts to form a chain, and a joint motor associated with each joint for the driven movement of the structural parts connected by the joint relative to each other. A control device is provided in one of the structural parts which is connected at both ends to an adjacent structural part via an associated joint. The control device is designed to control at least three of the joint motors, and the electrical connection of the control device to each of the joint motors necessary for the controlling process is provided by a separate control line dedicated to the associated joint motor.

Claims14

Dependent claims

A robot arrangement, comprising:

at least four supporting structural parts, wherein the structural parts are connected to one another by joints arranged between two adjacent structural parts in each case so as to form a chain as a whole;
a respective joint motor associated with each of the joints and configured for the driven movement of the structural parts that are connected by the particular joint with respect to one another;
a control device arranged in one of the structural parts that is connected on either side to an adjacent structural part by a respective joint;
wherein the control device is configured to control at least three of the joint motors;
and
a control electrical connection between the control device and each of the at least three controlled joint motors for the control, the control electrical connection comprising a separate control line that is dedicatedly assigned to each of the respective joint motors.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/048,813Filed 16 Apr 2019
Priority: DE 10 2018 206 009.619 Apr 2018
Published: US 2021/0146529 A120 May 2021
Granted: 11 Jun 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

B25J 9/161
Characterised by the control system, structure, architecture: hardware, e.g. neural networks, fuzzy logic, interfaces, processor
B25J 9/1633
Characterised by the control loop: compliant, force, torque control, e.g. combined with position control
B25J 13/085
By means of sensing devices, e.g. viewing or touching devices: force or torque sensors
G05B 2219/40304
Robotics, robotics mapping to robotics vision: modular structure

Family

US 2021/0146529 A1Pre-grant publication · published 20 May 2021
US 12,005,577 B2This patent

From the US filing history. Foreign family members aren’t listed.

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