# US 12,005,577 B2 · Robot assembly > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,577 B2 - Document ID: US12005577B2 - Status: Granted - Kind: B2 - Application number: 17/048,813 - Filed: 2019-04-16 - Published: 2021-05-20 - Granted: 2024-06-11 - Earliest claimed: 2018-04-19 - Assignees: KUKA Deutschland GmbH - Applicants: KUKA Deutschland GmbH - Inventors: Wolfgang Schober; Moritz Zasche; Andre Reekers; Jorge Torres; Martin Riedel; Sabine Beck - Web page: https://patentgrep.com/patent/US12005577B2 ## CPC - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - G05B 2219/40304: Modular structure - 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}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robot arrangement of claim 1, wherein one of the at least four structural parts in which the control device is arranged is configured as a link arm. ### Claim 3 (depends on 1) The robot arrangement of claim 1, further comprising: a respective joint sensor system assigned to each of the joints arranged between two adjacent structural parts in each case, and configured to record a joint state and to generate corresponding sensor signals; wherein the control device is configured to process the sensor signals; and a sensor electrical connection configured to transmit the sensor signals from each of the joint sensor systems to the control device, the sensor electrical connection comprising a separate sensor line that is dedicatedly assigned to each of the respective joint sensor systems. ### Claim 4 (depends on 3) The robot arrangement of claim 3, wherein the control device is configured to take the sensor signals into account when controlling the joint motors assigned to the joints. ### Claim 5 (depends on 3) The robot arrangement of claim 3, wherein: at least one of the joints is formed as a rocker joint; and at least one of the separate control lines and/or at least one of the separate sensor lines is guided around the rocker joint by a loop. ### Claim 6 (depends on 1) The robot arrangement of claim 1, wherein the structural part in which the control device is arranged comprises a structural cooling device configured for cooling the control device. ### Claim 7 (depends on 6) The robot arrangement of claim 6, wherein the cooling device comprises at least one ventilation slot. ### Claim 8 (depends on 7) The robot arrangement of claim 7, wherein the at least one ventilation slot is arranged in an outer wall of the structural part. ### Claim 9 (depends on 1) The robot arrangement of claim 1, wherein the structural part in which the control device is arranged is configured as a shell. ### Claim 10 (depends on 1) The robot arrangement of claim 1, further comprising: at least one additional electronic component configured for at least one of processing or generating electrical signals and arranged in the structural part in which the control device is arranged; wherein the at least one additional electronic component is connected to the control device. ### Claim 11 (depends on 10) The robot arrangement of claim 10, wherein the at least one additional electronic component is configured for at least one of processing or generating additional sensor signals. ### Claim 12 (depends on 1) The robot arrangement of claim 1, wherein the control device comprises at least one switching element that is configured to interact with a complementary switching element in order to influence the behavior of the control device. ### Claim 13 (depends on 12) The robot arrangement of claim 12, wherein the control device is fastened to a skeleton-like structure, and a shell that can be fastened to the skeleton-like structure comprises a complementary switching element that actuates the at least one switching element when the shell is arranged on the skeleton-like structure. ### Claim 14 (depends on 12) The robot arrangement of claim 12, wherein: the control device is fastened to a shell that is in turn fastenable to a skeleton-like structure; and the skeleton-like structure comprises at least one complementary switching element that actuates the at least one switching element when the shell is arranged on the skeleton-like structure.