Arm module, robot arm and industrial robot

An active arm module for a modular robot arm of an industrial robot, comprising:

• a first housing,
• a heat exchanger,
• a drive device, and
• a first connecting side of the active arm module, comprising a first connecting plate;
• wherein the first connecting plate is mechanically connectable to a further arm module or a robot base of the robot arm for transmitting drive and support forces,
• wherein the first housing extends along an axis of rotation and defines an interior space receiving the drive device,
• wherein the heat exchanger at least partially accommodates the drive device and is thermally coupled to the drive device,
• wherein the heat exchanger comprises at least a heat exchanger fluid channel, and
• wherein the heat exchanger is configured to exchange heat between the drive device and a fluid via a first fluid contact device arranged at the first connecting plate;
• wherein the fluid is exchangeable with the further arm module or the robot base via the first fluid contact device, and
• wherein the heat exchanger fluid channel is configured to be filled with the fluid for exchanging the fluid with the first fluid contact device,
• wherein the heat exchanger fluid channel comprises a second channel section, the second channel section being groove-shaped and guided around the axis of rotation.

An active arm module for a modular robot arm of an industrial robot, comprising:

• a first housing,
• a heat exchanger,
• a drive device, and
• a first connecting side of the active arm module, comprising a first connecting plate;
• wherein the first connecting plate is mechanically connectable to a further arm module or a robot base of the robot arm for transmitting drive and support forces,
• wherein the first housing extends along an axis of rotation and defines an interior space receiving the drive device,
• wherein the heat exchanger at least partially accommodates the drive device and is thermally coupled to the drive device,
• wherein the heat exchanger comprises at least a heat exchanger fluid channel, and
• wherein the heat exchanger is configured to exchange heat between the drive device and a fluid via a first fluid contact device arranged at the first connecting plate;
• wherein the fluid is exchangeable with the further arm module or the robot base via the first fluid contact device, and
• wherein the heat exchanger fluid channel is configured to be filled with the fluid for exchanging the fluid with the first fluid contact device,
• wherein the heat exchanger fluid channel comprises a second channel section,
• wherein the gear device is connected to the drive device in a torque-proof manner on an input side of the gear device and to the first connecting side in a torque-proof manner on an output side of the gear device, and
• wherein the gear device abuts on the heat exchanger at the front face and closes the second channel section.