Active and passive arm module, end module and industrial robot

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

• a first housing,
• a first connection side,
• a second connection side arranged at an offset with regard to the first connection side, and
• a drive device;
• wherein the first connection side is rotatably mounted about an axis of rotation relative to the first housing and connected to the drive device in a torque-locking manner,
• wherein the second connection side is connected to the first housing in a torque-proof manner and oriented relative to a connection axis which is aligned perpendicular to the axis of rotation and running in a rotational plane of the axis of rotation,
• wherein the drive device is arranged in the first housing and is configured to controllably rotate the first connection side relative to the first housing about the axis of rotation,
• wherein a further module of the robot arm is connectable to the first and/or the second connection side,
• wherein the first housing is configured for fluidic, electrical and data-based connection of the first connection side to the second connection side which optically and/or electrically and/or power-electrically and/or fluidically connect the first connection side to the second connection side, so that an optical signal and/or electrical signal and/or electrical power and/or a fluid is exchangeable with the further module via the first connection side and/or via the second connection side,
• wherein the drive device is arranged adjacent to the first connection side in the axial direction, wherein the drive device comprises a stator and a rotor, wherein the rotor is torque-locked with the first connection side and supported about the axis of rotation in a rotatable manner, wherein the stator is circumferentially connected to the first housing in a torque-proof manner,
• wherein the drive device comprises a gear device which, relative to the axis of rotation, is axially arranged between the rotor and the first connection side and at least comprises a first input side and an output side, wherein the first input side is connected to the rotor and the output side is connected to the first connection side, each in a torque-proof manner, wherein the gear device is configured to reduce an input speed on the first input side to an output speed on the output side,
• wherein the drive device comprises a first hollow shaft, a second hollow shaft, and a bearing assembly, wherein the first hollow shaft and the second hollow shaft are rotatably supported about the axis of rotation by the bearing assembly, wherein the first hollow shaft receives the second hollow shaft and the bearing assembly rotatably supports the first hollow shaft relative to the second hollow shaft, wherein the first hollow shaft connects the rotor to the first input side of the gear device in a torque-proof manner, wherein the second hollow shaft connects the output side of the gear device to the first connection side,
• wherein a transfer device is arranged in an axial direction on a side facing away from the first connection side, comprising an encoder connected to the first housing in a torque-proof manner and comprising a transfer rotor rotatably supported around the axis of rotation, wherein the encoder and the transfer rotor are coupled to each other electrically and fluidically, and
• wherein the second hollow shaft is axially longer than the first hollow shaft and reaches through the transfer device, wherein the transfer rotor is connected to the first connection side in a torque-proof manner by the second hollow shaft, wherein the transfer rotor is electrically connected to a first power contact device of the first connection side by the second hollow shaft and fluidically connected to a first fluid contact device of the first connection side by a fluid channel, wherein the encoder is electrically connected to a second power contact device of the second connection side and fluidically connected to a second fluid contact device of the second connection side.

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

• an end connection side, and
• an end housing;
• wherein the end connection side is connected to the end housing in a torque-proof manner,
• wherein the end connection side is configured to correspond to a first connection side of an active arm module or to a second connection side of the active arm module of the robot arm and is connectable to the first connection side or the second connection side;
• and/or
• wherein the end connection side is configured to correspond to a third and/or fourth connection side of a passive arm module and/or is connectable to the third and/or fourth connection side, and
• wherein at least one of an electrical and/or optical signal and/or fluid and/or electrical power is interchangeable with the passive arm module and/or the active arm module across the end connection side;
• wherein at least one fluid contact device is arranged at an offset with regard to the end connection side,
• wherein the fluid contact device is attached to the end housing, and
• wherein the fluid contact device is fluidically connected to the end connection side and a hydraulic fluid or compressed air is exchanged with the end connection side via the fluid contact device.