IP Library › Granted Patent US 12691595
Granted Patent B2
US 12691595 · App. 18/847,744 · Granted Jul 28, 2026

Robot arm

Inventors: Rainer Krumbacher (Rettenbach am Auerberg, DE); Leander Stefan Eisenwinter (Buttenwiesen-Lauterbach, DE); Oliver Klaffenbach (Augsburg, DE); Jan Freiburger (Augsburg, DE)
Assignee: KUKA Deutschland GmbH
B25J18/04B25J9/047B25J9/108B25J17/00
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Quick Facts
Patent No.
US 12691595
App. No.
18/847,744
Granted
Jul 28, 2026
Kind
B2
Abstract

A robot arm includes a plurality of configuration joints which determine the configuration of the robot arm; a base stand; a carousel mounted on the base stand for rotation about a first axis by a first joint of the configuration joints; a link arm mounted on the carousel pivot about a second axis of rotation by a second joint; and an arm boom pivotably mounted on the link arm about a third axis a third joint. The link arm has two mechanically separate pivot coupling rods designed for positioning the third joint in the working space of the robot arm. The first pivot coupling rod is pivotably mounted on the carousel by a first base bearing and the arm boom is mounted on the first pivot coupling rod by a first top bearing. The second pivot coupling rod is pivotably mounted on the carousel by a second base bearing and the arm boom is mounted on the second pivot coupling rod by a second top bearing. The two pivot coupling rods are pivotably driven by a common drive apparatus of the robot arm, which divides among the pivot coupling rods the drive energy to be guided via the link arm for positioning the third joint in the working space, in order to move the arm boom relative to the carousel.

Claims (62)

1 . A robot arm, comprising:

a plurality of configuration joints determining the configuration of the robot arm, a base frame, a carousel rotatably mounted on the base frame around a first axis of rotation by a first joint of the configuration joints, a link arm pivotably mounted on the carousel around a second axis of rotation by a second joint of the configuration joints, and an arm boom pivotably mounted on the link arm around a third axis of rotation by a third joint of the configuration joints;

wherein the link arm comprises mechanically separate first and second pivot coupling rods designed to position the third joint in a working space of the robot arm;

the first pivot coupling rod pivotably mounted on the carousel by a first base bearing;

the second pivot coupling rod pivotably mounted on the carousel by a second base bearing;

the arm boom pivotably mounted on the first pivot coupling rod by a first head bearing;

the arm boom mounted on the second pivot coupling rod by a second head bearing; and

a first drive apparatus configured and arranged to pivotably drive the first and second pivot coupling rods, whereby the first drive apparatus distributes drive energy to be conducted via the link arm for positioning the third joint in the working space to the two pivot coupling rods in order to adjust the arm boom relative to the carousel.

2 . The robot arm of claim 1 , further comprising:

a second drive apparatus configured to pivotably drive the arm boom on the link arm by transmitting drive energy to the arm boom, thereby adjusting the arm boom relative to the link arm.

3 . The robot arm of claim 1 , wherein at least one of:

the first drive apparatus comprises:

a first gear unit designed to transmit part of the drive energy to the first pivot coupling rod, and

a second gear unit independent of the first gear unit and designed to transmit part of the drive energy to the second pivot coupling rod; or

the second drive apparatus comprises:

a first swivel head gear unit designed to transmit part of the drive energy to the arm boom, wherein the first swivel head gear unit comprises a first torque support member acting against the first pivot coupling rod, and

a second swivel head gear-unit designed to transmit part of the drive energy to the arm boom, wherein the second swivel head gear unit comprises a second torque support member acting against the second pivot coupling rod.

4 . The robot arm of claim 3 , wherein at least one of:

the first gear unit and the second gear unit are operatively coupled together; or

the first swivel head gear unit and the second swivel head gear unit are operatively coupled together.

5 . The robot arm of claim 4 , wherein:

the first gear unit and the second gear unit are mechanically coupled by at least one intermediate gear stage; or

the first swivel head gear unit and the second swivel head gear unit are mechanically coupled by at least one swivel head intermediate gear stage.

6 . The robot arm of claim 3 , wherein at least one of:

the first gear unit and the second gear unit of the first drive apparatus are driven by a common motor; or

the first swivel head gear unit and the second swivel head gear unit of the second drive apparatus are driven by a common motor.

7 . The robot arm of claim 3 , wherein at least one of:

the first gear unit of the first drive apparatus is driven by a first motor, and the second gear unit of the first drive apparatus is driven by a second motor that is separate from the first motor; or

the first swivel head gear unit of the second drive apparatus is driven by a third motor, and the second swivel head gear unit of the second drive apparatus is driven by a fourth motor that is separate from the third motor.

8 . The robot arm of claim 7 , wherein at least one of:

the first motor and the second motor are actuated in a control-coupled manner; or

the third motor and the fourth motor are actuated in a control-coupled manner.

9 . The robot arm of claim 2 , wherein at least one of:

the first drive apparatus comprises at least one pre-stage gearbox; or

the second drive apparatus comprises at least one pre-stage gearbox.

10 . The robot arm of claim 9 , wherein the at least one pre-stage gearbox of the first drive apparatus or the second drive apparatus comprises at least one pre-stage bevel gearbox.

11 . A robot arm, comprising:

a plurality of configuration joints determining the configuration of the robot arm, a base frame, a carousel rotatably mounted on the base frame around a first axis of rotation by a first joint of the configuration joints, a link arm pivotably mounted on the carousel around a second axis of rotation by a second joint of the configuration joints, and an arm boom pivotably mounted on the link arm around a third axis of rotation by a third joint of the configuration joints;

wherein the link arm comprises mechanically separate first and second pivot coupling rods designed to position the third joint in a working space of the robot arm;

the first pivot coupling rod pivotably mounted on the carousel by a first base bearing;

the second pivot coupling rod pivotably mounted on the carousel by a second base bearing;

the arm boom pivotably mounted on the first pivot coupling rod by a first head bearing;

the arm boom mounted on the second pivot coupling rod by a second head bearing;

a first drive apparatus configured and arranged to pivotably drive the first and second pivot coupling rods, whereby the first drive apparatus distributes drive energy to be conducted via the link arm for positioning the third joint in the working space to the two pivot coupling rods in order to adjust the arm boom relative to the carousel;

a second drive apparatus configured to pivotably drive the arm boom on the link arm by transmitting drive energy to the arm boom, thereby adjusting the arm boom relative to the link arm;

wherein at least one of:

the first drive apparatus comprises at least one pre-stage gearbox, or

the second drive apparatus comprises at least one pre-stage gearbox; wherein:

the first drive apparatus comprises:

a first gear unit designed to transmit part of the drive energy to the first pivot coupling rod, and

a second gear unit independent of the first gear unit and designed to transmit part of the drive energy to the second pivot coupling rod,

wherein the first gear unit and the second gear unit are operatively coupled with the at least one pre-stage gearbox; or

the second drive apparatus comprises:

a first swivel head gear unit designed to transmit part of the drive energy to the arm boom, and

a second swivel head gear-unit designed to transmit part of the drive energy to the arm boom,

wherein the first swivel head gear unit and the second swivel head gear unit are operatively coupled with the at least one pre-stage gearbox.

12 . The robot arm of claim 1 , further comprising:

a first weight balancing device assigned to the first pivot coupling rod; and

a second weight balancing device, which is separate from the first weight balancing device, assigned to the second pivot coupling rod.

13 . The robot arm of claim 1 , further comprising:

a robot cable set guided along the first pivot coupling rod; and

an energy supply line guided along the second pivot coupling rod.