Robot arm and robot wrist
A robot arm comprising a number N of actuator-drivable joint connections GV n , which are connected in series via arm links GL i , where n=1, 2, . . . , N, and i=1, 2, . . . , N−1, and N≥6, wherein the robot arm is configured in such a way that the axes of rotation R GV,N-2 and R GV,N-1 of each of joint connections GV N-1 , GV N-2 intersect at an angle in the range from 50 to 130°, an axis of rotation R GV,N of joint connection GV N , is arranged radially at a constant distance D 1 from the axis of rotation R GV,N-1 , and a sensor is present in the joint connection GV N-1 to detect a force or a torque about the axis of rotation R GV,N-1 .
1. A robot arm, having a number N of actuator-drivable joint connections GV n , which are connected in series via arm links GL i , where n=1, 2, . . . , N, and i=1, 2, . . . , N−1, and N≥6, wherein
the proximal arm link GL 1 of the robot arm can be connected to a robot body (RK) via the joint connection GV 1 ,
the distal arm link GL N-1 of the robot arm can be connected to an effector (E) via the joint connection GV N ,
the arm links GL N-1 and GL N-2 are connected via the joint connection GV N-1 , and the arm links GL N-2 and GL N-3 are connected via the joint connection GV N-2 , and
each of the joint connections GV N , GV N-1 , GV N-2 enables a movement about an axis of rotation R GV,N , R GV,N-1 , R GV,N-2 respectively corresponding to the joint connections GV N , GV N-1 , GV N-2 ,
characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N-2 and R GV,N-1 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N is arranged radially at a constant spacing (D 1 ) from the axis of rotation R GV,N-1 , wherein the spacing (D 1 ) is selected to be in the range from 1 to 50 cm, and
the joint connection GV N-1 is adapted for detecting a force or torque about the axis of rotation R GV,N-1 .
2. The robot arm according to claim 1 , characterized in that the robot arm is designed in such a manner that a projection of the axis of rotation R GV,N onto a plane spanned by the axes of rotation R GV,N-2 and R GV,N-1 forms an angle in the range from 50 to 130° with the axis of rotation R GV,N-1 .
3. The robot arm according to claim 1 , characterized in that the axes of rotation R GV,N-2 and R GV,N-1 form an angle of 90°, and/or a projection of the axis of rotation R GV,N onto a plane spanned by the axes of rotation R GV,N-2 and R GV,N-1 forms an angle of 90° with the axis of rotation R GV,N-1 .
4. The robot arm according to claim 1 , characterized in that a section of the robot arm comprising the joint connections GV N-2 , GV N-1 , and GV N , the arm links GL N-2 and GL N-1 , and the effector (E), mounted on the joint connection GV N is designed in such a manner that a movement of the arm links GL N-1 and the effector (E) about the axis of rotation R GV,N-1 is possible without hindrance in all poses of the robot arm.
5. The robot arm according to claim 4 , characterized in that the joint connection GV N is adapted for detecting a force or a torque about the axis of rotation R GV,N , and/or the joint connection GV N-2 is adapted for detecting a force or a torque about the axis of rotation R GV,N-2 .
6. The robot arm according to claim 5 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=4 is arranged radially at a constant spacing (D 2 ) from the axis of rotation R GV,N=3 , and
the axes of rotation R GV,N=4 and R GV,N=5 intersect at an angle in the range from 50 to 130°.
7. The robot arm according to claim 5 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=3 and R GV,N=4 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=5 is arranged radially at a spacing (D 3 ) from the axis of rotation R GV,N=4 .
8. The robot arm according to claim 5 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=4 is arranged radially at a constant spacing (D 4 ) from the axis of rotation R GV,N=3 , and
the axis of rotation R GV,N=5 is arranged radially at a spacing (D 5 ) from the axis of rotation R GV,N=4 .
9. The robot arm according to claim 1 , characterized in that the joint connection GV N is adapted for detecting a force or a torque about the axis of rotation R GV,N , and/or the joint connection GV N-2 is adapted for detecting a force or a torque about the axis of rotation R GV,N-2 .
10. The robot arm according to claim 1 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=4 is arranged radially at a constant spacing (D 2 ) from the axis of rotation R GV,N=3 , and
the axes of rotation R GV,N=4 and R GV,N=5 intersect at an angle in the range from 50 to 130°.
11. The robot arm according to claim 1 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=3 and R GV,N=4 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=5 is arranged radially at a spacing (D 3 ) from the axis of rotation R GV,N=4 .
12. The robot arm according to claim 1 , characterized in that the robot arm is designed in such a manner that
the axes of rotation R GV,N=1 and R GV,N=2 intersect at an angle in the range from 50 to 130°,
the axes of rotation R GV,N=2 and R GV,N=3 intersect at an angle in the range from 50 to 130°,
the axis of rotation R GV,N=4 is arranged radially at a constant spacing (D 4 ) from the axis of rotation R GV,N=3 , and
the axis of rotation R GV,N=5 is arranged radially at a spacing (D 5 ) from the axis of rotation R GV,N=4 .
13. A robot, having a robot arm according to claim 1 .
14. A robot wrist, having three actuator-drivable wrist joint connections HGV n , which are connected in series via two wrist links HGL i , where n=1, 2, 3 and i=1, 2, wherein
the proximal wrist link HGL 1 of the robot wrist can be connected to a robot arm via the wrist joint connection HGV 1 ,
the distal wrist link HGL 2 of the robot wrist can be connected to an effector (E) via the wrist joint connection HGV 3 ,
the wrist links HGL 2 and HGL 1 are connected via the wrist joint connection HGV 2 , and
each of the wrist joint connections HGV 1 , HGV 2 , HGV 3 enables a movement about a wrist axis of rotation HR HGV,1 , HR HGV,2 , HR HGV,3 respectively corresponding to the wrist joint connections HGV 1 , HGV 2 , HGV 3 ,
characterized in that the robot wrist is designed in such a manner that
the wrist axes of rotation HR HGV,1 and HR HGV,2 intersect at an angle in the range from 50 to 130°,
the wrist axis of rotation HR HGV,3 is arranged radially at a constant spacing (D 1 ) from the wrist axis of rotation HR HGV,2 , wherein the spacing (D 1 ) is selected to be in the range from 1 to 50 cm and
the wrist joint connection HGV 2 is designed for detecting a force or a torque about the wrist axis of rotation HR HGV,2 .
15. The robot wrist according to claim 14 , characterized in that the robot wrist is designed in such a manner that a projection of the wrist axis of rotation HR HGV,3 onto a plane spanned by the wrist axes of rotation HR HGV,1 and HR HGV,2 forms an angle in the range from 50 to 130° with the wrist axis of rotation HR HGV,2 .
16. Robot wrist according to claim 14 , characterized in that the wrist axes of rotation HR HGV,1 and HR HGV,2 form an angle of 90°, and/or a projection of the wrist axis of rotation HR HGV,3 onto a plane spanned by the wrist axes of rotation HR HGV,1 and HR HGV,2 forms an angle of 90° with the wrist axis of rotation HR HGV,2 .
17. Robot wrist according to claim 14 , characterized in that the wrist joint connections HGV 1 , HGV 2 , HGV 3 , the wrist links HGL 1 and HGL 2 , and the effector (E) mounted on the wrist joint connection HGV 3 are designed in such a manner that a movement of the wrist link HGL 2 and the effector (E) about the wrist axis of rotation HR HGV,2 is possible without hindrance in all poses of the wrist.
18. Robot wrist according to claim 14 , characterized in that the wrist joint connection HGV 3 is designed for detecting a force or a torque about the wrist axis of rotation HR HGV,3 , and/or the wrist joint connection HGV 1 is designed for detecting a force or a torque about the wrist axis of rotation HR HGV,1 .
19. A robot, having a robot wrist according to claim 14 .