EP4577380A1 - Joint assembly for a robot assembly, functional assembly, joint unit, robot assembly, method for mounting a functional assembly and use - Google Patents

Abstract

A joint assembly (18, 20, 24, 28, 30, 32) for a robot assembly (10) is described. The joint assembly (18, 20, 24, 28, 30, 32) comprises at least two joint elements (24a, 24b) which are movable relative to one another. The joint assembly (18, 20, 24, 28, 30, 32) further comprises a housing unit (36) which at least partially encases the joint elements (24a, 24b). The housing unit (36) has an opening for the mounting and/or maintenance of at least one of the joint elements (24a, 24b) and/or for the mounting and/or maintenance of a drive unit coupled to at least one of the joint elements (24a, 24b). Provided in the region of the opening is a mechanical interface (40) for the fastening of a cover for closing the opening. A functional assembly (46) is fastened to the mechanical interface (40) of the housing unit (36). A functional assembly (46) and a joint unit for such a joint assembly (18, 20, 24, 28, 30, 32) are also described. A robot assembly (10) is additionally presented. A method for mounting a functional assembly (46) and the use of a mechanical interface (40) of a joint assembly (18, 20, 24, 28, 30, 32) for the fastening of a functional assembly (46) are also explained.

Description

Joint assembly for a robot assembly, functional assembly, joint unit, robot assembly, method for assembling a functional assembly and use

The invention relates to a joint assembly for a robot assembly. The joint assembly comprises at least two joint elements that are movable relative to one another. The joint assembly further comprises a housing unit that encloses the joint elements at least in sections. The housing unit has an opening for mounting and/or servicing at least one of the joint elements and/or for mounting and/or servicing a drive unit coupled to at least one of the joint elements. A mechanical interface for attaching a cover to close the opening is provided in the region of the opening.

The invention is also directed to a functional assembly and a joint unit for such a joint assembly.

Furthermore, the invention relates to a robot assembly with at least one such joint assembly.

The invention is also directed to a method for assembling a functional assembly and to a use of a mechanical interface of a joint assembly.

Such robot assemblies with one or more joint assemblies are known from the prior art. In this context, the joint elements of a joint assembly serve to connect the joint assembly to adjacent assemblies, e.g., other joint assemblies, a robot base, or robot arm units. AS: TOP the joint assemblies are used to move an end effector, which is mounted on the robot assembly, into a desired position and/or a desired orientation within a workspace. For this purpose, one or more drive units of the one or more joint assemblies are actuated. In order to protect the joint elements and any drive units present from undesirable environmental influences, e.g. dust or moisture, they are generally enclosed in an associated housing unit. In the event that the housing unit has an opening for the assembly and/or maintenance of at least one of the joint elements and/or for the assembly and/or maintenance of the drive unit, i.e. an assembly opening and/or a maintenance opening, this opening is closed by a cover during operation of the robot assembly and thus during operation of the drive unit. The joint elements and, if applicable, the drive unit are thus protected from undesirable environmental influences by means of the housing unit and the cover. In the event that the robot assembly is designed as a collaborative robot assembly, the housing unit and the cover also serve to encapsulate the drive unit from a collaborating user or operator of the robot assembly. Furthermore, the cover can serve as electromagnetic and/or electrostatic shielding for the drive unit.

Such robot assemblies are often used to handle and/or machine workpieces.

Depending on the task to be performed by the robot assembly, a suitable end effector must be available. If multiple tasks are to be performed that cannot be completed with a single end effector, the end effector must be changed between tasks. Changing the end effector may also be necessary if the same robot assembly is to be used at different times in different applications. The present invention is therefore based on the object of further developing robot assemblies in such a way that the use of the robot assembly for different tasks is facilitated. In other words, the versatility of the robot assembly with regard to the tasks to be performed is to be increased.

The problem is solved by a joint assembly for a robot assembly. The joint assembly comprises at least two joint elements that are movable relative to one another. The joint assembly further comprises a housing unit that encloses the joint elements at least in sections. The housing unit has an opening for mounting and/or servicing at least one of the joint elements. Alternatively or additionally, the opening serves for mounting or servicing a drive unit coupled to at least one of the joint elements. In the region of the opening, a mechanical interface is provided for attaching a cover for closing the opening. In addition, the joint assembly comprises a functional assembly that is attached to the mechanical interface of the housing unit and includes an electrical functional unit. In other words, the functional assembly is attached to the mechanical interface that is provided for attaching a cover for closing the opening. The functional assembly can be attached to the mechanical interface in addition to the cover. In this case, the mechanical interface simultaneously serves to attach the cover and the functional assembly. Alternatively, the functional assembly can be attached to the mechanical interface as an alternative to the cover. In this case, the cover is replaced by the functional assembly. In both cases, the mechanical interface can be ring-shaped and run around the opening. By providing the functional assembly, the functional scope of the joint assembly and consequently also of a robot assembly that uses this joint assembly is increased. The functional assembly can provide functions from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensors. The functional diversity that can be achieved by means of the joint assembly and a robot equipped with it robot assembly can be provided. In addition, mechanical interfaces provided for attaching a cover to close an opening are usually of the same shape and/or size across at least one product range of a manufacturer of joint assemblies and/or robot assemblies. It is even possible for mechanical interfaces provided for attaching a cover to close an opening to be of the same shape and/or size across several or all product ranges of a manufacturer of joint assemblies and/or robot assemblies. The mechanical interfaces therefore have a certain degree of universality. This makes it possible for a functional assembly to be attached to different mechanical interfaces of the same robot assembly and/or to mechanical interfaces of different robot assemblies of the same type without requiring any modification of the functional assembly. For this reason, the functional scope of a joint assembly and/or a robot assembly can be adapted quickly and easily. This means that the joint assembly and/or the robot assembly can be adapted quickly and easily to various application scenarios. In addition, the functional assembly can be retrofitted quickly and easily.

According to one embodiment, the additional functions provided by the functional assembly, which may be from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensors, serve to fulfill additional or secondary tasks that may arise during the handling and/or processing of a workpiece. The additional tasks may include the acquisition of associated data, for example by scanning a barcode, and/or interaction with an operator, for example to obtain movement approval. In this case, it is therefore not necessary to use a different end effector or to reconfigure the robot assembly in any other way to fulfill the additional or secondary tasks. Accordingly, both the main task, i.e., handling and/or processing a component, and the additional or secondary tasks can be performed quickly and efficiently. According to a variant of the present invention, the opening is completely closed by the functional assembly. Thus, the joint elements and the optionally present drive unit are protected from undesirable environmental influences, such as dust or moisture, by the functional assembly. In other words, the functional assembly provides the same functions as the cover. These functions are supplemented by functions provided by the electrical functional unit.

According to a further variant, the electrical functional unit is encapsulated within the functional assembly in such a way that the electrical functional unit is also protected against undesirable environmental influences, such as dust or moisture. It is understood that the electrical functional unit may also include electronic components or may consist of electronic components.

In the context of the present invention, the cover for closing the opening is often referred to as a lid, hinged cover, or drive cover. This is because the cover conceals the hinge elements and/or the drive unit.

According to one embodiment, the joint assembly further comprises a drive unit configured to move the at least two joint elements relative to one another. The housing unit encloses the drive unit, at least in sections. In such joint assemblies, a relative position and/or relative orientation of the at least two joint elements can be actively adjusted by actuating the drive unit.

According to one variant, the electrical functional unit has an operator interface for interaction with an operator of the joint assembly. The operator interface can be designed to receive an operator input. Alternatively, the operator interface can be designed to provide an output for the operator. A combination is also possible, ie, the operator interface can be designed both to receive an operator input and to provide an output for the operator. Thus, by means of The functional module provides an operator interface that can complement an end effector and/or other operator interfaces. This increases the range of functions that can be provided by an associated robot module.

In one example, the operator interface includes a control knob and/or a display unit. The display unit may serve solely to provide output to the operator. In this context, the display unit may be an LED indicator and/or a display. The display unit may also be a touch-sensitive display. In this case, the display also serves to receive operator input. Thus, operator interfaces may be provided as needed.

In one example, the electrical functional unit comprises a sensor for detecting an obstacle for the joint assembly. Such a sensor can be provided in addition to an end effector and/or in addition to other sensor systems of an associated robot assembly. Thus, the functionality of the joint assembly and/or an associated robot assembly can also be increased using such a sensor. Such sensors are particularly useful when the joint assembly and/or the associated robot assembly is a collaborative joint assembly or robot assembly, i.e., shares a workspace with a human. In this context, high precision and reliability in detecting obstacles are particularly important.

Alternatively or additionally, the electrical functional unit can comprise a detector for capturing data. In particular, the data is identification data. Such a detector includes, for example, a barcode reader, a QR code reader, an RFID reader, or similar. Alternatively or additionally, such a detector includes an optical camera for image capture and/or image recognition. This allows for easy and reliable capture of data required by the joint assembly and/or an associated robot assembly to complete a task. According to one embodiment, a power supply element is arranged inside the housing unit. The electrical functional unit is coupled to the power supply element. The electrical functional unit can thus be supplied with energy, for example, electrical energy, via the interior of the housing unit. Thus, no supply lines need to be provided on the exterior of the housing unit. In a situation where the joint assembly is used in a robot assembly, the electrical functional unit can be supplied with electrical energy by other components of the robot assembly. This simplifies the power supply to the electrical functional unit.

Alternatively or additionally, a communication element is arranged inside the housing unit, and the electrical functional unit is coupled to the communication element. The functional unit can thus be communicatively coupled to the joint assembly and/or an associated robot assembly via the interior of the housing unit. In particular, this allows the electrical functional unit to be communicatively connected to a central control unit of the robot assembly. This also eliminates the need for cables running along the exterior of the housing unit. The coupling to the communication element can be wired or wireless.

In a case where the electrical functional unit of the functional module is communicatively coupled to the joint module and/or an associated robot module via the communication element, identification data and/or description data that characterize the functional module can be provided by the functional module. In this way, further communication components of the joint module and/or the robot module to which it is assigned can recognize an identity and/or properties of the functional module. In this way, the joint module and/or the robot module can, for example, recognize a type of functional module. This facilitates the configuration and Reconfiguration of the joint assembly and/or the robot assembly with a functional assembly.

According to an alternative, the functional assembly comprises a mechanical adapter. The functional assembly is attached to the mechanical interface of the housing unit by means of the adapter. The adapter can be used to adapt the functional assembly to various mechanical interfaces. Modifications to the functional assembly that serve to adapt to a mechanical interface can only affect the adapter. The remaining components of the functional assembly can remain the same. This makes such adaptations comparatively simple and cost-effective.

The mechanical interface can comprise a round, elliptical, polygonal, teardrop-shaped, or egg-shaped contact surface. A polygonal contact surface can also be referred to as angular. In one example, the contact surface is ring-shaped. The functional assembly can bear against the contact surface. In this context, the functional assembly can also comprise a round, elliptical, polygonal, teardrop-shaped, or egg-shaped contact surface. The mechanical interface therefore corresponds to the interface to which a cover is usually attached to protect the joint elements and/or the drive unit. Optionally, the contact surface can be designed as a sealing surface. The functional assembly therefore seals off the joint elements and/or the drive unit from the environment.

According to one embodiment, the mechanical interface comprises a plurality of fastening elements. The functional assembly comprises a plurality of fastening counter-elements. Each of the fastening elements interacts with an associated fastening counter-element and vice versa. In this way, the functional assembly can be easily and reliably coupled to the mechanical interface. For example, the fastening elements and fastening counter-elements comprise external and internal threads. In another example, the fastening elements and Fastening elements include hooks and locking lugs. The fastening elements and fastening counter-elements can also be designed as elements of a bayonet lock.

The object is further achieved by a functional assembly for a joint assembly according to the invention. The functional assembly can be fastened to the mechanical interface of the housing unit of the joint assembly and comprises an electrical functional unit. In other words, the functional assembly is designed to be fastened to that mechanical interface of the housing unit of the joint assembly which is provided for fastening a cover for closing the opening. The mechanical interface can be ring-shaped and run around the opening. The functional assembly can thus increase the range of functions of the joint assembly and of a robot assembly that uses this joint assembly. The functional assembly can provide functions from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensor technology. The functional assembly thus increases the variety of functions that can be provided by the joint assembly and a robot assembly equipped therewith. Mechanical interfaces provided for fastening a cover to close the opening are usually of the same shape and/or size at least across a product range of a manufacturer of joint assemblies and/or robot assemblies. It is even possible for mechanical interfaces provided for fastening a cover to close the opening to be of the same shape and/or size across several or all product ranges of a manufacturer of joint assemblies and/or robot assemblies. The mechanical interfaces therefore have a certain universality. A functional assembly according to the invention can therefore be fastened to different mechanical interfaces of the same robot assembly and/or to mechanical interfaces of different robot assemblies without requiring any modification of the functional assembly. For this reason, the functional scope of a joint assembly and/or a robot assembly can be determined by means of a The robot assembly according to the invention can be easily and quickly adapted. Furthermore, the functional assembly can be quickly and easily retrofitted.

According to one variant, the electrical functional unit is encapsulated within the functional assembly in such a way that the electrical functional unit is protected against undesirable environmental influences, such as dust or moisture. It is understood that the electrical functional unit may also include electronic components or may consist of electronic components.

According to one variant, the electrical functional unit has an operator interface for interacting with an operator of the joint assembly. The operator interface can be configured to receive operator input. Alternatively, the operator interface can be configured to provide an output for the operator. A combination is also possible, i.e., the operator interface can be configured both to receive operator input and to provide an output for the operator. Thus, the functional assembly provides an operator interface that can complement an end effector and/or other operator interfaces. This increases the range of functions that can be provided by an associated robot assembly. This is particularly advantageous when the joint assembly or the robot assembly equipped with it is used collaboratively, i.e., shares a workspace with a human.

In one example, the operator interface includes a control knob and/or a display unit. The display unit may serve solely to provide output to the operator. In this context, the display unit may be an LED indicator and/or a display. The display unit may also be a touch-sensitive display. In this case, the display also serves to receive operator input. Thus, operator interfaces may be provided as needed. In one example, the electrical functional unit comprises a sensor for detecting an obstacle for the joint assembly. Such a sensor can be provided in addition to an end effector and/or in addition to other sensor systems of an associated robot assembly. Thus, the functionality of the joint assembly and/or of an associated robot assembly can also be increased by means of such a sensor. Such sensors are particularly useful when the joint assembly and/or the associated robot assembly is a collaborative joint assembly or robot assembly, i.e. shares a workspace with a human. In this context, high precision and reliability in detecting obstacles is particularly important.

Alternatively or additionally, the electrical functional unit can comprise a detector for capturing data. In particular, the data is identification data. Such a detector includes, for example, a barcode reader, a QR code reader, an RFID reader, or similar. Alternatively or additionally, such a detector includes an optical camera for image capture and/or image recognition. This allows for easy and reliable capture of data required by the joint assembly and/or an associated robot assembly to complete a task.

According to an alternative, the functional assembly comprises a mechanical adapter. The functional assembly can be attached to the mechanical interface of the housing unit using the adapter. The adapter can be used to adapt the functional assembly to various mechanical interfaces. Changes to the functional assembly that serve to adapt it to a mechanical interface can only affect the adapter. The remaining components of the functional assembly can remain the same. This makes such adaptations comparatively simple and cost-effective.

According to one variant, the functional assembly comprises an interface for attachment to the mechanical interface of the housing unit. The interface comprises a round, elliptical, polygonal, drop-shaped or egg-shaped contact surface. A polygonal contact surface can also be referred to as angular. The contact surface can be annular. The contact surface of the interface, i.e. of the functional assembly, is designed to bear against a contact surface of the joint assembly. By means of such a functional assembly, an opening which is provided in a housing unit of the joint assembly for the assembly and/or maintenance of at least one of the joint elements and/or for the assembly and/or maintenance of a drive unit of a joint assembly coupled to at least one of the joint elements can be reliably closed, such that the joint elements and/or the drive unit are protected from undesirable environmental influences by means of the functional assembly. In this context, the contact surface can optionally be designed as a sealing surface. The joint elements and/or the drive unit are therefore sealed against the environment by means of the functional assembly.

The functional assembly can comprise a plurality of fastening counter elements. Each of the fastening counter elements is designed to interact with an associated fastening element of the mechanical interface. In this way, the functional assembly can be easily and reliably coupled to the mechanical interface of the joint assembly. For example, the fastening elements and fastening counter elements comprise external and internal threads. In another example, the fastening elements and fastening counter elements comprise hooks and locking lugs. The fastening elements and fastening counter elements can also be designed as elements of a bayonet lock.

Furthermore, the object is achieved by a joint unit for a joint assembly according to the invention. The joint unit comprises at least two joint elements that are movable relative to one another. Furthermore, the joint unit comprises a housing unit that encloses the joint elements at least in sections, wherein the housing unit has an opening for the assembly and/or maintenance of at least one of the joint elements. Alternatively or additionally, the opening serves for the assembly and/or maintenance of a drive unit coupled to at least one of the joint elements. In addition, a mechanical interface for attaching a cover to close the opening is provided in the region of the opening. Furthermore, a power supply element that can be coupled to an electrical functional unit of a functional assembly is arranged inside the housing unit. Alternatively or additionally, a communication element that can be coupled to an electrical functional unit of a functional assembly is arranged inside the housing unit. The joint unit can thus be mechanically coupled to the functional assembly via the mechanical interface. The functional assembly, or more precisely the electrical functional unit of the functional assembly, can be electrically coupled to the joint unit via the power supply element. The functional assembly, or more precisely the electrical functional unit of the functional assembly, can be coupled to the joint unit via the communication element for signaling or communication purposes. As before, the functional assembly can be attached to the mechanical interface provided for attaching a cover to close the opening. The mechanical interface can be ring-shaped and run around the opening. The functional scope of the joint unit can thus be easily and quickly expanded by providing the functional module. This applies particularly to retrofitting a functional module. As before, the functional module can provide functions in the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, especially their tools, and/or sensor technology. In particular, the power supply and/or the communication connection of the functional module are quick and easy.

As already mentioned in connection with the joint assembly, the drive unit is also an optional component of the joint unit. This object is also achieved by a robot assembly with at least one joint assembly according to the invention. The robot assembly thus comprises a functional assembly which is fastened to the mechanical interface provided for fastening a cover for closing the opening. The functional assembly can be fastened to the mechanical interface in addition to the cover. In this case, the mechanical interface therefore serves simultaneously to fasten the cover and the functional assembly. Alternatively, the functional assembly can be fastened to the mechanical interface as an alternative to the cover. In this case, the cover is replaced by the functional assembly. In both cases, the mechanical interface can be ring-shaped and run around the opening. By providing the functional assembly, the functional scope of the robot assembly is increased. The functional assembly can provide functions from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensors. The variety of functions that can be provided by the robot assembly is thus increased. As already explained, the functional scope of such a robot assembly is easily and quickly adaptable. This allows the robot assembly to be quickly and easily adapted to various application scenarios. Furthermore, the functional assembly can be quickly and easily retrofitted.

Alternatively, the robot assembly comprises at least one joint unit according to the invention instead of at least one joint assembly according to the invention. The robot assembly is thus designed to be provided with a functional assembly according to the invention, which is fastened to the mechanical interface provided for fastening a cover for closing the opening. As before, the functional assembly can be fastened to the mechanical interface in addition to the cover. In this case, the mechanical interface therefore serves simultaneously to fasten the cover and the functional assembly. Alternatively, the functional assembly can be fastened to the mechanical interface as an alternative to the cover. In this case, the Cover replaced by the functional assembly. In both cases, the mechanical interface can be ring-shaped and run around the opening. The option of providing the functional assembly increases the functional scope of the robot assembly. The functional assembly can provide functions from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensor technology. This increases the variety of functions that can be provided by the robot assembly. As already explained, the functional scope of such a robot assembly can be adapted quickly and easily. This allows the robot assembly to be quickly and easily adapted to different application scenarios. In addition, the functional assembly can be retrofitted quickly and easily.

In one variant, the robot assembly comprises a control unit, wherein the control unit can be coupled to the electrical functional unit of the functional assembly for communication purposes. The control unit is designed to detect the presence of the functional assembly and/or a characteristic of the functional assembly. The characteristic of the functional assembly is, in particular, a type or kind of functional assembly. The type of functional assembly can be, for example, a user interface, a sensor, or a detector for acquiring data. In this way, output signals from the control unit can be used to control the functional assembly. If the characteristic of the functional assembly is known, the output signals can be specifically tailored to this characteristic. Likewise, signals detected or received by the functional assembly can be provided to the control unit as input signals. This allows the robot assembly to be operated depending on such input signals. Overall, the control-related integration of the functional assembly is simple and can be carried out quickly. In this case, the control unit can be designed as the central control unit of the robot assembly. It is also possible for the control unit to be separate from the central control unit of the robot assembly, but to be coupled to the central control unit of the robot assembly in terms of control technology. The separate control unit can therefore also be viewed as a communication intermediary between the functional assembly and the central control unit of the robot assembly.

In one example, the control unit automatically detects the characteristics of the functional module. In this case, no human intervention is required. Therefore, detection is particularly simple, fast, and reliable. In another example, user input is processed during detection. The user input can refer to a category, type, or type of the functional module. This can support detection.

In another embodiment, a user of the robot assembly can select predefined types of functional modules via an interface on the control unit. In particular, the user can use the interface to select the type that corresponds to the physically intended functional module. This makes it possible to quickly and easily adapt the robot assembly to different functional modules, including from a control-technical perspective. The selection can be made, for example, in the form of a selection menu or a tree structure. In this way, functions of the functional module can be stored on the control unit and used in a program sequence of the robot assembly.

Additionally, the object is achieved by a method for assembling a functional assembly to a joint assembly for a robot assembly. The functional assembly comprises an electrical functional unit. In addition, the joint assembly comprises a housing unit which houses joint elements of the joint assembly at least in sections. The housing unit has an opening for assembly and/or maintenance of at least one of the Joint elements and/or for the assembly and/or maintenance of a drive unit coupled to at least one of the joint elements. In the region of the opening, a mechanical interface is provided for attaching a cover to close the opening. The method comprises mounting the functional assembly on the mechanical interface. The functional assembly is therefore attached to the mechanical interface that is provided for attaching a cover to close the opening. The functional assembly can be attached to the mechanical interface in addition to the cover. Alternatively, the functional assembly can be attached to the mechanical interface as an alternative to the cover. In both cases, the mechanical interface can be ring-shaped and run around the opening. In this way, the functional scope of the joint assembly and thus of a robot assembly comprising the joint assembly is increased. The functional assembly can provide functions from the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensors. By means of the method according to the invention, the variety of functions that can be provided by means of the joint assembly and a robot assembly equipped therewith is therefore increased. As already explained, the functional scope of such a joint assembly and/or an associated robot assembly can be easily and quickly adapted. This allows the joint assembly and/or robot assembly to be quickly and easily adapted to different application scenarios. Furthermore, the functional assembly can be quickly and easily retrofitted.

In one example, the method also includes removing the cover from the mechanical interface. In this example, the cover is replaced with the functional assembly. As previously explained, the functional assembly is attached to the mechanical interface from which the cover was removed.

The method may further comprise a communication-technical coupling of the electrical functional unit of the functional module to a control unit. Consequently, The functional module is also linked to the robot module in which it is used, in terms of control technology. This allows output signals from the control unit to be used to control the functional module. Likewise, signals detected or received by the functional module can be provided to the control unit as input signals. This allows the robot module to be operated in response to such input signals. Overall, the control technology integration of the functional module is simple and can be carried out quickly.

The method may also include detecting the presence of the functional module and/or a characteristic of the functional module by means of the control unit. This further facilitates the control-technical integration of the functional module into the associated robot unit. If the characteristic of the functional module is known, the output signals of the control unit can be specifically tuned to this characteristic.

Furthermore, the problem is solved by a use. This relates to the use of a mechanical interface of a joint assembly for fastening a functional assembly. The joint assembly is suitable for use in a robot assembly. The mechanical interface is designed for fastening a cover for closing an opening for the assembly and/or maintenance of at least one of the joint elements and/or for the assembly and/or maintenance of a drive unit coupled to at least one of the joint elements. To fasten the functional assembly, the mechanical interface provided for fastening a cover for closing the opening is used. The functional assembly can be fastened to the mechanical interface in addition to the cover. Alternatively, the functional assembly can be fastened to the mechanical interface as an alternative to the cover. In both cases, the mechanical interface can be ring-shaped and run around the opening. In this way, a functional scope of the joint assembly and thus of a robot assembly comprising the joint assembly is enlarged. The functional assembly can provide functions in the areas of data acquisition, user interaction, interaction with workpieces, interaction with other machines, in particular their tools, and/or sensor technology. By means of the use according to the invention, the variety of functions that can be provided by means of the joint assembly and a robot assembly equipped therewith is increased. As already explained, the range of functions of such a joint assembly and/or an associated robot assembly can be adapted quickly and easily. This allows the joint assembly and/or the robot assembly to be quickly and easily adapted to various application scenarios. In addition, the functional assembly can be retrofitted quickly and easily. With regard to the variants and options in the design of the functional assembly, reference is made to the above explanations.

Furthermore, the features, effects, and advantages mentioned in connection with one of the joint assembly according to the invention, the functional assembly according to the invention, the robot assembly according to the invention, the method according to the invention, and the use according to the invention also apply to the other of the joint assembly according to the invention, the functional assembly according to the invention, the robot assembly according to the invention, the method according to the invention, and the use according to the invention. The aforementioned examples and variants can therefore be combined, regardless of whether they are mentioned in connection with the joint assembly according to the invention, the functional assembly according to the invention, the robot assembly according to the invention, the method according to the invention, or the use according to the invention.

The invention is explained below with reference to various embodiments shown in the accompanying drawings.

Figure 1 shows a robot assembly according to the invention with a total of six joint assemblies according to the invention, six joint units according to the invention and six functional assemblies according to the invention, Figure 2 shows the robot assembly from Figure 1, where a module of a

Functional assembly is separated from the other components of the robot assembly,

Figure 3 shows the robot assembly from Figures 1 and 2, with a module of another functional assembly removed from the remaining components of the robot assembly,

Figures 4 to 8 show various embodiments of the inventive

Functional assemblies in perspective exploded view,

Figures 9 and 10 show an adapter piece of a functional assembly according to the invention in separate representations,

Figure 11 shows a section XI through a joint assembly of the robot assembly from

Figure 1,

Figure 12 shows a further robot assembly according to the invention with six joint assemblies according to the invention, six joint units according to the invention and six functional assemblies according to the invention, wherein one functional assembly is used, and

Figure 13 shows another robot assembly according to the invention with six joint assemblies according to the invention, six joint units according to the invention and a total of four functional assemblies according to the invention.

Figure 1 shows a robot assembly 10.

In the example shown, the robot assembly 10 is designed as an articulated arm robot. This means that an articulated arm 14 is mounted on a robot base 12, at the free end of which an end effector 16 is provided. The end effector 16 is designed here as a gripper for handling a workpiece not shown in detail.

Starting from the robot base 12, the robot assembly 10 comprises a first joint assembly 18, a second joint assembly 20, a first robot arm unit 22, a third joint assembly 24, a second robot arm unit 26, a fourth joint assembly 28, a fifth joint assembly 30, and a sixth joint assembly 32. The joint assemblies 18, 20, 24, 28, 30, 32 and the robot arm units 22, 26 are mounted to one another in the order mentioned. Consequently, actuation of one of the joint assemblies 18, 20, 24, 28, 30, 32 causes relative movement of the assemblies or units attached to that joint assembly 18, 20, 24, 28, 30, 32.

To control the joint assemblies 18, 20, 24, 28, 30, 32, the robot assembly 10 comprises a control unit 100, which is shown only schematically in Figure 1.

The robot assembly 10 shown in Figure 1 thus comprises a total of six joint assemblies 18, 20, 24, 28, 30, 32 and two robot arm units 22, 26. It is understood that this is merely an example. Other robot assemblies may comprise more or fewer joint assemblies and/or more or fewer robot arm units.

The structure and properties of the joint assemblies 18, 20, 24, 28, 30, and 32 are explained below using the third joint assembly 24 as an example. These explanations apply equally to all other joint assemblies 18, 20, 28, 30, and 32.

In the illustrated embodiment, the third joint assembly 24 comprises a drive unit 34, which is shown schematically in Figure 11.

The drive unit 34 is designed to move at least two joint elements 24a, 24b of the third joint assembly 24 relative to each other. In the case of the third joint assembly 24, the first robot arm unit 22 and the second robot arm unit 26 each coupled to one of the joint elements 24a, 24b of the third joint assembly 24. Accordingly, by actuating the drive unit 34, the first robot arm unit 22 can be moved relative to the second robot arm unit 26.

The third joint assembly 24 also includes a housing unit 36.

The housing unit 36 houses the drive unit 34 as well as parts of the joint elements 24a, 24b, i.e. those points of the joint assembly 24 to which the first robot arm unit 22 and the second robot arm unit 26 are coupled.

An opening 38 is provided on the housing unit 36 for assembly and/or maintenance of the drive unit 34 and the joint elements 24a, 24b (see Figure 11). The drive unit 34 and the joint elements 24a, 24b can thus be serviced through the opening 38. It is also possible to replace the drive unit 34 through the opening 38, i.e., to disassemble and assemble it from the other components of the third joint assembly 24 or the robot assembly 10.

A mechanical interface 40 is provided in the area of the opening 38. This mechanical interface 40 is designed to attach a cover (not shown in detail in the figures) to the housing unit 36, so that the opening 38 is closed by the cover. If such a cover is installed, the drive unit 34 and the joint elements 24a, 24b are protected from undesirable environmental influences such as dust and moisture by the housing unit 36 and the cover.

In the illustrated embodiment, the mechanical interface 40 comprises a substantially elliptical contact surface 42, in which the opening 38 is provided substantially centrally. The contact surface 42 is thus designed as an annular surface and has an elliptical outer circumference and an elliptical inner circumference.

In addition, the mechanical interface 40 in the illustrated embodiment comprises a total of four threaded holes 44, which, relative to a circumference of the contact surface 42 are evenly distributed. More generally, the threaded holes 44 represent fastening elements. Due to the position of the section, only one of the threaded holes 44 is visible in Figure 11. The remaining threaded holes 44 are designed in the same way.

Instead of the cover, however, a functional assembly 46 is attached to the mechanical interface 40. The functional assembly 46 is composed of two modules 48, 50.

In this case, the first module 48 is formed by a mechanical adapter piece 52. The mechanical adapter piece 52 has a first mechanical interface 54, which has a contact surface 56 corresponding to the contact surface 42 of the joint assembly 24. In the assembled state, the contact surface 56 rests against the contact surface 42.

Furthermore, the first mechanical interface 54 comprises a total of four through holes 57, in each of which a screw 58 is arranged. Due to the position of the section, only one of the through holes 57 and one of the screws 58 can be seen in Figure 11.

Each of the screws 58 is screwed into a threaded hole 44.

In this way, the mechanical adapter piece 52 is attached to the mechanical interface 40.

In addition, the mechanical adapter piece 52 has a second mechanical interface 60.

The second mechanical interface 60 comprises a substantially circular contact surface 62.

Furthermore, the second mechanical interface 60 has a total of four threaded holes 64. Due to the position of the section, only one threaded hole 64 is visible in Figure 11. The mechanical adapter piece 52 is shown separately in two different views in Figures 9 and 10. The illustration in Figure 9 corresponds to a view along direction IX in Figure 10. The illustration in Figure 10 corresponds to a view along direction X in Figure 9.

The second interface 60 is designed for mounting the second module 50 of the functional assembly 46.

In the example shown, the second module 50 is essentially circular-cylindrical in shape. A diameter of the second module 50 essentially corresponds to a diameter of the contact surface 62 of the second mechanical interface 60.

Furthermore, the second module 50 comprises a total of four through-holes 66 with a total of four screws 68. In Figure 11, due to the position of the section, only one through-hole 66 and only one screw 68 can be seen.

In the assembled state, the second module 50 rests against the substantially circular contact surface 62 of the first module 48. Furthermore, the screws 68 are screwed into the threaded holes 64.

Overall, the functional assembly 46, comprising the first module 48 and the second module 50, is attached to the mechanical interface 40 of the housing unit 36 by means of the adapter piece 52.

The first module 48 is sealed from the housing unit 36 by means of a seal D1.

The first module 48 and the second module 50 are sealed against each other by means of a further seal D2.

The seals Dl and D2 are each annular. The functional assembly 46 also comprises an electrical functional unit 70. In the present case, the electrical functional unit 70 is designed as a component of the second module 50.

In the example of the third joint assembly 24, the electrical functional unit 70 comprises an operator interface 72 in the form of an LED 74.

The LED 74 can be activated or deactivated depending on the state of the robot assembly 10 and/or the third joint assembly 24, thus indicating this state to an operator. Alternatively or additionally, the state can be indicated by a type or color in which the LED 74 illuminates, for example, flashing red.

The second module 50 of the functional assembly 46 is shown in more detail in Figure 5, with the first module 48 and the second module 59 separated from each other.

In the embodiment according to Figure 1, each of the joint assemblies 18, 20, 24, 28, 30, 32 is equipped with such a functional assembly 46.

Depending on the application, however, it is also possible to use a different functional assembly 46 in one or more of the joint assemblies 18, 20, 24, 28, 30, 32.

Due to the structure of the functional assembly 46 from the two modules 48, 50, the same first module 48 can be used, which was already explained above.

However, this can be combined, for example, with a second module 50, in which the operator interface 72 is designed as a pushbutton 76 that can be actuated by an operator. A functional assembly 46 with such a second module 50 is shown in Figure 4. Again, the first module 48 and the second module 50 are shown separated from each other.

It is understood that a second module 50 is also conceivable in which the operator interface 72 comprises both an LED 74 and a push button 46. A functional module 46 with such a second module 50 is shown in Figure 7. Again, the first module 48 and the second module 50 are shown separated from each other.

It is also conceivable for the second module 50 to have a sensor 78. The sensor can be designed to detect obstacles for the associated joint assembly 18, 20, 24, 28, 30, 32 and/or the robot assembly 10. A functional assembly 46 with such a second module 50 is shown in Figure 8. Again, the first module 48 and the second module 50 are shown separated from each other.

According to a further alternative, the electrical functional unit 70 can comprise a detector 80. The detector 80 can be configured to detect data. The detector 80 can, for example, comprise a reader for a data matrix code or a barcode. A functional assembly 46 with such a second module 50 is shown in Figure 6. Again, the first module 48 and the second module 50 are shown separated from each other.

Alternatively, the detector 80 may comprise, for example, a camera that takes images, for example of components to check correct assembly.

In order to supply the electrical functional units 70 with electrical energy, a power supply element 82 is also arranged inside the housing unit 36. This is, for example, a supply line.

The electrical functional unit 70 is coupled to the power supply element 82 so that it is supplied with electrical energy. In the illustrated embodiment, the power supply element is designed as a cable with a plug.

Furthermore, a communication element 84 is arranged inside the housing unit 36. The communication element 84 can also be a communication line, in particular a bus line. For the sake of better understanding, the energy supply element 82 and the communication element 84 are also shown in Figures 4 to 9, although they do not belong to the functional module 46.

The electrical functional unit 70 is also coupled to the communication element 84. In this way, the electrical functional unit 70 can communicate with other components of the robot assembly 10, in particular with the control unit 100, which is embodied here as the central control unit of the robot assembly 10. Thus, for example, actuating the push button 76 can lead to a stop in the movement of the robot assembly 10.

In the present case, the control unit 100 is further configured to detect the presence of the functional module 46 and a characteristic of the functional module 46. As soon as the functional module 46 is coupled to the control unit 100 via the communication element 84, the control unit 100 recognizes that a functional module 46 is present. Furthermore, the control unit 100 recognizes a characteristic of the functional module 46, which in this case relates to a type of the functional module 46. The control unit 100 can therefore recognize which of the functional modules 46 described with reference to Figures 4 to 8 is present. This occurs fully automatically.

In an alternative not shown in detail, the functional module 46 is coupled to the central control unit of the robot assembly 10 via a control unit separate from the central control unit. The separate control unit can therefore also be regarded as a communication intermediary between the functional module 46 and the central control unit of the robot assembly 10.

In a case where the robot assembly 10 comprises a plurality of functional assemblies 46, the control unit 100, which can again be designed as a central control unit of the robot assembly 10 or as a separate control unit, can also serve for the communication between the functional assemblies 46. A subassembly of each of the joint assemblies 18, 20, 24, 28, 30, 32, which comprises the drive unit 34, the housing unit 36 with the mechanical interface 40 and the energy supply element 82 and/or the communication element 84, is also referred to herein as joint unit 88.

Each of the functional assemblies 46 can be mounted to an associated joint assembly 18, 20, 24, 28, 30, 32 using a method for mounting a functional assembly 46. For this purpose, the functional assembly 46 is mounted to the respective mechanical interface 40.

To illustrate this, in Figures 2 and 3, individual second modules 50 of functional assembly 46 are shown separated from the other components of the respective joint assembly 18, 20, 24, 28, 30, 32.

If a cover (not shown in detail) is attached to the mechanical interface 40 in the initial state, the cover must first be removed from the mechanical interface 40. In other words, such a cover can be replaced by a functional assembly 46. This increases the functionality of the robot assembly 10.

The method further comprises coupling the functional assembly 46 to the energy supply element 82 so that the electrical functional unit 70 is supplied with electrical energy.

In addition, the method comprises the communication-technical coupling of the electrical functional unit 70 of the functional module 46 with the control unit 100. The communication element 84 is used for this purpose.

As soon as this has been done, the presence of the functional module 46 as well as a characteristic of the functional module 46, which in this case relates to a type of the functional module 46, is automatically detected by means of the control unit 100. In all examples and variants, the mechanical interface 40 of a joint assembly 18, 20, 24, 28, 30, 32, which is designed to fasten a cover for closing an opening 38 for assembly and/or maintenance of a drive unit 34, is used to fasten the functional assembly 46.

Figure 10 shows another example of a robot assembly 10. In this example, the sixth joint assembly 32 comprises a functional assembly 46 with an electrical functional unit 70 having a detector 80 (see also Figure 6).

In this context, the robot assembly 10 is shown in Figure 10 in a pose in which the detector 80, which is designed as a reader for data matrix codes, reads a data matrix code on a workpiece. Accordingly, data characterizing the workpiece is acquired by means of the functional assembly 46. In this context, this data can be encoded directly in the data matrix code. Alternatively, only an identification feature can be encoded in the data matrix code, so that, based on this identification feature, further characteristics of the holding device can be retrieved from a storage unit.

Figure 11 shows another example of a robot assembly 10. In this example, the fourth joint assembly 30 comprises a functional assembly 46 with an electrical functional unit 70, which includes a push button 76 and a display 86. The push button 76 and the display 86 together form an operator interface 72.

Even though in the examples explained here each joint assembly 18, 20, 24, 28, 30, 32 has a functional assembly 46, it is understood that not all joint assemblies 18, 20, 24, 28, 30, 32 of a robot assembly 10 necessarily have to have such a functional assembly 46. The number and position of the functional assemblies can always be selected according to the application. List of reference symbols

10 Robot assembly

12 Robot base

14 Articulated arm 16 End effector

18 first joint assembly

20 second joint assembly

22 first robot arm unit

24 third joint assembly 26 second robot arm unit

28 fourth joint assembly

30 fifth joint assembly

32 sixth joint assembly

34 Drive unit 36 Housing unit

38 Opening

40 mechanical interface

42 contact surface

44 Threaded hole 46 Functional assembly

48 first module of the functional assembly

50 second module of the functional assembly

52 mechanical adapter piece

54 first mechanical interface of the mechanical adapter piece 56 contact surface of the first mechanical interface

57 through hole of the first mechanical interface

58 screw

60 second mechanical interface of the mechanical adapter piece 62 Contact surface of the second mechanical interface

64 Threaded hole of the second mechanical interface

66 through hole

68 Screw 70 electrical functional unit

72 Operator cutting part

74 LED

76 push button

78 Sensor 80 Detector

82 Power supply element

84 Communication element

86 Display

88 Joint unit 100 Control unit

The seal

D2 Seal

Claims

Claims 1. Joint assembly (18, 20, 24, 28, 30, 32) for a robot assembly (10), comprising at least two joint elements (24a, 24b) which are movable relative to one another, a housing unit (36) which at least partially houses the joint elements (24a, 24b), wherein the housing unit (36) has an opening (38) for the assembly and/or maintenance of at least one of the joint elements (24a, 24b) and/or for the assembly and/or maintenance of a drive unit (34) coupled to at least one of the joint elements (24a, 24b), and wherein a mechanical interface (40) for fastening a cover for closing the opening (38) is provided in the region of the opening (38), and a functional assembly (46) which is fastened to the mechanical interface (40) of the housing unit (36) and comprises an electrical functional unit (70). 2. Joint assembly (18, 20, 24, 28, 30, 32) according to claim 1, further comprising a drive unit (34) which is designed to move the at least two joint elements (24a, 24b) relative to one another, wherein the housing unit (36) houses the drive unit at least in sections. 3. Joint assembly (18, 20, 24, 28, 30, 32) according to claim 1 or 2, wherein the electrical functional unit (70) has an operator interface (72) for interaction with an operator of the joint assembly (18, 20, 24, 28, 30, 32). 4. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the electrical functional unit (70) comprises a sensor (78) for detecting an obstacle for the joint assembly (18, 20, 24, 28, 30, 32). 5. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the electrical functional unit (70) comprises a detector (80) for detecting data. 6. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein an energy supply element (82) is arranged inside the housing unit (36). is arranged and the electrical functional unit (70) is coupled to the energy supply element (82) and/or wherein a communication element (84) is arranged inside the housing unit (36) and the electrical functional unit (70) is coupled to the communication element (84). 7. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the functional assembly (46) comprises a mechanical adapter piece (52) and wherein the functional assembly (46) is fastened to the mechanical interface (40) of the housing unit (36) by means of the adapter piece (52). 8. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the mechanical interface (40) comprises a round, elliptical, polygonal, drop-shaped or egg-shaped contact surface (42) and the functional assembly (46) bears against the contact surface (42). 9. Joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the mechanical interface (40) comprises a plurality of fastening elements and wherein the functional assembly (46) comprises a plurality of fastening counter-elements, wherein each of the fastening elements cooperates with an associated fastening counter-element and vice versa. 10. Functional assembly (46) for a joint assembly (18, 20, 24, 28, 30, 32) according to one of the preceding claims, wherein the functional assembly (46) can be fastened to a mechanical interface (40) of the housing unit (36) of the joint assembly (18, 20, 24, 28, 30, 32) and comprises an electrical functional unit (70). 11. Functional assembly (46) according to claim 10, comprising an interface (54) for attachment to the mechanical interface (40) of the housing unit (36), wherein the interface (54) comprises a round, elliptical, polygonal, drop-shaped or egg-shaped contact surface (56). 12. Functional assembly (46) according to claim 10 or 11, wherein the functional assembly (46) comprises a plurality of fastening counter-elements, each of the Fastening counter elements designed to cooperate with an associated fastening element of the mechanical interface (40). 13. Joint unit (88) for a joint assembly (18, 20, 24, 28, 30, 32) according to one of claims 1 to 9, comprising at least two joint elements (24a, 24b) which are movable relative to one another, a housing unit (36) which houses the joint elements (24a, 24b) at least in sections, wherein the housing unit (36) has an opening (38) for the assembly and/or maintenance of at least one of the joint elements (24a, 24b) and/or for the assembly and/or maintenance of a drive unit (34) coupled to at least one of the joint elements (24a, 24b), and wherein a mechanical interface (40) for fastening a cover for closing the opening (38) is provided in the region of the opening (38), and wherein in the interior of the housing unit (36) - a power supply element (82) is arranged which can be coupled to an electrical functional unit (70) of a functional assembly (46) and/or - a communication element (84) is arranged which can be coupled to an electrical functional unit (70) of a functional module (46). 14. Robot assembly (10) with at least one joint assembly (18, 20, 24, 28, 30, 32) according to one of claims 1 to 9 or at least one joint unit according to claim 13. 15. Robot assembly (10) according to claim 14, further comprising a control unit (100), wherein the control unit (100) can be coupled to the electrical functional unit (70) of the functional assembly (46) in terms of communication technology and wherein the control unit (100) is designed to detect a presence of the functional assembly (46) and/or a characteristic of the functional assembly (46). 16. Method for assembling a functional assembly (46) comprising an electrical functional unit (70) on a joint assembly (18, 20, 24, 28, 30, 32) for a robot assembly (10), wherein the joint assembly (18, 20, 24, 28, 30, 32) comprises a housing unit (36) which at least partially encloses joint elements (24a, 24b) of the joint assembly (18, 20, 24, 28, 30, 32), wherein the housing unit (36) has an opening (38) for mounting and/or servicing at least one of the joint elements (24a, 24b) and/or for mounting and/or servicing a drive unit (34) coupled to at least one of the joint elements (24a, 24b), and wherein a mechanical interface (40) for fastening a cover for closing the opening (38) is provided in the region of the opening (38), comprising: Mount the functional assembly (46) to the mechanical interface (40). 17. The method according to claim 16, further comprising communicatively coupling the electrical functional unit (70) of the functional assembly (46) to a control unit (100). 18. The method according to claim 17, further comprising detecting a presence of the functional assembly (46) and/or a characteristic of the functional assembly (46) by means of the control unit (100). 19. Use of a mechanical interface (40) of a joint assembly (18, 20, 24, 28, 30, 32) for fastening a functional assembly (46), wherein the joint assembly (18, 20, 24, 28, 30, 32) is suitable for a robot assembly (10), and wherein the mechanical interface (40) is designed for fastening a cover for closing an opening (38) for assembly and/or maintenance of a drive unit (34).