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WO2019053040A1 - Joint for a robot and a robot comprising a joint - Google Patents

Joint for a robot and a robot comprising a joint Download PDF

Info

Publication number
WO2019053040A1
WO2019053040A1 PCT/EP2018/074560 EP2018074560W WO2019053040A1 WO 2019053040 A1 WO2019053040 A1 WO 2019053040A1 EP 2018074560 W EP2018074560 W EP 2018074560W WO 2019053040 A1 WO2019053040 A1 WO 2019053040A1
Authority
WO
WIPO (PCT)
Prior art keywords
segment
joint
housing
motor
primary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/074560
Other languages
French (fr)
Inventor
Kristian Kassow
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kassow Robots ApS
Original Assignee
Kassow Robots ApS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kassow Robots ApS filed Critical Kassow Robots ApS
Publication of WO2019053040A1 publication Critical patent/WO2019053040A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/02—Arrangements for cooling or ventilating by ambient air flowing through the machine

Definitions

  • the present disclosure relates to a joint for connecting a first segment and a second segment of a robot and a robot comprising such joint.
  • the present disclosure relates to a joint for a robot for providing enhanced cooling of the joint.
  • Robot arms are widely used to perform a wide variety of automated tasks. Recently lightweight robots have increased in popularity for assisting human activities, e.g. in production facilities.
  • the present disclosure relates to a joint, such as a first joint or a second joint, for connecting a first segment and a second segment of a robot.
  • the first segment may extend along a first segment axis.
  • the second segment may extend along a second segment axis.
  • the joint comprises a joint housing.
  • the joint housing may include a primary joint housing and/or a secondary joint housing.
  • the joint comprises a primary motor unit for rotation of the second segment relative to the first segment about a primary axis.
  • the primary axis may be parallel to the first segment axis.
  • the primary motor unit has a primary motor housing and a primary motor axle.
  • the primary motor axle being rotatable relative to the primary motor housing.
  • the primary motor housing forms a plurality of gas passageways configured to allow gas passage from a front side to a back side of the primary motor housing.
  • the plurality of gas passageways formed by the primary motor housing is provided at least a radial distance from the primary motor axle.
  • the joint is configured to allow gas passage, such as air passage, from the first segment to the second segment through the joint, such as through the plurality of gas passageways.
  • a motor unit such as the primary motor unit, for rotation of a second segment relative to a first segment about an axis, such as the primary axis.
  • a robot comprising a first segment and a second segment and a first joint, such as the disclosed joint.
  • the first segment may extend along a first segment axis.
  • the second segment may extend along a second segment axis.
  • the first joint comprises a first joint housing, such as the joint housing.
  • the first joint housing may include a first primary joint housing, such as the primary joint housing and/or a first secondary joint housing such as the secondary joint housing.
  • the first joint comprises a first primary motor unit, such as the primary motor unit, for rotation of the second segment relative to the first segment about a first primary axis, such as the primary axis.
  • the first primary motor unit has a first primary motor housing, such as the primary motor housing, and a first primary motor axle, such as the primary motor axle.
  • the first primary motor axle being rotatable relative to the first primary motor housing.
  • the first primary motor housing forms a plurality of gas passageways configured to allow gas passage from a front side to a back side of the first primary motor housing.
  • the plurality of gas passageways formed by the first primary motor housing is provided at least a radial distance from the primary motor axle.
  • the first joint is configured to allow gas passage, such as air passage, from the first segment to the second segment through the first joint, such as through the plurality of gas passageways. Allowing gas, such as air, to pass through the joint allows cooling of the internal components of the joint.
  • the present disclosure provides for enhanced cooling of components, such as electric motors, gears and/or electronics, in the joint.
  • gas such as air
  • heat radiating components such as motors and gears
  • a single gas flow unit such as a fan or compressed air supply
  • the joint may comprise a plurality of motor units, such as including the primary motor unit, a secondary motor unit and/or a tertiary motor unit.
  • the joint may comprise a secondary motor unit, e.g . for rotation of the second segment relative to the first segment about a secondary axis.
  • the secondary axis may be parallel to the second segment axis.
  • the secondary motor unit may have a secondary motor housing.
  • the secondary motor unit may have a secondary motor axle.
  • the secondary motor axle may be rotatable relative to the secondary motor housing.
  • the joint may comprise a tertiary motor unit, e.g. for rotation of the second segment relative to the first segment about a tertiary axis.
  • the tertiary axis may be
  • the tertiary axis may be perpendicular to the first segment axis and/or the second segment axis.
  • the tertiary motor unit may have a tertiary motor housing.
  • the tertiary motor may have a tertiary motor axle.
  • the tertiary motor axle may be rotatable relative to the tertiary motor housing.
  • the motor units, such as the primary motor unit and/or the secondary motor unit and/or the tertiary motor unit may comprise similar features and/or be similar. Hence, any feature described in relation to any one motor unit is applicable to any other motor unit, mutatis mutandis.
  • a motor axle of a motor unit may be attachable from outside the respective motor housing.
  • the primary motor axle may be attachable from outside the primary motor housing
  • the secondary motor axle may be attachable from outside the secondary motor housing
  • the tertiary motor axle may be attachable from outside the tertiary motor housing.
  • the motor axle may be provided with an axle flange attachable from outside the respective motor housing.
  • the axle flange may be attached, such as fixedly attached to an element, such as a segment, outside the respective motor housing, such as to provide for rotation of the attached element relative to the motor housing.
  • a motor unit, such as the primary motor unit and/or the secondary motor unit and/or the tertiary motor unit may comprise gears and/or a gearbox, such as reduction gears.
  • the motor axle of the motor unit may be provided with a gear ratio between 50-300, such as 75-200, such as 100. For example, 100 rotations of a rotor of the motor may result in 1 rotation of the motor axle.
  • a motor housing such as the primary motor housing, the secondary motor housing and/or the tertiary motor housing, may form, such as comprise, a gas passageway and/or a plurality of gas passageways including a first gas passageway and a second gas passageway.
  • the motor housing may form more than 10 gas passageways, such as 12 gas passageways.
  • a gas passageway, such as the first gas passageway and/or the second gas passageway may be configured to allow gas passage from a front side to a back side of the motor housing.
  • the front side may be facing, such as facing towards, the first segment and/or facing away from the second segment.
  • the back side may be facing away from the first segment, and/or facing, such as facing towards, the second segment.
  • the gas passageway(s) may be provided in the motor housing, e.g. as holes through the motor housing. Alternatively or additionally, the gas passageway(s) may be provided between the joint housing and the motor housing.
  • the gas passageway(s) may be provided at a radial distance from the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle.
  • the radial distance may be more than 1 mm, such as more than 5 mm, such as more than 10 mm.
  • the primary motor housing may form, such as comprise, a first gas passageway and/or a second gas passageway.
  • the first gas passageway may be configured to allow gas passage from a front side to a back side of the primary motor housing.
  • the front side may be facing, such as facing towards, the first segment.
  • the back side may be facing away from the first segment, such as facing towards the second segment.
  • a motor unit such as the primary motor unit, the secondary motor unit and/or the tertiary motor unit may be arranged to be between the first segment and the second segment.
  • a motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing, may be fixedly arranged inside the joint housing, such as inside the primary joint housing and/or the secondary joint housing.
  • a motor axle such as the primary motor axle and/or the secondary motor axle may be attachable, e.g. fixedly attachable, to a segment, such as the first segment and/or the second segment.
  • the motor axle may be attached, e.g . fixedly attached, to the segment, such as the first segment and/or the second segment.
  • the primary motor housing may be fixedly arranged inside joint housing, such as inside the primary joint housing.
  • the primary motor axle may be attachable to the first segment.
  • the primary motor axle may be attached to the first segment.
  • the secondary motor housing may be fixedly arranged inside the joint housing, such as the secondary joint housing.
  • the secondary motor axle may be attachable to the second segment.
  • the secondary motor axle may be attached to the second segment.
  • the tertiary motor housing may be fixedly arranged inside the primary joint housing.
  • the tertiary motor axle may be attached to the secondary joint housing.
  • the tertiary motor housing may be fixedly arranged inside the secondary joint housing.
  • the tertiary motor axle may be attached to the primary joint housing.
  • Gas passageways may be provided between the joint housing and the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle. Gas passageways may be created between the joint housing and the motor housing, such as the primary motor housing, the secondary motor housing and/or the tertiary motor housing, such as between the primary joint housing and the primary motor housing and/or between the secondary joint housing and the secondary motor housing and/or between the primary joint housing and the tertiary motor housing and/or between the secondary joint housing and the tertiary motor housing.
  • the joint housing such as the primary joint housing and/or the secondary joint housing, may have a circular inner circumference, e.g. surrounding the motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing.
  • the motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise a non- circular outer circumference.
  • the motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise one or more radial recesses, such as a plurality of radial recesses.
  • the motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise one or more radial protrusions, such as a plurality of radial protrusions.
  • the protrusions may be configured for attachment to the inside of the joint housing, such as the primary joint housing and/or the secondary joint housing.
  • the joint housing having a circular inner circumference surrounding the motor housing, and the motor housing comprising a non-circular outer circumference may provide one or more gas passageways, such as a plurality of gas passageways, between the joint housing and the motor housing.
  • a motor housing, such as the primary motor housing and/or the secondary motor housing may be attachable inside a segment such as the first segment and/or the second segment.
  • the motor housing, such as the primary motor housing and/or the secondary motor housing may be attached inside the segment, such as the first segment and/or the second segment.
  • a motor axle, such as the primary motor axle and/or the secondary motor axle may be attached to the joint housing, such as the primary joint housing and/or the secondary joint housing.
  • the primary motor housing may be attachable inside the first segment.
  • the primary motor housing may be attached inside the first segment.
  • the primary motor axle may be attached to the joint housing, such as the primary joint housing.
  • the secondary motor housing may be attachable to the second segment.
  • the secondary motor housing may be attached to the second segment.
  • the secondary motor axle may be attached to the secondary joint housing.
  • Gas passageways may be provided between the segment and the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle. Gas passageways may be created between the segment and the motor housing, such as between the first segment and the primary motor housing and/or between the second segment and the secondary motor housing.
  • the motor housing, such as the primary motor housing and/or the secondary motor housing may comprise a non-circular outer circumference, e.g. being attachable inside the segment, such as the first segment and/or the second segment.
  • the segment, such as the first segment and/or the second segment may have a circular inner circumference, e.g. for surrounding the motor housing, such as the primary motor housing and/or the secondary motor housing.
  • the motor housing such as the primary motor housing and/or the secondary motor housing may comprise one or more radial recesses, such as a plurality of radial recesses.
  • the motor housing such as the primary motor housing and/or the secondary motor housing may comprise one or more radial protrusions, such as a plurality of radial protrusions.
  • the protrusions may be configured for attachment to the inside of a segment, such as the first segment and/or the second segment.
  • the segment having a circular inner circumference surrounding the motor housing, and the motor housing comprising a non-circular outer circumference may provide one or more gas passageways, such as a plurality of gas passageways, between the segment and the motor housing.
  • a motor axle such as the primary motor axle and/or the secondary motor axle and/or the tertiary motor axle, may be hollow.
  • a hollow motor axle may provide for gas passage through the axle, e.g. for providing gas passage from the first segment to the second segment through the first joint and/or for providing gas passage from a front side to a back side of the motor housing.
  • the motor axle such as the primary motor axle and/or the secondary motor axle and/or the tertiary motor axle, may extend through the motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing.
  • the robot may comprise a plurality of segments, e.g . including the first segment and/or the second segment and/or a third segment.
  • Segments may extend along respective segment axes, e.g. the first segment may extend along a first segment axis, the second segment may extend along a second segment axis and/or the third segment may extend along a third segment axis.
  • the robot may comprise a plurality of joints, e.g. including the first joint and/or a second joint.
  • the first joint and/or the second joint may comprise the same features as disclosed for any joint.
  • the second joint may be similar to the first joint.
  • the second joint may connect the second segment and the third segment.
  • the second joint may comprise a second joint housing, such as the joint housing.
  • the second joint housing may include a second primary joint housing and/or a second secondary joint housing.
  • the second joint may comprise a second motor unit and/or a plurality of second motor units.
  • the second joint may comprise a second primary motor unit, such as the primary motor unit, and/or the second joint may comprise a second secondary motor unit, such as the primary motor unit, and/or the second joint may comprise a second tertiary motor unit, such as the tertiary motor unit.
  • the second motor unit may be the second primary motor unit.
  • the second motor unit may be the second secondary motor unit.
  • the second motor unit may be the second tertiary motor unit.
  • the second motor unit may be configured for rotation of the third segment relative to the second segment, e.g. about a second axis, such as a second primary axis, a second secondary axis and/or a second tertiary axis.
  • the second primary motor unit may be configured for rotation of the third segment relative to the second segment about a second primary axis.
  • the second secondary motor unit may be configured for rotation of the third segment relative to the second segment about a second secondary axis.
  • the second tertiary motor unit may be configured for rotation of the third segment relative to the second segment about a second tertiary axis.
  • the second axis such as the second primary axis, may be parallel to the second segment axis.
  • the second axis such as the second secondary axis, may be parallel to the third segment axis.
  • the second axis such as the second tertiary axis, may be perpendicular to the second segment axis and/or perpendicular to the third segment axis.
  • the second joint may be configured to allow gas passage, such as air passage, from the second segment to the third segment through the second joint.
  • the robot may comprise a gas flow device arranged to alter a first segment pressure inside the first segment.
  • the gas flow device may be a fan.
  • the gas flow device may be configured for receiving compressed air.
  • the gas flow device may be a connection to a compressor outlet.
  • the gas flow device may be arranged to increase the first segment pressure, such that the first segment pressure is higher than a second segment pressure inside the second segment.
  • the gas flow device may increase pressure in the first segment to provide for gas flow from the first segment to the second segment through the first joint and/or from the second segment to the third segment through the second joint.
  • the robot may comprise a plurality of motor units, such as four motor units, five motor units, six motor units or seven motor units.
  • the plurality of motor units may comprise the first primary motor unit, the first secondary motor unit, the first tertiary motor unit, the second primary motor unit, the second secondary motor unit, the second tertiary motor unit, a third primary motor unit, a third secondary motor unit, and/or a third tertiary motor unit.
  • the robot such as the joint and/or a segment such as the second segment, may comprise a gas vent and/or a plurality of gas vents including the gas vent.
  • the gas vent(s) may be configured to allow gas passage from an interior of the robot, such as from inside the joint housing and/or inside the segment, to outside of the robot. Gas vent(s) may be provided in the joint housing. Gas vent(s) may be provided in the second segment. Providing gas vent(s) allows exit of warm gas to facilitate enhanced heat transfer away from the interior of the robot. Also, gas vents prevent the normally smaller joints towards the distal end of the robot arm having to cope with the same airflow as the normally large joints at the base of the robot arm. The gas vents may be small enough to allow a pressure sufficient to allow flow towards the joints of the distal end of the robot arm. The gas vent(s) may provide that the robot may be able to operate with a higher load.
  • the gas vent(s) may comprises a closure mechanism configured to be in an open configuration wherein gas passage through the gas vent is allowed and in a closed configuration wherein gas passage through the gas vent is not allowed. Having closable gas vents may provide that the robot can be adapted for different settings, such as a first setting where the robot needs to be sealed and a second setting where the robot need not be sealed.
  • a segment axis such as the first segment axis, second segment axis and/or third second segment axis, may be extending from a first end to a second end of the respective segment.
  • a segment such as the first segment axis, second segment axis and/or third second segment axis, may extend along the respective segment axis in a non-straight fashion, e.g. a segment may extend along the respective segment axis following a curve along the segment axis.
  • Fig. 1 schematically illustrates exemplary segments and a joint of a robot
  • Fig. 2 schematically illustrates exemplary segments and a joint of a robot
  • Fig. 3 schematically illustrates exemplary segments and joints of a robot
  • Fig. 4 schematically illustrates a cross section of a part of an exemplary robot
  • Fig. 5 schematically illustrates an exemplary motor
  • Fig. 6 schematically illustrates an exemplary motor. Embodiments of the invention will be described in more detail in the following with regards to the accompanying figures. The figures show one way of implementing the present invention and are not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.
  • Fig. 1 schematically illustrates parts of an exemplary robot 2.
  • the robot 2 comprises a first segment 4 and a second segment 6.
  • the robot 2 comprises a joint 50, such as a first joint.
  • the joint 50 is connecting the first segment 4 and the second segment 6.
  • the first segment 4 is extending along a first segment axis Ax4.
  • the second segment 6 is extending along a second segment axis Ax6.
  • the joint 50 may comprise a primary motor unit 60.
  • the primary motor unit 60 is configured for rotation of the second segment 6 relative to the first segment 4 about a primary axis Ax60.
  • the primary axis Ax60 and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the joint 50 may comprise a secondary motor unit 62.
  • the secondary motor unit 62 is configured for rotation of the second segment 6 relative to the first segment 4 about a secondary axis Ax62.
  • the secondary axis Ax62 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the joint 50 may comprise a tertiary motor unit 64.
  • the tertiary motor unit 64 is configured for rotation of the second segment 6 relative to the first segment 4 about a first tertiary axis Ax64.
  • the joint 50 comprises a joint housing 52.
  • the joint housing 52 comprises a primary joint housing 54 and a secondary joint housing 56.
  • the primary joint housing 54 and the secondary joint housing 56 provides for relative rotation about the tertiary axis Ax64.
  • the robot 2 may be provided with gas vents 12.
  • the gas vents 12 may provide for some of the gas to exit to the exterior of the robot.
  • the gas vents 12 may be covered by a cover plate to force the gas through to the next segment.
  • the gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment.
  • Gas vents 12 may be provided to the joint housing 52, such as the primary joint housing 54 and/or secondary joint housing 56 as illustrated.
  • a gas vent 12 may be provided to the second segment 6, as illustrated.
  • one or more of the illustrated gas vents 12 may be omitted, or closed, such as to force more gas passed the next motor unit.
  • Fig. 2 schematically illustrates parts of an exemplary robot 2.
  • the robot 2 comprises a first segment 4 and a second segment 6.
  • the robot 2 comprises a joint 50, such as a first joint or a second joint.
  • the joint 50 is connecting the first segment 4 and the second segment 6.
  • the joint 50 comprises a joint housing 52.
  • the first segment 4 is extending along a first segment axis Ax4.
  • the second segment 6 is extending along a second segment axis Ax6.
  • the joint 50 may comprise a primary motor unit 60.
  • the primary motor unit 60 is configured for rotation of the second segment 6 relative to the first segment 4 about a primary axis Ax60.
  • the primary axis Ax60 and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the joint 50 may comprise a secondary motor unit 62.
  • the secondary motor unit 62 is configured for rotation of the second segment 6 relative to the first segment 4 about a secondary axis Ax62.
  • the secondary axis Ax62 and the second segment axis Ax 6 may be perpendicular, as shown. However, in other exemplary robots they may be different, e.g. parallel.
  • a tertiary motor as described in relation to Fig. 1 may be omitted.
  • the first segment 4 and the second segment 6 may be arranged to span a fixed angle.
  • the robot 2 may be provided with gas vents 12.
  • the gas vents 12 may provide for some of the gas to exit to the exterior of the robot.
  • the gas vents 12 may be covered by a cover plate to force the gas through to the next segment.
  • the gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment.
  • Gas vents 12 may be provided to the joint housing 52, as illustrated.
  • a gas vent 12 may be provided to the second segment 6, as illustrated. However, one or more of the illustrated gas vents 12 may be omitted, or closed, such as to force more gas passed the next motor unit.
  • Fig. 3 schematically illustrates parts of an exemplary robot 2.
  • the robot 2 comprises a first segment 4, a second segment 6 and a third segment 8.
  • the robot 2 comprises a first joint 100 and a second joint 200.
  • the first joint 100 is connecting the first segment 4 and the second segment 6.
  • the second joint 200 is connecting the second segment 6 and the third segment 8.
  • the first segment 4 is extending along a first segment axis Ax4.
  • the second segment 6 is extending along a second segment axis Ax6.
  • the third segment 8 is extending along a third segment axis Ax8.
  • the first joint 100 comprises a first primary motor unit 110.
  • the first primary motor unit 110 is configured for rotation of the second segment 6 relative to the first segment 4 about a first primary axis Axl lO.
  • the first primary axis Axl lO and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the first joint 100 may comprise a first secondary motor unit 112.
  • the first secondary motor unit 112 is configured for rotation of the second segment 6 relative to the first segment 4 about a first secondary axis Axl l2.
  • the first secondary axis Axl l2 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the first joint 100 may comprise a first tertiary motor unit 114.
  • the first tertiary motor unit 114 is configured for rotation of the second segment 6 relative to the first segment 4 about a first tertiary axis Axl l4.
  • the first joint 100 comprises a first joint housing 102.
  • the first joint housing 102 comprises a first primary joint housing 104 and a first secondary joint housing 106.
  • the first primary joint housing 104 and the first secondary joint housing 106 provides for relative rotation about the first tertiary axis Axl l4.
  • the second joint 200 may comprise a second primary motor unit 210.
  • the second primary motor unit 210 is configured for rotation of the third segment 8 relative to the second segment 6 about a second primary axis Ax210.
  • the second primary axis Ax210 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the second primary axis Ax210 is also coinciding with the first secondary axis Axl l2.
  • the second primary motor unit 210 of the second joint 200 is redundant with the first secondary motor unit 112 of the first joint 100. Hence, the first secondary motor unit 112 or the second primary motor unit 210 may be omitted.
  • the second joint 200 may comprise a second secondary motor unit 212.
  • the second secondary motor unit 212 is configured for rotation of the third segment 8 relative to the second segment 4 about a second secondary axis Ax212.
  • the second secondary axis Ax212 and the third segment axis Ax 8 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
  • the second joint 200 may comprise a second tertiary motor unit 214.
  • the second tertiary motor unit 214 is configured for rotation of the third segment 8 relative to the second segment 6 about a second tertiary axis Ax214.
  • the second joint 200 comprises a second joint housing 202.
  • the second joint housing 202 comprises a second primary joint housing 204 and a second secondary joint housing 206.
  • the second primary joint housing 204 and the second secondary joint housing 206 provides for relative rotation about the second tertiary axis Ax214.
  • the robot 2 comprises a robot base 14.
  • the robot base 14 may be fastened to a structure, such as a floor or a wall.
  • the robot 2 is configured for taking in gas, such as air, through the robot base 14.
  • the robot 2 is configured for letting gas flow from the robot base 14 through the first segment 4.
  • the robot 2 is configured for letting gas flow from the first segment 4 through the first joint 100 and into the second segment 6.
  • the robot 2 is configured for letting gas flow from the second segment 6 through the second joint 100 and into the third segment 6.
  • the robot 2 comprises a gas flow device 10, e.g. a fan.
  • the gas flow device 10 provides for a flow of air through the first segment 4, such as along the first segment axis 4.
  • the gas flow device 10 is arranged to alter first segment pressure, e.g.
  • the robot 2 may be provided with gas vents 12.
  • the gas vents 12 may provide for some of the gas to exit to the exterior of the robot.
  • the gas vents 12 may be covered by a cover plate to force the gas through to the next segment.
  • the gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment.
  • Gas vents 12 may be provided to the second segment 6, as illustrated.
  • a gas vent 12 may be provided to second joint housing 202, such as the second primary joint housing 204, as illustrated.
  • gas vents may be provided and/or omitted in any of the joint housings and/or segments.
  • the first joint 100 and/or the second joint 200 may in one or more alternative examples take the form of the joint as exemplified in Fig. 1 and/or Fig. 2.
  • Fig. 4 schematically illustrates a cross section of a part of an exemplary robot 2, such as the robot 2 as illustrated in Fig. 3.
  • the robot 2 comprises a joint 50, such as the first joint 100 as illustrated in Fig. 3 connecting a first segment 4 and a second segment 6.
  • the first segment 4 is extending along the first segment axis Ax4.
  • the joint 50 comprises a joint housing 52.
  • the joint housing 52 comprises a primary joint housing 54 and a secondary joint housing 56.
  • the joint 50 comprises a primary motor unit 60, such as a first primary motor unit.
  • the primary motor unit 60 comprises a motor housing 412 and a motor axle 414.
  • the motor axle 414 of the primary motor unit 60 is rotatable relative to the motor housing 412 about a primary axis Ax60, such as the first primary axis Axl lO of Fig. 3.
  • the motor housing 412 of the primary motor unit 60 is attached inside the first segment 4 and the motor axle 414 is attached inside the joint housing 52, e.g. inside the primary joint housing 54.
  • the motor housing 412 of the primary motor unit 60 is attached inside the joint housing 52, e.g. inside the primary joint housing 64, and the motor axle 414 is attached inside the first segment 4.
  • the joint 50 is configured to allow gas passage from the first segment 4 to the second segment 6 through the first joint 50.
  • the motor housing 412 forms gas passageways 420, configured to allow gas passage from a front side 416 to a back side 418 of the motor housing 412.
  • the front side 416 is facing towards the first segment 4.
  • the back side 418 is facing away from the first segment 4.
  • the back side 418 is facing towards the second segment 6.
  • Exemplary gas paths are illustrated by dashed lines 500, 502.
  • the robot 2 comprises a gas flow device 10, e.g. a fan.
  • the gas flow device 10 provides for a flow of air through the first segment 4, such as along the first segment axis 4.
  • the gas flow device 10 is arranged to alter first segment pressure, e.g.
  • the altered first segment pressure inside the first segment 4 provides for a flow of gas, e.g . along the paths 500, 502, towards the second segment 6.
  • the exemplary gas paths 500, 502 illustrates gas, such as air, being forced into the first segment 4 by the gas flow device 10, the gas flows through gas passageways 420 formed by the motor housing 412 and continues through the joint 50 towards a tertiary motor (not shown).
  • the tertiary motor is configured for rotation of the second segment 6 relative to the first segment 4 about a tertiary axis Ax64.
  • the tertiary motor and/or a secondary motor may also be provided with gas passageways to allow gas flow through the joint 100 to the second segment 6.
  • Fig. 5 schematically illustrates an exemplary motor unit 400.
  • the exemplary motor unit 400 may be any motor unit mentioned in relation to any of the previous figures.
  • the motor unit 400 may be a primary motor unit configured for rotation about a primary axis.
  • the motor unit 400 may be a secondary motor unit configured for rotation about a secondary axis.
  • the motor unit 400 may be a tertiary motor unit configured for rotation about a tertiary axis.
  • the motor unit 400 may be a first primary motor unit configured for rotation about a first primary axis.
  • the motor unit 400 may be a first secondary motor unit configured for rotation about a first secondary axis.
  • the motor unit 400 may be a first tertiary motor unit configured for rotation about a first tertiary axis.
  • the motor unit 400 may be a second primary motor unit configured for rotation about a second primary axis.
  • the motor unit 400 may be a second secondary motor unit configured for rotation about a second secondary axis.
  • the motor unit 400 may be a second tertiary motor unit configured for rotation about a second tertiary axis.
  • the motor unit 400 comprises a motor housing 412 and a motor axle (in presented view, the motor axle is concealed behind the motor housing 412).
  • the motor axle is rotatable relative to the motor housing 412.
  • the motor housing 412 comprises a non-circular outer circumference.
  • the motor housing 412 comprises radial protrusions 422. The radial protrusions provides for the non-circular outer circumference of the motor housing 412.
  • the motor housing 412 forms gas passageways 420.
  • the gas passageways 420 are configured to allow gas passage from a front side 416 to a back side 418 of the motor housing 412, or from the back side 418 to the front side 416.
  • the motor housing 412 may be attached inside a housing or a segment having a circular inner circumference.
  • the radial protrusions 422 forms the gas passageways 420, e.g. between the motor housing 412 and the joint housing or segment wherein the motor housing 412 is attached.
  • Fig. 6 schematically illustrates the exemplary motor unit 400, as described in relation to Fig. 5, from the back side 418.
  • the motor axle 414 of the motor unit 400 is visible.
  • the motor axle 414 is rotatable relative to the motor housing 412.
  • a joint housing 52 is shown.
  • the motor unit 400 is arranged inside the joint housing 52, e.g. inside a primary joint housing or a secondary joint housing of the joint housing 52.
  • the joint housing has a circular inner circumference surrounding the motor housing 412.
  • the motor housing 412 comprises a non-circular outer circumference. Thereby, gas passageways 420 are provided between the motor housing 412 and the joint housing 52.
  • the motor axle 414 may be attached to a segment (not shown) to provide rotation between the segment and the joint housing 52.
  • a joint for connecting a first segment and a second segment of a robot comprising a joint housing, the joint comprising a primary motor unit for rotation of the second segment relative to the first segment about a primary axis, the primary motor unit having a primary motor housing and a primary motor axle, the primary motor axle being rotatable relative to the primary motor housing, the joint being configured to allow gas passage from the first segment to the second segment through the joint.
  • the primary motor housing forms a first gas passageway, configured to allow gas passage from a front side to a back side of the primary motor housing, the front side facing the first segment, the back side facing away from the first segment.
  • the primary motor housing being fixedly arranged inside the joint housing and the primary motor axle being attachable to the first segment.
  • the joint housing having a circular inner circumference surrounding the primary motor housing, and the primary motor housing comprising a non-circular outer circumference.
  • the primary motor housing comprising a non-circular outer circumference being attachable inside the first segment having a circular inner circumference for surrounding the primary motor housing.
  • the secondary motor housing being fixedly arranged inside the joint housing and the secondary motor axle being attachable to the second segment.
  • the secondary motor housing being attachable to the second segment and the secondary motor axle being attached to the joint housing.
  • the joint according to any of the preceding items comprising a tertiary motor unit for rotation of the second segment relative to the first segment about a tertiary axis the tertiary motor unit having a tertiary motor housing and a tertiary motor axle, the tertiary motor axle being rotatable relative to the tertiary motor housing.
  • the joint housing including a primary joint housing and a secondary joint housing, the tertiary motor housing being fixedly arranged inside the primary joint housing and the tertiary motor axle being attached to the secondary joint housing.
  • the joint housing including a primary joint housing and a secondary joint housing, the tertiary motor housing being fixedly arranged inside the secondary joint housing and the tertiary motor axle being attached to the primary joint housing.
  • a robot comprising a first segment and a second segment and a joint according to any of the preceding items connecting the first segment and the second segment.
  • the robot according to item 16 comprising a third segment and a seconi joint connecting the second segment and the third segment, the second joint comprising a second joint housing, the second joint comprising a second motor unit for rotation of the third segment relative to the second segment about a second axis, the second joint being configured to allow gas passage from the second segment to the third segment through the second joint.
  • gas vent comprises a closure mechanism configured to be in an open configuration wherein gas passage through the gas vent is allowed and in a closed configuration wherein gas passage through the gas vent is not allowed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un raccord pour raccorder un premier segment et un second segment d'un robot, et un robot comprenant un raccord. Le raccord comprend un logement de raccord et un ensemble moteur principal pour la rotation du second segment par rapport au premier segment autour d'un axe principal. L'ensemble moteur principal comprend un carter de moteur principal et un axe de moteur principal. L'axe de moteur principal peut se mettre en rotation par rapport au carter de moteur principal. Le raccord est conçu pour permettre le passage de gaz du premier segment au second segment à travers le raccord.The present invention relates to a connector for connecting a first segment and a second segment of a robot, and a robot comprising a connector. The connector includes a connector housing and a main motor assembly for rotating the second segment relative to the first segment about a major axis. The main motor assembly includes a main motor housing and a main motor shaft. The main motor shaft can rotate relative to the main motor housing. The fitting is designed to allow gas passage from the first segment to the second segment through the fitting.

Description

JOINT FOR A ROBOT AND A ROBOT COMPRISING A JOINT
The present disclosure relates to a joint for connecting a first segment and a second segment of a robot and a robot comprising such joint. In particular, the present disclosure relates to a joint for a robot for providing enhanced cooling of the joint.
BACKGROUND
Robot arms are widely used to perform a wide variety of automated tasks. Recently lightweight robots have increased in popularity for assisting human activities, e.g. in production facilities.
As robot arms get stronger, faster, lighter and slimmer two problems arise: The heat loss generated by electric motors and gears increase while the amount of metal (often aluminium) to conduct the heat away from the source decrease and the amount of surface to dissipate the heat from robot arm to surroundings by radiation and convection decrease.
SUMMARY
There is a need for enhanced cooling of internal elements of a joint of a robot arm, such as electric motors, gears and/or electronics. The present disclosure relates to a joint, such as a first joint or a second joint, for connecting a first segment and a second segment of a robot. The first segment may extend along a first segment axis. The second segment may extend along a second segment axis.
The joint comprises a joint housing. The joint housing may include a primary joint housing and/or a secondary joint housing.
The joint comprises a primary motor unit for rotation of the second segment relative to the first segment about a primary axis. The primary axis may be parallel to the first segment axis. The primary motor unit has a primary motor housing and a primary motor axle. The primary motor axle being rotatable relative to the primary motor housing. The primary motor housing forms a plurality of gas passageways configured to allow gas passage from a front side to a back side of the primary motor housing. The plurality of gas passageways formed by the primary motor housing is provided at least a radial distance from the primary motor axle. The joint is configured to allow gas passage, such as air passage, from the first segment to the second segment through the joint, such as through the plurality of gas passageways.
Also disclosed is a motor unit, such as the primary motor unit, for rotation of a second segment relative to a first segment about an axis, such as the primary axis. Also disclosed is a robot comprising a first segment and a second segment and a first joint, such as the disclosed joint. The first segment may extend along a first segment axis. The second segment may extend along a second segment axis.
The first joint comprises a first joint housing, such as the joint housing. The first joint housing may include a first primary joint housing, such as the primary joint housing and/or a first secondary joint housing such as the secondary joint housing.
The first joint comprises a first primary motor unit, such as the primary motor unit, for rotation of the second segment relative to the first segment about a first primary axis, such as the primary axis. The first primary motor unit has a first primary motor housing, such as the primary motor housing, and a first primary motor axle, such as the primary motor axle. The first primary motor axle being rotatable relative to the first primary motor housing. The first primary motor housing forms a plurality of gas passageways configured to allow gas passage from a front side to a back side of the first primary motor housing. The plurality of gas passageways formed by the first primary motor housing is provided at least a radial distance from the primary motor axle.
The first joint is configured to allow gas passage, such as air passage, from the first segment to the second segment through the first joint, such as through the plurality of gas passageways. Allowing gas, such as air, to pass through the joint allows cooling of the internal components of the joint. Thus, the present disclosure provides for enhanced cooling of components, such as electric motors, gears and/or electronics, in the joint.
It is a further advantage of the present disclosure, that gas, such as air, is moved close above heat radiating components, such as motors and gears, to transfer heat away from the components.
It is a further advantage of the present disclosure that a single gas flow unit, such as a fan or compressed air supply, may provide cooling of a multiple number of joints and joint components. The joint may comprise a plurality of motor units, such as including the primary motor unit, a secondary motor unit and/or a tertiary motor unit.
The joint may comprise a secondary motor unit, e.g . for rotation of the second segment relative to the first segment about a secondary axis. The secondary axis may be parallel to the second segment axis. The secondary motor unit may have a secondary motor housing. The secondary motor unit may have a secondary motor axle. The secondary motor axle may be rotatable relative to the secondary motor housing.
The joint may comprise a tertiary motor unit, e.g. for rotation of the second segment relative to the first segment about a tertiary axis. The tertiary axis may be
perpendicular to the primary axis and/or the secondary axis. The tertiary axis may be perpendicular to the first segment axis and/or the second segment axis.
The tertiary motor unit may have a tertiary motor housing. The tertiary motor may have a tertiary motor axle. The tertiary motor axle may be rotatable relative to the tertiary motor housing. The motor units, such as the primary motor unit and/or the secondary motor unit and/or the tertiary motor unit may comprise similar features and/or be similar. Hence, any feature described in relation to any one motor unit is applicable to any other motor unit, mutatis mutandis. A motor axle of a motor unit may be attachable from outside the respective motor housing. For example, the primary motor axle may be attachable from outside the primary motor housing, the secondary motor axle may be attachable from outside the secondary motor housing and/or the tertiary motor axle may be attachable from outside the tertiary motor housing. For example, the motor axle may be provided with an axle flange attachable from outside the respective motor housing. For example, the axle flange may be attached, such as fixedly attached to an element, such as a segment, outside the respective motor housing, such as to provide for rotation of the attached element relative to the motor housing. A motor unit, such as the primary motor unit and/or the secondary motor unit and/or the tertiary motor unit may comprise gears and/or a gearbox, such as reduction gears. The motor axle of the motor unit, may be provided with a gear ratio between 50-300, such as 75-200, such as 100. For example, 100 rotations of a rotor of the motor may result in 1 rotation of the motor axle. A motor housing, such as the primary motor housing, the secondary motor housing and/or the tertiary motor housing, may form, such as comprise, a gas passageway and/or a plurality of gas passageways including a first gas passageway and a second gas passageway. The motor housing may form more than 10 gas passageways, such as 12 gas passageways. A gas passageway, such as the first gas passageway and/or the second gas passageway may be configured to allow gas passage from a front side to a back side of the motor housing. The front side may be facing, such as facing towards, the first segment and/or facing away from the second segment. The back side may be facing away from the first segment, and/or facing, such as facing towards, the second segment. The gas passageway(s) may be provided in the motor housing, e.g. as holes through the motor housing. Alternatively or additionally, the gas passageway(s) may be provided between the joint housing and the motor housing. The gas passageway(s) may be provided at a radial distance from the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle. The radial distance may be more than 1 mm, such as more than 5 mm, such as more than 10 mm.
For example, the primary motor housing may form, such as comprise, a first gas passageway and/or a second gas passageway. The first gas passageway may be configured to allow gas passage from a front side to a back side of the primary motor housing. The front side may be facing, such as facing towards, the first segment. The back side may be facing away from the first segment, such as facing towards the second segment. The inventors have found that providing gas passageways, allowing gas to flow past the periphery of a motor unit, such as past a motor housing, advantageously facilitates cooling of the motor unit as well as components of the motor unit.
A motor unit, such as the primary motor unit, the secondary motor unit and/or the tertiary motor unit may be arranged to be between the first segment and the second segment.
A motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing, may be fixedly arranged inside the joint housing, such as inside the primary joint housing and/or the secondary joint housing. A motor axle, such as the primary motor axle and/or the secondary motor axle may be attachable, e.g. fixedly attachable, to a segment, such as the first segment and/or the second segment. The motor axle may be attached, e.g . fixedly attached, to the segment, such as the first segment and/or the second segment.
For example, the primary motor housing may be fixedly arranged inside joint housing, such as inside the primary joint housing. The primary motor axle may be attachable to the first segment. The primary motor axle may be attached to the first segment.
The secondary motor housing may be fixedly arranged inside the joint housing, such as the secondary joint housing. The secondary motor axle may be attachable to the second segment. The secondary motor axle may be attached to the second segment.
The tertiary motor housing may be fixedly arranged inside the primary joint housing. The tertiary motor axle may be attached to the secondary joint housing.
The tertiary motor housing may be fixedly arranged inside the secondary joint housing. The tertiary motor axle may be attached to the primary joint housing.
Gas passageways may be provided between the joint housing and the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle. Gas passageways may be created between the joint housing and the motor housing, such as the primary motor housing, the secondary motor housing and/or the tertiary motor housing, such as between the primary joint housing and the primary motor housing and/or between the secondary joint housing and the secondary motor housing and/or between the primary joint housing and the tertiary motor housing and/or between the secondary joint housing and the tertiary motor housing.
The joint housing, such as the primary joint housing and/or the secondary joint housing, may have a circular inner circumference, e.g. surrounding the motor housing such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing. The motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise a non- circular outer circumference. For example the motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise one or more radial recesses, such as a plurality of radial recesses. Alternatively or additionally, the motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing may comprise one or more radial protrusions, such as a plurality of radial protrusions. The protrusions may be configured for attachment to the inside of the joint housing, such as the primary joint housing and/or the secondary joint housing. The joint housing having a circular inner circumference surrounding the motor housing, and the motor housing comprising a non-circular outer circumference, may provide one or more gas passageways, such as a plurality of gas passageways, between the joint housing and the motor housing.
A motor housing, such as the primary motor housing and/or the secondary motor housing may be attachable inside a segment such as the first segment and/or the second segment. The motor housing, such as the primary motor housing and/or the secondary motor housing may be attached inside the segment, such as the first segment and/or the second segment. A motor axle, such as the primary motor axle and/or the secondary motor axle may be attached to the joint housing, such as the primary joint housing and/or the secondary joint housing. For example, the primary motor housing may be attachable inside the first segment. The primary motor housing may be attached inside the first segment. The primary motor axle may be attached to the joint housing, such as the primary joint housing.
The secondary motor housing may be attachable to the second segment. The secondary motor housing may be attached to the second segment. The secondary motor axle may be attached to the secondary joint housing.
Gas passageways may be provided between the segment and the motor axle, such as the primary motor axle, the secondary motor axle, and/or the tertiary motor axle. Gas passageways may be created between the segment and the motor housing, such as between the first segment and the primary motor housing and/or between the second segment and the secondary motor housing. The motor housing, such as the primary motor housing and/or the secondary motor housing may comprise a non-circular outer circumference, e.g. being attachable inside the segment, such as the first segment and/or the second segment. The segment, such as the first segment and/or the second segment, may have a circular inner circumference, e.g. for surrounding the motor housing, such as the primary motor housing and/or the secondary motor housing. For example the motor housing, such as the primary motor housing and/or the secondary motor housing may comprise one or more radial recesses, such as a plurality of radial recesses. Alternatively or additionally, the motor housing, such as the primary motor housing and/or the secondary motor housing may comprise one or more radial protrusions, such as a plurality of radial protrusions. The protrusions may be configured for attachment to the inside of a segment, such as the first segment and/or the second segment. The segment having a circular inner circumference surrounding the motor housing, and the motor housing comprising a non-circular outer circumference, may provide one or more gas passageways, such as a plurality of gas passageways, between the segment and the motor housing.
A motor axle, such as the primary motor axle and/or the secondary motor axle and/or the tertiary motor axle, may be hollow. A hollow motor axle may provide for gas passage through the axle, e.g. for providing gas passage from the first segment to the second segment through the first joint and/or for providing gas passage from a front side to a back side of the motor housing. The motor axle, such as the primary motor axle and/or the secondary motor axle and/or the tertiary motor axle, may extend through the motor housing, such as the primary motor housing and/or the secondary motor housing and/or the tertiary motor housing. The robot may comprise a plurality of segments, e.g . including the first segment and/or the second segment and/or a third segment. Segments may extend along respective segment axes, e.g. the first segment may extend along a first segment axis, the second segment may extend along a second segment axis and/or the third segment may extend along a third segment axis. The robot may comprise a plurality of joints, e.g. including the first joint and/or a second joint. The first joint and/or the second joint may comprise the same features as disclosed for any joint. The second joint may be similar to the first joint. The second joint may connect the second segment and the third segment. Hence, any feature described in relation to any one joint is applicable to any other joint, mutatis mutandis.
The second joint may comprise a second joint housing, such as the joint housing. The second joint housing may include a second primary joint housing and/or a second secondary joint housing.
The second joint may comprise a second motor unit and/or a plurality of second motor units. The second joint may comprise a second primary motor unit, such as the primary motor unit, and/or the second joint may comprise a second secondary motor unit, such as the primary motor unit, and/or the second joint may comprise a second tertiary motor unit, such as the tertiary motor unit.
The second motor unit may be the second primary motor unit. The second motor unit may be the second secondary motor unit. The second motor unit may be the second tertiary motor unit. The second motor unit may be configured for rotation of the third segment relative to the second segment, e.g. about a second axis, such as a second primary axis, a second secondary axis and/or a second tertiary axis. For example, the second primary motor unit may be configured for rotation of the third segment relative to the second segment about a second primary axis. The second secondary motor unit may be configured for rotation of the third segment relative to the second segment about a second secondary axis. The second tertiary motor unit may be configured for rotation of the third segment relative to the second segment about a second tertiary axis.
The second axis, such as the second primary axis, may be parallel to the second segment axis. The second axis, such as the second secondary axis, may be parallel to the third segment axis.. The second axis, such as the second tertiary axis, may be perpendicular to the second segment axis and/or perpendicular to the third segment axis.
The second joint may be configured to allow gas passage, such as air passage, from the second segment to the third segment through the second joint.
The robot may comprise a gas flow device arranged to alter a first segment pressure inside the first segment. The gas flow device may be a fan. The gas flow device may be configured for receiving compressed air. The gas flow device may be a connection to a compressor outlet. The gas flow device may be arranged to increase the first segment pressure, such that the first segment pressure is higher than a second segment pressure inside the second segment. The gas flow device may increase pressure in the first segment to provide for gas flow from the first segment to the second segment through the first joint and/or from the second segment to the third segment through the second joint. The robot may comprise a plurality of motor units, such as four motor units, five motor units, six motor units or seven motor units. The plurality of motor units may comprise the first primary motor unit, the first secondary motor unit, the first tertiary motor unit, the second primary motor unit, the second secondary motor unit, the second tertiary motor unit, a third primary motor unit, a third secondary motor unit, and/or a third tertiary motor unit.
The robot, such as the joint and/or a segment such as the second segment, may comprise a gas vent and/or a plurality of gas vents including the gas vent. The gas vent(s) may be configured to allow gas passage from an interior of the robot, such as from inside the joint housing and/or inside the segment, to outside of the robot. Gas vent(s) may be provided in the joint housing. Gas vent(s) may be provided in the second segment. Providing gas vent(s) allows exit of warm gas to facilitate enhanced heat transfer away from the interior of the robot. Also, gas vents prevent the normally smaller joints towards the distal end of the robot arm having to cope with the same airflow as the normally large joints at the base of the robot arm. The gas vents may be small enough to allow a pressure sufficient to allow flow towards the joints of the distal end of the robot arm. The gas vent(s) may provide that the robot may be able to operate with a higher load.
The gas vent(s) may comprises a closure mechanism configured to be in an open configuration wherein gas passage through the gas vent is allowed and in a closed configuration wherein gas passage through the gas vent is not allowed. Having closable gas vents may provide that the robot can be adapted for different settings, such as a first setting where the robot needs to be sealed and a second setting where the robot need not be sealed.
A segment axis, such as the first segment axis, second segment axis and/or third second segment axis, may be extending from a first end to a second end of the respective segment. A segment, such as the first segment axis, second segment axis and/or third second segment axis, may extend along the respective segment axis in a non-straight fashion, e.g. a segment may extend along the respective segment axis following a curve along the segment axis. Any feature described above in relation to any one aspect of the disclosure is applicable also to any other aspect of the disclosure, mutatis mutandis.
BRIEF DESCRIPTION OF THE FIGURES
Fig. 1 schematically illustrates exemplary segments and a joint of a robot;
Fig. 2 schematically illustrates exemplary segments and a joint of a robot;
Fig. 3 schematically illustrates exemplary segments and joints of a robot;
Fig. 4 schematically illustrates a cross section of a part of an exemplary robot;
Fig. 5 schematically illustrates an exemplary motor; and
Fig. 6 schematically illustrates an exemplary motor. Embodiments of the invention will be described in more detail in the following with regards to the accompanying figures. The figures show one way of implementing the present invention and are not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.
DETAILED DESCRIPTION
Fig. 1 schematically illustrates parts of an exemplary robot 2. The robot 2 comprises a first segment 4 and a second segment 6. The robot 2 comprises a joint 50, such as a first joint. The joint 50 is connecting the first segment 4 and the second segment 6. The first segment 4 is extending along a first segment axis Ax4. The second segment 6 is extending along a second segment axis Ax6.
The joint 50 may comprise a primary motor unit 60. The primary motor unit 60 is configured for rotation of the second segment 6 relative to the first segment 4 about a primary axis Ax60. The primary axis Ax60 and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The joint 50 may comprise a secondary motor unit 62. The secondary motor unit 62 is configured for rotation of the second segment 6 relative to the first segment 4 about a secondary axis Ax62. The secondary axis Ax62 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The joint 50 may comprise a tertiary motor unit 64. The tertiary motor unit 64 is configured for rotation of the second segment 6 relative to the first segment 4 about a first tertiary axis Ax64. The joint 50 comprises a joint housing 52. The joint housing 52 comprises a primary joint housing 54 and a secondary joint housing 56. The primary joint housing 54 and the secondary joint housing 56 provides for relative rotation about the tertiary axis Ax64. The robot 2 may be provided with gas vents 12. The gas vents 12 may provide for some of the gas to exit to the exterior of the robot. The gas vents 12 may be covered by a cover plate to force the gas through to the next segment. The gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment. Gas vents 12 may be provided to the joint housing 52, such as the primary joint housing 54 and/or secondary joint housing 56 as illustrated. A gas vent 12 may be provided to the second segment 6, as illustrated. However, one or more of the illustrated gas vents 12 may be omitted, or closed, such as to force more gas passed the next motor unit.
Fig. 2 schematically illustrates parts of an exemplary robot 2. The robot 2 comprises a first segment 4 and a second segment 6. The robot 2 comprises a joint 50, such as a first joint or a second joint. The joint 50 is connecting the first segment 4 and the second segment 6. The joint 50 comprises a joint housing 52. The first segment 4 is extending along a first segment axis Ax4. The second segment 6 is extending along a second segment axis Ax6.
The joint 50 may comprise a primary motor unit 60. The primary motor unit 60 is configured for rotation of the second segment 6 relative to the first segment 4 about a primary axis Ax60. The primary axis Ax60 and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The joint 50 may comprise a secondary motor unit 62. The secondary motor unit 62 is configured for rotation of the second segment 6 relative to the first segment 4 about a secondary axis Ax62. The secondary axis Ax62 and the second segment axis Ax 6 may be perpendicular, as shown. However, in other exemplary robots they may be different, e.g. parallel.
A tertiary motor as described in relation to Fig. 1 may be omitted. The first segment 4 and the second segment 6 may be arranged to span a fixed angle. The robot 2 may be provided with gas vents 12. The gas vents 12 may provide for some of the gas to exit to the exterior of the robot. The gas vents 12 may be covered by a cover plate to force the gas through to the next segment. The gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment. Gas vents 12 may be provided to the joint housing 52, as illustrated. A gas vent 12 may be provided to the second segment 6, as illustrated. However, one or more of the illustrated gas vents 12 may be omitted, or closed, such as to force more gas passed the next motor unit.
Fig. 3 schematically illustrates parts of an exemplary robot 2. The robot 2 comprises a first segment 4, a second segment 6 and a third segment 8. The robot 2 comprises a first joint 100 and a second joint 200. The first joint 100 is connecting the first segment 4 and the second segment 6. The second joint 200 is connecting the second segment 6 and the third segment 8. The first segment 4 is extending along a first segment axis Ax4. The second segment 6 is extending along a second segment axis Ax6. The third segment 8 is extending along a third segment axis Ax8.
The first joint 100 comprises a first primary motor unit 110. The first primary motor unit 110 is configured for rotation of the second segment 6 relative to the first segment 4 about a first primary axis Axl lO. The first primary axis Axl lO and the first segment axis Ax4 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The first joint 100 may comprise a first secondary motor unit 112. The first secondary motor unit 112 is configured for rotation of the second segment 6 relative to the first segment 4 about a first secondary axis Axl l2. The first secondary axis Axl l2 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The first joint 100 may comprise a first tertiary motor unit 114. The first tertiary motor unit 114 is configured for rotation of the second segment 6 relative to the first segment 4 about a first tertiary axis Axl l4. The first joint 100 comprises a first joint housing 102. The first joint housing 102 comprises a first primary joint housing 104 and a first secondary joint housing 106. The first primary joint housing 104 and the first secondary joint housing 106 provides for relative rotation about the first tertiary axis Axl l4. The second joint 200 may comprise a second primary motor unit 210. The second primary motor unit 210 is configured for rotation of the third segment 8 relative to the second segment 6 about a second primary axis Ax210. The second primary axis Ax210 and the second segment axis Ax 6 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different. The second primary axis Ax210 is also coinciding with the first secondary axis Axl l2. Thus, the second primary motor unit 210 of the second joint 200 is redundant with the first secondary motor unit 112 of the first joint 100. Hence, the first secondary motor unit 112 or the second primary motor unit 210 may be omitted.
The second joint 200 may comprise a second secondary motor unit 212. The second secondary motor unit 212 is configured for rotation of the third segment 8 relative to the second segment 4 about a second secondary axis Ax212. The second secondary axis Ax212 and the third segment axis Ax 8 may be parallel or coinciding, as shown. However, in other exemplary robots they may be different.
The second joint 200 may comprise a second tertiary motor unit 214. The second tertiary motor unit 214 is configured for rotation of the third segment 8 relative to the second segment 6 about a second tertiary axis Ax214.
The second joint 200 comprises a second joint housing 202. The second joint housing 202 comprises a second primary joint housing 204 and a second secondary joint housing 206. The second primary joint housing 204 and the second secondary joint housing 206 provides for relative rotation about the second tertiary axis Ax214.
The robot 2 comprises a robot base 14. The robot base 14 may be fastened to a structure, such as a floor or a wall.
The robot 2 is configured for taking in gas, such as air, through the robot base 14. The robot 2 is configured for letting gas flow from the robot base 14 through the first segment 4. The robot 2 is configured for letting gas flow from the first segment 4 through the first joint 100 and into the second segment 6. The robot 2 is configured for letting gas flow from the second segment 6 through the second joint 100 and into the third segment 6.
The robot 2 comprises a gas flow device 10, e.g. a fan. The gas flow device 10 provides for a flow of air through the first segment 4, such as along the first segment axis 4. The gas flow device 10 is arranged to alter first segment pressure, e.g.
increase the first segment pressure, inside the first segment 4. The altered first segment pressure inside the first segment 4 provides for a flow of gas. The robot 2 may be provided with gas vents 12. The gas vents 12 may provide for some of the gas to exit to the exterior of the robot. The gas vents 12 may be covered by a cover plate to force the gas through to the next segment. The gas vents 12 may be partly covered by a cover plate to force part of the gas through to the next segment. Gas vents 12 may be provided to the second segment 6, as illustrated. A gas vent 12 may be provided to second joint housing 202, such as the second primary joint housing 204, as illustrated. However, gas vents may be provided and/or omitted in any of the joint housings and/or segments.
The first joint 100 and/or the second joint 200 may in one or more alternative examples take the form of the joint as exemplified in Fig. 1 and/or Fig. 2.
Fig. 4 schematically illustrates a cross section of a part of an exemplary robot 2, such as the robot 2 as illustrated in Fig. 3. The robot 2 comprises a joint 50, such as the first joint 100 as illustrated in Fig. 3 connecting a first segment 4 and a second segment 6. The first segment 4 is extending along the first segment axis Ax4. The joint 50 comprises a joint housing 52. The joint housing 52 comprises a primary joint housing 54 and a secondary joint housing 56.
The joint 50 comprises a primary motor unit 60, such as a first primary motor unit. The primary motor unit 60 comprises a motor housing 412 and a motor axle 414. The motor axle 414 of the primary motor unit 60 is rotatable relative to the motor housing 412 about a primary axis Ax60, such as the first primary axis Axl lO of Fig. 3.
In the illustrated example, the motor housing 412 of the primary motor unit 60 is attached inside the first segment 4 and the motor axle 414 is attached inside the joint housing 52, e.g. inside the primary joint housing 54. In an alternative example, the motor housing 412 of the primary motor unit 60 is attached inside the joint housing 52, e.g. inside the primary joint housing 64, and the motor axle 414 is attached inside the first segment 4.
The joint 50 is configured to allow gas passage from the first segment 4 to the second segment 6 through the first joint 50. The motor housing 412 forms gas passageways 420, configured to allow gas passage from a front side 416 to a back side 418 of the motor housing 412. The front side 416 is facing towards the first segment 4. The back side 418 is facing away from the first segment 4. The back side 418 is facing towards the second segment 6. Exemplary gas paths are illustrated by dashed lines 500, 502. The robot 2 comprises a gas flow device 10, e.g. a fan. The gas flow device 10 provides for a flow of air through the first segment 4, such as along the first segment axis 4. The gas flow device 10 is arranged to alter first segment pressure, e.g.
increase the first segment pressure, inside the first segment 4. The altered first segment pressure inside the first segment 4 provides for a flow of gas, e.g . along the paths 500, 502, towards the second segment 6.
The exemplary gas paths 500, 502 illustrates gas, such as air, being forced into the first segment 4 by the gas flow device 10, the gas flows through gas passageways 420 formed by the motor housing 412 and continues through the joint 50 towards a tertiary motor (not shown). The tertiary motor is configured for rotation of the second segment 6 relative to the first segment 4 about a tertiary axis Ax64. The tertiary motor and/or a secondary motor may also be provided with gas passageways to allow gas flow through the joint 100 to the second segment 6.
Fig. 5 schematically illustrates an exemplary motor unit 400. The exemplary motor unit 400 may be any motor unit mentioned in relation to any of the previous figures. The motor unit 400 may be a primary motor unit configured for rotation about a primary axis. The motor unit 400 may be a secondary motor unit configured for rotation about a secondary axis. The motor unit 400 may be a tertiary motor unit configured for rotation about a tertiary axis. The motor unit 400 may be a first primary motor unit configured for rotation about a first primary axis. The motor unit 400 may be a first secondary motor unit configured for rotation about a first secondary axis. The motor unit 400 may be a first tertiary motor unit configured for rotation about a first tertiary axis. The motor unit 400 may be a second primary motor unit configured for rotation about a second primary axis. The motor unit 400 may be a second secondary motor unit configured for rotation about a second secondary axis. The motor unit 400 may be a second tertiary motor unit configured for rotation about a second tertiary axis.
The motor unit 400 comprises a motor housing 412 and a motor axle (in presented view, the motor axle is concealed behind the motor housing 412). The motor axle is rotatable relative to the motor housing 412. The motor housing 412 comprises a non-circular outer circumference. The motor housing 412 comprises radial protrusions 422. The radial protrusions provides for the non-circular outer circumference of the motor housing 412.
The motor housing 412 forms gas passageways 420. The gas passageways 420 are configured to allow gas passage from a front side 416 to a back side 418 of the motor housing 412, or from the back side 418 to the front side 416. The motor housing 412 may be attached inside a housing or a segment having a circular inner circumference. The radial protrusions 422 forms the gas passageways 420, e.g. between the motor housing 412 and the joint housing or segment wherein the motor housing 412 is attached. Fig. 6 schematically illustrates the exemplary motor unit 400, as described in relation to Fig. 5, from the back side 418. The motor axle 414 of the motor unit 400 is visible. The motor axle 414 is rotatable relative to the motor housing 412.
A joint housing 52 is shown. The motor unit 400 is arranged inside the joint housing 52, e.g. inside a primary joint housing or a secondary joint housing of the joint housing 52. The joint housing has a circular inner circumference surrounding the motor housing 412. The motor housing 412 comprises a non-circular outer circumference. Thereby, gas passageways 420 are provided between the motor housing 412 and the joint housing 52.
The motor axle 414 may be attached to a segment (not shown) to provide rotation between the segment and the joint housing 52.
ITEMS
Exemplary joints and robots are disclosed by the following items.
1. A joint for connecting a first segment and a second segment of a robot, the joint comprising a joint housing, the joint comprising a primary motor unit for rotation of the second segment relative to the first segment about a primary axis, the primary motor unit having a primary motor housing and a primary motor axle, the primary motor axle being rotatable relative to the primary motor housing, the joint being configured to allow gas passage from the first segment to the second segment through the joint.
2. The joint according to item 1, the primary motor housing forms a first gas passageway, configured to allow gas passage from a front side to a back side of the primary motor housing, the front side facing the first segment, the back side facing away from the first segment.
3. The joint according to any of the preceding items, the primary motor housing being fixedly arranged inside the joint housing and the primary motor axle being attachable to the first segment. 4. The joint according to item 3, the joint housing having a circular inner circumference surrounding the primary motor housing, and the primary motor housing comprising a non-circular outer circumference.
5. The joint according to any of items 1-2, the primary motor housing being attachable inside the first segment and the primary motor axle being attached to the joint housing.
6. The joint according to item 5, the primary motor housing comprising a non-circular outer circumference being attachable inside the first segment having a circular inner circumference for surrounding the primary motor housing.
7. The joint according to any of the preceding items, the first segment extending along a first segment axis, and the primary axis being parallel to the first segment axis.
8. The joint according to any of the preceding items comprising a secondary motor unit for rotation of the second segment relative to the first segment about a secondary axis the secondary motor unit having a secondary motor housing and a secondary motor axle, the secondary motor axle being rotatable relative to the secondary motor housing.
9. The joint according to item 8, the second segment extending along a second segment axis, and the secondary axis being parallel to the second segment axis.
10. The joint according to any of items 8-9, the secondary motor housing being fixedly arranged inside the joint housing and the secondary motor axle being attachable to the second segment. 11. The joint according to any of items 8-9, the secondary motor housing being attachable to the second segment and the secondary motor axle being attached to the joint housing. 12. The joint according to any of the preceding items comprising a tertiary motor unit for rotation of the second segment relative to the first segment about a tertiary axis the tertiary motor unit having a tertiary motor housing and a tertiary motor axle, the tertiary motor axle being rotatable relative to the tertiary motor housing.
13. The joint according to item 12, the first segment extending along a first segment axis, the second segment extending along a second segment axis, and the tertiary axis being perpendicular to the first segment axis and the second segment axis.
14. The joint according to any of items 12-13, the joint housing including a primary joint housing and a secondary joint housing, the tertiary motor housing being fixedly arranged inside the primary joint housing and the tertiary motor axle being attached to the secondary joint housing.
15. The joint according to any of items 12-13, the joint housing including a primary joint housing and a secondary joint housing, the tertiary motor housing being fixedly arranged inside the secondary joint housing and the tertiary motor axle being attached to the primary joint housing.
16. A robot comprising a first segment and a second segment and a joint according to any of the preceding items connecting the first segment and the second segment.
17. The robot according to item 16 comprising a third segment and a seconi joint connecting the second segment and the third segment, the second joint comprising a second joint housing, the second joint comprising a second motor unit for rotation of the third segment relative to the second segment about a second axis, the second joint being configured to allow gas passage from the second segment to the third segment through the second joint.
18. The robot according to item 17, the second segment extending along a second segment axis and the third segment extending along a third segment axis, and the second axis being parallel to the second segment axis and/or the second axis being parallel to the third segment axis and/or the second axis being perpendicular to the second segment axis and the third segment axis.
19. The robot according to any of items 16-18 comprising a gas flow device arranged to alter a first segment pressure inside the first segment.
20. The robot according to item 19 wherein the gas flow device is arranged to increase the first segment pressure, such that the first segment pressure is higher than a second segment pressure inside the second segment.
21. The robot according to any of items 16-20 comprising a gas vent configured to allow gas passage from an interior of the robot to outside of the robot. 22. The robot according to item 21, wherein the gas vent is provided in the joint housing and/or in the second segment.
23. The robot according to any of items 21-22, wherein the gas vent comprises a closure mechanism configured to be in an open configuration wherein gas passage through the gas vent is allowed and in a closed configuration wherein gas passage through the gas vent is not allowed. LIST OF REFERENCES
2 robot
4 first segment
6 second segment
8 third segment
10 gas flow device
12 gas vent
14 robot base 50 joint
52 joint housing
54 primary joint housing
56 secondary joint housing
60 primary motor unit
62 secondary motor unit
64 tertiary motor unit
100 first joint
102 first joint housing
104 first primary joint housing
106 first secondary joint housing
110 first primary motor unit
112 first secondary motor unit
114 first tertiary motor unit
200 second joint
202 second joint housing
204 second primary joint housing
206 second secondary joint housing 210 second primary motor unit
212 second secondary motor unit
214 second tertiary motor unit 400 motor unit
412 motor housing
414 motor axle
416 front side of motor housing 418 back side of motor housing
420 gas passageway
422 protrusion
500, 502 exemplary gas path
Ax4 first segment axis
Ax6 second segment axis Ax8 third segment axis
Ax60 primary axis
Ax62 secondary axis
Ax64 tertiary axis
Axl lO first primary axis
Axl l2 first secondary axis Axl l4 first tertiary axis
Ax210 second primary axis Ax212 second secondary axis Ax214 second tertiary axis

Claims

1. A joint for connecting a first segment and a second segment of a robot, the joint comprising a joint housing, the joint comprising a primary motor unit for rotation of the second segment relative to the first segment about a primary axis, the primary motor unit having a primary motor housing and a primary motor axle, the primary motor axle being rotatable relative to the primary motor housing, the primary motor housing forming a plurality of gas passageways configured to allow gas passage from a front side to a back side of the primary motor housing, the plurality of gas passageways formed by the primary motor housing being provided at least a radial distance from the primary motor axle, the joint being configured to allow gas passage from the first segment to the second segment through the plurality of gas passageways.
2. The joint according to claim 1, the primary motor unit being arranged to be between the first segment and the second segment.
3. The joint according to any of the preceding claims, the primary motor housing being fixedly arranged inside the joint housing and the primary motor axle being attachable to the first segment.
4. The joint according to claim 3, the joint housing having a circular inner circumference surrounding the primary motor housing, and the primary motor housing comprising a non-circular outer circumference, such as to provide the plurality of gas passageways between the joint housing and the primary motor housing.
5. The joint according to any of the preceding claims comprising a secondary motor unit for rotation of the second segment relative to the first segment about a secondary axis the secondary motor unit having a secondary motor housing and a secondary motor axle, the secondary motor axle being rotatable relative to the secondary motor housing, the secondary motor housing forming a plurality of gas passageways configured to allow gas passage from a front side to a back side of the secondary motor housing, the plurality of gas passageways formed by the secondary motor housing being provided at least a radial distance from the secondary motor axle.
6. The joint according to claim 5, the secondary motor housing being fixedly arranged inside the joint housing and the secondary motor axle being attachable to the second segment.
7. The joint according to any of the preceding claims comprising a tertiary motor unit for rotation of the second segment relative to the first segment about a tertiary axis the tertiary motor unit having a tertiary motor housing and a tertiary motor axle, the tertiary motor axle being rotatable relative to the tertiary motor housing, the tertiary motor housing forming a plurality of gas passageways configured to allow gas passage from a front side to a back side of the tertiary motor housing, the plurality of gas passageways formed by the tertiary motor housing being provided at least a radial distance from the secondary motor axle.
8. The joint according to claim 7, the joint housing including a primary joint housing and a secondary joint housing, the tertiary motor housing being fixedly arranged inside the primary joint housing and the tertiary motor axle being attached to the secondary joint housing.
9. A robot comprising a first segment and a second segment and a joint according to any of the preceding claims connecting the first segment and the second segment.
10. The robot according to claim 9 comprising a third segment and a second joint connecting the second segment and the third segment, the second joint comprising a second joint housing, the second joint comprising a second motor unit for rotation of the third segment relative to the second segment about a second axis, the second joint being configured to allow gas passage from the second segment to the third segment through the second joint.
11. The robot according to any of claims 9-10 comprising a gas flow device arranged to alter a first segment pressure inside the first segment.
12. The robot according to claim 11 wherein the gas flow device is arranged to increase the first segment pressure, such that the first segment pressure is higher than a second segment pressure inside the second segment.
13. The robot according to any of claims 9-12 comprising a gas vent configured to allow gas passage from an interior of the robot to outside of the robot.
14. The robot according to claim 13, wherein the gas vent is provided in the joint housing and/or in the second segment.
15. The robot according to any of claims 13-14, wherein the gas vent comprises a closure mechanism configured to be in an open configuration wherein gas passage through the gas vent is allowed and in a closed configuration wherein gas passage through the gas vent is not allowed.
PCT/EP2018/074560 2017-09-13 2018-09-12 Joint for a robot and a robot comprising a joint Ceased WO2019053040A1 (en)

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EP17190756 2017-09-13
EP17190756.1 2017-09-13

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Cited By (1)

* Cited by examiner, † Cited by third party
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WO2024037704A1 (en) * 2022-08-15 2024-02-22 Abb Schweiz Ag Hermetically closed industrial robot comprising a gas conducting structure

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JPH05305596A (en) * 1992-05-01 1993-11-19 Shin Meiwa Ind Co Ltd Robot device for vacuum chamber
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WO2015037701A1 (en) * 2013-09-13 2015-03-19 日本電産サンキョー株式会社 Industrial robot
CN204450587U (en) * 2015-02-09 2015-07-08 珠海格力电器股份有限公司 Robot and heat dissipation device thereof

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Publication number Priority date Publication date Assignee Title
DE2851958A1 (en) * 1977-12-06 1979-06-07 Vyzk Vyvojovy Ustav Elektric Electrically driven industrial robot arm - has supporting body fixed to stator of first motor driving second stator
JPH05305596A (en) * 1992-05-01 1993-11-19 Shin Meiwa Ind Co Ltd Robot device for vacuum chamber
EP1930129A1 (en) * 2005-09-27 2008-06-11 Kabushiki Kaisha Yaskawa Denki Multi-joint manipulator
US20080315729A1 (en) * 2007-06-20 2008-12-25 Honda Motor Co., Ltd. Electric actuator
DE102012022873A1 (en) * 2012-11-22 2014-05-22 Compact Dynamics Gmbh Method for soldering stand and cooler and stand with soldered connection to the stand carrier
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Publication number Priority date Publication date Assignee Title
WO2024037704A1 (en) * 2022-08-15 2024-02-22 Abb Schweiz Ag Hermetically closed industrial robot comprising a gas conducting structure

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