ARTICULATION FOR A ROBOT

Abstract

An articulation for a robot, in particular a collaborative robot, includes as components a drive, a transducer for providing information relating to a rotational speed, commutation and/or position, and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

Claims

1. An articulation for a robot, in particular a collaborative robot, said articulation comprising as components: a drive; a transducer for providing information relating to a rotational speed, commutation and/or position; and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

2. The articulation of claim 1, wherein the drive includes a dynamo-electric machine and a converter.

3. The articulation of claim 1, further comprising a gear as a further component.

4. The articulation of claim 1, further comprising a brake as a further component.

5. The articulation of claim 1, further comprising an external heat sink.

6. The articulation of claim 5, wherein the heat exchanger tubes are each designed to release heat into the external heat sink.

7. The articulation of claim 1, wherein at least one of the heat exchanger tubes is designed as a heat pipe.

8. The articulation of claim 1, wherein the heat exchanger tubes are designed to touch at least one component, preferably a plurality of components, in order to absorb heat.

9. The articulation of claim 1, wherein the components are arranged consecutively in an axial direction.

10. The articulation of claim 1, further comprising two external heat sinks, with a first one of the two external heat sinks being arranged at a front axial end of the articulation, and with a second one of the two external heat sinks being arranged at a rear axial end of the articulation.

11. A robot, in particular a collaborative robot, comprising an articulation, said articulation comprising as components a drive, a transducer for providing information relating to a rotational speed, commutation and/or position, and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

12. The robot of claim 11, wherein the drive includes a dynamo-electric machine and a converter.

13. The robot of claim 11, wherein the articulation includes a gear as a further component.

14. The robot of claim 11, wherein the articulation includes a brake as a further component.

15. The robot of claim 11, wherein the articulation includes an external heat sink.

16. The robot of claim 15, wherein the heat exchanger tubes are each designed to release heat into the external heat sink.

17. The robot of claim 11, wherein at least one of the heat exchanger tubes is designed as a heat pipe.

18. The robot of claim 11, wherein the heat exchanger tubes are designed to touch at least one component, preferably a plurality of components, in order to absorb heat.

19. The robot of claim 11, wherein the components are arranged consecutively in an axial direction.

20. The robot of claim 11, wherein the articulation includes two external heat sinks, with a first one of the two external heat sinks being arranged at a front axial end of the articulation, and with a second one of the two external heat sinks being arranged at a rear axial end of the articulation.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0021] Other features and advantages of the present invention will be more readily apparent upon reading the following description of currently preferred exemplified embodiments of the invention with reference to the accompanying drawing, in which:

[0022] FIG. 1 shows a schematic illustration of a robot, e.g. a collaborative robot;

[0023] FIG. 2 shows a schematic illustration of one embodiment of a joint;

[0024] FIG. 3 shows a schematic illustration of a joint having at least one heat exchanger tube; and

[0025] FIG. 4 shows a schematic illustration of another embodiment of a joint.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0026] Throughout all the figures, same or corresponding elements may generally be indicated by same reference numerals. These depicted embodiments are to be understood as illustrative of the invention and not as limiting in any way. It should also be understood that the figures are not necessarily to scale and that the embodiments may be illustrated by graphic symbols, phantom lines, diagrammatic representations and fragmentary views. In certain instances, details which are not necessary for an understanding of the present invention or which render other details difficult to perceive may have been omitted.

[0027] Turning now to the drawing, and in particular to FIG. 1, there is shown a schematic illustration of a robot, e.g. a collaborative robot, generally designated by reference numeral 1. The robot 1 includes a first arm member 3, a second arm member 4 and a third arm member 5. The arm members 3, 4, 5 are advantageously designed to be mobile in relation to one or more axes. For example, movement of the third arm member 5, also referred to as the lower arm, relative to the second arm member 4, also referred to as the upper arm, is achieved by means of an articulation 2.

[0028] The articulation 2 has a structure, also referred to as an articulated structure, which takes the form of a joint 7, as will be described in greater detail with reference to FIG. 2.

[0029] FIG. 1 further shows the presence of an articulation 21. The articulation 21 can likewise have the joint 7. The robot 1 also has a tool 6.

[0030] FIG. 2 shows the joint 7. The joint 7 has a plurality of components. These components include a drive 16 for moving the articulation 2 or 21, and a transducer 11 for providing information relating to rotational speed, commutation and/or position. The drive 16 advantageously has a converter 15 and a dynamo-electric machine 14, in particular a dynamo-electric rotary machine, working as a motor. The dynamo-electric rotary machine 14 is advantageously designed as a servomotor. It is therefore particularly suitable for allowing a fluid and precise movement of two arm members relative to each other. Optimal processing of workpieces by means of the tool 6 (see FIG. 1) can be achieved. The joint 7 advantageously further includes a gear 12 and a brake 13. The aforementioned components are arranged consecutively relative to an axis A.

[0031] FIG. 3 shows the joint 7 with at least one heat exchanger tube 9, 91. By way of example, FIG. 3 shows the provision of two heat exchanger tubes 9, 91 which are arranged on sides of the joint 7, advantageously at least substantially opposite each other. This ensures an optimal removal of heat and a particularly high level of efficiency. Advantageously, the heat exchanger tube 9, 91 is designed as a heat pipe. The joint 7 also has at least one external heat sink 8, 81. This is advantageously arranged at a front or rear axial end of the joint 7. By way of example, FIG. 3 shows the provision of two external heat sinks 8, 81, with one external heat sink 8, 81 is arranged at a front axial end and one at a rear axial end of the joint 7.

[0032] The heat exchanger tube 9, 91 is designed to remove heat from the articulation 2, 21, in particular from the joint 7. The heat exchanger tube 9, 91 is moreover designed in such a way that the absorbed heat can be released into at least one external heat sink, preferably into both external heat sinks 8, 81. Advantageously, the heat exchanger tube 9, 91 is so designed as to touch at least one component, preferably a plurality of components, in order to absorb the heat.

[0033] The heat exchanger tube 9, 91 can be arranged at the peripheral regions of the components. Furthermore, the heat exchanger tube 9, 91 can also penetrate the components. It is also conceivable for the heat exchanger tube 9, 91 to be arranged centrally.

[0034] FIG. 4 shows a schematic illustration of another embodiment of a joint 7. Parts corresponding with those in FIG. 3 are denoted by identical reference numerals and not explained again. The description below will center on the differences between the embodiments. In this embodiment, provision is made for two heat exchanger tubes 10a, 10b and two heat exchanger tubes 101a, 101b. The heat exchanger tube 10a touches hereby a first subset of the components, whereas the heat exchanger tube 10b touches a second subset of the components. In this way, heat is removed in the direction of the external heat sinks 8, 81. The heat exchanger tube 101a touches also the first subset of the components and the heat exchanger tube 101b touches the second subset of the components. In this way, heat is likewise removed in the direction of the external heat sinks 8, 81.

[0035] This embodiment is advantageous because only those components which absolutely require cooling or heat removal are connected to a heat exchanger tube.

[0036] The heat exchanger tubes 10a, 10b, 101a, 101b can also touch different subsets of components.

[0037] The joint 7 advantageously has a cross section which is at least substantially circular.

[0038] The heat exchanger tubes 10a, 10b, 101a, 101b are advantageously arranged in a distributed manner around a circumference of the joint 7.

[0039] The invention is particularly suitable for use in articulations of collaborating or collaborative robots. Such robots 1 are particularly suitable for interaction with humans.

[0040] While the invention has been illustrated and described in connection with currently preferred embodiments shown and described in detail, it is not intended to be limited to the details shown since various modifications and structural changes may be made without departing in any way from the spirit and scope of the present invention. The embodiments were chosen and described in order to explain the principles of the invention and practical application to thereby enable a person skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.