WO2019091905A1 - Robot arm and robot arm unit - Google Patents

Abstract

The invention relates to a robot arm comprising a rotatable base (01), a shoulder arm part (08), an upper arm part (12), a lower arm part (26), and a wrist arm part (46). The shoulder arm part (08) and the upper arm part (12) are connected together via a first joint (11). At least the shoulder arm part (08), the upper arm part (12), and the lower arm part (26) comprise a respective supporting tubular main part (09, 13, 27), wherein a first linear actuator (17) is arranged in the interior of the supporting tubular main part (09) of the shoulder arm part (08). A first end (18) of the first linear actuator (17) is engaged with the shoulder arm part (08), and a second end (20) of the first linear actuator (17) is engaged with the upper arm part (12). The invention additionally relates to a robot arm unit comprising two robot arms.

Description

 Robotic arm and robot arm unit

The present invention relates to a robot arm having a plurality of arm parts, which are each connected to each other via a hinge. Furthermore, the invention relates to a robot arm unit with two robot arms.

WO 01/74548 AI shows a robot arm, which extends auszeich ^¬ NEN intended by a low mass and a configurability and is particularly intended for mobile robots. The robotic arm includes a pivot bearing for rotation about a vertical axis and a first reconfigurable connection for forward and rearward rotations about a first horizontal axis. A second reconfigurable connection is used for

Rotations about a second horizontal axis. Three motors are used to drive the two reconfigurable connections and to rotate around the vertical axis. In US 5,413,454 a mobile robot arm is described, which is adapted to grip objects at different heights. The robotic arm has a forearm, a center arm and a forearm rotatably connected to each other.

The CN 101780673 B teaches a robot arm, which should be characterized by a thin and lightweight design. The Robo ^¬ terarm has five pivot joints with similar structures on which are formed, inter alia, by reducers, flanges, motors and the encoder path.

DE 20 2012 005 042 Ul shows a drive box for a portable lightweight robot arm, which is a plurality to a or a plurality of axes of rotation movably interconnected arm portions. The drive box has a metal housing with attachment means for attachment to the lightweight robotic arm. The robot arm accommodates a lightweight torque servo motor for driving a drive shaft mounted in the housing, an angular position detection device and a holding brake.

From US 8,160,743 B2 an anthropomorphic medical robot arm is known, which is a base end, a first Armele ^¬ ment, a base hinge coupling, a second arm member, a middle joint coupling, a functional end, a joint at the operative end and at least one selectively operable BEWE ^¬ supply lock on the base hinge includes.

The US 2015/0352727 AI shows a manipulator with a plurality of arms, which are rotatably connected to each other by an intermediate element. The arms have a cylindrical shape and are partially hollow. There are rotary drives and screw guides in the arms.

US 2016/0176044 AI teaches a cable guide in a robotic arm. The robot arm is tubular, with linear actuators being arranged inside the robot arm. These linear actuators drive a hub through a chain, which leads to a

Rotary drive leads.

From US 4,785,528 a robot-like positioning ^¬ system is known which comprises a drivable arm and a non-driven arm.

DE 100 32 203 A1 shows a stereotactic system with several articulated arm parts. A mechanics of stereotactic System comprises at least five axles, which are assigned fine tuning and locking devices.

DE 10 2014 116 103 A1 describes an operation assistance system in which linear drives are arranged in hollow robot arms.

The object of the present invention, starting from the prior art, is to provide a robot arm which is characterized by a low mass, by a high mass

Robustness characterized by low energy consumption and high safety.

Said object is achieved by a robot arm according to the appended claim 1 and by a robot arm unit according to the appended independent claim 15.

The robot arm according to the invention is used for handling or manipulating an object. The robot arm comprises a rotatable foot, one carried by the foot Schulterarmteil, one carried by the Schulterarmteil upper arm portion, a carried by the upper arm part of the forearm portion, a getrage ^¬ nen from the forearm part Handwurzelarmteil and preferably a supported from Handwurzelarm ^¬ part grippers which the force and the moments for handling or manipulation of the object can transmit.

The rotatable foot, the shoulder arm part, the upper arm part, the forearm part, the carpal arm part and possibly the gripper form a kinematic chain of the robot arm. The shoulder arm part and the upper arm part are over a first

Joint connected to each other, so that the upper arm part relative to the Schulterarmteil is pivotable about an axis. The upper arm part and the lower arm part are connected to each other via a second joint, so that the lower arm part is pivotable relative to the upper arm part about an axis. The forearm part and the Handwurzelarmteil are connected via a drit ^¬ tes joint with each other, so that the Handwurzelarmteil against the forearm part about an axis can be pivoted, which is preferably perpendicular to a lengthwise of the forearm ^¬ portion extending axis and / or perpendicular to a lengthwise of the Handwurzelarmteiles aligned extending axis.

At least the Schulterarmteil, the upper arm part and lower arm part ^¬ comprise a tubular supporting greenbody respectively. The tubular shape allows a high mechanical loading ^¬ ability at a low mass. The forces and moments to be transmitted by the shoulder arm part, the upper arm part and the forearm part are transferable via the tubular basic body, so that they, like the first joint, the second one

Joint and the third joint form parts of the kinematic chain of the robot arm. The tubular supporting base body in each case form an outer surface or an outer skin of the shoulder ^¬ terarmteiles, the upper arm part and the forearm part. In an interior of the tubular supporting body of the

Schulterarmteiles a first linear actuator is arranged, through which a force is generated to pivot the Schulterarmteil and the upper arm part to each other via the first joint. The first linear actuator has a main extension direction, which is preferably arranged parallel to the tubular supporting body of the shoulder arm part. The first linear actuator preferably extends at least over half the length of the tubular base body of the Schulterarmteiles. A first end of the first linear actuator is in mechanical engagement with the shoulder arm portion. A second end of the first linear actuator is in mechanical engagement with the upper arm part. The force that can be generated by the first linear actuator acts between its first

End and its second end. Driving the first linear actuator causes the distance between its first end and its second end to change. Driving the first linear actuator thus results in a force acting between the shoulder arm part and the upper arm part, by which the shoulder arm part and the upper arm part are pivoted to each other via the first joint. The robot arm preferably comprises an absolute rotary slide sensor and / or a

Moment sensor for measuring the pivoting between the

Shoulder arm part and the upper arm part.

In an interior of the tubular supporting body of the upper arm part, a second linear actuator is arranged, through which a force can be generated in order to pivot the upper arm part and the lower arm part to each other via the second joint. The second linear actuator has a main extension direction, which is preferably arranged parallel to the tubular supporting main body of the upper arm part. The second linear actuator preferably extends at least over half the length of the tubular body of the Oberarmtei ^¬ les. A first end of the second linear actuator is in mechanical engagement with the upper arm part. A second end of the second linear actuator is in mechanical engagement with the forearm part. The force that can be generated by the second linear actuator acts between its first end and its second end. Driving the second linear actuator causes the distance between its first end and its second end to change. A driving of the second Thus, the linear actuator causes a force between the upper arm part and the forearm part acts, by which the upper ^¬ arm part and the forearm part of pivoted to each other about the second joint. The robot arm preferably comprises an absolute rotary slide sensor and / or a torque sensor for

Measuring the pivoting between the upper arm part and the lower arm part.

In an interior of the tubular supporting body of the forearm part, there is disposed a third linear actuator by which a force is generated to pivot the forearm part and the carpal arm part toward each other via the third joint. The third linear actuator has a main direction of extension, which is preferably arranged parallel to the tubular supporting body of the forearm part.

The third linear actuator preferably extends over at least half the length of the tubular base body of the lower arm part. A first end of the third linear actuator is in mechanical engagement with the forearm part. A second end of the third linear actuator stands with the hand ^¬ wurzelarmteil in a mechanical engagement. The force that can be generated by the third linear actuator acts between its first end and its second end. Driving the third linear actuator causes the distance between its first end and its second end to change. Driving the third linear actuator thus results in a force acting between the lower arm part and the carpal arm part, by which the lower arm part and the hand root arm part are pivoted to each other via the third joint. The robotic arm preferably comprises an absolute rotational position sensor and / or a moment sensor for measuring the pivoting between the lower arm part and the carpal arm part. The shoulder arm part preferably has free rotation relative to the foot in an axis extending along the shoulder arm part. This free rotation is preferably fixable with a first locking element. Thus, the Schulterarmteil is located along the axis extending school ^¬ terarmteiles manually rotatable and fixable manually in relation to the foot in the. Accordingly, the shoulder arm part with the upper arm part carried by the shoulder arm part up to the carried hand root arm part is manually adjustable by a rotation in this axis and there is no automatic drive for this

Rotation required. Preferably, the robot arm has no automatic drive designed for this rotation. The first locking element is preferably designed to fix the rotation described steplessly or in stages. The robot arm preferably has an absolute rotary slide sensor

Measurement of the rotational position of the Schulterarmteiles relative to the foot in the described axis.

The upper arm part preferably has free rotation relative to the shoulder arm part in an axis extending along the upper arm part. This free rotation is preferably fixable with a second locking element. Thus, the upper arm is opposite to the Schulterarmteil in the longitudinal axis of the upper arm extending axis manually rotatable and manually fixed. Accordingly, the upper arm part is manually adjustable with the forearm part carried by the upper arm part up to the supported hand root arm part by a rotation in this axis and no automatic drive for this rotation is required. Preferably, the robot arm has no automatic drive designed for this rotation. The second locking element is preferably designed to fix the rotation described steplessly or in stages. The robot arm preferably has an absolute rotary slide sensor Measurement of the rotational position of the upper arm part relative to the

Shoulder arm in the described axis.

A particular advantage of the robot arm according to the invention is that no automatic ^¬ shear drive is required for two degrees of freedom. The linear actuators, the rotatability of the foot and the degrees of freedom of the wrist root ^¬ arm part already allow a free movement of the Handwur ^¬ zelarmteiles in space. Because of its tubular supporting body, the robotic arm has no additional load-bearing

Elements can be carried out very easily, the described rotation of the Schulterarmteiles against the foot and the described rotation of the upper arm part relative to the Schulterarmteil can be performed manually if necessary to bring the robot arm in an optimal for the execution of the movement task starting position, from which he all perform desired movements or take positions. A further particular advantage of the robot arm according to the invention is that the tubular basic body of the Schulterarmteiles, the upper arm part and the forearm part form a first, second and third linear actuator enclosing outer shell of the Schulterarmteiles, the upper arm part and the forearm part and simultaneously assume a supporting radio ^¬ tion. Thus, the Schulterarmteil, the upper arm and the forearm part except the tubular base ^¬ bodies on no supporting elements. The robot arm is slim, lightweight, robust and safe to carry out.

The axis extending along the shoulder arm portion and the axis extending along the upper arm portion are preferably in a plane. The along the upper arm part extending axis and along the lower arm part extending axis are preferably in a plane. The axis extending along the shoulder arm portion, the axis extending along the upper arm portion, and the axis extending along the lower arm portion are preferably in one

Level. The axis extending along the shoulder arm part, the axis extending along the upper arm part, and the axis extending along the lower arm part are each preferably a middle one

Longitudinal axis of the respective arm part.

The foot, the first joint, the second joint and / or the third joint are preferably hollow. Thus, preferably a cavity extends through the interior of the hollow foot, the tubular body of the Schulterarmteiles, the hollow first joint, the tubular body of the upper arm, the hollow second joint, the tubular body of the lower arm and possibly the hollow third joint. The cavity is preferably dust-tight, waterproof, splash-proof and / or airtight sealed. The cavity is preferably filled with a protective gas.

The robot arm is designed according to the exoskeleton principle. The exoskeleton is formed by the tubular body of the Schulterarmteiles, the upper arm part and the lower arm part and possibly also by the hollow first joint, the hollow second joint and / or the hollow third joint.

The first joint has a hinge axis which forms an axis of pivoting between the shoulder arm part and the upper arm part. This hinge axis is preferably perpendicular to a plane parallel to the central axis extending along the shoulder arm portion and perpendicular to one Parallel to the middle arranged along the upper arm part extending axis. The hinge axis is preferably spaced from the central axis extending along the shoulder arm portion and spaced from the central axis extending along the upper arm portion. These

Arrangement has the advantage that the Schulterarmteil and the upper arm can be pivoted aufei ^¬ up to an angle of 0 ° or close to 0 ° without the tubular supporting body of the Schulterarmteiles and the tubular supporting body of the upper arm meet and this pivotal movement limit. The hinge axis is at a distance from the central axis extending along the shoulder arm portion, which is preferably at least as large as an outer radius of the tubular supporting body of the shoulder arm portion. Likewise, the hinge axis has a

Distance from the average along the upper arm part erstre ^¬ ckenden axis, which is preferably at least as large as an outer radius of the tubular supporting body of the upper arm part. This ensures that the

Shoulder arm and the upper arm part can be pivoted towards each other to an angle of 0 °. The outer radius of the tubular supporting body of the Schulterarmteiles and the outer radius of the tubular supporting body of the upper arm part are preferably the same size.

The first joint preferably has a first hinge wall which encloses the cavity formed by the hollow first joint. In the first Gelenkwandung is preferably formed ^¬ least Minim a first rotative bearing having a first inner ring and a first outer ring. The first inner ring and the first outer ring are each disk-shaped ^{ausgebil ¬} det. The first rotary bearing is preferably formed by a Gleitla ^¬ ger or by a rolling bearing. The first inner ring is fixedly connected to one of the two arm portions formed by the shoulder arm portion and the upper arm portion, while the first outer ring is fixedly connected to the other of the two arm portions formed by the shoulder arm portion and the upper arm portion. Preferably, two of the first rotary bearings are in the first

Joint wall formed. The two first rotary bearings preferably have a same axis of rotation and are arranged axially spaced on the axis of rotation. The axial distance is preferably equal to an outer diameter of the tubular supporting body of the Schulterarmteiles and the upper arm part.

The first hinge wall preferably further comprises a first flexible sleeve which surrounds the cavity formed by the hollow first joint up to the tubular base body of the first

Schulterarmteiles and the upper arm part and up to the mindes ^¬ least encloses a first rotary bearing.

Terarmes In preferred embodiments of the robot according to the invention which is sealed dust-tight through the body of the Schulterarmteiles and humerus member and the first hinge erstre ^¬ ADORABLE cavity. In further Favor ^¬ th embodiments of the robot arm according to the invention the extending through the basic body of the Schulterarmteiles and the humeral part and the first joint cavity is sealed watertight or at least splash-proof. In further preferred embodiments of the robot arm according to the invention, the cavity extending through the base bodies of the shoulder arm part and the upper arm part and over the first joint is sealed airtight. The cavity extending through the main bodies of the shoulder arm part and the upper arm part and over the first joint is preferably filled with a protective gas. The first end of the first linear actuator is preferably mounted in a first pivot bearing with respect to the shoulder arm part, so that the first linear actuator during the driving can follow the deflection caused by the driving. The first pivot bearing is preferably attached to an inner wall of the tubular ^¬ shaped body of the Schulterarmteiles.

The second end of the first linear actuator is preferably mounted on a first lever of the upper arm part attached to the tubular base body of the upper arm part. The first lever preferably extends into the cavity of the hollow first joint. The second end of the first linear actuator is preferably mounted within the cavity of the hollow first joint on the first lever.

Alternatively, preferably, the first end of the first linear actuator ^{¬ is} fixedly disposed opposite to the Schulterarmteil, wherein the second end of the first linear actuator in a first

Pivoting lever of the upper arm part is mounted, which is mounted in the tube ^¬ shaped supporting body of the upper arm or in a fixed to the tubular supporting body of the upper arm part of the first lever of the upper arm. In preferred embodiments of the robot arm according to the invention, the upper arm part can be pivoted relative to the Schulterarmteil on the first joint, even if the first linear actuator is in a non-powered state. For this purpose, a minimum torque between the upper arm and the Schulterarmteil manually apply.

The robotic arm according to the invention furthermore comprises a sensor for measuring the pivoting of the upper arm part the shoulder arm part which is disposed in the cavity extending through the main bodies of the shoulder arm part and the upper arm part and over the first joint. The sensor is preferably electrically connected to a control electronics. Electrical connections are also preferred in which disposed through the body of the Schulterarmteiles and humerus ^¬ part and the first joint extending cavity. The second joint has a hinge axis, which is a

Axis of the pivoting or rotation between the upper arm and the lower arm part forms. This hinge axis is preferably perpendicular to a plane parallel to the central axis extending along the upper arm part and perpendicular to one

Parallels to the middle along the lower arm part extending axis arranged. The hinge axis is preferably spaced from the central axis extending along the upper arm portion and spaced from the central axis extending along the lower arm portion. This arrangement has the advantage that the upper arm part and the

Forearm part up to an angle of 0 ° or close to 0 ° ^{aufeinan ¬} can be pivoted to the without the tubular supporting body of the upper arm and the tubular supporting body of the forearm part meet and limit this pivotal movement. The hinge axis has a

Distance from the average along the upper arm part erstre ^¬ ckenden axis, which is preferably at least as large as an outer radius of the tubular supporting body of the upper arm part. Likewise, the hinge axis has a distance from the middle extending along the lower arm part

Axle, which is preferably at least as large as a äuße ^¬ rer radius of the tubular supporting body of the lower arm part. This ensures that the upper arm part and the forearm part up to an angle of 0 ° ^{aufeinan ¬} can be swiveled to. The outer radius of the tube ^¬ shaped supporting body of the upper arm and the outer radius of the tubular supporting body of the forearm part are preferably the same size.

The second joint preferably has a second hinge wall which encloses the cavity formed by the hollow second hinge. In the second hinge wall is preferably at least a second rotary bearing with a second

Inner ring and formed with a second outer ring. The second inner ring and the second outer ring are each formed schei ^¬ benförmig. The second rotary bearing is preferably formed by a sliding bearing or by a rolling bearing. The second inner ring is fixedly connected to one of the two arm parts formed by the upper arm part and the lower arm part, while the second outer ring is fixedly connected to the other of the two arm parts formed by the upper arm part and the lower arm part. Preferably, two of the second rotary bearings are formed in the second hinge wall. The two second rotary bearings preferably have a same axis of rotation and are arranged axially spaced on the axis of rotation. The axial distance is preferably equal to an outer diameter of the tubular supporting body of the upper arm part and the lower arm part.

The second hinge wall preferably further comprises a second flexible sleeve, which encloses the cavity formed by the hollow second joint up to the tubular base body of the upper arm part and the lower arm part and up to the at least one second rotary bearing. In preferred embodiments of the robot arm according to the invention, the cavity extending through the base body of the upper arm part and the lower arm part and over the second joint is sealed in a dust-tight manner. In further preferred embodiments of the robot arm according to the invention, the cavity extending through the main body of the upper arm part and the lower arm part and over the second joint is sealed watertight or at least splash-proof. In further preferred embodiments of the robot arm according to the invention, the cavity extending through the base body of the upper arm part and the lower arm part and over the second joint is sealed airtight. The hollow space extending through the base body of the upper arm part and the lower arm part and over the second joint is preferably filled with a protective gas.

The first end of the second linear actuator is preferably mounted in a second pivot bearing with respect to the upper arm part, so that the second linear actuator can follow during the driving caused by the driving deflection. The second pivot bearing is preferably attached to an inner wall of the tubular ^¬ shaped body of the upper arm.

The second end of the second linear actuator is preferably mounted on a second lever of the lower arm part attached to the tubular base body of the lower arm part. The second lever preferably extends into the cavity of the hollow second joint. The second end of the second linear actuator is preferably mounted within the cavity of the hollow second hinge on the second lever.

Alternatively, preferably, the first end of the second Linearak ^¬ tuators is fixedly arranged relative to the upper arm part, wherein the second end of the second linear actuator in a second

Pivot lever is mounted of the arm member, which bearing in the tube ^¬ shaped base body of the forearm or part mounted in a bearing on the tubular body of the lower arm portion of the second lever arm part is mounted.

In preferred embodiments of the invention Robo terarmes the forearm part over the upper arm part übe the second joint can be pivoted, even if the second linear actuator is in a non-powered state. For this purpose, a minimum torque between the forearm part and the upper arm part is applied manually.

The robotic arm according to the invention further comprises a sensor for measuring the pivoting of the forearm part relative to the upper arm part, which in which through the main body of the upper arm and the lower arm part and on the second

Joint extending cavity is arranged. The sensor is preferably electrically connected to the control electronics. Electrical connections are also preferably arranged in the cavity extending through the main body of the upper arm part and the lower arm part and over the second joint.

The first end of the third linear actuator is preferably mounted in a third pivot bearing with respect to the forearm part, so that the third linear actuator during the driving can follow the deflection caused by the driving. The third pivot bearing is preferably attached to an inner wall of the tubular ^¬ shaped body of the lower arm.

In preferred embodiments of the robot arm according to the invention, the carpal arm part can be pivoted relative to the lower arm part via the third joint, even if the third Linear actuator is in a non-powered state. For this purpose, a minimum torque between the carpal arm and the forearm part manually apply. The robotic arm according to the invention further comprises a sensor for measuring the pivoting of the carpal root relative to the forearm part. The sensor is preferably electrically connected to the control electronics. Electrical connections are also preferably arranged in the cavity extending through the base body of the lower arm part.

The first linear actuator, the second linear actuator and / or the third linear actuator is preferably hydraulically, pneumatically or electrically drivable. The first linear actuator, the second linear actuator and / or the third linear actuator is preferably formed by an electric motor-spindle combination. The first linear actuator, the second linear actuator and / or the third linear actuator is preferably electrically controllable.

The robot arm according to the invention further comprises a Steue ^¬ tion electronics for controlling the first linear actuator, the second linear actuator and / or the third Linearaktua ^¬ sector, in which by the main body of the shoulder arm part, the upper arm part and / or the lower arm part and on the first Joint, the second joint or the third

Joint extending cavity is arranged. The control electronics are preferably designed to cause defined movements of the Schulterarmteiles, the upper arm part and / or the lower arm part. In particular, in the robot arm is an electronic control unit for controlling the linear actuators, for detecting the sensor data and for communication with a master control unit (eg a micro PC), preferably via a bus system. The master control unit may be arranged externally or integrated with the robot arm. The rotatability of the rotatable foot is preferably given in a vertical axis. The robot arm preferably has a first rotary drive for rotating the foot in this axis. The first rotary drive is preferably used to rotate the foot relative to a base plate. The foot preferably comprises a rotational position sensor and / or a moment sensor in order to be able to measure the rotation. The first rotary drive is preferably formed by an electric motor or by a pneumatic or hydraulic motor. The first rotary drive is preferably formed by a combination of an electric motor, a pinion and a toothed ring with internal teeth.

The forearm part is preferably located along the sub ^¬ arm part extending axis relative to the upper arm part rotatable in a. The robot arm preferably has an absolute rotational position sensor for measuring the rotational position of the lower arm part relative to the upper arm part in the described axis. The robot arm preferably has a second rotary drive for rotating the lower arm part relative to the upper arm part in the axis extending along the lower arm part. The second rotary drive is preferably formed by an electric motor or by a pneumatic or hydraulic motor. The second rotary drive is preferably formed by a combination of an electric motor, a pinion and a toothed ring with internal teeth. The sprocket is preferably formed on an inner surface of the tubular body of the forearm part or the upper arm part. The hand root arm part is preferably rotatable relative to the lower arm part in an axis extending along the hand root arm part. The robotic arm preferably has a third rotation drive for rotating the Handwurzelarmteiles against the forearm portion in the longitudinally of the Handwurzelarmteiles erstre ^¬-bridging axis. The third rotary drive is preferably designed to rotate the hand root arm part by more than one turn relative to the lower arm part. The third rotary drive is preferably formed by an electric motor or by a pneumatic or hydraulic motor. The third rotary drive is preferably formed by a combination of a Elect ^¬ romotor, a pinion and a ring gear with internal teeth. The sprocket is preferably formed on an inner surface of the tubular body of the carpal root or the forearm part.

The gripper is preferably rotatable in an axis extending along the gripper with respect to the carpal lifting arm. The robot arm preferably has a fourth rotary drive for rotating the gripper relative to the carpal arm in the axis extending along the gripper. The fourth rotary drive is preferably designed to rotate the gripper by more than one revolution relative to the carpal arm. The fourth rotary drive is preferably by a

Electric motor or by a pneumatic or hydraulic

Engine formed. The fourth rotary drive is preferably formed by a combination of an electric motor, a pinion and a toothed ring with internal teeth. The gripper preferably includes at least two gripper fingers which successively with a gripper finger drive and vonei ^¬ Nander can be moved away, so that objects may be gripped with the Grei ^¬ fer. The gripper preferably comprises a mechanical fixing mechanism for fixing or locking the gripper fingers.

The gripper is preferably interchangeable in order to use different adapted grippers. The robot arm preferably has a contactless electrical interface to the electrical connection of the gripper. The contactless electrical interface is designed for the transmission of electrical energy and data.

The robot arm preferably comprises a camera for the optical detection of objects to be handled or manipulated. The camera is preferred buildin ^¬ Strengthens where Handwurzelarmteil. The camera preferably comprises a microphone for detecting acoustic events in the area of the objects to be handled or manipulated.

The robotic arm preferably includes a lighting unit for lighting to be handled or manipulated th objectivity. The lighting unit is preferably attached to the wrist ^¬ arm. The lighting unit is preferably formed by an LED headlight.

The robot arm preferably comprises force sensors on the carpal arm part. The force sensors are preferably circumferentially around the

Handwurzelarmteil arranged so that they axially umhül ^¬ len. The force sensors are used to measure an externally acting on the carpal arm pressure force, so example ^¬ haptic functions can be realized. The

Force sensors are preferably segmented.

The robot arm preferably comprises an inertial measuring unit, which is preferably arranged in the carpal arm part. The Inertial measuring unit preferably comprises three acceleration ^¬ sensors, with which the accelerations can be measured in the three spatial directions. The inertial measuring unit preferably comprises three gyro sensors with which the rotational movements about the three spatial directions can be measured.

The robotic arm preferably includes a coupling element for Ankop ^¬ PelN a second robot arm. The coupling element is before ^¬ Trains t attached to the Handwurzelarmteil. The coupling element is preferably designed to be coupled to a same coupling element which is fastened to a hand root arm part of the second robot arm. The coupling element is preferably formed electromechanically. The robot arm preferably comprises a gas and / or fluid connection. The gas and / or fluid connection preferably opens into the cavity formed by the tubular base body and by the joints. The gas and / or fluid connection is preferably designed for the passage of compressed air, protective gas and / or water. In particular, a first supplied with compressed air or fluid ^¬ line connection for actuation of the gripper or a mechanical coupling mechanism (by ^¬ rotatable connection between the gripper receptacle and carpal), this first line connection also for the passage of gas (air) or fluid z. B. can be used to clean objects. Via the first line connection, a vacuum can be connected to z. B. to operate a suction pad. An optional second conduit port terminating in the carpal neck may use a shielding gas or air to flush the interior of the robotic arm or to create an overpressure in the robotic arm. The control unit is preferably configured to cause defi ned ^¬ movements of the arm members and to transfer them by means of the sensors, the movement of the robot arm at the possible Kollisio ^¬ nen in a predetermined state of motion. The predefined movement state is preferred by a

Movement stop formed.

The robot arm unit according to the invention comprises at least two robot arms according to the invention, which are coupled to each other at their carpal arm parts. With the invention

Robotic arm unit high forces and moments can be generated on their grippers. The robot arm unit according to the invention preferably comprises two of the described preferred embodiments of the robot arm according to the invention; In particular, embodiments each having a coupling element on

Handwurzelarmteil. The coupling is preferably electromechanical.

Further advantages, details and developments of the invention will become apparent from the following description of a preferred embodiment of the invention, with reference to the drawing.

The single FIGURE shows a preferred embodiment of a robot arm according to the invention in a sectional view.

The robot arm comprises a foot Ol, which is rotatably mounted on a base plate 02. The foot Ol can be rotated by means of a first rotary drive 03 relative to the base plate 02 about a vertical axis. The first rotary drive 03 comprises an electric motor 04, a pinion 06 and a ring gear 07. The foot carries a Schulterarmteil Ol 08, which is formed in Wesent ^¬ union by a tubular base body 09th The shoulder arm part 08 carries, via a first joint 11, an upper arm part 12, which is likewise essentially formed by a tubular base body 13. The first hinge 11 comprises a collar 14 and two disc-shaped rotary bearings 16. The collar 14 and the disc-shaped rotary bearings 16 enclose a cavity so that the first hinge 11 is hollow.

In an interior of the tubular body 09 of the school ^¬ terarmteiles 08, a first linear actuator 17 is arranged, which serves to pivot the upper arm 12 relative to the Schulterarmteil 08 via the first joint 11. A first end 18 of the first linear actuator 17 is in a first

Swivel bearing 19 mounted, which sits firmly in the tubular base ^¬ body 09 of the Schulterarmteiles 08. A second end 20 of the first linear actuator 17 is mounted in a first lever 21 which is connected as an extension of the upper arm 12 fixed to the tubular body 13 of the upper arm 12 and within the sleeve 14 of the first

Joint 11 is arranged. The rotary bearings 16 each include an inner ring 22 and an outer ring 23, the

corresponding respectively to the tubular body 09 of the Schulterarmteiles 08 and the tubular body 13 of the

Upper arm 12 are firmly connected.

The upper arm part 12 carries, via a second joint 24, a lower arm part 26, which is likewise essentially formed by a tubular basic body 27. The second hinge 24 includes a sleeve 28 and two disc-shaped rotary bearings 29. The sleeve 28 and the disc-shaped rotary Bearings 29 enclose a cavity so that the second hinge 24 is hollow.

In an interior of the tubular base body 13 of the upper arm part 12, a second linear actuator 31 is arranged, which serves to pivot the lower arm part 26 relative to the upper arm part 12 via the second joint 24. A first end 32 of the second linear actuator 31 is mounted in a second Schwenkla ^¬ ger 33, which sits firmly in the tubular body 13 of the upper arm 12. A second end 34 of the second

Linear actuator 31 is mounted in a second lever 36, which is connected as an extension of the lower arm part 26 fixed to the tubular body 27 of the lower arm part 26 and disposed within the sleeve 28 of the second joint 24. The rotary bearings 29 of the second joint 24 each comprise an inner ring 37 and an outer ring 38, which are respectively fixedly connected to the tubular base body 13 of the upper arm part 12 and the tubular base body 27 of the lower arm part 26.

In an interior of the tubular base body 27 of the lower arm part 26, a second rotary drive 39 is arranged, with which the lower arm part 26 can be rotated relative to the upper arm part 12 in an axis extending longitudinally to the lower arm part 26. The second rotary drive 39 comprises an electric motor ^¬ 41, a pinion 42 and a sprocket 43.

The lower arm part 26 carries, via a third joint 44, a hand root arm part 46, which is likewise essentially formed by a tubular basic body 47. The third

Joint 44 includes two disc-shaped rotary bearings 48. In an interior of the tubular base body 27 of the lower arm part 26, a third linear actuator 49 is arranged, which serves to pivot the carpal arm part 46 relative to the lower arm ^¬ part 26 via the third joint 44. A first end 51 of the third linear actuator 49 is in a third

Swivel bearing 52 mounted, which sits firmly in the tubular body 27 of the forearm part 26. A second end 53 of the third linear actuator 49 is connected to an inner ring 54 of the disc-shaped rotary bearing 48 of the third joint 44. The inner ring 54 is fixed to the carpal arm

46 connected. An outer ring 56 of the disk-shaped rotary bearing 48 of the third joint 44 is fixedly connected to the lower arm ^¬ part 26. Between the third joint 44 and the hand root arm 46, a third rotary drive 57 is arranged, with which the hand root arm 46 can be rotated in an axis extending to the carpal arm 46 axis relative to the lower arm 26, this rotation is not limited in number of revolutions. The third rotary drive

57 includes an electric motor 58, a pinion 59, and a ring gear 61.

The Handwurzelarmteil 46 opens into a gripper receptacle 62 to which a replaceable gripper (not shown) can be mounted.

The robot arm according to the invention can be used for cross-industry applications and provides assistance in industry, agriculture, construction inspection, defense, logistics, entertainment, the laboratory and other fields. The robot arm according to the invention is basically also for medical applications suitable; for example as an assistant arm for guiding and

Holding probes and instruments. Biocompatible materials and / or surface coatings are preferably used for the robotic arm according to the invention. The robot arm according to the invention shows a validity for all dimensions. The construction and the concept of the robot arm according to the invention are scalable. The robot arm according to the invention can be designed, for example for use in a temperature range between 10 ° C and 50 ° C, said temperature ^¬ turbereich can be extended by choice of materials and processing. The robot arm according to the invention can be designed, for example, for use at a relative humidity of up to 60% or more, for example by using the

Inside the tubular body 09, 13, 27 and the joints 11, 24 are filled with a protective gas or flushed with gas.

LIST OF REFERENCE NUMBERS

01 feet

 02 base plate

 03 first rotary drive

 04 electric motor

 05

 06 pinion

 07 sprocket

 08 shoulder arm part

 09 tubular body 10

 11 first joint

 12 upper arm part

 13 tubular body

14 cuff

 15

 16 disc-shaped bearing

17 first linear actuator

18 first end

 19 first pivot bearing

20 second end

 21 first lever

 22 inner ring

 23 outer ring

 24 second joint

 25

 26 forearm part

 27 tubular body

28 cuff

29 disc-shaped bearing 30th second linear actuator first end

second pivot bearing second end second lever

inner ring

outer ring

second rotary electric motor

pinion

sprocket

third joint carpal arm tubular body disc-shaped bearing third linear actuator first end

third pivot bearing second end

Inner ring outer ring

third rotary drive electric motor

Sprocket sprocket

gripper seating

Claims

 claims A robotic arm comprising a rotatable foot (Ol), a foot-worn shoulder arm portion (08), an upper arm portion (12) carried by said shoulder arm portion (08), a forearm portion (26) carried by said upper arm portion (12), and a carpal portion supported by said lower arm portion (26) (46), wherein the shoulder arm part (08) and the upper arm part (12) are connected to one another via a first joint (11), wherein the upper arm part (12) and the lower arm part (26) are connected to one another via a second joint (24), wherein the arm part (26) and the Handwurzelarmteil (46) via a third joint (44) are connected to each other, wherein at least the Schulterarmteil (08), the upper arm part (12) and the lower ^¬ arm portion (26) (in each case a tubular supporting body 09, 13, 27), wherein in a interior of the tubular supporting body (09) of the shoulder arm part (08) a first linear actuator (17) is arranged, wherein a first end (18) of the first linear actuator (17) with the shoulder arm member (08) is engaged with a second end (20) of the first linear actuator (17) with the upper arm part (12) is engaged, wherein in an interior of the tubular supporting body (13) of the upper arm part (12) a second linear actuator (31), wherein a first end (32) of the second linear actuator (31) is engaged with the upper arm part (12), a second end (34) of the second linear actuator (31) being engaged with the lower arm part (26 ), wherein a third linear actuator (49) is disposed in an interior of the tubular supporting body (27) of the lower arm part (26), a first end (51) of the third linear actuator (49) being connected to the lower arm part (26). is engaged, with a second end (53) of the third linear actuator (49) is in engagement with the carpal arm part (46). 2. Robot arm according to claim 1, characterized in that the Schulterarmteil (08) has a free rotation relative to the foot (01) in a along the Schulterarmteiles (08) extending axis, said free rotation is fixable with a first locking element. 3. robotic arm according to claim 1 or 2, characterized in that the upper arm part (12) has a free rotation relative to the Schulterarmteil (08) in a along the  Upper arm part (12) extending axis, and wherein said free rotation is fixable with a second locking element. 4. robotic arm according to one of claims 1 to 3, characterized  characterized in that the first hinge (11) has a hinge axis which is spaced from a central axis extending along the shoulder arm part (08) and  spaced from a middle along the  Upper arm part (12) extending axis is arranged. 5. robotic arm according to claim 4, characterized in that the hinge axis of the first joint (11) a distance from the middle along the Schulterarmteiles (08)  extending axis which is at least as large as an outer radius of the tubular supporting body of the Schulterarmteiles (08), and that the Joint axis of the first joint (11) has a distance from the central along the upper arm part (12) extending axis, which is at least as large as an outer Radius of the tubular supporting body of the  Upper arm part (12) is. 6. robotic arm according to one of claims 1 to 5, characterized  characterized in that the first joint (11) is hollow, wherein the tubular base body (09, 13) of the  Shoulder arm part (08) and the upper arm part (12) and the first hollow joint (11) extending through the tubular base body (09, 13) of the Schulterarmteiles (08) and the upper arm part (12) and the first joint (11)  forming extending cavity. A robotic arm according to claim 6, characterized in that the hollow first hinge (11) has a first hinge wall (14, 16) which encloses the cavity formed by the hollow first hinge (11), wherein in the hinge wall (14, 16) at least a first rotary bearing (16) with a first inner ring (22) and with a first outer ring (23) is formed, wherein the first inner ring (22) fixed to one of the two by the Schulterarmteil (08) and the upper arm part (12) formed arm parts (08) is connected and the first outer ring (23) fixed to the other of the two by the shoulder arm part (08) and the upper arm part (12) formed arm parts (12) is connected. 8. robotic arm according to claim 7, characterized in that the hinge wall (14, 16) further comprises a flexible Cuff (14) which encloses the cavity to the tubular base body (09, 13) of the Schulterarmteiles (08) and the upper arm part (12) and to the at least one rotary bearing (16). 9. robotic arm according to one of claims 1 to 8, characterized in that the first end (18) of the first  Linear actuator (17) in a first pivot bearing (19) relative to the Schulterarmteil (08) is mounted. 10. Robot arm according to claim 9, characterized in that the first pivot bearing (19) on an inner wall of the tubular supporting body (09) of the Schulterarmteiles (08) is fixed. 11. robotic arm according to one of claims 1 to 10, characterized  characterized in that the second end (20) of the first  Linear actuator (17) on a on the tubular base body (13) of the upper arm part (12) attach the first lever (21) of the upper arm part (12) is mounted. 12. robotic arm according to one of claims 1 to 11, characterized  characterized in that the first linear actuator (17) is hydraulically, pneumatically or electrically driven or is formed by an electric motor-spindle combination. 13. Robot arm according to one of claims 1 to 12, characterized  characterized in that the rotatable foot (01) is rotatable in a vertical axis, the robot arm further comprising a first rotary drive (03) for rotating the foot (01) in the vertical axis. A robotic arm according to any one of claims 1 to 13, characterized in that the lower arm part (26) is rotatable relative to the upper arm part (12) in an axis extending along the lower arm part (26), the robot arm further comprising a second rotary drive (39) for rotating of the forearm part (26) opposite the upper arm part (12) in the axis extending along the lower arm part (26). Robot arm unit, comprising two robot arms according to one of claims 1 to 14, characterized in that the two robot arms are coupled to each other at their hand root arm members (46).