Robot arm with at least one joint torque sensor

US11267133B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Matthias Fürstenberger · Stadtbergen, DE
• Moritz Zasche · Augsburg, DE
• Bernhard Koegl · Mering, DE
• Rainer Krumbacher · Wörth an der Donau, DE
• Michael Marquart · Augsburg, DE

Key dates

• Filing date: Jul 31, 2019
• Grant date: Mar 8, 2022
• Expiry date: Jul 31, 2039

Classification

• Technology area (CPC F): Mechanical Engineering; Lighting; Heating
• CPC primary: F16H57/029
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot arm has a transmission output-side mating running surface on which a dynamic contact seal that seals off the transmission casing in a lubricant-tight manner is seated. A gap is determined by a main bearing arrangement between an upstream link and a downstream link, to which an output flange of a joint torque sensor is coupled, is sealed off by means of a further dynamic seal, with the objective of increasing the accuracy of the torque measurement by optimizing the secondary force flows.