Title:
ROBOT JOINT AND ROBOT HAVING AT LEAST ONE SUCH ROBOT JOINT
Document Type and Number:
WIPO Patent Application WO/2017/144310
Kind Code:
A9
Abstract:
The invention relates to a robot joint (4.1, 4.2) having a robot element (6), a drive wheel (7) rotatably mounted on the robot element (6) and a driven wheel (8) rotatably mounted on the robot element (6), a gear device (9) coupling the drive wheel (7) to the driven wheel (8) for transmitting a drive torque, and a motor (M1) driving the drive wheel (7), the motor shaft (14) of said motor being connected, via a drive connection (13), to the drive wheel (7) for introducing the drive torque. The robot joint also comprises a safety coupling (15) which is designed to disconnect the drive connection (13) between the motor shaft (14) and the driven wheel (8) when a predefined threshold torque is exceeded and to reestablish the drive connection (13) between the motor shaft (14) and the driven wheel (8) when the torque falls below the predefined threshold torque, and a sensor device (21) which is designed to measure the angular position of the driven wheel (8). In addition, the invention relates to a corresponding robot (1) having at least one such robot joint (4.1, 4.2).
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Inventors:
RIEDEL MARTIN (DE)
RIESKAMP NENJA (DE)
RIESKAMP NENJA (DE)
Application Number:
PCT/EP2017/053294
Publication Date:
December 07, 2017
Filing Date:
February 14, 2017
Export Citation:
Assignee:
KUKA ROBOTER GMBH (DE)
International Classes:
B25J9/10; B25J13/08; B25J19/06
Attorney, Agent or Firm:
EGE LEE & PARTNER (DE)
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