US 12,220,368 B2
Robot structure and rehabilitation device
Martin Riedel, Augsburg (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 17/294,150
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Nov. 12, 2019, PCT No. PCT/EP2019/080927
§ 371(c)(1), (2) Date May 14, 2021,
PCT Pub. No. WO2020/099354, PCT Pub. Date May 22, 2020.
Claims priority of application No. 10 2018 219 447 .5 (DE), filed on Nov. 14, 2018.
Prior Publication US 2022/0015978 A1, Jan. 20, 2022
Int. Cl. A61H 1/02 (2006.01); B25J 9/04 (2006.01)
CPC A61H 1/0277 (2013.01) [A61H 1/0237 (2013.01); B25J 9/042 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/1642 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot structure, comprising:
a plurality of links and respective joints connecting the links to one another;
at least one link of the plurality of links comprising a first tube piece which includes a first jacket outer wall, and a second tube piece which includes a second jacket outer wall;
wherein the second tube piece is arranged with its longitudinal extent inclined at an angle to the longitudinal extent of the first tube piece such that the second tube piece is inserted into two oppositely disposed tube cutouts in the first tube piece, whereby the second tube piece passes through the first jacket outer wall of the first tube piece at opposite sides;
the second tube piece rigidly connected to the first tube piece by a first connection element and a second connection element;
the first connection element comprising a first ring section having a first ring inner jacket wall that abuts flush against the second jacket outer wall of the second tube piece, and having a first ring outer jacket wall that abuts flush against a first cutout edge of one of the tube cutouts of the first tube piece;
the first connection element further comprising a tab section which adjoins the first ring section and extends with its longitudinal extent aligned with the longitudinal extent of the first tube piece and abutting flush against the first jacket outer wall of the first tube piece;
the second connection element comprising a second ring section having a second ring inner jacket wall that abuts flush against the second jacket outer wall of the second tube piece, and having a second ring outer jacket wall that abuts flush against a second cutout edge of the other one of the tube cutouts of the first tube piece; and
the second connection element further comprising a cylinder jacket section that adjoins the second ring section and abuts flush against an inner wall of the first tube piece.