US 12,005,577 B2
Robot assembly
Wolfgang Schober, Poettmes (DE); Moritz Zasche, Augsburg (DE); Andre Reekers, Augsburg (DE); Jorge Torres, Neusaess (DE); Martin Riedel, Augsburg (DE); and Sabine Beck, Horgau (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 17/048,813
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Apr. 16, 2019, PCT No. PCT/EP2019/059746
§ 371(c)(1), (2) Date Oct. 19, 2020,
PCT Pub. No. WO2019/201891, PCT Pub. Date Oct. 24, 2019.
Claims priority of application No. 10 2018 206 009.6 (DE), filed on Apr. 19, 2018.
Prior Publication US 2021/0146529 A1, May 20, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/161 (2013.01) [B25J 9/1633 (2013.01); B25J 13/085 (2013.01); G05B 2219/40304 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A robot arrangement, comprising:
at least four supporting structural parts, wherein the structural parts are connected to one another by joints arranged between two adjacent structural parts in each case so as to form a chain as a whole;
a respective joint motor associated with each of the joints and configured for the driven movement of the structural parts that are connected by the particular joint with respect to one another;
a control device arranged in one of the structural parts that is connected on either side to an adjacent structural part by a respective joint;
wherein the control device is configured to control at least three of the joint motors; and
a control electrical connection between the control device and each of the at least three controlled joint motors for the control, the control electrical connection comprising a separate control line that is dedicatedly assigned to each of the respective joint motors.