US 12,384,022 B2
Robot arm with an additional output link
Martin Riedel, Augsburg (DE)
Assigned to KUKA Deutschland GmbH, (DE)
Appl. No. 18/710,401
Filed by KUKA Deutschland GmbH, Augsburg (DE)
PCT Filed Nov. 9, 2022, PCT No. PCT/EP2022/081300
§ 371(c)(1), (2) Date May 15, 2024,
PCT Pub. No. WO2023/094161, PCT Pub. Date Jun. 1, 2023.
Claims priority of application No. 10 2021 131 309.0 (DE), filed on Nov. 29, 2021.
Prior Publication US 2025/0010463 A1, Jan. 9, 2025
Int. Cl. B25J 9/10 (2006.01)
CPC B25J 9/106 (2013.01) 11 Claims
OG exemplary drawing
 
6. A robot arm, comprising:
a plurality of links connected by a plurality of joints to define a kinematic chain, wherein the links are adjustable relative to one another by movements of the joints;
each joint paired with a drive device configured to adjust the respective joint;
a distal end link designed in the form of a tool flange;
a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links;
the distal end link rotatably mounted on the hand link about a flange rotational axis; and
an additional output link rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis, and which is arranged on the hand link so as to lie opposite the distal end link;
wherein the distal end link is paired with a first drive device which is designed to move the distal end link; and
the additional output link is paired with a second drive device which is different from the first drive device and is designed to move the additional output link.