CN209774702U

CN209774702U - Robot arm with supply line connection socket

Info

Publication number: CN209774702U
Application number: CN201790000998.2U
Authority: CN
Inventors: 弗朗茨·利布尔; M·察斯彻
Original assignee: KUKA Deutschland GmbH
Current assignee: KUKA Deutschland GmbH; KUKA AG
Priority date: 2016-04-22
Filing date: 2017-04-19
Publication date: 2019-12-13
Anticipated expiration: 2027-04-19
Also published as: WO2017182526A1; DE212017000108U1; DE102016206921A1

Abstract

The utility model relates to a robot arm (2), have: a plurality of members (12), a joint (11) connecting the members (12) and a motor for moving the joint (11), wherein the sub-limb (12) arranged on the distal end of the robot arm (2) forms a connecting flange (8) for a robot-guided tool (18), and at least one other limb (12) is designed as a hollow housing part (14), in which a connection socket (15) for a connector (16) of a supply line (17) is provided, which is designed for conveying at least one supply medium from the robot arm (2) to a tool (18), wherein the hollow housing part (14) has a housing outer wall (14.1) with an outer wall section (14.1a) configured as an outer niche (19) in which the connection socket (15) is arranged, wherein the outer niche (19) is configured as: the connector (16) of the supply line (17) is completely received in the outer recess (19) in the state in which it is connected to the connection socket (15).

Description

Robot arm with supply line connection socket

Technical Field

The invention relates to a robot arm having a plurality of limbs, joints connecting the limbs, and a motor for moving the joints, wherein the limbs arranged at the distal end of the robot arm form a connecting flange for a robot-guided tool, and at least one other limb is designed as a hollow housing part, on which a connecting socket for a connector of a supply line is arranged, which connecting socket is designed to convey at least one supply medium from the robot arm to the tool.

Background

An industrial robot is known from DE202013002958U1, which has a robot arm with a plurality of articulated limbs which can be moved by means of an electric drive supplied with electric energy by a supply cable, and in which one limb constitutes a pivot arm and at least one other limb constitutes a cantilever arm with an arm housing which is designed such that the cantilever arm is pivotably mounted on one side of the pivot arm, and which has a hand base housing which is mounted on the arm housing so as to be pivotable about an arm axis and which carries at least two further limbs which form the limbs of the robot arm. The power supply cable has a first line section running through the arm housing and a second line section running along the rocker arm, wherein an electrical interface is provided in the arm housing, which electrical interface is designed to electrically connect the first line section and the second line section detachably to one another.

Patent document USD638043S shows an industrial robot having a robot hand with a housing outer wall on which a connection socket is placed projecting outwardly from the housing outer wall.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot arm, the connector of supply line can be connected to the connection socket of robot arm with the mode of simple and safe operation.

The object of the present invention is achieved by a robot arm having a plurality of limbs, a joint connecting the limbs, and a motor moving the joint; wherein the limbs arranged at the distal end of the robot arm form a connecting flange for a tool for robot guidance, and at least one other limb is designed as a hollow housing part, on which a connecting socket for a connector of a supply line is arranged, which connecting socket is designed for conveying at least one supply medium from the robot arm to the tool; the hollow housing part has a housing outer wall which has an outer wall section which is designed as an outer niche, in which the connection socket is arranged, the outer niche being designed such that the connector of the supply line is completely accommodated in the outer niche in its connected state to the connection socket.

The robot arm may be an automatically movable part of an industrial robot, which may have a programmable robot controller in addition to the robot arm. A tool as an end effector is provided on a robot flange of the robot arm. Different media can be supplied to the tool, which media can be transported from the robot arm to the tool via supply lines.

Robot arms, in particular industrial robots, with associated programmable robot controllers are usually execution machines which can be equipped for automatic processing and are programmable with respect to a plurality of movement axes, for example with respect to direction, position and workflow. Industrial robots usually have a robot arm with a plurality of articulated limbs and a programmable robot controller (control device) which automatically controls or regulates the movement sequence of the robot arm during operation in order to position and move a robot flange of the robot arm in space. For this purpose, the articulated arm is moved by a drive motor, in particular an electric drive motor, which is actuated by the robot controller, in particular with respect to a movement axis of the industrial robot (which represents a movement degree of freedom of the joint). The robot may be, for example, an industrial robot, which may in particular be a curved-arm robot having axes of rotation which succeed one another in succession (for example five, six or seven axes of rotation). Accordingly, by moving, i.e. being adjusted, the articulation of the robot arm under the control of the programmable robot controller, the tool can be moved in space.

The supply line is used to provide a supply medium to the tool. A supply line is to be understood as a power line, i.e. an energy supply, which may comprise, for example, electrical lines, cold and/or hot water lines, fluid and/or pressure lines, which are necessary or desirable for supplying the respective energy form, i.e. the supply medium (e.g. electrical energy, water, compressed gas and/or a pressure fluid, such as pressure oil), to the tool carried, moved and/or controlled by the robot arm. The supply lines, in particular the energy lines, can be individual or combined in bundles, in particular also provided with protective hoses. The robot arm may have one or more such supply lines and may accordingly have a hollow housing part and one or more connection sockets according to the invention.

A robot arm having a plurality of articulated limbs can be configured in particular as an articulated arm robot having a plurality of successively arranged limbs and joints, in particular the robot arm can be configured as a hexa-articulated arm robot. Such a robot arm, on which at least one connection socket according to the invention can be arranged, can comprise, for example, a base and a turntable which is rotatably mounted with respect to the base by means of a joint, on which a rocker arm is pivotably mounted by means of a further joint. A cantilever arm can be pivotably mounted on the rocker arm on one side thereof by means of a further joint. The boom carries a robot hand, wherein the boom and/or the robot hand can have a plurality of further joints. At least one connection socket according to the invention can be arranged in particular on a robot hand.

The robot arm has at least one base which forms a proximal-side initial limb of the robot arm, by means of which the robot arm is fixed on the ground and has a connecting flange which forms a distal-side end limb on the free end of the robot arm, on which connecting flange a tool is fixed, so that the tool can be moved and positioned automatically in space by automatic adjustment of the joints of the robot arm.

by providing the hollow housing part with the following housing outer walls: that is, the housing outer wall has an outer wall section configured as an outer niche in which a connection socket is provided, the outer niche being configured such that, in a state in which the connector of the supply line is connected to the connection socket, the connector of the supply line is completely received in the outer niche such that the connector of the supply line is completely located within the contour of the robot arm. In this connection, the contour can be understood as a corresponding delineation (ulmis) of the robot arm, in particular of the hollow housing part, comprising the connection socket and the connector, irrespective of the viewing direction from which the robot arm or the hollow housing part is viewed. In other words, the connector of the supply line no longer protrudes beyond the so-called interference profile of the robot arm or the hollow housing part. As a result, the connector is fully integrated in the hollow housing part and protected by it, so that the connector can not collide with other objects when the robot arm moves. Furthermore, the connector can still be easily and within a short time pulled out of and/or inserted into the connection socket without the use of a handle or manual tool manipulation inside the hollow housing part. In addition, since it is not necessary to lead the line portion of the supply line out of the interior of the hollow housing part, complicated sealing of the line portion of the supply line is eliminated. In addition to the possibility of a separate housing cover, which is independent of the connection socket, sealing can also be achieved only by the connection socket being inserted in a through-opening of the outer wall section of the housing outer wall of the hollow housing part in a sealing manner.

Inside the hollow housing part, for example, bearings, transmissions and transmission components, such as toothed belts, can be arranged. These bearings, transmissions and transmission assemblies are used for adjustment of the relevant joints of the robot arm, which joints move the respective limbs, which are formed by hollow housing parts, relative to the limbs of an adjacent robot arm in order to change the form of the robot arm.

The hollow housing part can be formed in one piece or in multiple pieces. The hollow housing part may have an access opening in the interior of the hollow housing partThe access opening is closed by a corresponding housing cover, in particular a detachably fixed housing cover. The housing outer wall separates the interior of the hollow housing component from the external environment. The outer wall section is the region facing the external environment on the outer side of the housing outer wall. The hollow housing part can have one or more external niches. Each outer niche can be formed by a recess molded in the outer wall of the hollow housing part. Each outer niche can have one or more connection sockets. A connection socket refers herein to any type of mating connector that can be coupled with a corresponding connector of a corresponding supply line. The connection socket need not be configured as a female plug connector only, but can also be configured as a male plug connector if the corresponding connector is a female plug connector, i.e. a plug coupler.

The hollow housing part may have: at least one installation access opening having a sealing seat surrounding the access opening; and a housing cover closing the installation access opening, the housing cover having a mating sealing seat which, in a mounting position of the housing cover closing the installation access opening, bears against the sealing seat, wherein the housing cover has a protective wall section which projects beyond the mating sealing seat and which, in the mounting position of the housing cover, at least partially covers the niche of the hollow housing part.

The installation access opening is used in particular for accessing the interior of the hollow housing part with removal of the housing cover in order to be able to install, dismantle, replace and/or inspect therein, for example, the bearings, the transmission and the gear assembly and all of their individual parts.

The protective wall section is located outside the housing cover covering, i.e. closing, the installation access opening. This means that the protective wall section is located outside a mating sealing seat which, in the mounted position of the housing cover closing the mounting access opening, bears against a sealing seat of the mounting access opening of the hollow housing part. The protective wall section additionally shields the connectors inserted on the connection sockets but does not comprise connectors sealed in the outer niche. In this connection, in the installed position in which the housing cover is installed closed over the access opening, a gap, in particular a substantially circumferential gap, for example a U-shaped circumferential gap, can remain between the circumferential edge portion of the hollow housing part or of the outer niche and the outer edge of the protective wall section.

The hollow housing part can have a channel wall portion which forms a through-channel between the outer niche and the protruding protective wall section of the housing cover, which through-channel is designed for accommodating a line portion of the supply line, more precisely in a connected state of the supply line, in which state a connector of the supply line is connected to the connection socket.

The channel wall can be formed by two opposite portions of the housing outer wall and a bottom portion of the recess bottom side (nischengrondseiti) of the housing outer wall. The channel wall portion extends outwardly via the surrounding edge portion of the outer niche. The supply line can be led out from the outer niche via this channel wall portion, in particular if the housing cover is fastened on the hollow housing part and the protruding protective wall section of the housing cover possibly covers the connection socket and accordingly also the connector of the supply line.

The outer niche and/or the channel wall portion of the hollow housing part can have a strain relief clip for the supply line.

The strain relief clip is designed here to fix, i.e. fasten, the supply line on the hollow housing part in order to transfer a tensile force possibly occurring on the supply line into the hollow housing part, so that substantially no influence is exerted on the connector inserted into the connection socket. For example, the strain relief clip can be configured as a clamping collar known to the expert, in particular as an RSGU collar.

The plurality of limbs and joints can be arranged alternately and thus form a kinematic chain of the robot arm, wherein the hollow housing part has a longitudinal extension in the kinematic chain from the joint located directly in front of it to the joint located directly behind it, and the connection socket is arranged in the outer recess in an oriented manner such that the plugging direction of the connection socket extends transversely to this longitudinal extension of the hollow housing part.

A robot arm having a plurality of articulated limbs can be configured in particular as an articulated arm robot having a plurality of successively arranged limbs and joints, in particular the robot arm can be configured as a hexa-articulated arm robot. The at least one connection socket according to the invention can be provided on a robot arm which can comprise, for example, a base and a turntable which can be mounted rotatably relative to the base by means of a joint, on which turntable a rocker arm is pivotably mounted by means of a further joint. In this case, a cantilever arm can be mounted pivotably on the rocker arm on one side thereof by means of a further joint. The boom carries a robot hand, wherein the boom and/or the robot hand can have a plurality of further joints. At least one connection socket housing according to the invention can be arranged in particular on a robot hand.

The robot arm has at least one base which forms a proximal-side initial limb of the robot arm, with which the robot arm is fixed on the base and has a connecting flange which forms a distal-side end limb on the free end of the robot arm, on which end limb a tool is fixed, so that the tool can be moved and positioned automatically in space by automatic adjustment of the joints of the robot arm. The longitudinal extension of the hollow housing part is correspondingly oriented along the extension of the robot arm from the base to the attachment flange.

The robot arm can have a supply line with a connector, wherein the connection socket can be arranged in the outer niche such that in a connected state of the supply line connecting the connector to the connection socket, a line portion of the supply line exiting from the hollow housing part exits the hollow housing part in a transverse direction with respect to the longitudinal extension of the hollow housing part. The line portion of the supply line exiting from the hollow housing part therefore extends in a substantially right-angled orientation with respect to the direction of extension of the robot arm, i.e. exits the robot arm substantially perpendicularly to the direction of extension of the robot arm. This basic orientation of the supply lines is advantageous in particular with regard to tensile and/or bending stresses of the supply lines and protects the supply lines which are subjected to running movements, bending and/or twisting as a result of the movements of the connecting flange.

The robot arm can have a supply line with a connector, and the connector can be designed as an angled plug here. If the connector is configured as an angular plug, it is ensured that the supply line can be guided close to the robot arm due to the transverse insertion direction of the connection socket.

The connection socket can be positioned in the outer recess such that the plug-in direction of the connection socket extends transversely to the longitudinal extension of the hollow housing part, the angle plug comprises a contact portion and a housing portion arranged at right angles to the contact portion, wherein the housing portion of the angle plug is oriented in the longitudinal extension of the hollow housing part in the state in which the angle plug is connected to the connection socket, and the line portion of the supply line which leads out of the housing portion of the angle plug leaves transversely to the longitudinal extension of the hollow housing part. This ensures that the supply line is guided close to the robot arm, on the one hand, and on the other hand, because of the perpendicular guidance of the section of the supply line close to the angled plug, virtually no harmful tensile forces are transmitted to the angled plug, which may affect the supply line.

The line portion of the supply line which is led out of the housing portion of the angle plug, which laterally leaves with respect to the longitudinal extension of the hollow housing part, can be fixed on the hollow housing part by means of a strain relief clip which is fastened on the outer niche and/or on the channel wall of the hollow housing part. The strain relief clip can also be designed as described above here, for example, as a clamping collar, in particular an RSGU collar, which is known to the person skilled in the art.

the connection socket can be fastened in a through-hole in said outer wall section of the housing outer wall of the hollow housing part, such that the connection contacts of the connection socket for inserting the contact portion of the connector are arranged pointing outwards and the connection socket is fed with a supply medium to be led out of the robot arm inside the hollow housing part. Here, the connection socket may be sealingly fastened in the through hole.

Drawings

An embodiment of the invention is illustrated in the schematic drawings. The specific features of this embodiment may be considered as general features of the invention, both separately and in combination where appropriate and irrespective of the context in which they are specifically mentioned. Wherein:

Fig. 1 shows a perspective view of an exemplary industrial robot, with a robot arm and a robot controller,

Figure 2 shows a side view of a robot hand with the supply lines of the robot arm having a hollow housing part provided with an outer niche according to the invention, which has a connection socket,

Fig. 3 shows a top view of the hollow housing part according to fig. 2, comprising an uncut view of the outer niche and an uncut housing cover,

Fig. 4 shows a detailed perspective view of the hollow shell element in the area of the outer niche, in which the uncut shell cover according to fig. 3 is included,

Fig. 5 shows a detailed perspective view of the hollow housing part, which comprises the outer niche and the entire housing cover in the installed position, in which the access gap remains on the underside,

Fig. 6 shows a side view of the hollow housing part according to fig. 5, comprising the housing cover not taken through,

Fig. 7 shows a side view of the hollow housing part according to fig. 5, including the complete housing cover.

Detailed Description

Fig. 1 shows an industrial robot 1 with a robot arm 2 and a robot controller 12. In the case of an embodiment of the present invention, the robot arm 2 comprises a plurality of limbs 12 arranged in sequence and connected by means of joints 11. The sub-members 12 are in particular a housing 3 and a turntable 4 which is rotatably mounted relative to the housing 3 about an axis a1 extending vertically. The rocker arm 5 is mounted on the turntable 4 pivotably about a preferably horizontal axis of rotation a2 on a lower end, for example on a rocker arm bearing head, which is not shown in detail. On the upper end of the rocker arm 5, a cantilever arm 6 is also mounted pivotably about an axis of rotation a3, which is also preferably horizontal. The cantilever carries the robot hand 7 at its end with its preferably three axes of rotation a4, a5, a 6. In the case of the embodiment of the invention, the cantilever 6 has a first housing part 9 which is pivotably mounted on the rocker arm 5. A second housing part 10 of the second leg 12 of the suspension arm 6 is mounted on the first housing part 9 of the first leg 12 so as to be rotatable about an axis a 4. In the case of an embodiment of the invention, the other members of the robot arm 2 comprise a rocker arm 5, a cantilever arm 6 and a preferably multi-axis robot hand 7 with a fixing device configured as a flange 8 for fixing an end effector, not shown in detail.

Fig. 2 to 7 show a robot hand 7 of a robot arm 2 according to the invention.

The robot hand 7 has a hollow housing part 14. The housing part 14 has a connection socket 15 for a connector 16 of a supply line 17. The supply line 17 is designed for conveying at least one supply medium from the robot arm 2 to the tool 18. A tool 18, which is schematically shown in fig. 2, is fastened to the attachment flange 8 of the robot arm 2.

The hollow housing part 14 has a housing outer wall 14.1 with an outer wall section 14.1a which is designed as an outer niche 19 according to the invention. A connection socket 15 is arranged in this outer recess 19. The outer niche 19 is constructed here such that the connector 16 of the supply line 17 is completely accommodated in the outer niche 19 in its state of connection to the connection socket 15 (as shown in fig. 2 to 7).

In an embodiment of the present invention, the hollow housing component 14 has a mounting access opening 20. The installation access opening 20 is conventionally provided with a surrounding sealing seat 21. A housing cover 22 for closing the installation access opening 20 is placed on the sealing seat 21. The housing cover 22 has a counter seal seat 23 which, in the installed position closing the installation access opening, in particular as shown in fig. 3, bears flat against the seal seat 21. The housing cover 22 has a protective wall section 24 which projects beyond the counter-sealing seat 23 and therefore also beyond the sealing seat 21 of the hollow housing part 14. The protective wall section 24 at least partially covers the outer recess 19 of the hollow housing part 14 in the installed position of the housing cover 22.

As shown in particular in fig. 4, the hollow housing part 14 has a channel wall 25 which forms a through-passage between the outer niche 19 and the protruding protective wall section 24 of the housing cover 22. In fig. 2 to 4, the housing cover 22 is shown partially cut away, so that the area of the outer niche 19, the connection socket 15 and the connector 16, which is actually located behind the housing cover 22 in the figures, can be seen. The through-channel is designed to accommodate a line portion of the supply line 17, to be precise in a connected state of the supply line 17, in which state the connector 16 of the supply line 17 is connected to the connection socket 15 as shown in the drawing.

In particular fig. 2 and 4 show how the outer niche 19 or the channel wall section 25 of the hollow housing part 14 has a strain relief clip 26 for the supply line 17. In the case of an embodiment of the invention, the strain relief clip 26 is configured as a clamping collar known to the expert, i.e. as an RSGU collar.

The connection socket 15 is arranged in the outer recess 19 in an oriented manner such that the plugging direction of the connection socket 15 extends transversely, i.e. at least approximately or exactly at an angle of 90 degrees, with respect to the longitudinal extension of the hollow housing part.

the line portion of the supply line 17 leaving the hollow housing part 14 leaves the hollow housing part transversely with respect to the longitudinal extension of the hollow housing part, i.e. at least approximately or just at an angle of 90 degrees.

In the case of the embodiment shown in fig. 2 to 4, the robot arm 2 is provided with a supply line 17 having a connector 16. The connector 16 is designed as an angled plug.

As shown in particular in fig. 4, the connection socket 15 is arranged in the outer recess 19 in an oriented manner such that the plug-in direction of the connection socket 15 extends transversely to the longitudinal extent of the hollow housing part 14, wherein the angle plug has a contact section 16.1 and a housing section 16.2 arranged at right angles to the contact section 16.1 (in particular fig. 3), wherein the housing section 16.2 of the angle plug is arranged in the state of the angle plug connected to the connection socket 15 in an orientation along the longitudinal extent of the hollow housing part 14, and the line section of the supply line 17 which leads out of the housing section 16.2 of the angle plug is arranged transversely away from the longitudinal extent of the hollow housing part 14.

The line portion of the supply line 17 leading from the housing portion 16.2 of the angle plug, which departs transversely with respect to the longitudinal extension of the hollow housing part 14, can be fixed on the hollow housing part 14 by means of a strain relief clip 26 fastened on the outer niche 19 or on the channel wall 25 of the hollow housing part 14.

The connection socket 15 is fastened on its one side in a through-opening 27 (fig. 3) in the outer wall section 14.1a of the housing outer wall 14.1 of the hollow housing part 14, the connection contacts of the connection socket 15 for insertion into the contact section 16.1 of the connector 16 are arranged pointing outwards, and the connection socket 15 is fed with the supply medium conveyed out of the robot arm 2 inside the hollow housing part 14.

In the embodiment according to fig. 5 to 7 in particular, the hollow housing part 14 has a longitudinal extension, wherein the connection socket 15 is arranged in the outer recess 19 in an oriented manner such that the plugging direction of the connection socket 15 extends transversely with respect to the longitudinal extension of the hollow housing part 14. The housing cover 22 forms the outer contour of the hollow housing part 14 and covers the connector 16 and thus also the connection socket 15. Thus, the connector 16 is protected by the housing cover 22. Both perpendicularly to the longitudinal extent of the hollow housing part 14 and perpendicularly to the plugging direction of the connector 16, an access direction is provided here, so that access is possible from this direction despite the housing cover 22 having been fitted on the connector 16. For this purpose, an access gap 28 is formed between the housing cover 22 and the hollow housing part 14 on the underside in fig. 5. Even with the housing cover 22 installed, access can still be gained through this access gap 28, for example in order to be able to disconnect the connector 16 from the connection socket 15 or to draw cables out. The distance between the housing cover 22 and the bottom wall of the opposite outer recess 19 can preferably be greater than the length of the connector 16 in the plugging direction, so that no removal, i.e. unscrewing, of the housing cover 22 is required at all when the connection socket 15 is pulled out of the connector 16.

Claims

1. A robot arm having: a plurality of limbs (12), which connect the joints (11) of the limbs (12) and a motor for moving the joints (11), wherein the limbs (12) arranged at the distal end of the robot arm (2) form a connecting flange (8) for a robot-guided tool (18), and at least one other limb (12) is designed as a hollow housing part (14) on which a connecting socket (15) for a connector (16) of a supply line (17) is provided, which supply line is designed for conveying at least one supply medium from the robot arm (2) to the tool (18), characterized in that the hollow housing part (14) has a housing outer wall (14.1) which has an outer wall section (14.1a) designed as an outer recess (19) in which the connecting socket (15) is arranged, wherein the outer niche (19) is configured to: so that the connector (16) of the supply line (17) is completely received in the outer niche (19) in its connected state to the connection socket (15).

2. the robot arm according to claim 1, characterized in that the hollow housing part (14) has: at least one mounting access opening (20) having a sealing seat (21) surrounding the access opening; and a housing cover (22) which closes the installation access opening (20) and has a mating sealing seat (23) which, in an installation position of the housing cover (22) which closes the installation access opening (20), bears against the sealing seat (21), wherein the housing cover (22) has a protective wall section (24) which projects outward from the mating sealing seat (23) and which, in the installation position of the housing cover (22), at least partially covers the outer niche (19) of the hollow housing part (14).

3. The robot arm according to claim 2, characterized in that the hollow housing part (14) has a channel wall portion (25) which constitutes a through channel between the outer niche (19) and a protruding protective wall section (24) of the housing cover (22), which through channel is designed for accommodating a line portion of the supply line (17) and in the connected state of the supply line (17), in which connected state a connector (16) of the supply line (17) is connected to the connection socket (15).

4. The robot arm according to any of the claims 1-3, characterized in that the outer niche (19) of the hollow housing part (14) and/or the channel wall part (25) has a strain relief clip (26) for the supply line (17).

5. the robot arm according to claim 4, characterized in that the plurality of limbs (12) and the joints (11) are arranged alternately and thus constitute a kinematic chain of the robot arm (2), wherein the hollow housing part (14) has a longitudinal extension in the kinematic chain from the joint (11) directly in front of it to the joint (11) directly behind it, and the connection socket (15) is arranged oriented in the outer niche (19) such that the plugging direction of the connection socket (15) extends transversely to the longitudinal extension of the hollow housing part (14).

6. The robot arm according to claim 5, characterized in that the robot arm (2) has the supply line (17) with the connector (16) and that the connection socket (15) is arranged in the outer niche (19) such that in a connected state of the connector (16) of the supply line (17) connected to the connection socket (15), a line portion of the supply line (17) led out of the hollow housing part (14) leaves the hollow housing part (14) transversely with respect to the longitudinal extension of the hollow housing part (14).

7. The robot arm according to any of claims 1-3, characterized in that the robot arm (2) has the supply line (17) with the connector (16), and that the connector (16) is configured as an angular plug.

8. The robot arm according to claim 7, characterized in that the connection socket (15) is arranged in an oriented manner in the outer recess (19) such that the plugging direction of the connection socket (15) extends transversely to the longitudinal direction of the hollow housing part (14), the angle plug has a contact section (16.1) and a housing section (16.2) arranged at right angles to the contact section (16.1), wherein in the state of the angle plug connected to the connection socket (15) the housing section (16.2) of the angle plug is arranged oriented along the longitudinal extension of the hollow housing part (14) and the line section of the supply line (17) leading out of the housing section (16.2) of the angle plug extends away transversely to the longitudinal extension of the hollow housing part (14).

9. The robot arm according to claim 8, characterized in that a line portion of the supply line (17) leading out of the housing portion (16.2) of the angle plug, which line portion is fixed on the hollow housing part (14) by means of a strain relief clip (26) fastened on the outer niche (19) of the hollow housing part (14) and/or on the channel wall portion (25), extends away transversely to the longitudinal direction of the hollow housing part (14).

10. the robot arm according to any of the claims 1 to 3, characterized in that the connection socket (15) is fastened in a through hole (27) in an outer wall section (14.1a) of a housing outer wall (14.1) of the hollow housing part (14) such that a connection contact of the connection socket (15) for inserting a contact portion (16.1) of the connector (16) is arranged directed outwards and the connection socket (15) is fed with a supply medium conveyed out of the robot arm (2) inside the hollow housing part (14).