SG11201809296YA - Drive unit for a robot and method for manufacturing the same - Google Patents

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property C.--.` 111111411011101010111110101111 101E3 1101 01 1101 MOIMI011110111111 Organization International Bureau (10) International Publication Number 03 (43) International Publication Date ...0.'' WO 2017/182594 Al 26 October 2017 (26.10.2017) WIPO I PCT (51) International Patent Classification: AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, B25J 17/00 (2006.01) B25J 9/12 (2006.01) CA, CH, CL, CN, CO, CR, CU, CZ, DJ, DK, DM, DO, DZ, (21) International Application Number: EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, PCT/EP2017/059448 HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, (22) International Filing Date: MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, 20 April 2017 (20.04.2017) PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, (25) Filing Language: English SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (26) Publication Language: English (84) Designated States (unless otherwise indicated, for every (30) Priority Data: kind of regional protection available): ARIPO (BW, GH, 10 2016 004 787.9 GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, 20 April 2016 (20.04.2016) DE UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, (71) Applicant: KBEE AG [DE/DE]; Infanteriestrasse 19, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, 80797 Miinchen (DE). MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, (72) Inventor; and TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, (71) Applicant (for US only): HADDADIN, Sami [DE/DE]; KM, ML, MR, NE, SN, TD, TG). Alte Doehrener Str. 50d, 30173 Hannover (DE). Published: (72) Inventor: ROKAHR, Tim; Frtmdsbergstrasse 2, 80634 — with international search report (Art. 2 I (3)) — Miinchen (DE). = _ _ (74) Agent: HRUSCHKA, Jurgen; c/o Habermann, Hruschka = & Schnabel, Montgelasstrasse 2, 81679 Munich (DE). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, (54) Title: DRIVE UNIT FOR A ROBOT AND METHOD FOR MANUFACTURING THE SAME = — (57) : The present invention relates to a drive unit for joint r14 - = being arranged between two arm members (Al, A2) of a manipulator P of a robotic system, the drive unit being intended for the rotatory drive = ' Irffmwar ' of the one arm member (A2) in relation to the other arm member (Al), = = 21 _ pit#10...=-4 A wl , ----', Iii E41111= 0 ,lasProl, le 1 . 114 --Vizt----- 0 . 4 .'•'-- Fii ill having a first drive module (Ml), which is to be connected to a first / 4, 21 ,i., arm member (Al) by means of at least one connecting element (3) in el /4 a force- and torque-transmitting manner, and having a second drive p-7:1 Imams H3 ___, = ireed 71 0 0 * War module (M2), which is to be connected with a second arm member = -,k1' = — .1 , 111WILI . NI 0 ° 1 \" 0. . 0 OA 040 00 of 0.11 °611. 0 0 0; p . (A2) by means of at least one connecting element (7) in a force- and ^'- 2-4 torque-transmitting manner, in which the connecting elements (3; 7) 7.--. = 0 — A , /4 a Ph F; 11 5 440A 1 li; r'l 1 1 =7( II ' # 01 1 1 . IN WOO 01 - W i ii\" . . .„, ' r are configured to cooperate with the arm members (Al, A2) in radial ' direction with respect to the rotary axis of the drive unit. .... --,0 A \" -;- ei it, , hil ri • wl - wok!. 4 11' '4,1 CT /-------. 2t \"O l gml in OFOr.. - 4.it „ , Isir- I AVN‘i l , ,I -E.1N' .1 4 0 ei 3, co 11 ,-.... N 11 N 1 Ti A A , , 32_ 38 11 28 C