公开(公告)号：US20180243928A1

公开(公告)日：2018-08-30

申请号：US15752705

申请日：2016-08-10

Applicant: Sami HADDADIN

Inventor： Sami HADDADIN

IPC: B25J17/02 ,  B25J9/04 ,  B25J9/06 ,  B25J9/12 ,  B25J13/08

CPC classification number: B25J17/0291 ,  B25J9/046 ,  B25J9/06 ,  B25J9/126 ,  B25J13/085 ,  B25J17/0283

Abstract: The invention relates to a robot arm and a robot wrist. The robot arm comprises a number N of actuator-drivable joint connections GVn, which are connected in series via arm links GLi, where n=1, 2, . . . , N, and i=1, 2, . . . , N−1, and N≥6, wherein the proximal arm link GL1 of the robot arm can be connected to a robot body via the joint connection GV1, the distal arm link GLN-1 of the robot arm can be connected to an effector E via the joint connection GVN, the arm links GLN-1 and GLN-2 are connected via the joint connection GVN-1 and the arm links GLN-2 and GLN-3 are connected via the joint connection GVN-2, and each of the joint connections GVN, GVN-1, GVN-2 enables a movement about an axis of rotation RGV,N, RGV,N-1, RGV,N-2 assigned to the same. The robot arm is configured in such a way that the axes of rotation RGV,N-2 and RGV,N-1 intersect at an angle in the range from 50 to 130° or the axes of rotation RGV,N-2 and RGV,N-1 have a minimum spacing A1 from each other in the range from 1 mm to 20 mm, the axis of rotation RGV,N is arranged radially at a constant distance D1 from the axis of rotation RGV,N-1, and a sensor is present in the joint connection GVN-1 to detect a force or a torque about the axis of rotation RGV,N-1.

公开(公告)号：US20190154086A1

公开(公告)日：2019-05-23

申请号：US15752691

申请日：2016-08-12

Applicant: Sami HADDADIN ,  KBEE AG

Inventor： Sami HADDADIN ,  Tim ROKAHR ,  Johannes SCHMID

IPC: F16D1/08 ,  B25J18/00 ,  F16D7/02 ,  B25J17/02

Abstract: The invention relates to a connection assembly between a drive-side structure and a transmission outer ring sealing a transmission arranged radially inside, wherein an annular space comprising a connection element arranged therein is configured between the transmission outer ring and the drive-side structure, and a peripheral guide is axially configured at least on one side of the annular space between the transmission outer ring and the drive-side structure, wherein the connection element comprises bulges which are spaced over the peripheral extension and are elastically deformable and forms a force-fit connection between the transmission outer ring and the drive-side structure when the bulges elastically deform.