Patent Description:
Robots and in particular robotic arms are widely used to perform a wide variety of automated tasks. Recently lightweight robots have increased in popularity for assisting human activities, e.g. in production facilities. These robots are commonly known as collaborative robots or cobots.

For robots, such as robotic arms, it is desirous to enhance flexibility and facilitate more compact robot solutions.

Furthermore, as control of robots may require extensive computational calculations substantial heat may be generated by robot electronics. Furthermore, it is desirous to increase the amount of payload a certain robot is able to handle, which further adds to the robot generating more heat. Hence, enhanced solutions for handling such heat generated by the robot are sought.

<CIT> discloses a robot including a base, a robot arm including a first arm provided on the base and rotating around a first rotation axis, a first motor provided in the first arm and configured to rotate the first arm, a control board provided on an inside of the base and configured to control driving of the robot arm, and a power supply board provided on the inside of the base and configured to supply electric power to the control board.

<CIT> discloses a robot provided with a motor, which makes a rotary shaft rotate relative to a base, and a driving circuit substrate of a driving circuit of a resolver detecting the rotation angle of the motor. Under the condition that the installing face of the driving circuit substrate contacts with the base face, the driving circuit substrate can move relative to the robot base via an elastic part which is clamped by the driving circuit substrate and the base and has the thermal conductivity.

<CIT> discloses a robot including a base part having a first cavity part inside, a torso part coupled to the base part, at least one arm unit provided on the torso part, and an inner box provided in the first cavity part and having a second cavity part opening in an upper portion. A circuit board for driving an actuator that operates the arm unit is provided on an outer side surface of the inner box.

<CIT> discloses multi-path cooling arrangements for robotic systems. For example, a robotic system including a heat-generating component positioned within a base that supports one or more articulating links. The heat-generating component can be supported on a thermally conductive bracket within the base. The robotic system can include a first thermally conductive path configured to dissipate heat from the heat generating component. The first thermally conductive path can include the bracket and a first heatsink connected to the bracket.

<CIT> discloses a robot mechanism including a base, a main body, a motor, a driver, a bottom plate, a flexible heat conductive member, and a controller. The main body is connected to the base and has a housing. The motor and the driver are disposed in the main body, and the driver is electrically connected to the motor. The bottom plate is disposed on the housing and situated between the driver and the housing, and a gap is formed between the bottom plate and the driver. The flexible heat conductive member is disposed between the driver and the housing. The flexible heat conductive member contacts the driver. The controller is detachably disposed in the base.

It is an object of the present disclosure to at least provide improvements of the prior art and/or to solve or reduce problems known from the prior art. It is a further object of the present disclosure to provide an advantageous or at least alternative robot, robotic assembly, and/or components thereof. Thus, the present disclosure relates to a control unit for a robot and a robot comprising such control unit.

Accordingly, a control unit for a robot is disclosed. The control unit is adapted to be arranged between a base of the robot and a structure to which the robot is to be fastened. The structure may be a factory floor or another structure from which the robot is meant to work from.

Also, a robot is disclosed. The robot comprises the control unit arranged below a base of the robot, such as to be positioned between the base of the robot and a structure to which the robot is to be fastened, e.g. a factory floor or another structure from which the robot is meant to work from. For example, the control unit may be arranged between the base of the robot and the structure to which the robot is to be fastened.

The control unit comprises a bottom plate and optionally a sidewall. The sidewall may be one integrally formed sidewall. Alternatively, the sidewall may be made up of a plurality of sidewall parts. The bottom plate is adapted to abut the structure, such as to facilitate heat transfer between the control unit and the structure. The bottom plate and optionally the sidewall forming an inner surface of the control unit. The control unit may comprise a control unit housing. The control unit housing is formed by the bottom plate and the sidewall. The inner surface may be an inner surface of the control unit housing.

The sidewall may be integrally formed with the bottom plate. e.g. the sidewall and the bottom plate may be cast in one piece and/or may be machined from a single block of material. Integrally forming the sidewall and the bottom plate may facilitate enhanced heat transmission between the sidewall and bottom plate.

The bottom plate and/or the sidewall, may be made of a material with a thermal conductivity at room temperature of at least <NUM> W/(m·K), such as at least <NUM> W/(m·K).

The bottom plate and/or the sidewall, may be made of aluminium. Alternatively, the bottom plate and/or the sidewall, may be made of other materials, such as copper. Alternatively, the bottom plate and/or the sidewall, may be made of alloys of different materials, e.g. comprising aluminium and/or copper, may be used for the bottom plate and/or the sidewall.

The control unit may comprise a control circuit. The control circuit may comprise a processing unit. The processing unit has a heat dissipating surface. The control circuit may be arranged in the control unit housing. The control circuit may be arranged with the heat dissipating surface of the processing unit abutting (e.g. contacting) the inner surface of the control unit, such as to facilitate heat transfer between the processing unit and the bottom plate and/or the sidewall. For example, the heat dissipating surface of the processing unit may abut (e.g. contact) the bottom plate and/or the sidewall of the control unit. The heat dissipating surface of the processing unit may be abutting and/or contacting the inner surface via a heat transferring element, such as a heat transferring block. The heat transferring element may be made of a material with a thermal conductivity at room temperature of at least <NUM> W/(m·K), such as at least <NUM> W/(m·K). For example, the heat transferring element may be made of aluminium, copper or one or more alloys of different materials, e.g. comprising aluminium and/or copper. The heat transferring element may be made of the same material as the bottom plate and/or the sidewall. In some examples, the heat transferring element may form an integral part of the bottom plate and/or the sidewall.

The control unit comprises an energy consumption unit. The energy consumption unit may serve the purpose of handling excess power on a power bus of the robot and/or from motors of the robot, which may be generated in situations, where a motor of the robot is braking an ongoing motion. The energy consumption unit may comprise one or more resistors. The one or more resistors of the energy consumption unit may be adapted to handle the excess power by converting it to heat. The energy consumption unit comprises a heat dissipating surface. The heat dissipating surface of the energy consumption unit may be a surface of the one or more resistors of the energy consumption unit. The energy consumption unit may be arranged in the control unit housing. The energy consumption unit is arranged with the heat dissipating surface of the energy consumption unit abutting (e.g. contacting) the inner surface of the control unit, such as to facilitate heat transfer between the energy consumption unit and the bottom plate and/or the sidewall, such as between the one or more resistors of the energy consumption unit and the bottom plate and/or the sidewall. Like the heat dissipating surface of the processing unit, the heat dissipating surface of the energy consumption unit may be abutting and/or contacting the inner surface via a heat transferring element (which may be the same or a separate heat transferring element than the one described above with respect to the heat dissipating surface of the processing unit), such as a heat transferring block.

The control unit may comprise a power supply unit. The power supply unit may be adapted to power the robot, such as electrical components of the robot, e.g. motors and/or circuitry. The power supply unit may be arranged in the control unit housing. The power supply unit may be arranged with a heat dissipating surface of the power supply unit abutting (e.g. contacting) the inner surface of the control unit, such as to facilitate heat transfer between the power supply unit and the bottom plate and/or the sidewall. Like the heat dissipating surface of the processing unit, the heat dissipating surface of the power supply unit may be abutting and/or contacting the inner surface via a heat transferring element (which may be the same or a separate heat transferring element than the one described above with respect to the heat dissipating surface of the processing unit), such as a heat transferring block.

The control unit may comprise one or more, such as a plurality of, electrical control unit connectors (e.g. sockets or plugs). The one or more or one electrical control unit connectors may include a first electrical control unit connector, a second electrical control unit connector, and/or a third electrical control unit connector. Each of the one or more electrical control unit connectors may comprise respective control unit terminals. The first electrical control unit connector, the second electrical control unit connector, and/or the third electrical control unit connector may be arranged through the sidewall. The first electrical control unit connector, the second electrical control unit connector, and/or the third electrical control unit connector may be adapted to couple with a teach pendant connector of a teach pendant, e.g. for controlling and/or programming the robot. The first electrical control unit connector, the second electrical control unit connector, and/or the third electrical control unit connector may be an ethernet connector or a USB connector. The first electrical control unit connector, the second electrical control unit connector, and/or the third electrical control unit connector may be a power supply connector adapted to receive power for powering the robot.

The robot comprises one or more or a plurality of joint assemblies, e.g. including a first joint assembly and a second joint assembly. The robot further comprises one or more or a plurality of motors, e.g. including a first primary motor, a first secondary motor, a second primary motor, and/or a second secondary motor. The plurality of motors may be at least six motors, such as seven motors.

Each of the plurality of joint assemblies comprises a joint housing and a primary motor connecting the joint housing with a primary link. The primary motor is adapted to rotate the primary link relative to the joint housing around a primary axis. A joint assembly may further comprise a secondary motor connecting the joint housing with a secondary link. The secondary motor may be adapted to rotate the secondary link relative to the joint housing around a secondary axis. The secondary axis may be non-parallel with the primary axis.

The first joint assembly comprises a first joint housing and the first primary motor. The first primary motor connects the first joint housing with a first primary link. The first primary motor is adapted to rotate the first primary link relative to the first joint housing around a first primary axis. The first joint assembly may comprise a first secondary motor. The first secondary motor may connect the first joint housing with a first secondary link. The first secondary motor may be adapted to rotate the first secondary link relative to the first joint housing around a first secondary axis. The first secondary axis may be non-parallel with the first primary axis.

The second joint assembly comprises a second joint housing and the second primary motor. The second primary motor connects the second joint housing with a second primary link. The second primary motor is adapted to rotate the second primary link relative to the second joint housing around a second primary axis. The second joint assembly may comprise the second secondary motor. The second secondary motor may connect the second joint housing with a second secondary link. The second secondary motor may be adapted to rotate the second secondary link relative to the second joint housing around a second secondary axis. The second secondary axis may be non-parallel with the second primary axis.

A primary link in relation to one joint assembly may be a secondary link in relation to another joint assembly. For example, the second primary link and the first secondary link may be the same link. The first primary link may extend between the base of the robot and the first joint assembly. The second primary link and/or the first secondary link may extend between the first joint assembly and the second joint assembly.

The processing unit, such as the processing unit of the control circuit, may be adapted to control operation of the one or more motors, such as the plurality of motors, to effectuate a desired movement of the robot.

The robot may comprise one or more, such as a plurality of, electrical base connectors (e.g. sockets or plugs), which may be arranged at the base of the robot. The one or more electrical base connectors may include a first electrical base connector and/or a second electrical base connector. The first electrical base connector may be a power supply connector adapted to receive power for powering the robot. In such example, the control unit may be powered via the first electrical base connector. The second electrical base connector may be an I/O port.

The control unit may comprise one or more attachment holes. The attachment holes may be through holes, e.g. allowing fastening bolts to extend therethrough. The robot may comprise the fastening bolts. The fastening bolts may extend from the base of the robot, through the attachment holes of the control unit, and to the structure to which the robot is to be fastened. The fastening bolts may be fastened to the structure. The fastening bolts may fasten the base and/or the control unit to the structure. Preferably, the fastening bolts extends from the base, through the attachment holes of the control unit and are fastened to the structure. Thereby, thermal contact between the base and the control unit and between the control unit and the structure may be enhanced, and thermal conductance between the base and the control unit and between the control unit and the structure may be enhanced.

Embodiments of the disclosure will be described in more detail in the following with regard to the accompanying figures. The figures show one way of implementing the present disclosure and are not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.

<FIG> is a schematic diagram illustrating an exemplary robot <NUM>, which in the present example is a robotic arm, more particularly, a seven-axis robotic arm. In the present example, the robot <NUM> is fastened to a structure <NUM>, which may be a factory floor or another structure from which the robot <NUM> is meant to work from. In some examples, the structure <NUM> may be part of a movable unit, such as a mobile robot or a vehicle, which would allow the robot <NUM> to be moved between different positions.

The robot <NUM> comprises a plurality of joint assemblies, including a first joint assembly <NUM>, a second joint assembly <NUM>, a third joint assembly <NUM>, and a fourth joint assembly <NUM>. In other examples, the robot may comprise fewer or more joint assemblies. For example, the robot <NUM> may, in another configuration, comprise only one joint assembly, such as the first joint assembly <NUM>.

The robot <NUM> comprises a plurality of links, including a first link <NUM>, a second link <NUM>, a third link <NUM>, and a fourth link <NUM>. The links extends between the joint assemblies. For example, the first link <NUM> extends between a base <NUM> of the robot <NUM> and the first joint assembly <NUM>. The second link <NUM> extends between the first joint assembly <NUM> and the second joint assembly <NUM>. The third link <NUM> extends between the second joint assembly <NUM> and the third joint assembly <NUM>. The fourth link <NUM> extends between the third joint assembly <NUM> and the fourth joint assembly <NUM>.

Each of the joint assemblies <NUM>, <NUM>, <NUM>, <NUM> are adapted to rotate one or more respective links relative to the joint assembly around an axis. For example, the first joint assembly <NUM> is adapted to rotate the first link <NUM> relative to the first joint assembly <NUM> around a first axis Ax1. The first joint assembly <NUM> is adapted to rotate the second link <NUM> relative to the first joint assembly <NUM> around a second axis Ax2. The second axis Ax2 is non-parallel with the first axis Ax1. The second joint assembly <NUM> is adapted to rotate the second link <NUM> relative to the second joint assembly <NUM> around a third axis Ax3. The second joint assembly <NUM> is adapted to rotate the third link <NUM> relative to the second joint assembly <NUM> around a fourth axis Ax4. The fourth axis Ax4 is non-parallel with the third axis Ax3. The third joint assembly <NUM> is adapted to rotate the third link <NUM> relative to the third joint assembly <NUM> around a fifth axis Ax5. The third joint assembly <NUM> is adapted to rotate the fourth link <NUM> relative to the third joint assembly <NUM> around a sixth axis Ax6. The sixth axis Ax6 is non-parallel with the fifth axis Ax5. The fourth joint assembly <NUM> is adapted to rotate the fourth link <NUM> relative to the fourth joint assembly <NUM> around a seventh axis Ax7. The robot <NUM> may be put in some configurations where none of the seven axes Ax1-Ax7 are parallel. However, in some other configurations two or more of the seven axes may be parallel.

Although being described in relation to a robot <NUM> being operable relative to seven axes, the present disclosure may alternatively be applied to a robot having only six axes, or even fewer axes. For example, with respect to the example illustrated in <FIG>, movement around the third axis Ax3, may be omitted, to obtain a robot operable relative to six axes. In such situation, the first joint assembly <NUM> may be adapted to rotate the first link <NUM> relative to the first joint assembly <NUM> around the first axis Ax1 and to rotate the second link <NUM> relative to the first joint assembly <NUM> around the second axis Ax2. The second joint assembly <NUM> may be adapted to rotate the third link <NUM> relative to the second joint assembly <NUM> around the fourth axis Ax4 and to rotate the third link <NUM> relative to the second joint assembly <NUM> around the fifth axis Ax5. The third joint assembly <NUM> may be adapted to rotate the third link <NUM> relative to the third joint assembly <NUM> around the sixth axis Ax6 and to rotate the fourth link <NUM> relative to the third joint assembly <NUM> around the seventh axis Ax7. The fourth joint assembly <NUM> may be omitted. Hence, a robot operable relative to six axes may be realised with only three joint assemblies according to the present disclosure.

The robot <NUM>, as illustrated, comprises a control unit <NUM>. The control unit <NUM> is adapted to be arranged between the base <NUM> of the robot <NUM> and the structure <NUM>. The control unit <NUM> may be provided as an additional unit. Thus, in some examples the base <NUM> may fastened to the structure <NUM>, such as to fasten the robot <NUM> to the structure <NUM>, and an external control unit may be provided to control the robot <NUM>. However, as illustrated, the control unit <NUM> may be arranged between the base <NUM> and the structure <NUM>. The control unit <NUM> may comprise circuitry, such as one or more processing units, adapted to control operation of the robot <NUM> to effectuate a desired movement of the robot <NUM>.

The robot <NUM> may be fastened to the structure <NUM> by fastening bolts <NUM>. The fastening bolts <NUM> may extend from the base <NUM>, through attachment holes of the control unit <NUM>, and to the structure <NUM>, thereby fastening both the robot and the control unit <NUM> to the structure <NUM>. Preferably, the fastening bolts <NUM> extends from the base <NUM>, through the attachment holes of the control unit <NUM> and are fastened in the structure <NUM>. Thereby, the base <NUM> is pressed against the top of the control unit <NUM>, and the control unit <NUM> is pressed against the structure <NUM>. Thereby, thermal contact between the base <NUM> and the control unit <NUM> and between the control unit <NUM> and the structure <NUM> is enhanced, and thermal conductance between the base <NUM> and the control unit <NUM> and between the control unit <NUM> and the structure <NUM> is enhanced.

The robot may comprise a first electrical base connector <NUM> arranged at the base <NUM> of the robot <NUM>. In some examples, the first electrical base connector <NUM> may be a power supply connector adapted to receive power for powering the robot <NUM>. The robot may comprise a second electrical base connector <NUM> arranged at the base <NUM> of the robot <NUM>. In some examples, the second electrical base connector <NUM> may be an I/O port. The control unit <NUM> may also comprise, as illustrated, an electrical control unit connector, which, for example, may be adapted to couple with a teach pendant connector of a teach pendant for controlling and/or programming the robot. It is noted that the connectors in the present example illustrated as being arranged at the base <NUM> of the robot may alternatively be provided in the control unit <NUM> and vice versa.

<FIG> is a schematic diagram illustrating an exemplary joint assembly <NUM>, which may be any of the first, second, or third joint assemblies <NUM>, <NUM>, <NUM> as shown in <FIG>.

The joint assembly <NUM> comprises a joint housing <NUM>. The joint assembly <NUM> comprises a primary motor <NUM> connecting the joint housing <NUM> with a primary link <NUM> (e.g. the first link <NUM>, the second link <NUM>, or the third link <NUM> of <FIG>). The primary motor <NUM> is adapted to rotate the primary link <NUM> relative to the joint housing <NUM> around a primary axis (e.g. the first axis Ax1, the third axis Ax3, the fifth axis Ax5, or the seventh axis Ax7 of <FIG>). The illustrated joint assembly <NUM> comprises an optional secondary motor <NUM> connecting the joint housing <NUM> with a secondary link <NUM> (e.g. the second link <NUM>, the third link <NUM>, or the fourth link <NUM> of <FIG>). The secondary motor <NUM> is adapted to rotate the secondary link <NUM> relative to the joint housing <NUM> around a secondary axis (e.g. the second axis Ax2, the fourth axis Ax4, or the sixth axis Ax6 of <FIG>). The joint assembly <NUM> comprises circuitry <NUM>, e.g. a first PCB, accommodated in the joint housing <NUM>. The circuitry <NUM> is adapted to control the primary motor <NUM> and the secondary motor <NUM>. The primary motor <NUM> and/or the secondary motor <NUM> may be a permanent magnet AC motor. Furthermore, the primary motor <NUM> and/or the secondary motor <NUM> may comprise a gear assembly, e.g. an integral gear, such as a strain wave gear. Hence, the primary motor <NUM> and/or the secondary motor <NUM> may be a gear motor.

<FIG> schematically illustrates an exemplary control unit <NUM>, as also mentioned in relation to <FIG>. The control unit <NUM> is adapted to be arranged between a base of the robot and a structure to which the robot is to be fastened, as illustrated in <FIG>.

The control unit housing <NUM> comprises a bottom plate <NUM> and a sidewall <NUM>. The sidewall <NUM> may be one integrally formed sidewall or may be made up of a plurality of sidewall parts, e.g. four sidewall parts. The bottom plate <NUM> and the sidewall <NUM> forms a control unit housing <NUM>. The control unit <NUM> and/or the control unit housing <NUM> may further comprise a top plate <NUM>, as illustrated in <FIG>. The bottom plate <NUM> is adapted to abut (e.g. contact) the structure to which the robot is to be fastened. The bottom plate and/or the sidewall forms an inner surface <NUM> of the control unit <NUM>.

The control unit <NUM> may be adapted such as to facilitate transmission of heat from the robot, such as from the control unit <NUM>, to the structure to which the robot is fastened. For example, the sidewall <NUM> and the bottom plate <NUM> may be integrally formed, e.g. may be cast in one piece and/or may be machined from a single block of material. Integrally forming the sidewall <NUM> and the bottom plate <NUM> may facilitate enhanced heat transmission between the sidewall <NUM> and bottom plate <NUM>. Additionally or alternatively, the bottom plate <NUM> and/or the sidewall <NUM>, and/or optionally the top plate <NUM>, may be made of aluminium. Alternatively, other materials, such as copper, or alloys of different materials, e.g. comprising aluminium and/or copper, may be used for the control unit housing <NUM> or control unit housing parts. The material(s) used preferably has a high thermal conductivity, such as at least <NUM> W/(m·K).

The control unit <NUM> comprises a control circuit <NUM>. The control circuit <NUM> may be a PCB. The control circuit <NUM> may comprise a processing unit.

The control unit <NUM> comprises an energy consumption unit <NUM>. The energy consumption unit <NUM> may serve the purpose of handling excess power on a power bus of the robot and/or from motors of the robot, which may be generated in situations, where a motor of the robot is braking an ongoing motion. The energy consumption unit <NUM> may comprise one or more resistors <NUM>, which may handle such excess power by converting it to heat. In the illustrated example, the energy consumption unit <NUM> comprises four resistors <NUM>. In other examples, the energy consumption unit <NUM> may comprise one resistor <NUM> for each of the motors of the joint assemblies of the robot, i.e. seven resistors <NUM> for a seven-axis robot.

The control unit <NUM> may comprise a power supply unit <NUM>. The power supply unit <NUM> may be adapted to power the robot, such as the electrical components of the robot. The power supply unit <NUM> may be connectable to an input power supply, such as a wall socket, e.g. supplying <NUM> V AC. In such example, the power supply unit <NUM> may be configured to convert the <NUM> V AC input to provide 12V, 24V and/or 48V DC to components of the robot. In other examples, the power supply unit <NUM> may be connectable to an external battery powered supply, e.g. supplying 48V DC. In such example, the power supply unit <NUM> may be configured to also provide 12V and/or 24V to some components of the robot. In some examples, the power supply unit <NUM> may comprise an internal battery.

The control unit <NUM> may comprise one or more electrical control unit connectors <NUM>, <NUM>, <NUM>, e.g. including a first electrical control unit connector <NUM>, a second electrical control unit connector <NUM>, and/or a third electrical control unit connector <NUM>. The electrical control unit connectors <NUM>, <NUM>, <NUM> may comprise a plurality of respective control unit terminals <NUM>, <NUM>, <NUM>. The first electrical control unit connector <NUM> may comprise first control unit terminals <NUM>. The second electrical control unit connector <NUM> may comprise second control unit terminals <NUM>. The third electrical control unit connector <NUM> may comprise third control unit terminals <NUM>.

The first electrical control unit connector <NUM> may be adapted to couple with a teach pendant connector of a teach pendant for controlling and/or programming the robot. The second electrical control unit connector <NUM> may be a power supply connector for connecting a power chord for receiving power for powering the robot. For example, the power supply connector may be coupled with the power supply unit <NUM>. The third electrical control unit connector <NUM> may be an ethernet connector or a USB connector. One or more of the first, second or third electrical control unit connectors may be omitted, or additional electrical control unit connectors may be additionally included.

The first electrical control unit connector <NUM>, the second electrical control unit connector <NUM>, and/or the third electrical control unit connector <NUM> may be arranged through the sidewall <NUM>, as illustrated. The electrical control unit connectors <NUM>, <NUM>, <NUM> may be arranged through the same face of the side wall <NUM> as illustrated. However, in other examples, the electrical control unit connectors <NUM>, <NUM>, <NUM> may be arranged through different faces of the side wall <NUM>.

The control unit <NUM> may comprise attachment holes <NUM>. The attachment holes allow fastening of the robot on top of the control unit <NUM>, as well as fastening to the structure onto which the robot is to be fastened. For example, the attachment holes <NUM> may be through holes, allowing fastening bolts <NUM> (see <FIG>) to extend therethrough, to thereby fasten both the control unit <NUM> and the robot to the structure. Preferably, the fastening bolts <NUM> extends through the attachment holes <NUM> of the control unit <NUM> and are fastened to the structure <NUM>, such that the base <NUM> of the robot <NUM> is pressed against the top of the control unit <NUM>, and the control unit <NUM> is pressed against the structure <NUM>.

<FIG> schematically illustrates a simplified cross-section view of the exemplary control unit <NUM> comprising the control circuit <NUM>. The control circuit <NUM> comprises a processing unit <NUM>. The processing unit <NUM> may be adapted to control operation of the plurality of motors of the robot, e.g. to effectuate a desired movement of the robot. For example, the processing unit <NUM> may handle trajectory planning of the robot. The processing unit <NUM> may transmit instructions to, as well as receiving information from, individual processing units of each joint assembly, such as a processing unit of the circuitry <NUM> of <FIG>.

The processing unit <NUM> has a heat dissipating surface <NUM>. The heat dissipating surface <NUM> of the processing unit <NUM> is abutting the inner surface <NUM> of the control unit <NUM>. Thus, the control circuit <NUM> is arranged in the control unit housing <NUM> and with the heat dissipating surface <NUM> of the processing unit <NUM> abutting the inner surface <NUM>. Thereby, heat generated by the processing unit <NUM>, may be transferred to the control unit housing <NUM> of the control unit <NUM>, and in turn to the structure to which the robot is fastened.

<FIG> schematically illustrates a simplified cross-section view of the exemplary control unit <NUM> comprising the energy consumption unit <NUM>. The energy consumption unit may have one or more heat dissipating surface <NUM>. The energy consumption unit <NUM> may, as mentioned earlier, comprise one or more resistors <NUM>. These resistors <NUM> may generate significant amount of heat. The one or more heat dissipating surfaces <NUM> of the energy consumption unit <NUM> may be surfaces of the resistors <NUM>. The heat dissipating surface(s) <NUM> of the energy consumption unit <NUM> is abutting the inner surface <NUM> of the control unit <NUM>. Thus, the energy consumption unit <NUM> is arranged in the control unit housing <NUM> and with the heat dissipating surface(s) <NUM> of the energy consumption unit <NUM> abutting the inner surface <NUM>. Thereby, heat generated by the energy consumption unit <NUM>, for example, from the resistors <NUM> of the energy consumption unit <NUM>, may be transferred to the control unit housing <NUM> of the control unit <NUM>, and in turn to the structure to which the robot is fastened.

<FIG> schematically illustrates a simplified cross-section view of the exemplary control unit <NUM> comprising the power supply unit <NUM>. The power supply unit <NUM> has a heat dissipating surface <NUM>. The heat dissipating surface <NUM> of the power supply unit <NUM> is abutting the inner surface <NUM> of the control unit <NUM>. Thus, the power supply unit <NUM> is arranged in the control unit housing <NUM> and with the heat dissipating surface <NUM> of the power supply unit <NUM> abutting the inner surface <NUM>. Thereby, heat generated by the power supply unit <NUM>, may be transferred to the control unit housing <NUM> of the control unit <NUM>, and in turn to the structure to which the robot is fastened.

In the examples of <FIG>, the heat dissipating surfaces <NUM>, <NUM>, <NUM> are abutting the bottom plate <NUM>. However, in other examples one or more of the heat dissipating surfaces <NUM>, <NUM>, <NUM> may abut the side wall <NUM>.

<FIG> schematically illustrates an exemplary control unit <NUM> adapted to be arranged between the base <NUM> of the robot and a structure to which the robot is to be fastened, as illustrated in <FIG>. In the example of <FIG>, the sidewall <NUM> is formed by the base <NUM> of the robot.

Furthermore, the heat dissipating surface of the processing unit <NUM> is abutting the inner surface via a heat transferring element <NUM>. The heat transferring element <NUM>. The heat transferring element <NUM> may be made of the same material as the bottom plate <NUM> and/or may form an integral part of the bottom plate <NUM>.

In the illustrated example, the control unit <NUM> further comprises an I/O board <NUM> positioned between the control circuit <NUM> comprising the processing unit <NUM> and the bottom plate <NUM>. The I/O board comprises an opening <NUM> for the heat transferring element <NUM> to extend therethrough. The disclosure has been described with reference to a preferred embodiment. However, the scope of the invention is not limited to the illustrated embodiment, and alterations and modifications can be carried out without deviating from the scope of the invention as defined in the claims.

Claim 1:
A control unit (<NUM>) for a robot (<NUM>), the control unit (<NUM>) being adapted to be arranged between a base (<NUM>) of the robot (<NUM>) and a structure (<NUM>) to which the robot (<NUM>) is to be fastened, the control unit (<NUM>) comprising:
- a bottom plate (<NUM>) and an optional sidewall (<NUM>), wherein the bottom plate (<NUM>) is adapted to abut the structure (<NUM>), the bottom plate (<NUM>) and optionally the sidewall (<NUM>) forming an inner surface (<NUM>) of the control unit (<NUM>),
characterized in that the control unit (<NUM>) further comprises:
- an energy consumption unit (<NUM>), wherein the energy consumption unit (<NUM>) is arranged with a heat dissipating surface (<NUM>) of the energy consumption unit (<NUM>) abutting the inner surface (<NUM>) of the control unit (<NUM>).