Articulated-arm robot

A robot and articulated arm technology, applied in the field of articulated arm robots, can solve problems affecting the interaction efficiency of robots and achieve efficient interaction effects

Pending Publication Date: 2021-07-23
SIEMENS AG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The requirement to obey such constraints can significantly affect the efficiency of interactions with robots

Method used

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Examples

Experimental program
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Effect test

Embodiment Construction

[0024] exist figure 1 , schematically shows an articulated arm robot GAR according to the present invention, such as a manufacturing robot, a medical robot, a service robot, an industrial robot or other robots that interact with users or operators. The articulated arm robot GAR has a robot arm RA mounted on a robot base B.

[0025] The robot arm RA and the robot base B are connected by the joint G1 of the robot arm RA. A joint G1 whose axis of rotation is vertical in the present embodiment connects the arm link L1 of the robot arm RA to the robot base B. Arm link L1 is also connected to arm link L2 via joint G2, which is connected to arm link L3 via joint G3, and which is connected to end effector EF via joint G4. These joints G1, ..., G4 and the arm links L1, ..., L3 as well as the end effector EF are part of the robot arm RA. exist figure 1 In , the end effector EF exemplarily grasps the workpiece WS to be handled by the articulated arm robot GAR. Such joints of a robot...

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PUM

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Abstract

The articulated-arm robot (GAR) has a robot arm (RA) with an arm element (L1, L2, L3) movable via a joint (G1,...,G4) and a sensor (SEN1,...,SEN4) for continuously measuring a status parameter (SP1,...,SP4) of the joint. The articulated-arm robot (GAR) also has an optical signalling device (S1,...,S4) arranged on the robot arm (RA) in spatial assignment to the joint and an assessment device (BE1,...,BE4) for continuously assessing the measured status parameter (SP1,...,SP4) in a joint-specific manner and for controlling the signalling device (S1,...,S4) on the basis of the assessment result.

Description

Background technique [0001] Many robotic systems, such as manufacturing robots, medical robots, service robots or industrial robots are equipped with one or more robotic arms. In modern variants of such articulated arm robots, the movement sequence of the respective robot arm can be taught or programmed by manually guiding the robot arm by an operator. In this case, the operator manually moves one or more arm links of the robot arm, while continuously recording the deflection, orientation and / or position experienced therein of the joints and / or arm links. Based on the motion data thus stored, the articulated arm robot can arbitrarily repeat the taught motion process. This programming of the movement sequence of the robot is often also referred to as "teaching" or more specifically "hand-guiding". [0002] However, such teaching or also other manual interactions between the robot and the operator often require specific knowledge about the kinematic and dynamic properties and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00B25J19/04
CPCG05B19/423G05B2219/36433G05B2219/39325G09F27/00B25J9/1633B25J9/1674B25J13/085B25J19/00B25J19/04
Inventor D·迈耶-德柳斯迪瓦斯托
Owner SIEMENS AG
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