Robot with a fixing element that can be locked in different positions to change the size of the work area, and method for changing the work area of ​​a robot.

Abstract

Robot (1), comprising: a first shaft unit in which a first motor (7,10) drives a second element (8) in relation to a first element (4), a second shaft unit in which a second motor (7, 10) drives a fourth element (16) with respect to a third element (9), the fourth element (16) having a longitudinal axis, and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) together, characterized in that the fastening element (11, 15) is provided in a detachable manner at different positions in the direction of the longitudinal axis or in a direction substantially perpendicular to the longitudinal axis with respect to at least one of the second element (8) and the third element (9), and a working area of ​​a wrist section (6) can be changed in size by changing a fastening position with respect to at least one of the second element (8) and the third element (9).

Description

[0001] The present invention relates to robots.

[0002] Robots of this type are known from the prior art, with German patent application DE 10 2014 100 477 A1 disclosing a robot with a manipulator that has an adjustable arm length and two articulated support arms connected to each other via complex joint and bushing elements. The length adjustment is achieved by a sliding outer bushing that can be locked in two positions – extended and shortened – with an inner locking element. A locking block on the outer locking element enables the reliable operation of the manipulator at different arm lengths.

[0003] German patent application DE 22 24 349 A discloses an electropneumatic drive for robot arms where precise position control is required. A high-speed, multi-cylinder swashplate motor drives an elliptical cam ring, which generates a shaft in a flexible toothed ring that meshes with a rigid outer ring, thus achieving a significant reduction in rotational speed. The movement of the pneumatic motor is controlled by a deflector plate driven by the electric motor, which regulates the airflow to the slide valves and stops the motor immediately when the electric motor is switched off.

[0004] The publication EP 3 208 050 A1 discloses a modular SCARA robot with a flexibly mountable base structure. The robot base can be installed in both floor and ceiling mounting positions, with the work module always maintaining a consistent orientation. A modular arm system allows for easy adjustment of the reach by exchanging or combining intermediate elements. Furthermore, special sealing concepts and encapsulations enable operation in sensitive or humid environments.

[0005] The publication EP 3 002 089 A2 discloses a robot with a longitudinally curved arm whose length can be varied by exchanging coupling elements. The curvature of the arm significantly extends the working range of subsequent rotary arms. Different combinations of straight and curved segments allow the arm to be flexibly adapted to various application scenarios. The design also facilitates the routing of supply lines inside the arm.

[0006] The publication EP 2 979 827 A2 discloses a robot consisting of a base, a rotatably mounted arm, a balancer, and a coupling unit connecting the balancer to the base. The arm is rotatable about an axis of rotation that runs approximately parallel to the mounting surface, while the balancer is movably coupled between the base and the arm. The specific arrangement of the components largely prevents mutual interference between the arm and the balancer.

[0007] US patent 5,428,713 A further discloses a manipulator for a robot, consisting of several joint and arm modules that together form the main housing. Each joint module contains an identification signal transmitter that detects the module's position or orientation, while each arm module has a measuring signal transmitter for detecting length and bending direction. An integrated signal processing unit analyzes this data, whereupon a customized control program is started that optimally controls the manipulator in its assembled state.

[0008] Another known robot in the prior art has a forearm that is interchangeable with another of a different length, so that the robot's working area can be changed when the robot's working position is concentrated near or far from the robot's mounted position (see, for example, Publication JP S61 - 30 396 A).

[0009] The robot according to publication JP S61 - 30 396 A is designed such that several concentric hollow tubes, the opposite ends of which are equipped with wheels for transmitting a driving force from a motor, can be detached from the wheels at the opposite ends, so that by exchanging each hollow tube for another of a different length, the length of the forearm can be changed.

[0010] However, to change the length of the robot's forearm according to JP S61-30396A, several hollow tubes of varying lengths must be prepared as three shafts, transmitting power between a wrist section located at the distal end of the forearm and the wheel located at the base of the forearm. Furthermore, when replacing these three shafts, the hollow tubes must be precisely linked to the wheels at opposite ends to prevent misalignment. This requires a precisely designed attachable-removable structure and a time-consuming linking process, which is problematic due to the associated costs.

[0011] The present invention was undertaken in view of the circumstances described above, and one of its objectives is to provide a robot that has a reduced number of components and enables a simpler linking process without the need to dismantle or replace components that form a drive mechanism, so that the working area and forearm mode can be easily changed at low cost.

[0012] The problem described above is solved by a robot with the features of claims 1 and 13, by a method for changing the working area of ​​a robot or the size of a working area of ​​a wrist section of a robot according to claims 12 and 14, and by a method for manufacturing a robot according to claim 15. Advantageous embodiments of the invention are the subject of the dependent claims.

[0013] One aspect of the present invention provides a robot comprising: a first shaft unit in which a first motor drives a second element with respect to a first element; a second shaft unit in which a second motor drives a fourth element with respect to a third element, the fourth element having a longitudinal axis; and a fastening element which is detachably provided between the second element and the third element and which fastens the second element and the third element to one another, wherein the fastening element is detachably provided at different positions in the direction of the longitudinal axis or in a direction substantially perpendicular to the longitudinal axis with respect to at least one of the second element and the third element; and The working area of ​​a wrist section can be changed in size by changing a fastening position with respect to at least one of the second element and the third element.

[0014] According to this aspect, the third element of the second shaft unit is attached to the second element of the first shaft unit using the fastener. Therefore, the robot is designed to drive the second and third elements relative to the first element by actuating the first motor, and the fourth element relative to the second and third elements by actuating the second motor. Since the fastener between the second and third elements is detachable, it can be replaced with one of a different length, thus easily modifying the robot's working range.

[0015] In particular, the working range can be changed by simply repositioning the second shaft unit relative to the first shaft unit using the fastening element, without disassembling the second shaft unit, in which the second motor drives the fourth element relative to the third element. As a result, this can reduce the number of components and enable a simpler linking process, allowing the working range to be changed at low cost.

[0016] In the foregoing aspect, the robot may further comprise an intermediate element provided at least between the second element and the fastening element or between the third element and the fastening element in order to connect the two elements together.

[0017] Accordingly, the process of attaching and removing the fastener can be carried out more easily on the intermediate element.

[0018] In the foregoing aspect, the first shaft unit can be designed such that the second element is rotationally driven with respect to the first element, and the second shaft unit can be designed such that the fourth element is rotationally driven with respect to the third element.

[0019] Accordingly, a two-axis drive unit can be provided relatively easily.

[0020] In the above aspect, at least one of the first shaft unit and the second shaft unit can be driven linearly.

[0021] Accordingly, part of the robot can be operated linearly.

[0022] In the foregoing aspect, a rotational wave of the fourth element with respect to the third element may extend within a plane that is essentially perpendicular to a rotational wave of the second element with respect to the first element.

[0023] Accordingly, this can be applied to a robot in which two adjacent waves are essentially perpendicular to each other.

[0024] According to the invention, the fastening element is provided in a lockable manner at different positions with respect to at least one of the second element and the third element.

[0025] Accordingly, the same fastener can be used to attach the second and third elements to each other, further reducing the number of components and achieving cost savings.

[0026] In the foregoing aspect, the fastening element can be integrated with one of the second element and the third element and can be provided in a detectable manner at different positions in relation to the other of the second element and the third element.

[0027] Accordingly, one of the second and third elements and the fastening element are integrated together, further reducing the number of components and achieving a cost reduction.

[0028] In the above aspect, the fastening element may be able to fasten the second element and the third element to each other on opposite sides that flank the second element and the third element.

[0029] Accordingly, the third element can be attached to the second element according to a sandwich structure, thereby achieving increased stiffness.

[0030] In the above aspect, the fastening element can be made from a flat plate element.

[0031] Accordingly, the fastener made from a flat plate element can be easily manufactured at low cost, and by flipping the front and back of the fastener, the first shaft unit and the second shaft unit can be connected in different modes.

[0032] In the aforementioned aspect, at least part of the fastening element can be formed from a group of several beam elements and at least one reinforcing element. The several beam elements can serve as reinforcements between the second and third elements. The at least one reinforcing element can reinforce each beam element.

[0033] Accordingly, a lightweight fastener with sufficient strength can be provided.

[0034] In the above aspect, the group of beam elements or the reinforcement element can be linked using a bolt.

[0035] Accordingly, the fastening element can be replaced with another with a different offset amount according to the intended use of the robot by simply replacing some of the beam elements and the reinforcement element.

[0036] In the foregoing aspect, the second shaft unit can include a third motor that rotatably drives a fifth element relative to the fourth element, and can also include a fourth motor that rotatably drives a sixth element relative to the fifth element. The fourth, fifth, and sixth elements can form a wrist section.

[0037] Accordingly, the working area can be changed by simply repositioning the second shaft unit without disassembling the second shaft unit, which includes the fourth, fifth, and sixth elements forming the wrist section, as well as the second, third, and fourth motors that drive these elements. As a result, this can further reduce the number of components and also reduce the time required for the linking process, thereby achieving cost savings.

[0038] The present invention is advantageous in that it can reduce the number of components and enables a simpler linking process, so that the working area can be changed at low cost. {Short description of drawings} Fig. Figure 1 is a side view that schematically illustrates the overall design of a robot (short arm) according to an embodiment of the present invention. Fig. Figure 2 is a side view showing the overall design of the robot (long arm) in Fig. 1. Illustrated schematically. Fig. Figure 3 is a side view that schematically illustrates a wave configuration in which a first wave unit of the robot is located in Fig. 1 is offset in the opposite direction in the vertical direction. Fig. Figure 4 is a partial side view of the robot in Fig. 1. Fig. Figure 5 is a perspective view of a second wave unit of the robot in Fig. 1 when viewed from an angle below. Fig. Figure 6 is an expanded perspective view depicting a state in which bolts used to attach fasteners in Fig. 5 are used, removed. Fig. Figure 7 is a perspective view of the robot's second wave unit in Fig. 2 when viewed from an angle below. Fig. Figure 8 is a partial side view of the robot in Fig. 2. Fig. Figure 9 is a perspective partial view of the robot in Fig. 1 when viewed from an angle above. Fig. Figure 10 is a perspective partial view of a robot, achieved by placing the robot's second shaft unit in Fig. 9 was rotated vertically (and is also a perspective partial view of the second wave unit of the robot in Fig. 3. when viewed from an angle above). Fig. Figure 11 is a side view showing a modification of the robot in Fig. 2. represents. Fig. Figure 12 is a side view showing a modification of the robot in Fig. 1. represents. Fig. Figure 13 is a perspective partial view that shows an advantage of the robot in Fig. 1 represents. Fig. 14 is a partial side view, which shows the advantage in Fig. 13 represents. Fig. Figure 15 is a perspective partial view showing a different modification of the robot in Fig. 1. represents. Fig. Figure 16 is a side view showing a different modification of the robot in Fig. 1. represents. Fig. 17 is a perspective partial view of the robot in Fig. 16 when viewed from one direction. Fig. Figure 18 is a perspective partial view of the robot in Fig. 16 when viewed from a different direction. Fig. Figure 19 is a side view showing the overall design of another modification of the robot in Fig. 1 schematically represents.

[0039] A robot 1 according to an embodiment of the present invention is described below with reference to the drawings.

[0040] As in Fig. As shown in Figure 1, the robot 1 according to this embodiment is a six-axis articulated robot and comprises a base 2 to be installed on a floor surface, a rotating body 3 which is rotatable about a first axis A which is perpendicular to the base 2, a first arm (first element) 4 which is rotatable about a second axis B which is horizontal to the rotating body 3, a second arm 5 which is provided at the distal end of the first arm 4 and which is rotatable about a third axis C which is parallel to the second axis B, and a three-axis wrist (wrist section) 6 which is provided at the distal end of the second arm 5.

[0041] The second arm 5 comprises a motor (first motor) 7 attached to the distal end of the first arm 4, a first bracket (second element) 8 rotatable by the motor 7 about the third axis C with respect to the first arm 4, a second bracket (third element) 9, a motor (second motor) 10 rotating the wrist 6 with respect to the second bracket 9 about a fourth axis D extending within a plane perpendicular to the third axis C, and fastening elements 11 connecting the first bracket 8 and the second bracket 9 in a detachable manner.

[0042] In this embodiment, the first arm 4, the first bracket 8, which is mounted on the first arm 4 in a manner pivotable about the third axis C, and the motor 7, which drives the first bracket 8 rotatably about the third axis C, form a first shaft unit, and the second bracket 9, the wrist 6, which is mounted on the second bracket 9 in a manner rotatable about the fourth axis D, and the motor 10, which drives the wrist 6 rotatably about the fourth axis D, form a second shaft unit. The first shaft unit includes a power transmission mechanism (speed reduction mechanism) that transmits the power from the first motor 7 to the first bracket 8, and the second shaft unit includes a power transmission mechanism (speed reduction mechanism) that transmits the power from the second motor 10 to the second arm 5. In the example in Fig. 1 The power transmission mechanism is arranged between the first arm 4 and the first bracket 8, and the motor 7 and the first bracket 8 rotate together around the third axis C.

[0043] The wrist 6 consists of a base end shaft (fourth element) 16, which is rotatable about the fourth axis D by the motor 10, an intermediate shaft (fifth element) 17, which is rotatable with respect to the base end shaft 16 about an axis extending within a plane perpendicular to the fourth axis D, and a distal end shaft (sixth element) 18, which is rotatable with respect to the intermediate shaft 17 about an axis arranged within the same plane as the fourth axis D.

[0044] Two motors (a third motor and a fourth motor, neither of which are shown) that rotatably drive the two shafts 17 and 18 of the three shafts 16, 17 and 18 that form the wrist 6 at the distal end and the power transmission mechanism (not shown) are arranged inside the second arm 5.

[0045] In this embodiment, the fastening elements 11 are flat plate elements arranged such that they confine the first bracket 8 and the second bracket 9 from opposite sides, and are detachably fastened to the first bracket 8 and the second bracket 9 by means of bolts 12 (see Fig. 6) attached.

[0046] The fasteners 11 can be of a short type, shown in Fig. 1, or a long type, shown in Fig. 2, his.

[0047] The long fastening elements 11 are designed such that the distance between the mounting position on the first bracket 8 and the mounting position on the second bracket 9 is greater than that of the short fastening elements 11.

[0048] In particular, as in Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. Figure 8 shows the fastening elements 11 L-shaped flat plate elements which detachably fasten the first bracket 8 and the second bracket 9 to each other by means of the bolts 12 on opposite side surfaces which horizontally flank the first bracket 8 and the second bracket 9 which have the same width in the horizontal direction.

[0049] The operation of robot 1 according to this embodiment, which has the configuration described above, is described below.

[0050] As in Fig. 4 and Fig. As shown in Figure 5, in the robot 1 according to this embodiment, in a state in which the opposite side surfaces of the first bracket 8 of the first shaft unit and the second bracket 9 of the second shaft unit are clamped in the horizontal direction between a pair of short fastening elements 11 and are fastened by means of the bolts 12, the first bracket 8 and the second bracket 9 are linked to each other by the fastening elements 11, so that the entire second shaft unit can be pivoted about the third axis C with respect to the first arm 4 by actuating the motor 7.

[0051] From this state, the fasteners 11 are removed by loosening the bolts 12, as shown in Fig. 6 shown, and are exchanged for the long fastening elements 11, as shown in Fig. 7 and Fig. 8 shown. Then the long fastening elements 11 are attached using the bolts 12, so that the entire second shaft unit can be moved to the distal end of the wrist 6.

[0052] Accordingly, the working area can be changed to extend the maximum achievable position of the distal end of the wrist 6.

[0053] In this case, according to this embodiment, the entire second shaft unit of robot 1 can be moved forward without disassembling it to change the robot's working range. Since the second shaft unit may have a movable line extending to the motor to drive the wrist 6, or a power transmission mechanism to transfer power from the motor to the wrist 6, as in the prior art, an assembly and adjustment process is necessary if the second shaft unit is to be disassembled, replaced with one of a different size, and reassembled.

[0054] If the working area can be changed without disassembling the second shaft unit, as in this embodiment, the same components that make up the second shaft unit can be used both before and after the working area change. Therefore, the number of components can be reduced, and the time required for the adjustment and assembly processes can be reduced, which is advantageous because it significantly lowers costs. Furthermore, the use of flat plate elements as the fasteners 11 results in easier machinability and is advantageous because they can be manufactured at low cost.In a case where a motor is arranged inside the wrist 6, a motor drive line (not shown) can furthermore have an additional length between the first arm 4 and the second shaft unit within the motor 10 and the second arm 5 with respect to the displacement amount of the second shaft unit, so that the same line can be used.

[0055] In this embodiment, assuming that the top-bottom direction in the drawings represents the vertical direction, the first support 8 and the second support 9 can be fastened by the pair of fasteners 11, which are arranged at positions where they flank the first support 8 and the second support 9 in the horizontal direction. This is advantageous in that the second shaft assembly can be supported in a confined state, thus increasing its rigidity.

[0056] Furthermore, as in Fig. 7 and Fig. As shown in Figure 8, a space is formed between the two fastening elements 11 by moving the second shaft units forward. By using this space, for example a wire feed device 13 for feeding a wire, such as a welding wire, can be arranged in such a way that the robot 1 can be used as an arc welding robot.

[0057] Furthermore, as in Fig. As shown in Figure 13, in this embodiment the fastening elements 11, which are formed from L-shaped flat plate elements, are arranged on the opposite side surfaces of the first bracket 8 and the second bracket 9 in the horizontal direction, so that the fastening elements 11 are prevented from protruding from below the base end of the second shaft unit into an area which is in Fig. 14 is surrounded by a dashed line. This is advantageous in that interference with peripheral devices can be reduced.

[0058] As an alternative to this embodiment in which two types of fasteners 11, namely a short type and a long type, are used, three or more types of fasteners 11 can be prepared so that the working range can be changed in a stepwise manner.

[0059] Since the fasteners 11 are formed from flat plate elements, they can also be used by turning their front and back sides around. For example, as shown in Fig. 1 and Fig. Figure 9 shows the second shaft unit, which is arranged above the motor 7 that pivots the second arm 5, inverted vertically, as in Fig. 3 and Fig. 10 shown, and the first support 8 and the second support 9 are attached using the fasteners 11 which have been turned horizontally, so that a robot 1 which has a shaft design in which the fourth axis is reversed in the vertical direction can be formed.

[0060] According to the invention, a single type of fastening element 15, which has several through holes 14, can be prepared such that the fastening position on the second bracket 9 can be changed in the front-back direction, as shown in Fig. 11 and Fig. Figure 12 shows that, in addition to changing the mounting position on the second bracket 9, the mounting position on the first bracket 8 can also be changed.

[0061] In the case where several fastening positions are prepared for the single type of fastening element 15, as in Fig. 11 and Fig. As shown in Figure 12, the fastening element 15 can be formed in one piece with the first bracket 8 or the second bracket 9.

[0062] This is advantageous in that the number of components can be further reduced and cost savings can be achieved.

[0063] Furthermore, in this embodiment, the second shaft unit is supported in a confined state by attaching the fastening elements 11 to the opposite side surfaces that horizontally flank the first support 8 and the second support 9. Alternatively, the second shaft unit can be supported in a cantilevered manner by arranging a fastening element 11 on one of the side surfaces, as shown in Fig. 15 shown.

[0064] As an alternative to the structure in this embodiment, in which the second shaft unit is movable in the front-back direction at the position where the second arm 5 is attached to the first arm 4, the embodiment can be applied to a case in which the second axis about which the first arm 4 is pivotable with respect to the rotating body 3 is movable in the front-back direction, or to a case in which the second shaft unit is movable in the longitudinal direction of the first arm 4.

[0065] As an alternative to the flat plate elements used as fasteners 11 in this embodiment, the fasteners 11 used can have ribs to increase their strength. Furthermore, three or more fasteners 11 can be used for fastening.

[0066] As an alternative to the robot 1 according to this embodiment, in which the fourth axis D extends within a plane perpendicular to the third axis C, and in which the third axis C and the fourth axis D are arranged perpendicular to each other, the third axis C and the fourth axis D can be arranged parallel to each other, so that the plane perpendicular to the third axis C and the plane perpendicular to the fourth axis D are parallel to each other.

[0067] Furthermore, as in Fig. 16, Fig. 17 to Fig. Figure 18 shows that, in this embodiment, at least part of a fastening element 11 is formed from a group of several beam elements 19 connecting the first bracket 8 and the second bracket 9, and several reinforcing elements 20 reinforcing the multiple beam elements 19. Furthermore, the beam elements 19 and the reinforcing elements 20 can have several holes and lugs, allowing the mounting position to be changed. In this case, it is preferred that the group of beam elements 19 and reinforcing elements 20 be connected by means of bolts. As a result, the weight of the fastening element 11 can be reduced and its strength increased, and it can also be exchanged for another fastening element 11 with a different offset amount according to the intended use of the robot 1 by replacing some of the beam elements 19 and reinforcing elements 20.

[0068] Furthermore, as in Fig. 16, Fig. 17 to Fig. Figure 18 shows an intermediate element 21 for connecting two elements, at least between the first bracket 8 and the beam elements 19, or between the beam elements 19 and the second bracket 9. Therefore, it is not necessary to remove the fastening element 11 on an output shaft and reduce the sealing capability of a drive unit, thus simplifying the installation and removal process.

[0069] Although a six-axis articulated robot is described as the wave configuration of robot 1 in this embodiment, the embodiment is not limited to this configuration.

[0070] For example, the embodiment is also applicable to a seven-axis articulated robot in which an additional rotary shaft is added to the first arm 4. Fig. 1 in a direction in which the first arm 4 is rotated. The first arm 4 may be divided at an intermediate section, and the divided sections of the first arm 4 may be used as fasteners for a newly added single shaft unit.

[0071] This allows the length of the first arm (4) to be adjusted, and also allows the number of axes to be changed, for example, to six or seven axes. This is not limited to a vertical articulated robot and is also applicable to a SCARA-type robot, which is a horizontal articulated robot, or a parallel-jointed robot.

[0072] The first and second shaft units can alternatively be linear drive shafts instead of rotary shafts. Referring to a robot mounted on a drive shaft, for example, a mounting base of robot 1 can be used as a robot base offset from a sliding unit installation surface of the drive shaft, thus extending the working range of robot 1. In this case, the robot base can be used as a fastening element 11, making the offset amount adjustable and thereby adjusting the working range of robot 1.

[0073] In this embodiment, the first shaft unit is designed such that the first support 8 is rotatable about the third axis C with respect to the first arm 4, and the second shaft unit is designed such that the base end shaft 16 is rotatable about the fourth axis D with respect to the second support 9. Alternatively, the first shaft unit can be designed such that the first support 8 is driven with respect to the first arm 4, and the second shaft unit can be designed such that it drives the base end shaft 16 with respect to the second support 9.For example, the first shaft unit can be designed such that the first support 8 is driven linearly with respect to the first arm 4 in a direction extending along the third axis C, and the second shaft unit can be designed such that the base end shaft 16 is driven linearly with respect to the second support 9 in a direction extending along the fourth axis D. Furthermore, as in . Fig. Figure 19 shows that the first shaft unit used may be of a rotary drive type and the second shaft unit used may be of a linear drive type, or the first shaft unit used may be of a linear drive type and the second shaft unit used may be of a rotary drive type. List of reference symbols 1 robot 4 First arm (first element) 6 Wrist (wrist section) 8 First bracket (second element) 9 Second bracket (third element) 7, 10 motors (first motor, second motor) 11, 15 Fasteners 16 Basic end wave (fourth element) 19 beam elements 20 Reinforcing element 21 Intermediate element C Third axis (rotating shaft) C Fourth axis (rotating shaft)

Claims

[1] Robots (1), comprising: a first shaft unit in which a first motor (7,10) drives a second element (8) in relation to a first element (4), a second shaft unit in which a second motor (7, 10) drives a fourth element (16) with respect to a third element (9), the fourth element (16) having a longitudinal axis, and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) together, characterized by , that the fastening element (11, 15) is provided in a detectable manner at different positions in the direction of the longitudinal axis or in a direction substantially perpendicular to the longitudinal axis with respect to at least one of the second element (8) and the third element (9), and a working area of ​​a wrist section (6) can be changed in size by changing a fastening position with respect to at least one of the second element (8) and the third element (9). [2] Robot (1) according to claim 1, further comprising: an intermediate element (21) which is provided at least between the second element (8) and the fastening element (11, 15) or between the third element (9) and the fastening element (11, 15) to connect the two elements together. [3] Robot (1) according to claim 1 or 2, wherein the first shaft unit is designed such that the second element (8) is rotationally driven with respect to the first element (4), and wherein the second shaft unit is designed such that the fourth element (16) is rotationally driven with respect to the third element (9). [4] Robot (1) according to claim 1, wherein at least one of the first shaft unit and the second shaft unit is driven linearly. [5] Robot (1) according to claim 3, wherein a rotating shaft (C) of the fourth element (16) extends in relation to the third element (9) within a plane which is substantially perpendicular to a rotating shaft (C) of the second element (8) in relation to the first element (4). [6] Robot (1) according to any one of claims 1 to 5, wherein the fastening element (11, 15) is integrated with one of the second element (8) and the third element (9) and is provided in a detectable manner at different positions with respect to the other of the second element (8) and the third element (9). [7] Robot (1) according to any one of claims 1 to 6, wherein the fastening element (11, 15) is able to fasten the second element (8) and the third element (9) to each other on opposite sides flanking the second element (8) and the third element (9). [8] Robot (1) according to one of claims 1 to 7, wherein the fastening element (11, 15) is formed from a flat plate element. [9] Robot (1) according to any one of claims 1 to 8, wherein at least a part of the fastening element (11, 15) is formed from a group of several beam elements (19) and at least one reinforcing element (20), wherein the several beam elements (19) serve as reinforcements between the second element (8) and the third element (9), wherein the at least one reinforcing element (20) reinforces each beam element (19). [10] Robot (1) according to claim 9, wherein the group of beam elements (19) or the reinforcement element (20) is linked by means of a bolt. [11] Robot (1) according to any one of claims 1 to 10, wherein the second shaft unit comprises a third motor (7, 10) which rotatably drives a fifth element with respect to the fourth element (16), and also comprises a fourth motor (7, 10) which rotatably drives a sixth element with respect to the fifth element, and wherein the fourth element (16), the fifth element and the sixth element form a wrist section. [12] Method for changing the working area of ​​a robot (1) comprising a first shaft unit in which a first motor (7,10) drives a second element (8) in relation to a first element (4), a second shaft unit in which a second motor (7,10) drives a fourth element (16) in relation to a third element (9), and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) to each other in such a way that they do not move relative to each other, the method comprising: Replacing the fastening element (11, 15) for attaching the second element (8) and the third element (9) together with a different fastening element (11, 15) having a different length, in order to change the size of the working area of ​​a wrist section (6). [13] Robots (1), comprising: a first shaft unit in which a first motor (7,10) drives a second element (8) about an axis in relation to a first element (4), a second shaft unit in which a second motor (7,10) drives a fourth element (16) in relation to a third element (9), and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) to each other in such a way that they do not move relative to each other, wherein the fastening element (11, 15) is able to be attached in different positions in a direction substantially perpendicular to the axis with respect to at least one of the second element (8) and the third element (9), and wherein the size of a working area of ​​a wrist section (6) can be changed by changing a fastening position in relation to at least one of the second element (8) and the third element (9). [14] Method for changing the size of a working area of ​​a wrist section (6) of a robot (1) comprising a first shaft unit in which a first motor (7,10) drives a second element (8) in relation to a first element (4), a second shaft unit in which a second motor (7,10) drives a fourth element (16) in relation to a third element (9), and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) to each other in such a way that they do not move relative to each other, wherein the second element (8) is a first support (8), the third element (9) is a second support (9), the fastening element (11, 15) is configured to fasten the second element (8) and the third element (9) to each other on opposite sides flanking the second element (8) and the third element (9), the method comprising: Prepare several of the fastening elements (11, 15) of different lengths; and Attaching the second element (8) to the third element (9) using a fastener (11, 15) selected from the prepared fasteners (11, 15). [15] Method for manufacturing a robot (1) comprising a first shaft unit in which a first motor (7,10) drives a second element (8) in relation to a first element (4), a second shaft unit in which a second motor (7,10) drives a fourth element (16) in relation to a third element (9), and a fastening element (11, 15) which is provided in a detachable manner between the second element (8) and the third element (9) and which fastens the second element (8) and the third element (9) to each other in such a way that they do not move relative to each other, wherein the fastening element (11, 15) is configured to fasten the second element (8) and the third element (9) on side faces of the second element (8) and the third element (9) except on mutually facing sides, wherein the method comprises: Prepare several of the fastening elements (11, 15) of different lengths; and Attaching the second element (8) to the third element (9) by means of a fastening element (11, 15) selected from the prepared fastening elements (11, 15) to manufacture a robot (1) in which the size of a working area of ​​a wrist section (6) is different.

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