Positioning device for a robot and robot with a robot arm and an end effector

Abstract

The invention relates to a positioning device (7) for a robot (1) with a robot arm (3), the positioning device (7) comprising - an adjustment mechanism (8) which is designed to receive and position the robot (1) or the robot arm (3), and - a control device (6) which is designed to be driven by an end effector (4) and is operatively connected or operatively connectable to the adjustment mechanism (8), wherein the positioning device (7) is configured to adjust a position and / or an angle of the adjustment mechanism (8) by actuation by means of the control device (6). Furthermore, the invention relates to a robot (1) with a robot arm (3) which comprises such a positioning device. Furthermore, the invention relates to a robot (1) with one or more robot arms (3, 11), each comprising one or more robot arm segments (10, 12, 22).

Description

[0001] The invention relates to a positioning device for a robot, comprising a base, at least one first robot arm arranged on the base, and an end effector operatively arranged on a first robot arm segment of the first robot arm. Furthermore, the invention relates to a robot having a robot arm comprising such a positioning device. Furthermore, the invention relates to a robot having one or more robot arm segments.

[0002] JP 7142650 B2 discloses a robot-side fastening element comprising a mounting portion provided with a first protrusion and an end effector having a mounted portion provided with a second protrusion. The mounting portion and the mounted portion comprise a phase-determining part and a phase-determining groove into which the phase-determining part is inserted. When the mounted portion is rotated with respect to the mounting portion, the phase-determining portion comes into contact with the high-hardness element, and the first protrusion and the second protrusion are engaged. The end effector is attached to the robot-side fastening element, and the hardness of the high-hardness element is higher than the hardness of a peripheral portion of the high-hardness element in the phase-determining groove.

[0003] The object of the present invention is to further develop a positioning device for a robot and a robot in such a way that it is adaptable to different work areas, in particular when a mounting position of the robot with respect to its base has to be adjusted or the robot has to change its mechanical configuration.

[0004] This object is achieved by a positioning device having the features of claim 1. The object is further achieved by a robot having the features of claim 2. The object is further achieved by a robot having the features of claim 3. Preferred or advantageous embodiments of the invention emerge from the subclaims, the following description, and the accompanying figures.

[0005] A positioning device according to the invention for a robot having a robot arm comprises, according to a first aspect of the invention, an adjusting mechanism which is designed to receive and position the robot or the robot arm, and a control device which is designed to be drivable by an end effector and is operatively connected or operatively connectable to the adjusting mechanism, wherein the positioning device is designed to set a position and / or an angle of the adjusting mechanism by actuation by means of the control device.

[0006] A robot is understood to be a manipulator. Accordingly, at least the first robot arm, which carries the end effector and moves it in space, is also referred to as a manipulator arm. The robot can be a so-called humanoid robot or an articulated-arm robot, which has a base and several robot arm segments arranged one behind the other and connected to each other via joints, which together form a robot arm.

[0007] The robot is designed such that a control unit of the robot can control one or more drives for the relative positioning of the robot arm segments and the end effector in space. Each of the joints can be designed as a rotary joint. Each robot arm segment is designed to absorb forces and moments, which act in particular on the end effector, and to transmit them from one joint to a subsequent joint up to the base. In addition, forces and moments originating from the dead weight of the robot arm are also transmitted to the base of the robot. For this purpose, each robot arm segment of the robot arm has at least one structural part designed to absorb and transmit these forces and moments.

[0008] A robot arm segment is a part of a robot arm responsible for specific movements or functions. It can be viewed as a simplified representation of a robot arm section, represented, for example, as a line segment with an associated radius. Multiple robot arm segments can be connected to each other via joints, with drives provided within the joints to adjust relative positions between the robot arm segments.

[0009] The end effector (also called “End Of Arm Tool” or EOAT for short) is a peripheral device that forms a kind of wrist of the robot arm. The end effector can take different forms. The end effector can be designed as a gripper, process tool, or sensor. It enables the robot to grasp, process, or inspect objects. The end effector is the tool or device that the robot uses to perform its tasks, while the robot arm carries and moves the end effector. The end effector can be a tool guide unit. The tool guide unit can be a rotary actuator. A tool guide unit is a unit designed to hold, guide, and drive at least one tool.The end effector is configured to be connected to the control device, at least in terms of control technology, wherein the control device in this case has its own drive unit. In one embodiment, the end effector is configured to be additionally connected to the control device in terms of drive technology, wherein the control device in this case does not require its own drive unit.

[0010] In particular, if the robot has to perform multiple tasks and its workspace needs to be adjusted, it may be necessary to adjust the mounting position of the robot relative to the base. Furthermore, a change in a mechanical configuration may be required, which may also require a change in the position and / or orientation of parts of the robot. For example, the positioning device proposed here can be used to adjust the angle of a camera mounted on a robot head, an installation position of the robot, a height and / or a horizontal position of the robot or the robot arm. In this way, it is possible to adjust the mounting position of the robot relative to the base or the mounting position of certain parts relative to the robot arm using active degrees of freedom.

[0011] The control device is to be understood as an operable control part, for example in the form of a rotary knob or the like. The control device is designed to be control-technically connectable to the end effector. In other words, the control device can be brought into connection with the end effector when the end effector is coupled to the control device. The control device can comprise its own drive, wherein the end effector merely transmits command signals. Alternatively, the end effector comprises a drive, wherein the drive power of the end effector can be transmitted to the adjustment mechanism via the control device. The drive can be controlled by the robot's controller. The control device can therefore be driven or actuated by the end effector.The end effector can be used to manipulate the control device such that the adjustment mechanism is actuated to adjust the position or angle of a part, segment, or device of the robot. This is understood by the wording "designed to be driven by the end effector." The control device is therefore an actuator, with drive power being transferable either from the control device itself or from the end effector and via the control device to the adjustment mechanism of the positioning device.

[0012] The adjustment mechanism can be a gear stage or the like that converts a drive power such that an angle or position of a part, segment, or device of the robot or robot arm is adjusted. This allows, in particular, an assembly position of the robot or a fastening position of a robot part to be adjusted. The adjustment mechanism converts a drive power of the control device in order to position or align the part, segment, or device of the robot depending on the arrangement and design of the positioning device or the adjustment mechanism.

[0013] In this context, the term "operatively connected" or "operative connection" refers in particular to a non-switchable connection between two components which is intended for the permanent transmission of a rotational speed and / or a torque. The connection can be direct, i.e. immediately, or indirect, for example via a fixed gear ratio. The connection can be made, for example, via a fixed shaft, a gear toothing, in particular a spur gear toothing, and / or a belt or traction device, in particular chains or belts. In the case of an indirect connection, another component can be arranged between the two components. For example, further shafts and / or gears can be operatively arranged between two shafts. In this sense, the control device is inseparably connected to the adjustment mechanism.

[0014] In contrast, "operatively connectable" means manually connectable and detachable. Accordingly, in one alternative of the invention, the control device is detachably connectable to the adjustment mechanism. Accordingly, in one development of the invention, the end effector has means for temporarily receiving the control device. Alternatively or additionally, the control device has means for temporarily fastening it to the end effector. The means for receiving and the means for fastening are torque-transmitting components that are detachably connected to one another. This can be, for example, a plug-in connection that creates a positive fit in the circumferential direction and enables unhindered axial relative movement.

[0015] According to a second aspect of the invention, a robot comprises a base, a first robot arm arranged on the base, an end effector operatively arranged on a first robot arm segment of the robot arm, and a positioning device according to the first aspect of the invention, wherein the adjustment mechanism is a linear drive, wherein the base of the robot is arranged on a movable carriage of the positioning device.

[0016] The base of the robot serves as the main body of the robot, to which at least one robot arm, preferably several robot arms, can be attached and controlled separately from one another. The base of a robot refers to the basic structure or platform on which the robot is built and from which it performs its tasks. The base can contain various components such as sensors, actuators and information processing units. The respective robot arm can be pivotably mounted on the base. Alternatively or additionally, a robot arm segment arranged on the base can be fixedly mounted thereto. The end effector is arranged at the end of the robot arm opposite the base. A joint can be arranged between the end effector and an adjacent robot arm segment.

[0017] The adjustment mechanism embodied as a linear drive in the second aspect of the invention can, for example, be a ball screw drive, with the robot base being arranged on a displaceable carriage of the positioning device. For example, the control device can transmit a rotary motion to a threaded spindle of the linear drive, converting the rotary motion of the threaded spindle into an axial or longitudinal movement of a threaded nut. The threaded nut can be connected to the carriage in a rotationally fixed manner. Thus, when the adjustment mechanism is actuated, the position of the base, and thus of the entire robot arm, is changed.

[0018] The linear drive, also called a linear actuator, is a device that converts a rotary motion of the control device into a linear motion. This enables the carriage mounted on it to move in a straight line. The carriage is a platform on which the robot's base is mounted, particularly detachably. The base can thus be mounted detachably, i.e., replaceably, on the linear carriage. The linear carriage can be guided along a guide device, particularly a guide rail.

[0019] Preferably, the control device comprises a ratchet mechanism. The ratchet mechanism takes into account the limited range of motion of the end effector and the ease of repeated manipulation. The ratchet mechanism is particularly to be understood as a one-way pawl mechanism that allows movement in only one direction and prevents movement in the opposite direction. It can consist of a ratchet wheel and a pawl. The ratchet wheel therefore has teeth that allow rotation in one direction, while the pawl engages the teeth to prevent reverse movement. The ratchet mechanism can be detachably connected to the adjustment mechanism. In this case, the control device is only brought into operative connection with the adjustment mechanism via the end effector when positioning or angular alignment of the respective part, segment, or device of the robot is required.In this case, the control device can be gripped or picked up by the end effector and then connected to the adjustment mechanism. Depending on the design of the control unit, this can be done at least partially automated, preferably fully automated. The end effector can further actuate the control device to drive the adjustment mechanism to adjust a position or angle of the part, segment, or device of the robot.

[0020] According to one embodiment, the adjustment mechanism is operatively connected to the base of the robot, preferably non-detachably connected. The base can be mounted on a displaceable and / or rotatable component of the adjustment mechanism. By actuating the adjustment mechanism using the control device, a position in three-dimensional space, an angle of the base, for example, an angle of inclination of the base, or both a position and an angle of the base can be adjusted.

[0021] According to a third aspect of the invention, a robot comprises a first robot arm, an end effector which is operatively arranged on a first robot arm segment of the first robot arm, an adjustment mechanism which is configured to receive and position a robot arm segment of the robot arm or of a further robot arm, and a control device which is designed to be drivable by the end effector and is operatively connected or operatively connectable to the adjustment mechanism, wherein the adjustment mechanism is configured to adjust a position and / or an angle of the further robot arm segment of the first robot arm or the robot arm segment of the further robot arm by actuation by means of the control device.

[0022] Accordingly, the control device can transmit drive power to the adjustment mechanism, which can be arranged on a further robot arm segment of the first robot arm, a robot arm segment of a further, in particular second, robot arm, or a joint between two robot arm segments. Furthermore, reference is made to the above statements regarding the second aspect of the invention, which are analogously applicable and transferable to the third aspect of the invention.

[0023] Preferably, the adjustment mechanism is arranged on a further robot arm segment of the first robot arm or on a robot arm segment of the further robot arm. Here, too, the adjustment mechanism can be or comprise a linear drive, for example, to adjust a longitudinal position of the second robot arm segment of the first robot arm or of the robot arm segment of the further robot arm. Alternatively or additionally, the adjustment mechanism can be or comprise an articulated gear, which, upon actuation, is configured to adjust a relative angle of a robot arm segment to a further robot arm segment connected to it.The third aspect of the invention is intended to clarify that the control device can also be arranged on individual parts or segments of the robot, in particular the robot arm, in order to adjust an angle and / or a position, for example, of a robot arm segment of a first robot arm relative to a robot arm segment of the same robot arm or of another robot arm by actuating the adjustment mechanism.

[0024] Preferably, means for environmental detection are arranged on the robot arm segment of the further robot arm. The means for environmental detection can comprise a camera, a sensor, and / or other detection devices. By actuating the adjustment mechanism by means of the control device and the associated adjustment of the position or angle of the robot arm segment of the further robot arm, a field of view of the robot arm or the respective robot arm segment can be adjusted.

[0025] The robot preferably comprises at least one encoder configured to detect an angle of rotation of a driving component or a driven component of the control device or the adjustment mechanism. If the adjustment mechanism is a linear drive, the encoder can detect or measure, for example, an angle of rotation of the ball screw. Alternatively or additionally, the encoder can detect or measure an angle of rotation of a drive part of the control device. The detected data from the encoder can be made available to a control system, in particular the control unit of the robot, in order to improve control of the end effector, the control device, and / or the adjustment mechanism. This allows a so-called "feedback control" function to be implemented. This refers to the continuous monitoring and adaptation of a system based on feedback or information about the current state of a system.Feedback loops are used to control and regulate the system. The encoder thus provides the feedback information to improve the accuracy of the previously described adjustment of the robot part, segment, or device.

[0026] The control system comprises an evaluation and control unit configured to receive and / or request data from the encoder, the environment detection means, and / or the robot's drives, as well as to generate command signals and send them to at least one drive to control the robot, in particular the robot arm. The respective drive is controllable and regulatable by the control system. The control system can control the end effector in such a way that the control device can be controlled to actuate the adjustment mechanism according to the above explanations.

[0027] It should be explicitly noted that the subject matter of the first and second aspects of the invention and the subject matter of the third aspect of the invention can be combined with one another. For example, a first positioning device or a first adjustment mechanism can be arranged on a base of the robot and a second positioning device or a second adjustment mechanism can be arranged on a robot arm segment, wherein a control device can be drive-effectively connected by the end effector either to the first positioning device or the first adjustment mechanism or to the second positioning device or the second adjustment mechanism, wherein the respective adjustment mechanism can be driven either directly or immediately by the control device or indirectly via the control device and the end effector in order to adjust a position and / or an angle of the base or a robot arm segment.

[0028] The invention can be applied to any type of robot having a robot arm with at least one adjustable part or robot arm segment.

[0029] The above definitions as well as explanations of technical effects, advantages and advantageous embodiments of the positioning device according to the invention according to the first aspect of the invention also apply mutatis mutandis to the robot according to the invention according to the second aspect of the invention and to the robot according to the invention according to the third aspect of the invention, and vice versa.

[0030] Further measures improving the invention are described in more detail below together with the description of two preferred embodiments of the invention with reference to the figures, wherein identical or similar components or elements are provided with the same reference numerals. Fig. 1 a schematic perspective view of a robot according to the invention according to a first embodiment with a positioning device according to the invention, and Fig. 2 a schematic perspective view of a robot according to the invention according to a second embodiment.

[0031] Fig. 1 shows a first embodiment of a robot 1 according to the invention, comprising a base 2 and a first robot arm 3 with a plurality of robot arm segments 5, 10, 13, wherein the robot arm 3 is pivotally mounted on the base 2. For simplicity, a detailed illustration of the joints is omitted. An end effector 4 is pivotally mounted on a first robot arm segment 5 of the first robot arm 3. The third robot arm segment 13 is assigned to the base 2 and pivotally connected thereto. The second robot arm segment 10 is arranged between the first and third robot arm segments 5, 13.

[0032] The robot 1 further comprises a positioning device 7, which has an adjustment mechanism 8 configured to receive and position the robot arm 3 of the robot 1. Furthermore, the positioning device 7 has a control device 6, which can be operatively connected to and driven by an end effector 4. The adjustment mechanism 8 is operatively connectable, i.e., detachably connectable, to the control device 6. The control device 6 is an actuator in the form of a rotary knob, which is designed as a ratchet mechanism. The adjustment mechanism 8 is designed as a linear drive, comprising an axially fixed and rotationally drivable spindle rod 14 and a threaded nut 15 that is axially displaceable along the spindle rod 14 and, in this case, is arranged in a rotationally fixed manner. The threaded nut 15 is rotationally fixedly connected to a longitudinally guided carriage 9, on which the base 2 of the robot 1 is mounted.

[0033] The end effector 4 is configured as a gripper, which is designed to grasp the control device 6, to receive it, and to move it in such a way that the control device 6 comes into operative connection with the adjustment mechanism 8. Depending on the configuration, the end effector 4 can have means for temporarily receiving the control device 6 and / or the control device 6 can have means for temporarily fastening it to the end effector 4. Fig. 1, a drive shaft 16 of the control device 6 is inserted into a torque-transmitting receptacle 17 of the positioning device 7 in order to drive the spindle rod 14 of the adjustment mechanism 8 in rotation. The receptacle can thus be connected to the drive shaft 16 in a torque-transmitting manner. Accordingly, the control device 6 is detachably connected to the adjustment mechanism 8. In other words, the control device 6 is operatively connected to the adjustment mechanism 8. The first robot arm 3, in particular the robot arm segments 5, 10, 13, and the end effector 4, are controlled by means of a control unit (not shown here).

[0034] The positioning device 7 is configured to adjust a position and / or an angle of the adjustment mechanism 8 by actuation by means of the control device 6. If the adjustment mechanism 8 has been brought into operative connection with the control device 6 or is in operative connection, the control device 6, if it comprises a drive such as an electric motor, can be driven or actuated either directly or, if the end effector comprises its own drive, via the end effector 4, so that the adjustment mechanism 8 can be actuated by the control device 6 to adjust the position or angle of a component of the robot 1.

[0035] In the present case, when the adjustment mechanism 8 is actuated, a longitudinal position of the carriage 9 or the base 2 of the robot 1 is set. The carriage 9 can be displaced along a guide rail 24 in the direction of an arrow 19 and in a direction opposite thereto. The guide rail 24 secures the carriage 9 against unwanted rotation about the axis of rotation of the spindle rod 14. Depending on the design of the positioning device 7 and the adjustment mechanism 8, as well as the connection of the adjustment mechanism 8 to the base 2, the adjustment mechanism 8 can also be configured to adjust an angle of the base 2, for example in relation to a surface on which the robot 1 is arranged, or to another tool (not shown here), or the like, by actuation by means of the control device 6.

[0036] The control device 6 further comprises an encoder 18 configured to detect a rotation angle of a driving component of the control device 6, in this case the drive shaft 16. The control unit can further use or process the information from the encoder 18 to improve the adjustment accuracy of the robot 1, in particular of the first robot arm 3. The encoder 18 can alternatively or additionally also be effectively integrated into the positioning device 7.

[0037] Fig. 2 shows a second embodiment of a robot 1 according to the invention. In the following, differences to the first embodiment according to Fig.1. The first robot arm 3 here comprises, for example, four articulated robot arm segments 5, 10, 13, 20. The first robot arm 3 is pivotably mounted on the base 2, which is understood here as the robot body. An end effector 4 is provided on the first robot arm segment 5. The third robot arm segment 13 is assigned to the base and pivotally connected to it. The second and fourth robot arm segments 10, 20 are arranged between the first and third robot arm segments 5, 13.

[0038] A second robot arm 11 is designed as a robot head, on which means for environmental detection 23, for example in the form of a camera, are arranged and connected to the control unit for signal transmission. The camera can be used to monitor the function of the end effector 4 during operation of the robot 1. The second robot arm 11 has several robot arm segments, of which two robot arm segments 12, 22 are shown here as examples and in a highly simplified manner. The first robot arm segment 12 of the second robot arm 11 is assigned to the base 2, and the second robot arm segment 22 of the second robot arm 11 is assigned to the means for environmental detection 23. The second robot arm 11 can of course also have more than two robot arm segments 12, 22. The robot 1 further comprises a third robot arm 21, which is designed essentially mirror-symmetrically to the first robot arm 3. Therefore, a detailed description of the third robot arm 21 is omitted.Everything said about the first robot arm 3 applies equally and analogously to the third robot arm 21.

[0039] The control device 6 can be an actuator in the form of a rotary knob, whereby the positioning device 7 in this case can be a device that sets a relative angle between the two robot arm segments 12, 22 of the second robot arm 11. The control device 6 is arranged or integrated here on the first robot arm segment 12 of the second robot arm 11. Accordingly, the control device 6 is permanently operatively connected to the adjustment mechanism 8. The control device 6 is thus inseparably connected to the adjustment mechanism 8 in a drive-effective manner.

[0040] The adjustment mechanism 8 is not shown in detail here. However, the adjustment mechanism 8 can, for example, be an articulated drive, for example in the form of a transmission stage that converts a drive power coming from the control device 6 to set a relative angle between the robot arm segments 12, 22. The end effector 4 can be brought into operative connection with the control device 6 by appropriate control of the first or third robot arm 3, 21, wherein the adjustment mechanism 8 is actuated by means of the control device 6 in order to set a relative angle of inclination between the robot arm segments 12, 22, whereupon the angle of the robot head is adjusted. This allows a perspective or a field of view of the camera on the robot head with the reference number 23 to be set. Thus, the positioning device 7 orthe adjustment mechanism 8 is configured to adjust an angle of a robot arm segment 12, 22 of a further robot arm 11 by actuation by means of the control device 6.

[0041] Analogous to the above embodiments, the control device 6 further comprises an encoder 18 which is configured to detect a rotation angle of a driving component of the control device 6 (not shown here).

[0042] The adjustment mechanism 8 can alternatively or additionally be designed as a linear drive or comprise a linear drive to adjust the position of the robot head relative to the other two robot arms 3, 21 when actuated accordingly. This also allows the camera perspective to be adjusted. For example, the height of the robot head relative to the ground can be adjusted. List of reference symbols 1 robot 2 Base 3 First robot arm 4 End effector 5 First robot arm segment of the first robot arm 6 Control device 7 Positioning device 8 Adjustment mechanism 9 sleds 10 Second robot arm segment of the first robot arm 11 Second robot arm 12 First robot arm segment of the second robot arm 13 Third robot arm segment of the first robot arm 14 spindle rod 15 threaded nut 16 Drive shaft of the actuating device 17 Torque-transmitting mount of the positioning device 18 encoders 19 Arrow 20 Fourth robot arm segment of the first robot arm 21 Third robot arm 22 Second robot arm segment of the second robot arm 23 means of environmental detection 24 guide rail QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 7142650 B2

[0002]

Claims

[1] Positioning device (7) for a robot (1) with a robot arm (3), the positioning device (7) comprising - an adjustment mechanism (8) which is designed to receive and position the robot (1) or the robot arm (3), and - a control device (6) which is designed to be drivable by an end effector (4) and is operatively connected or operatively connectable to the adjusting mechanism (8), wherein the positioning device (7) is designed to set a position and / or an angle of the adjusting mechanism (8) by actuation by means of the control device (6). [2] Robot (1), comprising: - a base (2), - a first robot arm (3) arranged on the base (2), - an end effector (4) which is operatively arranged on a first robot arm segment (5) of the robot arm (3), and a positioning device (7) according to claim 1, wherein the adjusting mechanism (8) is a linear drive, wherein the base (2) of the robot (1) is arranged on a movable carriage (9) of the positioning device (7). [3] Robot (1), comprising: - a first robot arm (3), - an end effector (4) which is operatively arranged on a first robot arm segment (5) of the first robot arm (3), - an adjustment mechanism (8) which is designed to receive and position a robot arm segment (10, 12, 22) of the robot arm (3) or of another robot arm (11), and - a control device (6) which is designed to be drivable by the end effector (4) and is operatively connected or operatively connectable to the adjusting mechanism (8), wherein the adjusting mechanism (8) is designed to adjust a position and / or an angle of the further robot arm segment (10) of the first robot arm (3) or of the robot arm segment (12, 22) of the further robot arm (11) by actuation by means of the control device (6). [4] Robot (1) according to claim 3, characterized by that the adjustment mechanism (8) is arranged on the further robot arm segment (10) of the first robot arm (3) or on the robot arm segment (12) of the further robot arm (11). [5] Robot (1) according to claim 4, characterized by that means for environmental detection (23) are arranged on the robot arm segment (12, 22) of the further robot arm (11). [6] Robot (1) according to one of claims 1 to 5, characterized bythat the control device (6) can be detachably connected to the adjustment mechanism (8). [7] Robot (1) according to claim 6 characterized by that the end effector (4) has means for temporarily receiving the control device (6) and / or that the control device (6) has means for temporarily fastening to the end effector (4). [8] Robot (1) according to one of claims 1 to 5, characterized by that the control device (6) is inseparably connected to the adjustment mechanism (8). [9] Robot (1) according to one of the preceding claims, characterized by an encoder (18) which is configured to detect a rotation angle of a driving component or a driven component of the control device (6) or of the adjustment mechanism (8). [10] Robot (1) according to one of the preceding claims, characterized by that the control device (6) comprises a ratchet mechanism.

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