ROBOT

Abstract

The robot comprises two segments arranged on either side of an interface and supported in such a way that they are relatively movable along the interface. Marking mounting surfaces are provided on the outer surfaces of both segments, with the outer surfaces extending along the direction in which the two segments intersect and forming an angle greater than 0° and less than 90° with respect to the interface. Each marking mounting surface has markings that are to be aligned with each other in the initial position.

Description

{Technical field}

[0001] The present revelation concerns a robot. {State of the art}

[0002] A robot is known in which two relatively rotatable links, forming a joint of the robot, have markings to be aligned with each other (see e.g. PTL 1).

[0003] The markings are provided on the links by attaching the marked seals to cutting surfaces consisting of planes provided on the links, or by engraving the markings directly onto the cutting surfaces. {Reference list}{Patent specifications}

[0004] [PTL 1] The Japanese patent application, publication no. 2011-218523 {Explanation of the invention} {Technical problem}

[0005] However, if the markings are located at the front of the robot, splashes or similar debris can easily adhere to them, potentially damaging them or rendering them illegible. Furthermore, it is desirable that the cutting surfaces where the markings are located can be machined without altering the fixed positions of the robot's components when the parts are machined by a common four-axis machining center. Additionally, it is desirable that the cutting surfaces for the two markings on the two components do not protrude significantly from the component surfaces and are aligned in the same plane when the markings are aligned. {Solution to the task}

[0006] According to one aspect, the present disclosure provides a robot with two limbs arranged on both sides of an interface and supported in such a way that they are relatively movable along the interface, wherein the limbs each comprise marking installation surfaces which are adjacent to each other in an initial position, the marking installation surfaces being provided on the outer surfaces of the two limbs, the outer surfaces extending along a direction in which the two limbs intersect and forming an angle with respect to the interface which is greater than 0° and less than 90°, and markings which are to be aligned with each other in the initial position being provided on the marking installation surfaces. {Brief description of the drawings} { Fig. 1] Fig. Figure 1 is a perspective view illustrating a robot according to one embodiment of the present disclosure. { Fig. 2] Fig. Figure 2 is a partially enlarged perspective view illustrating marking installation surfaces attached to a swivel body and a first arm of the in Fig. 1 robot shown are provided. { Fig. 3] Fig. Figure 3 is a front view showing the positions of the cutting surfaces of the swivel body of the in Fig. 1 illustrated robot. { Fig. 4] Fig. Figure 4 is a front view showing the positions of the cutting surfaces of the first arm of the in Fig. 1 illustrated robot. { Fig. 5] Fig. 5 is a front view showing a second arm and wrist unit of the in Fig. 1 illustrated robot. { Fig. 6] Fig. 6 is a partial front view illustrating a state in which camera units are mounted against marking installation surfaces of the panning body, the first arm, and the second arm of the in Fig. The robot shown in section 1 will be pressed. { Fig. 7] Fig. Figure 7 is a partial perspective view, which serves as a first comparative example for the one in Fig. The two depicted marking installation areas illustrate this. { Fig. 8] Fig. Figure 8 is a perspective partial view, which provides a second comparative example for the one in Fig. The two depicted marking installation areas illustrate this. { Fig. 8] Fig. Figure 9 is a perspective partial view, which serves as a first comparative example for the one in Fig. The two depicted marking installation areas illustrate this. { Fig. 10] Fig. Figure 10 is a perspective partial view, which is a third comparative example for the one in Fig. The two depicted marking installation areas illustrate this. {Description of the embodiments}

[0007] A robot 1 according to an embodiment of the present disclosure is described below with reference to the drawings.

[0008] As in Fig. As illustrated in Figure 1, the robot 1 in this embodiment is a vertical articulated robot comprising six rotary joints. The robot 1 comprises a base 2 mounted on a floor surface (installation surface) G, and a pivoting body (link) 3 supported such that it is rotatable about a vertical first axis A with respect to the base 2. Furthermore, the robot 1 comprises a first arm (link, arm) 4 supported such that it is rotatable about a horizontal second axis (axis) B with respect to the pivoting body 3.

[0009] Furthermore, the robot 1 comprises: a second arm (limb, arm) 5, which is supported in such a way that it is rotatable about a third axis (axis) C, which is parallel to the second axis B, in relation to the first arm 4; and a three-axis joint unit 6, which is arranged at a distal end of the second arm 5.

[0010] The wrist unit 6 comprises a first wrist element 7, which is rotatably supported about a fourth axis D, arranged in a plane perpendicular to the third axis C with respect to the second arm 5. Furthermore, the wrist unit 6 comprises a second wrist element 8, which is supported such that it is rotatable about a fifth axis E perpendicular to the fourth axis D with respect to the first wrist element 7. The wrist unit 6 also comprises a third wrist element 9, which is supported such that it is rotatable about a sixth axis F perpendicular to the fifth axis E with respect to the second wrist element 8.

[0011] Each pivot axis comprises two links that are rotatable relative to each other. For example, a first pivot joint comprises the pivot body 3, which rotates about the first axis A with respect to the base 2. Furthermore, a second pivot joint comprises the first arm 4, which rotates about the second axis B with respect to the pivot body 3. A third pivot joint comprises the first arm 4 and the second arm 5, which are rotatable about the third axis C with respect to each other.

[0012] A fourth pivot joint comprises the second arm 5 and the first wrist element 7, which are rotatable relative to each other about the fourth axis D. A fifth pivot joint comprises the first wrist element 7 and the second wrist element 8, which are rotatable relative to each other about the fifth axis E. A sixth pivot joint comprises the second wrist element 8 and the third wrist element 9, which are rotatable relative to each other about the sixth axis F.

[0013] In robot 1 of this embodiment, the second rotary joint and the third rotary joint in particular have certain features.

[0014] The pivoting body 3, which forms the second pivot joint, has an interface X1 with the base 2 and an interface X2 with the first arm 4. When the base 2 is mounted on the horizontal installation surface G, the interface X1 between the base 2 and the pivoting body 3 extends in a horizontal direction, and the interface X2 between the pivoting body 3 and the first arm 4 extends in a vertical direction.

[0015] Furthermore, the swivel body 3 has a hollow interior. This interior contains a first motor (not illustrated) comprising a shaft extending parallel to the first axis A, a second motor (not illustrated) comprising a shaft extending parallel to the second axis B, reduction gears, cables, etc. (not illustrated). The reduction gears can be of any type. For example, they can be planetary gears or hypoid gears. The swivel body 3 includes a cover 31 for opening and closing the interior.

[0016] As in the Fig. 1 and Fig. As shown in Figure 2, the cover 31 closes the interior of the swivel body 3 by being detachably attached with screws (not shown) to a mounting surface 32 that extends along a plane inclined to both the first axis A and the second axis B. Furthermore, when the cover 31 is removed, the interior is opened via an opening surrounded by the mounting surface 32, which is also inclined to both the first axis A and the second axis B. Accordingly, it is possible to attach and detach the first and second motors to the swivel body 3 in the directions of their respective shafts via this opening, and to perform the assembly and maintenance of the reduction gears, cables, etc.

[0017] As in Fig. As illustrated in Figure 3, the swivel body 3 comprises a cutting surface (first cutting surface) 33 extending along the interface X2 with the first arm 4 and forming a plane to which the reduction gear or a bearing is attached. Furthermore, the swivel body 3 comprises a cutting surface (second cutting surface) 34 extending along the interface X1 with the base 2 and forming a plane to which the reduction gear or a bearing is attached.

[0018] Within the interior of the swivel body 3, the interior being located at the rear faces of these cutting surfaces 33 and 34, cutting surfaces (secondary cutting surfaces, not shown) are formed, which are defined by planes to which the first motor, the second motor, the reduction gears, etc., are attached. Furthermore, the swivel body 3 includes a cutting surface (secondary cutting surface) formed by a plane that represents the mounting surface 32, to which the cover 31 is detachably attached.

[0019] As in Fig. As shown in Figure 4, the first arm 4 comprises a circular first mounting surface 42 extending along the interface X2 with the swivel body 3 and attached to the cutting surface 33 of the swivel body 3 such that it is rotatable about the second axis B by means of the reduction gear or the bearing. Furthermore, the first arm 4 comprises a circular second mounting surface 43 extending along an interface X3 with the second arm 5 and attached to the second arm 5 such that it is rotatable about the third axis C by means of a reduction gear or a bearing.

[0020] The first mounting surface 42 and the second mounting surface 43 of the first arm 4 are parallel cutting surfaces. The first arm 4 comprises a hollow cylindrical first arm body 41, which is connected longitudinally at both ends to the first mounting surface 42 and the second mounting surface 43.

[0021] As in Fig. As illustrated in Figure 5, the second arm 5 comprises: a second arm base part 51, which is attached to the first arm 4 so that it is rotatable about the third axis C; and a second arm body 52, which is attached to the second arm base part 51. The second arm base part 51 comprises a mounting surface 53, which extends along the interface X3 with the first arm 4 and which is attached to the second mounting surface 43 of the first arm 4, so that it is rotatable about the third axis C by means of the reduction gear or the bearing.

[0022] Furthermore, the second arm base part 51 comprises a mounting surface 54 extending in a direction perpendicular to the fourth axis D, to which the second arm body 52 is attached. In addition, the second arm base part 51 comprises: a cutting surface located on the rear surface of the mounting surface 54, to which a third motor, a reduction gear, etc., are attached; and a mounting surface 56 to which a cover 55 is attached for covering these components.

[0023] Furthermore, as shown in the Fig. Figures 3 to 5 illustrate the swivel body 3, the first arm 4, and the second arm base part 51 marking installation surfaces 10, 11, 12, and 13, on which markings 10a and 11a are provided for alignment. As shown in Fig. As illustrated in Figure 2, the marking installation surface 10 of the swivel body 3 is provided at an upper end of the swivel body 3 when the base 2 is mounted on the horizontal installation surface G.

[0024] Furthermore, the marking installation surface 10 of the swivel body 3 is a plane inclined in such a direction that it gradually rises towards the interface X2 with the first arm 4 in the direction of the second axis B when the base 2 is mounted on the horizontal installation surface G. The inclination angle θ1 of the marking installation surface 10 of the swivel body 3 with respect to a horizontal plane is greater than 0° and less than 90°, is preferably equal to or greater than 15° and equal to or less than 75°, and is even more preferably equal to or greater than 30° and equal to or less than 60°.

[0025] The marking installation surface 10 of the swivel body 3 is a cutting surface formed by machining part of a projection 3a that extends upwards from an outer surface of an upper part of a metal casting forming the swivel body 3.

[0026] The marking installation surfaces 11 of the first arm 4 are each provided on the outer surfaces at both ends of the first arm body 41 near the boundary positions between the first arm body 41 and the first mounting surface 42, and between the first arm body 41 and the second mounting surface 43. The marking installation surface 11 of the first arm 4 that is close to the first mounting surface 42 is a plane inclined in such a direction that it gradually approaches the interface X2 with the pivoting body 3 from the outer surface of the first arm body 41 in the direction of the second axis B. The angle of inclination (angle) θ2 of the marking installation surface 11 of the first arm 4 that is close to the first mounting surface 42, with respect to the second axis B, is the same as the angle θ1.

[0027] Furthermore, the marking installation surface 12 of the first arm 4, located near the second mounting surface 43, is a plane inclined in such a direction that it gradually approaches the third axis C from the outer surface of the first arm body 41 in the direction of the third axis C towards the interface X3 with the second arm base part 51. The angle of inclination (angle) θ3 of the marking installation surface 12 of the first arm 4, located near the second mounting surface 43, with respect to the third axis C, is also greater than 0° and less than 90°, preferably equal to or greater than 15° and equal to or less than 75°, and even more preferably equal to or greater than 30° and equal to or less than 60°.

[0028] The marking installation surfaces 11 and 12 of the first arm 4 are also cutting surfaces formed by machining parts of the projections 4a and 4b that protrude from the outer surfaces of the first arm body 41 made of a cast metal forming the first arm 4, the outer surfaces being located near the first mounting surface 42 and the second mounting surface 43, respectively.

[0029] Furthermore, as in Fig. Figure 5 illustrates that the marking installation surface 13 of the second arm 5 is provided on a cylindrical outer surface located vertically below the circular mounting surface 53, which extends along the interface X3 with the first arm 4 when the fourth axis D is horizontal. The marking installation surface 13 of the second arm 5 is a plane extending parallel to the fourth axis D and gradually inclined away from the cylindrical surface of the second arm 5 along the third axis C towards the interface X3 with the first arm 4.

[0030] The inclination angle (angle) θ4 of the marking installation surface 13 of the second arm 5 with respect to the third axis C is the same as the angle θ3. The marking installation surface 13 of the second arm 5 is also a cutting surface formed by machining a portion of a projection 5a that protrudes from an outer surface of a metal casting from which the second arm 5 is made.

[0031] As in Fig. As illustrated in Figure 2, the marking installation surface 10 of the swivel body 3 and the marking installation surface 11 of the first arm 4, which is located near the first mounting surface 42, are adjacent to each other and are arranged in the same plane when the robot 1 is in its starting position. Furthermore, the marking installation surface 12 of the first arm 4, which is located near the second mounting surface 43, and the marking installation surface 13 of the second arm base part 51 are also adjacent to each other and are arranged in the same plane when the robot 1 is in its starting position.

[0032] The other rotary joints also include marking installation surfaces that are arranged in the same plane when robot 1 is in the starting position.

[0033] As in Fig. As illustrated in Figure 2, the markings 10a and 11a are attached to the marking installation surfaces 10 and 11 by affixing metal plates 10b and 11b, which have markings such as marking lines in their center, using adhesive. Alternatively, the markings 10a and 11a can also be applied by engraving marking lines directly onto the marking installation surfaces 10 and 11. The markings 10a and 11a are positioned so that the marking lines on the adjacent marking installation surfaces 10 and 11 are aligned in a straight line when the robot 1, on which the mastering was performed, is in its starting position.

[0034] The functionality of the robot 1 configured in this embodiment is described below.

[0035] According to this embodiment, when the robot 1, on which the mastering was performed, is in the starting position, the marking lines of the markings 10a and 11a, which are respectively attached to the swivel body 3 and the first arm 4, are arranged on a straight line, and the marking lines of the markings 10a and 11a, which are respectively attached to the first arm 4 and the second arm 5, are also arranged on a straight line.

[0036] Accordingly, after replacing the motor(s) or reduction gear(s), an operator defines a starting position in which markings 10a and 11a are arranged in straight lines, thus making mastering easy.

[0037] In this embodiment, the markings 10a and 11a, provided on the swivel body 3 and the first arm 4, are arranged on an upper surface of the swivel body 3 and a side surface of the first arm 4, respectively. Since the markings 10a and 11a are not located on the front surfaces of the robot 1, this has the advantage that spatter generated during welding with the robot 1 hardly adheres to the markings 10a and 11a, thus preventing contamination of the markings 10a and 11a.

[0038] Whether the markings, such as the marking lines that serve as markings 10a and 11a, are arranged exactly in straight lines is confirmed by visual inspection or by capturing images with camera units 60 that are pressed against the marking installation surfaces 10, 11, 12 and 13.

[0039] According to this embodiment, since the marking installation surfaces 10, 11, 12 and 13 are inclined with respect to the second axis B and the third axis C, the following advantageous effects are achieved.

[0040] First, as in Fig. Figure 6 illustrates that the camera units 60 are arranged in positions located away from the outer surfaces of the swivel body 3, the first arm 4, and the second arm 5. This has the advantage that the outer surfaces of the swivel body 3, the first arm 4, and the second arm 5 do not present any obstacles when the camera units 60 are pressed against the marking installation surfaces 10, 11, 12, and 13, thereby improving work efficiency.

[0041] Secondly, if the alignment of markings 10a and 11a is to be confirmed by visual inspection or using camera units 60, and the marking installation surfaces 10, 11, 12, and 13 are inclined, it is possible to position markings 10a and 11a in easily visible locations, compared to a case where the marking installation surfaces 10, 11, 12, and 13 are arranged horizontally or vertically. That is, if the marking installation surfaces 10, 11, 12, and 13 are arranged horizontally, an operator must view markings 10a and 11a directly from above or below for confirmation. If the marking installation surfaces 10, 11, 12 and 13 are arranged vertically, it is also difficult to confirm, in particular, the marking installation surfaces 10, 11, 12 and 13 between the first arm 4 and the second arm 5, which are located at a great height, from the side.If, on the other hand, the marking installation areas 10, 11, 12 and 13 are arranged at an angle, the advantage is that confirmation can be carried out relatively easily from an angle above or below.

[0042] Thirdly, the marking installation surfaces 10, 11, 12, and 13 can be arranged diagonally at a corner where the swivel body 3 and the first arm body 41 intersect, and at a corner where the second arm base part 51 and the first arm body 41 intersect at each of the interfaces X2 and X3. Accordingly, the advantage is that the marking installation surfaces 10, 11, 12, and 13 do not need to project significantly beyond the outer surfaces of the swivel body 3, the first arm 4, and the second arm 5. As shown, for example, in a comparative example in Fig. As shown in Figure 7, in the case where marking installation surfaces 70 and 71 are provided in a direction perpendicular to the second axis B, cuboid projections 72 and 73 must be provided which protrude strongly from the outer surfaces of the swivel body 3 and the first arm body 41, respectively.

[0043] Furthermore, for example, as in a comparative example in Fig. Figure 8 shows that when marking installation surfaces 80 and 81 are provided on the pivoting body 3 and the first arm 4, which run horizontally in the initial position, the dimensions of the projections 82 and 83 for the marking installation surfaces 80 and 81 are reduced. However, machining the marking installation surfaces 80 and 81 in the first arm 4 is difficult because the first arm body 41 is located nearby. Furthermore, the nearby first arm body 41 obstructs the process if the marking installation surfaces 80 and 81 are located in the first arm 4. Fig. The camera unit shown is arranged in 60 positions, thus reducing work efficiency.

[0044] Furthermore, as in a comparative example in Fig. Figure 9 shows that when a horizontal marking installation surface 90 is provided on the swivel body 3 and a vertical marking installation surface 91 is provided on the first arm 4, the extent of the projection of the projections 92 and 93 for the marking installation surfaces 90 and 91 is also reduced. In this case, however, the marking installation surfaces 90 and 91 are not arranged in the same plane at the initial position; therefore, it is impossible to accurately confirm the alignment of the markings 10a and 11a when viewed diagonally. Furthermore, it is also not possible to perform the aforementioned confirmation using the camera unit 60.

[0045] Furthermore, the marking installation surface 10, which is inclined upwards towards the first mounting surface 42 along the second axis B, is provided at an upper end of the swivel body 3, as shown in Fig. 3 shown, which also results in an advantage when machining the swivel body 3. That is, as in Fig. As shown in Figure 3, the plurality of cutting surfaces 32, 33 and 34 and the marking device surface 10 of the swivel body 3 all extend in a direction parallel to a straight line extending in the forward-backward direction of the robot 1, that is, they extend in the direction perpendicular to the plane of Fig. 3. This direction is, for example, the direction of the cutting line between the cutting surface 33, to which the first arm 4 is attached, and the cutting surface 34, which is attached to the base 2.

[0046] In the case where the swivel body 3 is to be machined using a four-axis machining center with a single-axis rotary table and a three-axis motion mechanism, the swivel body 3 is attached to the rotary table, with a straight line of it extending in the forward-backward direction of the robot 1, aligned with a rotary axis M. Accordingly, the advantage is that the machining of all cutting surfaces 32, 33, and 34 and the marking installation surface 10 can be carried out in a single arrangement.

[0047] In the swivel body 3, in the case where the marking installation surface 10 is located in a position other than directly above the circular cutting surface 33 to which the first arm 4 is attached, it is necessary to perform the machining of the marking installation surface 10 using a different arrangement than the machining of the other cutting surfaces 32 and 34. This increases the machining effort and reduces productivity.

[0048] Furthermore, as in Fig. As shown in Figure 4, the mounting surfaces 42 and 43, which represent a plurality of cutting surfaces of the first arm 4, and the two marking installation surfaces 11 and 12 all extend in a direction parallel to a plane perpendicular to the plane enclosing the second axis B and the third axis C. This direction is perpendicular to the plane of Fig. 4.

[0049] In the case where the first arm 4 is to be machined by a 4-axis machining center which includes a single-axis rotary table, the first arm 4 is attached to the rotary table by a straight line of the same, perpendicular to the plane of Fig. 4 runs, is aligned with a rotational axis N. Accordingly, it is advantageous that the machining of all cutting surfaces 42 and 43 and the marking installation surfaces 11 and 12 can be carried out in one arrangement.

[0050] It should be noted that in this embodiment, the marking installation surfaces 10, 11, 12, and 13 in the second and third pivot joints have been described as examples, with the outer surface of the first arm body 41 located near the interface X2 with the pivot body 3 and the interface X3 with the second arm 5, respectively. However, this is not limited to this, and it is also possible to use a similar structure in the first pivot joint or in the fourth to sixth pivot joints.

[0051] Furthermore, although an example is illustrated in this embodiment in which the marking installation surface 10 and the marking installation surface 11 are adjacent and arranged in the same plane when the robot 1 is in its starting position, the marking installation surface 10 and the marking installation surface 11 need not be strictly arranged in the same plane. In particular, the marking installation surface 10 and the marking installation surface 11 can also be arranged side by side, with a tiny step or relative inclination between the planes, when the robot 1 is in its starting position. Likewise, the marking installation surfaces 12 and 13 can also be arranged side by side, with a tiny offset or relative inclination between the planes, when the robot 1 is in its starting position.

[0052] Furthermore, the marking installation surfaces 10, 11, 12 and 13 provided on the pivot body 3, the first arm 4 and the second arm 5, are illustrated as those formed by machining the projections 3a, 4a, 4b and 5a, which are integral with the cast metals forming the pivot body 3, the first arm 4 and the second arm 5. Alternatively, one or more parts with the corresponding marking installation surface(s) 10, 11, 12 and 13 can be attached to at least one of the pivot bodies 3, the first arm 4 or the second arm 5 by fasteners such as screws.

[0053] Furthermore, although the markings such as the marking lines have been illustrated as markings 10a and 11a, any other markings such as triangles with points or circular dots can be used instead.

[0054] Furthermore, although a six-axis vertical articulated robot with six rotary joints is illustrated as Robot 1 in this embodiment, a horizontal articulated robot can also be used instead. A robot with a linear shaft can also be used.

[0055] In particular, as in Fig. As illustrated in Figure 10, a robot with a linear motion shaft comprises a base (link) 2, a slider (link) 21 which is supported by the base 2 in such a way that it is translationally movable, and a linear motion shaft 22 which is attached to the slider 21 and has an interface X4 between the base 2 and the slider 21.

[0056] Marking installation surfaces 23 and 24 are provided on the outer surfaces of the base 2 and the slide 21, on which markings 23a and 24a are attached for alignment. The marking installation surfaces 23 and 24 are designed such that when the slide 21 is moved translationally with respect to the base 2 along an axis extending along the interface X4, and the robot on which the mastering was performed is in its starting position, the marking lines of the markings 23a and 24a on the adjacent marking installation surfaces 23 and 24 are aligned in the same straight line.

[0057] Although the inclination angles of the marking installation surfaces 10, 11, 12 and 13 are preferably about 45°, any angle greater than 0° and less than 90° may be chosen.

[0058] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, and partial eliminations can be made to these embodiments without deviating from the scope of the invention or from the idea and core of the present invention as defined in the scope of the claims and their equivalents. For example, the sequence of operations and the sequence of processing steps are illustrated by way of example in the embodiments described above, and the present disclosure is not limited thereto.

[0059] The following remarks are made in connection with the embodiments and modified examples described above. (Note 1)

[0060] Robots with two limbs arranged on both sides of an interface and supported in such a way that they are relatively movable along the interface, wherein the limbs each comprise marking installation surfaces adjacent to each other at a starting position, the marking installation surfaces each being provided on the outer surfaces of the two limbs, the outer surfaces extending along a direction in which the two limbs intersect and forming angles greater than 0° and less than 90° with respect to the interface, and markings to be aligned with each other at the starting position each being provided on the marking installation surfaces. (Note 2)

[0061] The robot according to Note 1, wherein the marking installation surfaces are adjacent to each other and arranged in the same plane at the starting position. (Note 3)

[0062] Robot according to Note 2, wherein at least one of the elements comprises a first cutting surface formed from a plane extending along the interface and at least a second cutting surface formed from a plane extending in a direction intersecting the first cutting surface, and the marking installation surfaces extend in a direction parallel to a line of intersection between the first cutting surface and the second cutting surface. (Note 4)

[0063] The robot according to one of Notes 1 to 3, wherein the two limbs are supported in such a way that they are relatively rotatable about an axis perpendicular to the interface. (Note 5)

[0064] Robot according to one of Notes 1 to 3, wherein the two limbs are supported in such a way that they are relatively and translationally movable along an axis extending along the interface. (Note 6)

[0065] The robot according to Note 4, wherein the two limbs are a swivel body supported in such a way that it is rotatable with respect to a base mounted on an installation surface, and an arm supported in such a way that it is rotatable about the axis with respect to the swivel body. (Note 7)

[0066] The robot according to note 4, wherein the two limbs are two arms which are supported in such a way that they are relatively rotatable about the axis. {Reference symbol list} 1 robot 2 Base (link) 3 swivel bodies (link) 4 first arm (limb, arm) 5 second arm (limb, arm) 10, 11, 12, 13 Marking installation areas 10a, 11a Marking 21 Slider (link) 32 Mounting surface (cutting surface, second cutting surface) 33 Cutting surface (first cutting surface) 34, 35 Cutting surface (second cutting surface) B second axis (axis) C third axis (axis) G Floor area (installation area) X1, X2, X3 Interface θ1, θ2, θ3, θ4 Inclination angle (angle) QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] JP 2011-218523

[0004]

Claims

[1] Robots with two limbs arranged on either side of an interface, and which are supported in such a way as to be movable relatively along the interface, wherein the links each have adjacent marking installation surfaces in a starting position, the marking installation surfaces are each provided on the outer surfaces of the two links, the outer surfaces extending along a direction in which the two links intersect, and forming angles greater than 0° and less than 90° with respect to the interface, and Markings to be aligned with each other at the starting position are provided on the marking installation surfaces. [2] Robot according to claim 1, wherein the marking installation surfaces are adjacent to each other and are arranged in the same plane in the starting position. [3] Robot according to claim 2, wherein at least one of the members comprises a first cutting surface formed from a plane extending along the interface, and at least a second cutting surface formed from a plane extending in a direction intersecting the first cutting surface, and The marking installation surfaces extend in one direction parallel to a line of intersection between the first cutting surface and the second cutting surface. [4] Robot according to one of claims 1 to 3, wherein the two elements are supported such that they are rotatable about an axis perpendicular to the interface. [5] Robot according to one of claims 1 to 3, wherein the two elements are supported such that they are relatively and translationally movable along an axis extending along the interface. [6] Robot according to claim 4, wherein the two elements are a pivoting body which is supported in such a way that it is rotatable with respect to a base mounted on an installation surface, and an arm which is supported in such a way that it is rotatable about the axis with respect to the pivoting body. [7] Robot according to claim 4, wherein the two limbs are two arms which are supported in such a way that they are rotatable about the axis relative to each other.

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