ROBOT WITH COMPLEMENTARY FASTENING ELEMENTS FOR ASSEMBLY CONNECTION

Description

[0001] The present invention relates to a robot comprising a first assembly and a second assembly, wherein the first assembly includes a bearing through which the second assembly can be moved relative to the first assembly. The invention further relates to a method for assembling two assemblies, in particular two robot arms, of a robot.

[0002] To connect robot assemblies during assembly or maintenance work, bearings often need to be inserted and installed during assembly. This results in a complex assembly process with many individual parts that must be precisely aligned with one another. Alternatively, the bearings can be permanently integrated into one of the two assemblies. However, this requires very precise relative positioning of the assemblies, with the rotation axes in the various assemblies in particular having to be precisely aligned with one another. This also makes assembly difficult.

[0003] CN 207 710 822 U discloses an arm for a humanoid robot comprising a servo drive unit with rotatable discs that are attached to a connecting piece of an adjacent assembly. US 2017341226A1 discloses several different solutions for assembling the parts of a robot arm.

[0004] The invention aims to simplify the assembly of a robot while still ensuring high precision in the alignment of the components that can be moved relative to one another.

[0005] This object is achieved by a robot according to claim 1 or a method for assembling two components of a robot according to claim 10.

[0006] The invention provides a robot with a first assembly and a second assembly, wherein at least one bearing is provided in the first assembly, by means of which the second assembly can be moved relative to the first assembly, wherein according to the invention the at least one bearing comprises a first fastening element and the second assembly comprises a second fastening element, wherein the first and second fastening elements are connected to one another, in particular in a detachable fastening, and wherein the first and second fastening elements are designed to be complementary in some regions. This enables simple and rapid assembly of the first and second assemblies with one another. Each assembly can be provided as a pre-assembled component and can be simply and quickly combined to form an overall assembly using the fastening elements.The fastening via the fastening elements, which are at least partially complementary, makes it possible to provide a rigid and play-free bearing for the relative movement of the assemblies, which also enables precise alignment of the assemblies to one another.

[0007] This means that few or no additional parts are required during assembly of the two assemblies, especially since the bearing is already incorporated into the first assembly. Furthermore, the partially complementary fastening elements eliminate the need for complex alignment of the two assemblies or the individual fastening elements, as the complementary design dictates the relative positions of the fastening elements. This also enables self-centering of the fastening elements and thus the assemblies, especially when the bearing is a pivot bearing around a specific axis.

[0008] Advantageously, the bearing is designed such that the first fastening element is rotatably mounted in the first assembly. In particular, this rotatable bearing can be provided with a drive so that the second assembly can be rotated relative to the first assembly in a controlled manner. For this purpose, a sensor can also be provided in the bearing, which provides a feedback signal, particularly regarding the relative rotation of the assemblies, to a control unit.

[0009] The first and second fastening elements can be inserted into one another. In particular, the fastening elements can be inserted into one another until the complementary surfaces come into contact with each other. For example, a stop can be provided that limits the insertion in the desired position.

[0010] The first or second fastening element forms a receptacle and the other of the first and second fastening elements forms a projection, wherein the projection is inserted into the receptacle for fastening in an insertion direction. The complementary shape of the projection and the receptacle enables a play-free fit and precise positioning of the fastening elements. In particular, the first fastening element forms a receptacle and the second fastening element forms a projection. In other embodiments, the second fastening element forms a receptacle and the first fastening element forms a projection. The projection projects in particular beyond a side or inner surface of the respective assembly, wherein in other embodiments the projection can also be provided in a recessed region.

[0011] In one embodiment, a preload element is provided, with which a preload can be applied to the projection in the insertion direction. In particular, the preload element is a preload plate, a preload bushing, or a preload bracket, which acts with a preload on the projection. The preload can be provided, for example, by elastic elements, screws, or clips. In particular, the preload element can complete the complementary shape of the receptacle, so that the receptacle and preload element are essentially complementary to the projection all around. The preload element, in particular, enables precise positioning and secure hold of the fastening elements relative to one another.

[0012] In particular, the receptacle can be a guide and the projection a rail. The complementary shape can, for example, only be in the plane perpendicular to the insertion direction, allowing free positioning along the insertion direction. Alternatively, a stop or another, equally complementary shape can be provided that clearly defines the positioning between the guide and the rail in the insertion direction.

[0013] The projection is designed to be partially circular, at least in part, and the receptacle is designed to be partially circular, at least in part. When the partially circular projection and the complementary receptacle in the shape of a circular segment are brought into contact with one another, the translational positioning between the fastening elements or assemblies is primarily defined, although fine rotational adjustment may still be possible. Alternatively, a stop can also be provided which additionally determines the rotational position. The stop can in particular be formed by a contact surface which extends deviating from the circumferential direction of the circular segment, for example by a surface in the tangential direction which directly adjoins the circular segment.

[0014] In one embodiment, the projection can be conical in the insertion direction. This allows for easy insertion of the projection into a correspondingly designed, complementary receptacle and ensures a secure fit of the projection in the receptacle once the two are fully seated. Furthermore, the position of the projection in the receptacle is precisely defined.

[0015] The first assembly is a first robot arm, and the second assembly is a second robot arm, wherein the second robot arm is pivotally connected to the first robot arm about a pivot axis extending in the axial direction of the bearings. Alternatively, the first assembly or second assembly can also be a base or gripper of a robot, and the other of the first and second assemblies can be a robot arm, wherein the assemblies are each connected to one another in a relatively rotatable or pivotable manner. It is thus possible to use the detachable fastening according to the invention between all components or assemblies of a robot, advantageously being used on the axes of the robot.

[0016] In particular, the fastening elements can be inserted into each other essentially orthogonally to the pivot axis. This enables space-saving and ergonomic assembly of the robot arms.

[0017] The at least one bearing comprises at least one shaft mounted in the first robot arm so as to be rotatable about the pivot axis, wherein the first fastening element is fastened to the shaft or is designed integrally and in one piece with it, and the second fastening element is provided in the second robot arm. Thus, the first fastening element can be rotated with the shaft, whereby a movement of the second robot arm relative to the first robot arm can be enabled or effected. For this purpose, the rotatably mounted shaft can in particular be driven and / or provided with a rotation sensor so that a controlled movement of the robot arms relative to one another is possible. The first fastening element and its projection can in particular be formed by the shaft if the receptacle provides a shape that is at least partially complementary to the shaft.This is particularly useful for large shaft diameters and hollow shafts, as the frictional connection can then reliably prevent relative twisting between the shaft and the holder.

[0018] In one embodiment according to the invention, the robot arm is formed at one end with two jaws extending parallel and spaced apart, with the second robot arm mounted between these jaws and rotatably mounted shafts provided coaxially in both jaws. Thus, an area is provided between the jaws in which the second robot arm can be arranged and secured.

[0019] Advantageously, a first fastening element is provided on each of the rotatably mounted shafts, which can engage with a fastening element on either side of the second robot arm. In particular, one or both of the shafts can be moved in the axial direction in order to apply a preload to the respective bearing of the shafts. Each shaft can be statically indeterminately mounted with just one pivot bearing, so that a statically determinately mounted rotating body, comprising the two shafts and the second robot arm, is only formed by the provision of the second robot arm. The second robot arm and the shafts can thus form a common rotating body. The shafts can therefore each be mounted with just one bearing, and a specific bearing of the shafts is only possible by inserting and fastening the second robot arm.Alternatively, a statically determined bearing of both shafts with two pivot bearings each, or a double-row pivot bearing, in particular with two sets of rolling elements arranged axially next to each other, e.g. in the form of a double angular contact ball bearing, is also possible.

[0020] In an alternative embodiment of the invention, the second robot arm is formed at one end with two jaws extending parallel and spaced apart, wherein the first robot arm is mounted between these jaws and the two ends of at least one shaft rotatably mounted in the first robot arm are provided coaxially on both outer sides of the first robot arm. In particular, the shaft rotatably mounted in the first robot arm can be designed integrally or comprise two shafts provided independently of one another on the respective two outer sides of the robot arm. In the latter case, a statically determined mounting of the shafts can only be achieved by attaching the shafts to the second robot arm.

[0021] Advantageously, the at least one shaft can be designed as a hollow shaft, and at least one cable and / or at least one fastening screw can be routed through the interior of the hollow shaft. This enables a compact design and also protects the cables, which can be used to control the various motors, read sensors, and / or supply and control an end effector.

[0022] The present invention thus enables easy adjustment of the bearing preload. Furthermore, the inventive design avoids any restriction of rotational movement. The mounting of the assemblies is maintenance-free and can be easily disassembled and reassembled for maintenance of other components. Furthermore, a bearing preload can be adjusted, which then remains constant over a long service life. The mounting of the assemblies to one another according to the invention is also characterized by high rigidity.

[0023] The first and / or second assemblies are advantageously designed in a plate construction in which a plurality of parallel plates are fastened to one another with spacers. The spacers can in particular be provided by further plates arranged orthogonally to the parallel plates. In particular, the parallel plates and the plates arranged orthogonally thereto are connected with finger interlocking. For one assembly, two plates can be fastened parallel to one another to spacers, with the fastening elements then being provided axially outward in or on the plates. If the assembly is designed with jaws extending at a distance, four parallel plates can be provided which form the respective lateral boundaries of the jaws. The fastening elements can then be provided in or on the inside of the inner plates.Alternatively, the jaws can also be formed by a single plate each. Cover elements are also used to conceal the open sides between the plates. In particular, the covers are arranged orthogonally to the plates. The plates can thus define both the outer and inner contours of the assemblies, especially in the form of robot arms.

[0024] The invention further relates to a method for assembling two assemblies, in particular two robot arms, of a robot, wherein a first assembly is provided with a projection and a second assembly is provided with a receptacle, wherein either the projection is rotatable relative to the first assembly or the receptacle is rotatable relative to the second assembly about a pivot axis. According to the invention, the projection is then inserted into the receptacle in a linear insertion direction and the projection is secured in the receptacle.

[0025] The projection can be secured in the receptacle, in particular, by means of screws extending orthogonally to the insertion direction. For this purpose, circular openings or bores provided in the receptacle and the projection are aligned with each other. A stop or other complementary fastening element can be used for alignment.

[0026] In particular, securing the projection in the receptacle involves preloading in the insertion direction. For this purpose, the projection can be designed to complement the receptacle, and the preload presses the complementary components together, ensuring a secure fit in a predefined position. Furthermore, the preload can achieve zero backlash. Furthermore, it is also possible to apply further preload in the axial direction of the pivot axis after inserting the projection to preload its pivot bearing.

[0027] The assemblies can be provided preassembled for the method according to the invention, so that only the assemblies need to be pushed together and connected for assembly. The bearings for the pivot axis can, in particular, be provided preloaded for this purpose or, alternatively, can be preloaded separately after the projection, in particular in the form of a rail, has been connected to the guide, in particular in the form of a receptacle.

[0028] The invention is defined in the claims.

[0029] The invention will now be explained in more detail with reference to exemplary embodiments shown in the following figures. Figure 1 shows a robot in which assemblies are connected according to an embodiment of the invention; Figure 2 shows a perspective view of two assemblies of an embodiment of a robot according to the invention before connection; Figure 3 shows the assemblies of Figure 2in connected state; Figure 4 a sectional view through the first and second assembly according to Fig. 3 in the area of ​​the bearing; Figure 5 the first fastening element of the bearing in the form of a projection; Figure 6 a perspective view of two assemblies of an embodiment of a robot according to the invention before connection; Figure 7 a sectional view through the assemblies of Fig. 6 in the connected state; and Figure 8 the fastening element forming the projection from the Figs. 6 and 7 .

[0030] The Fig. 1 The robot 1 shown has several assemblies fastened to one another, namely a base 2 rotatable about the vertical axis, a swivel arm 3, an upper support arm 4, a lower support arm 5 and an articulated arm 6. The aforementioned robot arms 3, 4, 5, 6 are arranged in series according to a serial kinematics.

[0031] The robot 1 shown is a 6-axis robot. The vertical axis for rotating the base 2 represents a first axis of the robot 1. A first joint 7 is provided between the base 2 and the swivel arm 3, which defines a second axis of the robot 1. A second joint 7 is provided between the swivel arm 3 and the upper support arm 4, which defines a third axis of the robot 1. A third joint 9 is provided between the upper support arm 4 and a lower support arm 5, which defines a fourth axis of the robot 1. The axis of rotation of the third joint 9 is in the direction of extension of the support arm 4, 5, so that the support arm 4, 5 is rotatable. A fourth joint 10 is provided between the lower support arm 5 and the articulated arm 6, which defines a fifth axis of the robot 1.An end effector in the form of a gripper (not shown) or another working element can be rotated relative to the articulated arm 6 about a sixth axis of the robot 1.

[0032] The first and second joints 7, 8 enable pivoting of the swivel arm 3 and support arm 4, 5 about the respective, essentially horizontal second and third axes of the robot 1. The drive motors of the third and / or fourth joints 9, 10 are provided directly or via a gear at the joints, as in a purely serial kinematics system. The gear can be a drive belt.

[0033] The drive movements for the first joint 7 and the second joint 8 are transmitted via four-bar chains 11, 12, 13 and 14, respectively.

[0034] The first four-bar linkage 11 and the second four-bar linkage 12 are arranged in series to transmit a drive movement to the swivel arm 3 so that it can be swivelled relative to the base 2. The first four-bar linkage 11 has a Fig. 1A first crank is concealed in the base 2, which can be pivoted by means of a first drive motor and is articulated to the coupler 15, thus driving the coupler 15 of the first four-bar linkage 11. The coupler 15 is articulated to the rocker 16 of the first four-bar linkage 11 and drives it. The rocker 16 simultaneously forms the crank of the second four-bar linkage 12 and is articulated to the coupler 17 of the second four-bar linkage 12 and drives it. The rocker 18 of the second four-bar linkage 12 is rigidly connected to the pivot arm 3 and rotates with it during its pivoting movement. The rocker 18 and the pivot arm 3 can be formed as a single piece. In particular, the rocker 18 and the pivot arm 3 form a rocker with respect to the first joint 7. The crank of the first four-bar linkage 11 can be flanged to a motor or gear in the base 2 via a drive shaft in a manner that is immovable in the axial direction.The transmission can also be a drive belt or something similar. The rocker arm 16 can also be mounted axially immovably in the base 2. Finally, the bearing of the rocker arm 18 in the joint 7 can also be axially immovable.

[0035] The drive movement for pivoting the support arm 4, 5 relative to the swivel arm 3 is transmitted by the third four-bar linkage 13 and the fourth four-bar linkage 14 from a second drive motor in the base 2 to the support arm 4, 5. The second drive motor drives a drive shaft arranged within the base 2 and thus not in the Fig. 1The crank of the third four-bar linkage 13 is pivoted, which is pivotally connected to the coupling 19 of the third four-bar linkage 13 and drives it. The coupling 19 is pivotally connected to the rocker 20 of the third four-bar linkage 13 and drives it. The rocker 20 is simultaneously the crank of the fourth four-bar linkage 14, which is pivotally connected to the coupling 21 of the fourth four-bar linkage 14 and drives it. The rocker 22 and the upper support arm 4 are rigidly connected in the form of a rocker with respect to the second linkage 7. The rocker 22 of the fourth four-bar linkage 14 is in particular formed integrally with the upper support arm 5. The crank of the third four-bar linkage 13 can be flanged to a motor or gear in the base 2 via a drive shaft, so as to be immovable in the axial direction. The gear can also be a drive belt or similar. The rocker 20 can be mounted axially immovably in the swivel arm 3.Finally, the bearing of the rocker arm 22 in the second joint 8 can also be immovable in the axial direction.

[0036] As in Fig. 2 to 5 As shown, the lower support arm 5 forms a first assembly which is connected to a second assembly in the form of the articulated arm 6 according to an embodiment of the robot 1 according to the invention, so that the articulated arm 6 can be pivoted in the lower support arm 5 about a pivot axis in the axial direction A.

[0037] The lower support arm 5 has outer jaws 22, 23, in each of which a bearing 24, 25 is provided, which enables a first fastening element 26, 27 to be rotated about the pivot axis in the axial direction A. The first fastening element 26, 27 forms a projection 28, 29. The articulated arm 6 has on each of its outer sides in the axial direction A a second fastening element 30, 31, which is designed as a receptacle 32, 33. The first fastening element 26, 27 is designed in the region of the projection 28, 29 to be complementary to the receptacle 32, 33 of the second fastening element 30, 31. The projection 28, 29 can thus be arranged with a precise fit in the receptacle 32, 33 in order to connect the articulated arm 6 to the lower support arm 5, as shown in Fig. 3 shown.

[0038] According to the sectional view in Fig. 4The first fastening element 26, 27 is arranged on a shaft 34, 35, which is rotatably mounted in the jaw 22, 23 of the lower support arm 5. The shafts 34, 35 are coaxially aligned in the axial direction A and are rotatable. Each of the shafts 34, 35 is mounted with a pivot bearing 36, 37, in particular an angular contact bearing, near the respective axial outer side of the respective jaw 22, 23. On the axial inner side of the jaws 22, 23, a cylindrical opening 38, 39 is provided, through which the shaft 34, 35 projects axially towards the interior of the jaws 22, 23. The first fastening element 26, 27 is fastened to the axially inner end of the shaft 34, 35, in particular by screwing through the Fig. 5 illustrated circular openings 40, which are provided along the circumference of the end face of the shaft 34, 35 in the shaft 34, 35 and in the first fastening element 26, 27.

[0039] After the projections 28, 29 have been fully inserted into the receptacles 32, 33, a prestressing element 41 in the form of a prestressing plate is provided on the articulated arm 6 by means of screws, so that the first fastening element 26, 27 is pressed into the receptacles 32, 33 of the second fastening element 30, 31 in the insertion direction E. In particular, the prestressing element 41 is in contact with the end faces of the projections 28, 29, wherein a complementary configuration, for example in the form of a step, can be provided here, so that not only force is applied to the projections 28, 29 in the insertion direction E, but also securing and / or prestressing of the projections 28, 29 in the axial direction A is ensured.

[0040] In the region of the axially outer end of the shaft 34, 35, a bearing bush 42, 43 can be provided, which fixes the position of the pivot bearings 36, 37 at least in the axial direction A. In particular, the position of the bearing bush 42, 43 can be adjusted in the axial direction A in order to adjust the preload of the pivot bearings 36, 37. This is possible because the shafts 34, 35 together with the articulated arm 6 form an integrally rotatable unit. In particular, the preload in the axial direction A can be adjusted by adjusting the axial position of the bearing bush 42, 43 using screws 44, 45 with which the bearing bush 42, 43 is fastened to the lower support arm 5. In particular, the bearing bush 42, 43 can be provided only on one side of the lower support arm 5, whereby on the other side the pivot bearing 36 can be received directly in the support arm 5 and cannot be adjusted in position.

[0041] To fasten the first fastening elements 26, 27 in the second fastening elements 30, 31, a fastening screw 46, 47 can also be provided, which extends centrally through the shaft 34, 35 and is screwed into the second fastening element 30, 31. This makes it possible to provide an axially play-free and secure connection between the shaft 34, 35, the first fastening element 26, 27 and the second fastening element 30, 31. In particular, the fastening screw 46, 47 is guided through an opening 48, 49 in the first fastening element 26, 27. The first fastening element 26, 27 further has a circumferential web 50, 51 which has an inner diameter corresponding to the outer diameter of the axially inner end of the shaft 24, 25 and thus promotes the secure connection of the shaft 24, 25 to the first fastening element 26, 27.

[0042] The connection between the lower support arm 5 and the articulated arm 6 is thus designed such that the outer assembly in the form of the lower support arm 5 has a first fastening element 26, 27 with a projection 28, 29, each of which provides a rail. The inner assembly in the form of the articulated arm 6 has the second fastening element 30, 31, whose receptacle 32, 33 forms a guide. The first fastening element 26, 27 is designed as a separate component and is rigidly connected to the shaft 34, 35 during assembly of the assembly. The shaft 34, 35 is designed as a hollow shaft. For example, cables and / or fastening screws 46, 47 can be routed through the hollow shaft, as described in the previous embodiment. The fastening screws 46, 47 connect the assemblies after the projection 28, 29 has been inserted into the receptacle 32, 33.Alternatively or additionally, the projection 28, 29 can be secured in the receptacle 32, 33 by the preloading element 41, which applies a preload force in the insertion direction E. In addition, the bearing 24, 25 can be preloaded in the axial direction A by the bearing receptacle bush 42, 43 after the two assemblies 5, 6 have been connected. This also enables the assemblies 5, 6 to be aligned with one another or the position of the assemblies in the axial direction A to be adjusted if bearing bushes 42, 43 are provided on both sides. The receptacle 32, 33 is conical in design, so that during assembly, in addition to the frictional connection created by the fastening with the screws, a positive connection is also created which aligns the assemblies 5, 6 precisely with one another.

[0043] The Fig. 2 to 5The connection of two assemblies in a robot according to the invention explained above can be provided not only between the lower support arm 5 and articulated arm 6 assemblies for the fourth joint 10 of the robot 1, but also for the other joints of the robot 1 or for other robot types. In particular, a corresponding design can also be provided on the first joint 7 of the robot for fastening the swivel arm 3 assembly to the base 2 assembly, on the second joint 8 of the robot 1 for fastening the upper support arm 4 assembly to the swivel arm 3 assembly, or on the third joint 9 between the upper support arm 4 and the lower support arm 5. In the design of the third joint 9, in particular, only one projection is provided on the upper or lower support arm 4, 5, and only one receptacle on the other of the upper and lower support arms 4, 5.

[0044] In Fig. 6 to 8a further fastening of assemblies in the robot 1 according to the invention is shown, using the example of the fastening of a first assembly in the form of the upper support arm 4 to a second assembly in the form of the pivot arm 3. On the upper support arm 4, bearings 52, 53 are provided on both sides, which comprise a first fastening element 54, 55 which forms an inwardly directed projection 56, 57.

[0045] The second assembly in the form of the pivot arm 3 has two parallel extending jaws 58, 59, which represent a second fastening element 60, 61 provided with a receptacle 62, 63.

[0046] As in Fig. 7As shown in a sectional view, the respective projection 56, 57 is inserted into the corresponding receptacle 62, 63. The first fastening elements 54, 55 and the second fastening elements 60, 61 can then be screwed together. The bearings 52, 53 each have a shaft 64, 65 which is firmly connected to the upper support arm 4 and on which the first fastening elements 54, 55 are rotatably mounted by means of pivot bearings 66, 67. A preload bushing 68 can be provided on one or both sides, with which the preload of the pivot bearings 66, 67 can be adjusted in the axial direction A.

[0047] In Fig. 8 The first fastening element 55 is shown in plan view in axial direction A. The projection 57 is designed in its lower area as a part-circle and is thus complementary to the design of the receptacle 63 as a circular segment. Furthermore, the projection can also have the Fig. 8illustrated contact surface 69, which comes into contact with a contact surface 70 of the second fastening element 61 and thus acts as a stop to prevent relative rotation between the projection 57 and the receptacle 63. The contact surfaces 69, 70 extend tangentially or at an angle to the circumferential direction of the circular segment.

[0048] In the embodiment according to Fig. 6 to 8The projection 56, 57 runs in the outer region on the inner assembly in the form of the upper support arm 4. In particular, the projection 56, 57 is provided axially inward on the axially outwardly arranged first fastening element 54, 55. The shafts 64, 65 are each designed as solid shafts and are separate, although a through shaft can alternatively be provided. The fastening of the assemblies 3 and 4 takes place via an external screw connection after their fastening elements 54, 55, 60, 61 have been pushed together. The bearing can then be preloaded using the preload bushing 68. This also enables alignment of the assemblies with respect to one another. Positioning is achieved via the seat of the pivot bearings 66, 67 in the fastening element 54, 55.The mounting 62, 63 is a guide, partially designed as a circular segment, so that during assembly, in addition to the frictional connection provided by the fastening with the screws, a positive connection is also created, which precisely aligns the assemblies. The fastening screws are screwed in, in particular, from the outside through the first fastening elements 54, 55 into the second fastening elements 60, 61 in the axial direction A.

[0049] The projection 56, 57 is designed as a combination of a pitch circle with linear contact surfaces 69. The positive engagement of the pitch circle ensures the precise positioning of the axis, and the contact surfaces 69 provide anti-rotation protection.

[0050] The Fig. 6 to 8The fastening of two assemblies shown can also be used on joints other than the second joint 8 of robot 1 or on other robots. In particular, the corresponding fastening can also be used on the first joint 7 of robot 1 between the base assembly 2 and the swivel arm assembly 3, on the third joint 9 between the upper support arm 4 and the lower support arm 5, or on the fourth joint 10 of robot 1 between the lower support arm 5 and the articulated arm 6.

[0051] The receptacle and the projection can take on any complementary shape that can be aligned by means of a positive fit. In the previous embodiments, the tapered and partially circular shapes were already shown as examples. However, dovetail guides or similar designs can also be used. The positive fit and / or frictional fit between the projection and the receptacle can only be adjusted during assembly by mechanically spreading or clamping the receptacle or projection.

[0052] The fastening elements can be connected by screwing, as in the previous embodiments. However, it is also possible to use no screwing and to fix the projection in the receptacle only by clamping force. For this purpose, the projection can be pressed into the receptacle. Alternatively, a permanent connection can be provided by gluing. However, in contrast to the embodiments with a detachable fastening of the fastening elements, easy disassembly is not possible.

[0053] The fastening element, which is connected to the shaft of the bearing, is advantageously rigidly connected to the shaft. In the exemplary embodiments, a fastening element in the form of a projection was firmly connected to the shaft. Alternatively, a fastening element in the form of a receptacle can also be firmly connected to the shaft. The shaft and the fastening element can be designed as separate components fastened to one another, as in the previous embodiments, or they can consist of an integral component.

[0054] The bearing can be preloaded within the assembly. Alternatively, preloading can be applied only after the fastening elements have been secured, as shown in the previous embodiments. Suitable bearing types can be used for all pivot bearings, for example, any type of rolling bearing and / or plain bearing. In particular, the bearing is only statically determined after the first and second fastening elements have been secured. Before this time, the bearing can also be indeterminate.

[0055] According to the first embodiment in Fig. 2 to 5 the bearing is provided in axially outer jaws 22, 23 of the first assembly 5, wherein the first fastening element 26, 27 is designed as a projection 28, 29, and the second fastening element 30, 31 as a receptacle 32, 33 on both axially outer sides of the inner second assembly.

[0056] In the embodiment according to Fig. 6 to 8the bearing is provided in the first assembly 4, which is arranged axially within two jaws 58, 59 of a second assembly 3.

[0057] The first fastening elements 54, 55 are designed as projections 56, 57 which are rotatable relative to the first assembly 4 and which are received in the receptacles 62, 63 in the jaws 58, 59 of the second assembly 3. According to Fig. 7 The first fastening element 54, 55 is rotatably mounted relative to the shaft 64, 65. Alternatively, the shaft 64, 65 can also be rotatably mounted relative to the first assembly 4, and the first fastening element 54, 55 can be fixedly arranged on the shaft 64, 65. This is particularly advantageous in designs with a continuous shaft instead of the two individual shafts 64, 65.

[0058] In further alternative embodiments, the receptacle can be rotatably mounted as the first fastening element, either on axial outer sides of the first assembly or on two axial inner sides within jaws that can be formed by the first assembly.

[0059] According to the invention, two robot assemblies can be designed with a system of receptacles, for example guides, and projections, for example rails. The receptacle is a component of one assembly and the projection is a component of the other assembly. As a rule, two projections are provided on one assembly and two receptacles on the other assembly, which are each inserted into one another. Alternatively, however, it is also possible for only one receptacle to be provided on one assembly and one projection on the other assembly. In particular, one of the assemblies is provided partially within the other assembly. In this case, the projections can be provided either on the inside of the outer assembly or on the outside of the inner assembly, and the guides can each be provided alternatively on the outside of the inner assembly or on the inside of the outer assembly. Either the projections or the receptacles can be rotatable relative to their respective assembly.This means that one of the two fastening elements, the projection or the receptacle, is advantageously mounted for rotation and includes an axle bearing for this purpose. The axle bearing can be statically determined before the two assemblies are joined, or it can still be statically indeterminate and only be statically determined when the two assemblies are assembled.

Claims

1. Robot (1) having a first assembly (4, 5), and a second assembly (3, 6), wherein the first assembly (4, 5) is a first robotic arm and the second assembly (3, 6) is a second robotic arm, wherein the second robotic arm is connected to the first robotic arm in a manner pivotable about a pivot axis extending in the axial direction (A), wherein bearing arrangements (24, 25, 52, 53), by which the second robotic arm (3, 6) is moveable relative to the first robotic arm (4, 5), are provided in the first robotic arm (4, 5), wherein the bearing arrangements (24, 25, 52, 53) comprise a first fastening element (26, 27, 54, 55) and rotatably mounted shafts (34, 35, 64, 65), and the second robotic arm (3, 6) comprises a second fastening element (30, 31, 60, 61), wherein the first fastening element (26, 27, 54, 55) and the second fastening element (30, 31, 60, 61) are connected with each other, and wherein the first fastening element (26, 27, 54, 55) and the second fastening element (30, 31, 60, 61) are at least in sections complementary, wherein the first fastening element (26, 27, 54, 55) or the second fastening element (30, 31, 60, 61) forms a receptacle (32, 33, 62, 63), and the other of the first fastening element (26, 27, 54, 55) and the second fastening element (30, 31, 60, 61) forms a protrusion (28, 29, 56, 57), and wherein for fastening, the protrusion (28, 29, 56, 57) can be inserted into the receptacle (32, 33, 62, 63) in a direction of insertion (E), and wherein the first robotic arm (5) comprises at one end two jaws (22, 23) extending in parallel and at a distance, wherein the second robotic arm (6) is mounted between the jaws (22, 23), and the rotatably mounted shafts (34, 35) are provided coaxially in both jaws (22, 23), or wherein the second robotic arm (3) comprises at one end two jaws (58, 59) extending in parallel and at a distance, wherein the first robotic arm (4) is mounted between the jaws (58, 59), and the ends of at least one of the shafts (64, 65) arranged in the first robotic arm (4) are provided coaxially on both outer sides of the first robotic arm (4), characterized in that the protrusion (28, 29, 56, 57) is at least in sections a graduated circle, and the receptacle (32, 33, 62, 63) is at least in sections in the shape of a segment of a circle.

2. Robot according to claim 1, wherein the protrusion (28, 29, 56, 57) is at least in sections a semi-circle.

3. Robot according to claim 1 or 2, wherein the protrusion (28, 29, 56, 57) is a combination of a semi-circle with a linear contact surfaces (69), wherein the protrusion (28, 29, 56, 57) is preferably designed in such a way that the semi-circle ensures exact positioning of the axis and the contact surfaces (69) ensure anti-rotation protection.

4. Robot according to one of the preceding claims, wherein a pretensioning element (41) is provided with which a pretension can be applied to the protrusion (28, 29, 56, 57) in the direction of insertion (E).

5. Robot according to one of the preceding claims, wherein the receptacle (32, 33) is a guide and the protrusion (28, 29) is a rail.

6. Robot according to one of the preceding claims, wherein the protrusion (28, 29) is formed to be conical in said direction of insertion (E).

7. Robot according to one of the preceding claims, wherein the fastening elements can be inserted into one another substantially orthogonally relative to the axial direction (A).

8. Robot according to one of the preceding claims, wherein the shafts (34, 35, 64, 65) are mounted in the first robotic arm (4, 5) to be rotatable about the pivot axis, and wherein the first fastening element (26, 27, 54, 55) is attached to the shafts (34, 35, 64, 65) or integrally formed with the shafts (34, 35, 64, 65).

9. Robot according to one of the preceding claims, wherein at least one shaft (34, 35, 64, 65) is a hollow shaft, and at least one cable and / or at least one fastening screw (46, 47) extends through the interior of the hollow shaft.

10. Method for mounting two assemblies (2, 3 4), comprising two robotic arms (3, 4) of a robot (1): providing a first robotic arm (4) with a protrusion (56, 57), in which the ends of at least one of shafts (64, 65) arranged in the first robotic arm (4) are provided coaxially at both outer sides, providing a second robotic arm (3), which is formed at one end with two jaws (58, 59) extending in parallel and at a distance with a receptacle (62, 63), wherein either the protrusion (56, 57) is rotatable relative to the first robotic arm (4) or the receptacle (32, 33) is rotatable relative to the second robotic arm (3) about a pivot axis, mounting the first robotic arm (4) between the jaws (58, 59) of the robotic second arm (3), inserting the protrusion (56, 57) in a linear direction of insertion (E) into the receptacle (62, 63), wherein the protrusion (56, 57) is at least in sections a graduated circle and the receptacle (62, 63) is at least in sections in the shape of a segment of a circle, and fastening the protrusion (56, 57) in the receptacle (62, 63).

11. Method for mounting two assemblies (5, 6) comprising two robotic arms (5, 6) of a robot (1): providing of a first robotic arm (5), which is formed at one end with two jaws (22, 23) extending in parallel and at a distance with a protrusion (28, 29), in which rotatably mounted shafts (34, 35) are provided coaxially, providing of a second robotic arm (6) with a protrusion (32, 33), wherein either the protrusion (28, 29) is rotatable relative to the first robotic arm (5) or the receptacle (32, 33) is rotatable relative to the second robotic arm (6) about a pivot axis, mounting the second robotic arm (6) between the jaws (22, 23) of the first robotic arm (5) inserting the protrusion (28, 29) in a linear direction of insertion (E) into the receptacle (32, 33), wherein the protrusion (28, 29) is at least in sections a graduated circle and the receptacle (32, 33) is at least in sections in the shape of a segment of a circle, and fastening the protrusion (28, 29) in the receptacle (32, 33).

12. Method according to claim 10 or 11, wherein fastening the protrusion (28, 29, 56, 57) in the receptacle (32, 33, 62, 63) comprises pretensioning in the direction of insertion (E).