ROBOT SYSTEM AND METHOD FOR OPERATING THE ROBOT SYSTEM

Description

[0001] The present invention relates to a robot system according to the preamble of claim 1, as well as a method for operating the robot system.

[0002] The document EP3246136 A1 discloses such a robot system and such a method.

[0003] The object of the present invention is to improve a robot system and / or its operation. This object is achieved by a robot system having the features of claim 1. Claim 14 protects a method for operating a robot system described herein. The subclaims relate to advantageous developments.

[0004] According to one aspect, a robot system, in particular a robot, comprises one or more robot structural members, each of which supports or structurally connects two adjacent robot joints to one another, in one embodiment comprising components of one or both joints, in particular housings, shafts, bearings, or the like. Additionally or alternatively, in one embodiment, the robot system comprises a base and / or a robot tool and / or robot or tool flange, each of which supports or structurally connects a (proximal or distal) robot joint and an adjacent robot attachment surface or robot work surface, in one embodiment comprising components of the joint, in particular a housing, a shaft, a bearing, or the like, and / or the robot attachment or work surface, and is therefore also referred to herein as a robot structural member within the meaning of the present invention.Preferably, the robot system or the robot has, in particular, electric drives, in one embodiment electromotor drives, for adjusting or moving one or more of the joints.

[0005] According to one embodiment of the present invention, a robot system for the or one or more of the robot structural members (respectively) has a single-part or multi-part first structural member-fixed outer shell, which covers the (respective) robot structural member completely or partially, in one embodiment to at least 25%, in particular at least 50%, in one embodiment at least 75%, in particular completely or partially encompasses, in particular encloses, or is configured or used to do so. In a further development, the first structural member-fixed outer shell also covers one or both joints in which the (respective) robot structural member is articulated or connected, completely or partially, in one embodiment to at least 25%, in particular at least 50%, in one embodiment at least 75%; it can in particular completely or partially encompass, in particular enclose, the (respective) joint, or is configured or used to do so.In another further development, the first outer shell fixed to the structural member leaves one or both joints in which the (respective) robot structural member is articulated or connected completely or partially free or is designed or used for this purpose.

[0006] In one embodiment, the robot system has one or more further single-part or multi-part outer shells. In a further development, the or one or more of the further outer shells cover / cover the (respective) robot structural member together with the first outer shell completely or partially, in one embodiment to at least 25%, in particular at least 50%, in one embodiment at least 75%, or is / are designed or used to do so. In another development, the or one or more of the further outer shells cover / cover the (respective) robot structural member instead of the first outer shell completely or partially, in one embodiment to at least 25%, in particular at least 50%, in one embodiment at least 75%, or is / are designed or used to do so. In one embodiment, the or one or more of the further outer shells cover / coverone or more of the further outer shells (together with or instead of the first outer shell) also completely or partially cover one or both joints in which the (respective) robot structural member is articulated or connected, in one embodiment by at least 25%, in particular at least 50%, in one embodiment by at least 75%; it / they can in particular completely or partially encompass, in particular enclose, the (respective) joint, or be configured or used to do so. In another embodiment, the or one or more of the further outer shells leave / leave one or both joints in which the (respective) robot structural member is articulated or connected, completely or partially free, or are configured or used to do so.

[0007] In one embodiment, the first outer shell is or is fastened, in particular non-destructively detachable, in one embodiment frictionally and / or positively, to the (respective or assigned) robot structural member or a further outer shell, in particular by means of a screw, plug, spread and / or snap connection.

[0008] In one further development, the or one or more of the further outer shells is / are fastened, in particular in a non-destructively detachable manner, in one embodiment frictionally and / or positively, to the (respective or assigned) robot structural member and / or the first outer shell fastened thereto, in particular by means of a screw, plug, spread and / or snap connection.

[0009] In the other development, the or one or more of the further outer shells is / are fastened, in particular non-destructively detachable, in one embodiment frictionally and / or positively, instead of the first outer shell to the same or other interface(s) of the (respective or assigned) robot structural member, in particular by means of a screw, plug, spreader and / or snap connection. In other words, in one embodiment, different outer shells, in particular different in color, shape, material and / or function, can be used for the same member, so that the modular design improves the interchangeability or expandability of the robot system. In particular, two or more outer shells can be assigned to a robot structural member, wherein each of the outer shells can be fastened to the assigned robot structural member and / or to one of the other outer shells.Particularly preferably, the two or more outer shells can be designed to be congruent in shape with one another at least in some regions, in particular in order to be in mechanical contact with one another in a state arranged or fastened to the associated robot structural member in a substantially gap-free manner.

[0010] In one embodiment, the or one or more of the further outer shells has / have a geometry, surface, in particular color, feel and / or rigidity, number of parts and / or functionality that is at least partially different from the first outer shell and / or is / are at least partially made of a material that is different from the first outer shell.

[0011] Thus, one embodiment proposes a modular system in which different outer shells are optionally or alternatively arranged or used on the (respective) robot structural elements, particularly for different areas of application, allowing the robot system to be advantageously adapted to different requirements. In another embodiment, outer shells, particularly damaged ones, can advantageously be replaced with identical outer shells. Advantageously, the outer shells are non-destructively replaceable, allowing the robot system to be adapted to changing requirements by changing or exchanging the outer shells.

[0012] In one embodiment, the robot structural member (in each case) transmits loads in six degrees of freedom, in particular tensile and compressive forces, bending and torsional moments, and / or at least 75%, in particular at least 90%, in one embodiment at least 98% of all loads between the two robot joints or the robot joint and the robot mounting or working surface that it connects, or is designed or used for this purpose ("load-bearing connection").

[0013] In one embodiment, it has an open profile cross-section, in particular a U-, T-, or double-T-profile or the like, at least in sections, and / or a solid cross-section, and / or is made of metal and / or by means of primary forming, in particular casting, extrusion, or the like. This allows loads to be transferred particularly advantageously in one embodiment.

[0014] In one embodiment, the or one or more of the robot structural members is / are or will be equipped with one or more electrical, in particular electronic, pneumatic and / or hydraulic components and / or lines, which are also at least partially covered by the first structural member-fixed outer shell and / or mounted before their attachment to the robot structural member.

[0015] Accordingly, in one embodiment, the first and / or at least one further outer shell transmits at most 25%, in particular at most 10%, in one embodiment at most 2%, of all loads between the two robot joints or the robot joint and the robot fastening or working surface which connects the (respective) robot structural members, or is non-load-bearing or is designed or used for this purpose.

[0016] Thus, in one embodiment, a functional separation is proposed between a kinematic or structural function(ality) performed by the structural member and one or more additional functions(alities) at least partially performed by the outer shell, in particular various additional functions(alities) performed by the alternatively used outer shells. As a result, in one embodiment, the structural member and / or outer shell(s) can each be advantageously adapted to their respective (main) function(ality).

[0017] In one embodiment, the first and / or at least one further outer shell (each) has / have at least two outer shell parts which are or are connected to one another in a non-destructively releasable manner, in one embodiment frictionally and / or positively, in particular by means of screw, plug, spreading and / or snap connection.

[0018] In one embodiment, at least one outer shell that currently at least partially covers the robot structural member, in particular is attached thereto, is detected, in particular identified, and in a further development, an operating mode, in particular driving mode, is enabled and / or switched between different operating modes, in particular of the robot, depending on one or the detected or identified outer shell. Accordingly, the robot system, in particular the or one or more of the structural members and / or the (respective) outer shell, in one embodiment has means for detecting, in particular identifying, at least one outer shell that currently at least partially covers the robot structural member, in particular is attached thereto, and in a further development, for enabling an operating (mode) and / or switching between different operating modes, in particular of the robot, depending on the detected outer shell.

[0019] In one embodiment, detection can be carried out mechanically, in particular using one or more coding pins, buttons, or the like, in particular according to the key-lock principle; electrically and / or magnetically, in particular electromagnetically, in one embodiment using RFID ("radio-frequency identification"), NFC ("Near Field Communication"), or the like; or optically, in particular using image analysis, in particular QR code analysis. Accordingly, in one embodiment, the first and / or at least one further outer shell has / have, in one embodiment different, identification features, for example RFID transponders, coding pins, QR codes, or the like, which are detected by corresponding sensors on the robot structural member.

[0020] In one embodiment, this allows robot operation to be adapted to the presence of (any) outer shell or a specific outer shell type. Thus, in one embodiment, a movement enable, a speed, range, and / or applicable force, in particular the maximum permissible speed, range, and / or applicable force, cooling, human-robot cooperation, and / or fully automatic operation, or the like, can be coupled to or depend on the (detection of) presence of (any) outer shell or a specific outer shell type.

[0021] In one embodiment, the system switches to an operating mode or enables operation when the presence of any outer shell is detected, and switches to another operating mode or disables operation, in particular driving mode, when or as long as the non-presence of any outer shell or the absence of any outer shell is detected.

[0022] In one embodiment, switching to one operating mode occurs when the presence of the first outer shell is detected, and switching to another operating mode occurs when the presence of a different outer shell is detected.

[0023] In one embodiment, the robot operation can be advantageously adapted to the respective existing outer shell(s), thus improving operational reliability in particular.

[0024] According to the invention, a single- or multi-part seal is provided that is damaged, in particular destroyed, by removing the (first) outer shell. In other words, removal of the (first) outer shell is only possible by damaging, in particular destroying, the seal.

[0025] This makes it possible to detect unauthorized manipulation or misuse and, in particular, to improve operational safety.

[0026] In one embodiment, the first and / or at least one further outer shell (each) has / have at least one active safety means for reducing collision loads and / or at least one passive safety means for reducing collision loads. In one embodiment, at least one outer shell-side safety means for reducing collision loads is activated if a collision is predicted and / or detected.

[0027] In one embodiment, a passive safety device comprises a damping, in particular energy- or shock-absorbing material layer, in particular a cellulose, a honeycomb or spring structure, or the like. In one embodiment, a passive safety device, in particular a shock-absorbing material layer, is intended or configured to deform elastically and / or plastically, or at least partially reversibly and / or at least partially irreversibly, or is used for this purpose.

[0028] In one embodiment, an active safety means has a contact surface which is adjusted, in particular extended and / or unfolded, by an actuator fixed to the outer shell or structural member, in particular if a sensor fixed to the outer shell or structural member or a sensor spaced apart from the robot structural member and the outer shell, in particular on another robot structural member or another outer shell or also spaced apart from the robot, predicts or detects a collision, or the safety means, in particular the contact surface, the actuator and / or sensor, is provided for this purpose, in particular configured, or is used for this purpose.

[0029] In one embodiment, the active safety means comprises an airbag. Additionally or alternatively, in one embodiment, the respective outer shell can be extended or moved away from the robot structural member completely or locally, in particular segmentally, by an actuator fixed to the outer shell or structural member, or the outer shell and actuator can be configured or used for this purpose. In one embodiment, the actuator can actively extend the outer shell or its local area and / or release a lock of a spring device that preloads the outer shell or its local area. In one embodiment, this can improve operational safety, in particular in conjunction with switching between operating modes depending on whether the detected outer shell has a corresponding safety means or which safety means the detected outer shell has.

[0030] In one embodiment, the first and / or at least one further outer shell (each) has / have at least one protective means for, in particular, electrical and / or electromagnetic shielding, in particular shielding against electromagnetic, in particular radio waves, and / or for, in particular, water-, oil-, and / or air-tight and / or sterile or germ-tight sealing of an interior space on the structural member side. In one embodiment, the outer shell seals the interior space on the structural member side, in particular water-, oil-, and / or air-tight and / or sterile and / or to ensure IP protection, or is designed or used for this purpose. Shielding of an interior space on the structural member side can serve equally to protect the interior, in particular electronic components in the interior, as well as the exterior space.

[0031] Additionally or alternatively, in one embodiment, the first and / or at least one further outer shell (each) can be designed as a sterile disposable shell or can be used only once and disposed of after use. Likewise, in one embodiment, the first and / or at least one further outer shell (each) can be sterilized before (repeated) use or can be used multiple times. The outer shells can expediently be designed to be sterilizable, for example by autoclaving, plasma treatment, chemical sterilizing agents or disinfectants, or gamma radiation. This can improve operational reliability in one embodiment, particularly in conjunction with switching between operating modes depending on whether the detected outer shell is sterile or has been replaced after use.

[0032] Additionally or alternatively, in one embodiment, the outer shell(s) which cover one or more robot structural members of the robot (system), in particular are arranged thereon, in particular fastened thereto, is / are encased on the outside by a one-part or multi-part, in particular water-, oil- and / or air-tight and / or sterile protective cover, which can be fastened to the or one or more of the outer shell(s).

[0033] In one embodiment, a structural member-side interior space of the first and / or at least one further outer shell (each) is temperature-controlled using an outer shell-side thermal medium. Accordingly, the first and / or at least one further outer shell in one embodiment (each) has at least one active and / or at least one passive thermal medium for temperature control and / or thermal insulation of a structural member-side interior space.

[0034] In one embodiment, a passive thermal medium comprises a material layer with a thermal conductivity of at most 0.5 W / (mK), in particular at most 0.1 W / (mK), at 20°C and / or an emissivity ε of at least 0.7 and / or several cooling channels and / or through-openings on the outer shell.

[0035] In one embodiment, an active thermal means comprises a heating element, in particular an electric one, a heat exchanger, a fan, adjustable through-openings on the outer shell, an actuator for opening or closing cooling channels and / or through-openings on the outer shell and / or an outer shell surface which is or can be adjusted, in particular extended, by an actuator fixed to the outer shell or structural member.

[0036] In one embodiment, in particular depending on the operating state or drive load, heat can be dissipated and heating, in particular overheating, of components can be avoided, thereby improving operation, in particular efficiency, process speed and / or operational reliability.

[0037] As explained above with reference to active safety and thermal means, it may be advantageous to adjust an outer shell that at least partially covers the respective robot structural member, in particular as a whole or preferably in parts, in particular by adjusting two or more parts of the multi-part outer shell relative to each other. In this way, in one embodiment, gaps for cooling can be opened or enlarged as needed and / or a contact surface can be extended to absorb or enlarge a crumple or crash zone early upon a detected or predicted collision.

[0038] For this purpose, in one embodiment, at least one part of an outer shell fixed to the structural member, which at least partially covers the robot structural member, is adjusted, in particular displaced and / or pivoted, in particular at least two parts of the outer shell relative to one another, using at least one actuator fixed to the structural member or outer shell, in particular relative to or relative to the robot structural member. Accordingly, in one embodiment, the robot system has at least one actuator fixed to the structural member or outer shell for adjusting, in particular displacing and / or pivoting, at least one part of an outer shell fixed to the structural member, which at least partially covers the robot structural member, in particular relative to or relative to the robot structural member, in particular for adjusting at least two parts of the outer shell relative to one another.In addition to collisions and / or temperature control, such an adjustment can also be used for other purposes, for example to reduce the size of an outer contour as needed or the like.

[0039] In one embodiment, one or more additional components, in particular lines, sensors and / or actuators, is / are or will be fastened (each) to an interface of the first and / or at least one further outer shell, in particular one facing the structural member or on the inside or facing away from the structural member or on the outside, in particular in a non-destructively releasable manner, in one embodiment with a positive and / or frictional fit. Accordingly, in one embodiment, the first and / or at least one further outer shell has / have one or more interfaces, in particular one facing the structural member or on the inside and / or facing away from the structural member or on the outside, for example screwing points, in particular threads, clips, clamps, holders or the like, to which additional components are or will be fastened, in particular in a non-destructively releasable manner, in one embodiment with a positive and / or frictional fit, or which are provided for this purpose, in particular are designed orThis allows the outer shell to be adapted to different operating conditions and thus be used more flexibly.

[0040] In one embodiment, the first and / or at least one further outer shell (each) has / have at least one electrical and / or at least one fluid line. In a further development, this line is firmly or permanently connected to the outer shell, in particular by a material bond, integrated into the outer shell, or non-destructively detachable, in one embodiment by a form-fitting and / or frictional connection, to the outer shell. In one embodiment, the line is arranged on an inner side of the outer shell facing the structural member or an outer side facing away from the structural member. This allows lines to be advantageously mounted, in particular as needed.

[0041] In one embodiment, information is input or output using an input and / or output means on the outer shell, in particular manually or optically and / or acoustically. Accordingly, the first and / or at least one further outer shell (each) has / have at least one input and / or output means for, in particular manually, inputting or, in particular optically and / or acoustically, outputting information. This can be firmly or permanently connected to the outer shell, in particular by a material fit, integrated into the outer shell, or non-destructively detachably attached to the outer shell, in one embodiment by a form-fitting and / or friction fit.

[0042] In a further development, the output means can comprise one or more point-shaped, linear, or planar controllable light elements, in particular LCD, TFT, OLED displays, RGB LED strips, RGB LEDs, or the like, and / or display a status, a selected program, program progress, robot speed, or the like. In a further development, the input means can comprise a button, switch, jog wheel, a capacitive and / or pressure-sensitive touch surface, or the like. This allows different input and output options to be provided in one embodiment depending on the application conditions by using different outer shells, thus allowing the robot system to be used more flexibly.

[0043] In one embodiment, an environment, in particular a surrounding area, is detected using at least one sensor on the outer shell, in one embodiment optically or visually. Accordingly, in one embodiment, the first and / or at least one further outer shell (each) has at least one sensor for detecting the environment, in particular the surrounding area. In one embodiment, this can activate a safety device explained here, in particular an actuator fixed to the structural member or outer shell, as explained here.

[0044] In one embodiment, the first and / or at least one further outer shell (each) has / have at least one active and / or at least one passive misuse indicator, in particular a temperature, humidity, and / or acceleration sensor for detecting operation at an inadmissible temperature and / or humidity and / or impermissibly strong impacts and / or a memory for storing the same, an energy-absorbing rigid foam, a passive pressure-sensitive film or the like for detecting contacts, or the like. This allows misuse to be detected and, in one embodiment, operational reliability to be improved.

[0045] In particular, if an outer shell has one or more electrical, pneumatic and / or hydraulic components, in particular actuators, input and / or output means, sensors, connections, lines or the like, which in one embodiment can be fastened to the outer shell, in particular integrated into it, in a non-destructively detachable manner, in particular frictionally and / or positively, or non-destructively detachable, in particular materially bonded, in one embodiment the robot structural member and / or the outer shell, in particular at least two parts of the outer shell which are connected to one another or are designed for this purpose, each have, in particular complementary, electrical, pneumatic or hydraulic interfaces, through which these shell-side components can be or can be connected (electrically, pneumatically or hydraulically) or which are designed or used for this purpose.In one embodiment, such a shell-side interface is integrated into the outer shell. Thus, in one embodiment, an electrical, pneumatic, or hydraulic interface of one part of an outer shell is connected to an electrical, pneumatic, or hydraulic interface of another part of the outer shell, and / or an electrical, pneumatic, or hydraulic interface of an outer shell is connected to an electrical, pneumatic, or hydraulic interface on the structural member side, or the outer shell, its parts, or the robot structural member have interfaces configured or used for this purpose. In one embodiment, this can simplify assembly and / or improve, and in particular protect, the (electrical, pneumatic, or hydraulic) connection.

[0046] An actuator, in particular the active safety means for extending the outer shell or its local area or releasing a lock of a spring device that preloads the outer shell or its local area, and / or the active thermal means for opening or closing cooling channels and / or through-openings on the outer shell and / or extending an outer shell surface, comprises, in one embodiment, an element made of shape memory material that is electrically or thermally controlled or adjusted or is configured or used for this purpose. In one embodiment, this allows for the realization of a particularly compact and / or thermo-adaptive or self-regulating actuator.

[0047] In one embodiment, an actuator, in particular for adjusting at least part of a structural member-fixed outer shell that at least partially covers the robot structural member, has an electric, in particular electromagnetic and / or motor-driven, hydraulic and / or pneumatic drive. A means within the meaning of the present invention can be implemented in hardware and / or software, in particular a processing unit, in particular a microprocessor unit (CPU), preferably connected to a memory and / or bus system for data or signals, and / or one or more programs or program modules.

[0048] One aspect of the invention relates to a method for operating the robot system or the robot assemblies or the robot, comprising the step of at least partially covering at least one robot structural member with the first and / or at least one further outer shell. This allows the robot system to be advantageously configured to meet various requirements. In other words, the robot system can be configured by arranging one or more outer shells on an associated robot structural member.

[0049] The method preferably includes the step of detecting, in particular identifying, the arranged outer shell. Advantageously, this allows functions or operating modes to be enabled in a simple manner without performing additional configuration work on a controller of the robot system. In particular, switching between two operating modes is possible by exchanging the outer shell(s).

[0050] Further advantages and features emerge from the subclaims and the exemplary embodiments. The following shows, partly schematically: Fig. 1: a robot system and method according to an embodiment of the present invention; Fig. 2: a robot structural member and a first structural-member-fixed outer shell of the robot system; Fig. 3: the robot structural member and a further structural-member-fixed outer shell of the robot system; Fig. 4: an actuator for adjusting a part of the further outer shell; and Fig. 5: a method according to an embodiment of the present invention.

[0051] Fig. 1 shows a robot system or method according to an embodiment of the present invention.

[0052] The robot system comprises a robot with a robot structural member in the form of a base supporting a proximal robot joint 21 and an adjacent robot mounting surface 100, a plurality of robot structural members 11-15 each supporting two adjacent joints 21-22, 22-23, 23-24, 24-25 and 25-26, and a robot structural member in the form of a robot gripper 16 supporting a distal robot joint 26 and an adjacent robot work surface 110, and a robot controller 2.

[0053] Multi-part first outer shells are or are attached to one or more of the robot structural members 10-16, which cover the respective robot structural members.

[0054] An example is Fig. 1 a first outer shell 32 is already attached to the robot structural member 12, while a first outer shell 34A, 34B is currently being attached to the robot structural member 14.

[0055] As in Fig. 1 indicated by assembly arrows, two outer shell parts 34A, 34B are non-destructively detachably connected to each other at mechanical interfaces, which are indicated in the figures by black rectangles.

[0056] Mechanical interfaces of the outer shells (parts), which are also indicated by black rectangles in the figures, are or will be attached to the respective robot structural member in a non-destructively detachable manner, whereby these mechanical interfaces may each additionally have or be electrical, pneumatic and / or hydraulic interfaces.

[0057] Fig. 2 shows the robot structural member 12 and the first outer shell 32 in an enlarged view.

[0058] Sensors 40 are arranged on the robot structural member 12, which identify the outer shell currently attached to the robot structural member and report this to the robot controller 2, which then switches to an operating mode that is permitted for the identified outer shell(s).

[0059] For example, in one embodiment, the robot controller 2 checks in a step S10 (cf. Fig. 5 ) whether an outer shell with a safety device explained below is arranged or detected on all movable robot structural members 11-16. If this is the case (S10: "Y"), the system switches to human-robot cooperation mode or an operating mode with higher permissible robot speeds (S20); otherwise (S10: "N"), the system switches to automatic mode or an operating mode with lower permissible robot speeds (S30). In a modification, it can also be checked whether (any) (approved) outer shell is arranged at each intended robot structural member or its interface(s), for example, by detecting coding pins or the like. Only in this case (S10: "Y") is (driving) operation of the robot enabled (S20); otherwise, a corresponding message is issued (S30).

[0060] The first outer shell 32 has, by way of example, a passive safety means for reducing a collision load in the form of an energy-absorbing, elastic outer layer 50 and a passive thermal means for thermally insulating an interior space on the structural member side in the form of an insulation layer 51 and also seals the interior space.

[0061] In addition, the first outer shell 32 has, by way of example, an active thermal means 52 for controlling the temperature of the structural member-side interior in the form of a fan, heat exchanger or the like, which Fig. 2 is indicated schematically.

[0062] Furthermore, the first outer shell 32 has, by way of example, an input and / or output means 54 in the form of a touchscreen, RGB LEDs or the like, which Fig. 2 is also indicated schematically.

[0063] In addition, the first outer shell 32 has exemplary interfaces 55 to which an energy or fluid line 200 is or will be attached.

[0064] In addition, the first outer shell 32 has, by way of example, an integrated energy or fluid line 210.

[0065] Furthermore, the first outer shell 32, which, like the first outer shell 34A, 34B, is in two parts, has seals 58 at the mechanical connection interfaces of the two outer shell parts, which seals are destroyed when the outer shell 32 is opened or the two outer shell parts are separated from each other. The first outer shell 32 of the Fig. 1, 2 can optionally be replaced with another outer shell 32', which is Fig. 3 This further outer shell 32' has sensors 56 in the form of cameras, ultrasonic sensors or the like for environmental detection.

[0066] In addition, actuators 57 are provided on the further outer shell 32' for adjusting the two outer shell parts 32A', 32B' from a closed position, which is in Fig. 3 indicated by dashed lines, in an open position, which is Fig. 3 This allows cooling gaps to be created or opened to cool the interior of the structural member. Additionally or alternatively, the Fig. 4 By adjusting the outer shell portions 32A', 32B' to the open position, a contact surface can be proactively adjusted to reduce collision loading if a collision is predicted or detected by sensors 56. In one embodiment, the outer shell portions 32A', 32B' are also adjusted to the open position if a sensor on an outer shell of another of the robot structural members 10, 11, 13-16 predicts a collision.

[0067] This can equally Fig. 5 can be illustrated, in which then or for this purpose step S10 represents the prognosis or detection of an (impending) collision and / or a cooling requirement and S20 a corresponding adjustment or opening of the outer shell parts 32A', 32B' or step S20 a corresponding retraction or non-adjustment or closure.

[0068] Fig. 4 shows an example of the actuator for adjusting the outer shell part 32B' with an element 57.1 made of shape memory material, which expands as a result of heating of the interior and thereby opens the outer shell part 32B' and can be energized in addition to the further opening.

[0069] In a variation, element 57.1 can be Fig. 4 It may also be a leaf spring that opens the outer shell portion 32B' as soon as a lock is released. Although exemplary embodiments have been explained in the preceding description, it should be noted that numerous modifications are possible.

[0070] In particular, the first outer shell 32 has various means 50 - 55 and the integrated line 210 for a more compact representation, wherein in a modification one or more of these means and / or this integrated line are omitted and / or analogous to Fig. 4 Further outer shells may be provided, which are alternatively attached to the robot structural member 12 instead of the first outer shell 32 or further outer shell 32' and which may have one or more of these means and / or this integrated line or may provide other functions. Additionally or alternatively, the outer and / or inner layer 50, 51 may also have electrical shielding.

[0071] Additionally or alternatively, the outer layer 50 may also comprise a passive pressure-sensitive film which, when contact forces exceed the intended or normal operation, undergoes permanent changes, in particular discoloration or the like, and thus indicates misuse.

[0072] Furthermore, it should be noted that the exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one exemplary embodiment. Various modifications, particularly with regard to the function and arrangement of the described components, may be made without departing from the scope of protection as defined by the claims and equivalent combinations of features.

[0073] Thus, in the figures, the outer shells 32, 32', (34A+34B) each at least partially encompass the respective robot structural members and the joints connecting them. As already mentioned, this is only schematic; in modifications, outer shells can also leave one or both joints free or cover only the robot structural member itself (at least partially). List of reference symbols

[0074] 2Robot controller 10 - 16Robot structural member 21 - 26Robot joint 32First outer shell 32'Further outer shell 32A', 32B'Outer shell parts 34A, 34BOuter shell parts 40Detection / identification sensor 50Outer layer 51Inner layer / insulation layer 52Active thermal medium 54Input / output medium 55Interface for attaching an additional component 56Sensor 57Actuator 57.1Element made of shape memory material / leaf spring 58Seal 100, 110Robot mounting / working surface 200; 210Cable

Claims

1. Robot system comprising at least one robot structure element (10-16) which connects a robot joint (21-26) and a neighbouring robot joint (21-26) or which connects a robot joint (21-26) and a neighbouring robot securing surface or robot working surface (100, 110) to one another in a bearing manner, wherein the robot structure element (10-16) and / or the robot joint (21-26) is at least partially covered by a first outer shell (32; 34A, 34B) which is fixed to the structure element and arranged on the robot structure element (10-16) and / or on the robot joint (21-26), characterized by at least one seal (58) which is damaged by removal of the outer shell.

2. Robot system according to Claim 1, comprising at least one further outer shell (32A'; 32B'), in particular with a different geometry, surface, number of parts and / or functionality from the first outer shell and / or at least partially different material from the first outer shell, for at least partially covering the robot structure element (10-16) and / or robot joint (21, 26) instead of or together with the first outer shell (32; 34A, 34B).

3. Robot system according to one of the preceding claims, comprising means (2; 40) for sensing, in particular identifying, at least one outer shell which is currently at least partially covering the robot structure element, wherein enabling of an operating mode and / or switching over between different operating modes preferably takes place in dependence on the sensed and / or identified outer shell.

4. Robot system according to one of the preceding claims, comprising at least one actuator (57), which is fixed to the structure element or fixed to the outer shell, for adjusting at least part of an outer shell which is fixed to the structure element and at least partially covers the robot structure element.

5. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least two outer shell parts (32A'; 32B'; 34A, 34B), which are non-destructively releasably connected to one another.

6. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one active and / or at least one passive safety means (50; 57) for reducing collision loading.

7. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one protective means (50, 51) for screening off and / or sealing off an interior space on the structure element side and / or seals off the interior space on the structure element side.

8. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one active and / or at least one passive thermal means (51, 52) for controlling the temperature and / or thermally insulating an interior space on the structure element side.

9. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one interface (55) for securing at least one additional component (200) and / or has at least one electrical, pneumatic and / or hydraulic interface.

10. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one electrical and / or at least one fluid line (200, 210).

11. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one input means and / or output means (54) for inputting or outputting information.

12. Robot system according to one of the preceding claims, wherein the first and / or at least one further outer shell has at least one sensor (56) for sensing the surroundings.

13. Robot system according to one of the preceding claims, characterized in that the first and / or at least one further outer shell has at least one improper-use indicator (50).

14. Method for operating a robot system according to one of the preceding claims, wherein the robot structure element is at least partially covered, in particular alternatively or jointly, by the first and / or at least one further outer shell, wherein the configuring of the robot system preferably takes place by means of arranging one or more outer shells on an assigned robot structure element.

15. Method according to Claim 14, wherein the method comprises one or more of the following steps: - sensing, in particular identifying, at least one outer shell which is currently at least partially covering an assigned robot structure element; - enabling an operating mode and / or switching over between two operating modes in dependence on the sensed or identified outer shell; - activating at least one safety means on the outer shell side for reducing collision loading if a collision is predicted and / or sensed; - sealing off an interior space on the structure element side; - controlling the temperature of the interior space on the structure element side with the aid of at least one thermal means on the outer shell side; - adjusting with the aid of at least one actuator which is fixed to the structure element or fixed to the outer shell at least part of an outer shell which is fixed to the structure element and is at least partially covering the robot structure element; - inputting and / or outputting information with the aid of an input means and / or output means on the outer shell side; - sensing surroundings with the aid of at least one sensor on the outer shell side; - determining misuse or improper use with the aid of at least one seal or improper-use indicator on the outer shell side.