ROBOT ARM WITH AN ADDITIONAL OUTPUT LINK

Description

[0001] The invention relates to a robot arm with a plurality of joints and a plurality of links which are adjustable relative to one another by the movements of the joints of the robot arm, wherein each driven joint is assigned a drive device and the respective drive device is designed to adjust the joint of the robot arm assigned to it, specifically by automatically controlling a motor of the respective drive device, comprising a distal end link designed as a tool flange, a hand link immediately upstream of the distal end link in the kinematic chain of joints and links, on which hand link the distal end link is mounted so as to be rotatable about a flange axis of rotation.

[0002] WO 2015 / 078585 A2 describes a robot arm with at least two arm modules that can be moved relative to one another and at least one manually operable input module for generating control signals for controlling the robot arm on the basis of a user input, in which both arm modules have a first interface to which the input module can be selectively mounted.

[0003] EP 1 671 755 A1 describes a horizontally steered robot with an upper and lower end effector attachment. This robot is designed to handle various work shapes and workpieces by selectively utilizing the upper and lower sides of a work spindle.

[0004] The object of the invention is to create a robot arm which has an extended useful range.

[0005] The object is achieved by a robot arm with several joints and several links that are adjustable relative to one another by the movements of the joints of the robot arm, wherein each driven joint is assigned a drive device and the respective drive device is designed to adjust the joint of the robot arm assigned to it, specifically by automatically controlling a motor of the respective drive device, having a distal end link designed as a tool flange, a handle directly upstream of the distal end link in the kinematic chain of joints and links, on which handle the distal end link is mounted so as to be rotatable about a flange axis of rotation, and an additional output link mounted on the handle so as to be rotatable about a rotation axis parallel to the flange axis of rotation, which additional output link is arranged on the handle opposite the distal end link, wherein a first drive device is assigned to the distal end link,which is designed to move the distal end member and the additional output member (10) is assigned a second drive device which is different from the first drive device and is designed to move the additional output member.,

[0006] One or more of the joints, in particular all joints of the robot arm, can be designed as rotary joints. Each link of the robot arm connects two adjacent joints of the robot arm with a fixed relative assignment of the positions and orientations of the adjacent joints to one another. Each link of the robot arm can be designed as a single-part or multi-part joint.

[0007] The drive devices can be drive-controlled by a robot controller, in particular optionally automated according to a robot program, or manually actuated via an input device in a manual operation mode of the robot, or alternatively also in a force / torque-controlled operation of the robot arm by manually guiding the robot arm by grasping and moving at least one of its links. The respective drive device can be formed by a controllable motor. The respective drive device can in particular comprise an electric motor. In addition to the actual motor for generating a torque, the drive device can additionally comprise a gear and / or a drive control device. The drive device can be designed for controlled operation of the motor.For this purpose, the drive device, in particular the drive control device, can have a control device, in particular an electrical control device.

[0008] The tool flange forms a coupling means to which robot tools, which are held, moved, guided, and optionally also controlled by the robot arm, can be attached to the robot arm. The robot tool can, for example, be a gripper designed to grasp an object that is to be handled by moving the robot arm. Alternatively, the robot tool can also be a processing tool, such as a welding gun or another tool, in particular for mechanically processing or handling a workpiece. The tool flange can, in particular, be a flange with a flange pattern according to ISO 9409-1:2004-03. The tool flange can also be referred to as the mechanical interface of the robot arm.

[0009] The distal end link is the link of the robot arm which, in the kinematic chain of the multiple links and joints of the robot arm, is furthest away from its base, the basic frame. In this respect, the base, i.e. the basic frame of the robot arm, can also be referred to as the proximal end link. The kinematic chain of the multiple links and joints of the robot arm is usually lined up or counted starting from the base, i.e. starting from the basic frame, in the direction of the distal end link, i.e. the hand flange of the robot arm. In this respect, all links following the base or basic frame are downstream of the base or basic frame. All links of the robot arm other than the distal end link, i.e. the hand flange of the robot arm, are upstream of the distal end link or hand flange of the robot arm. The penultimate link of the robot arm in the kinematic chain is the distal end link orthe hand flange of the robot arm and forms the hand link. In the case of an articulated arm robot with a kinematic chain of seven links and six joints arranged serially one after the other, the link immediately in front of the distal end link (seventh link) or the hand flange of the robot arm is referred to as the sixth link. The base or base frame of the robot arm forms the first link of the robot arm. The penultimate link of the robot arm in the kinematic chain is therefore adjusted directly by the fifth joint and forms the hand link. In the case of an articulated arm robot with a kinematic chain of eight links and seven joints arranged serially one after the other, the link immediately in front of the distal end link (eighth link) or the hand flange of the robot arm is referred to as the seventh link. The base or base frameThe base frame of the robot arm forms the first link of the robot arm. The second-to-last link in the kinematic chain is thus directly adjusted by the sixth joint and forms the hand link.

[0010] The distal end member, which forms the tool flange, is mounted on the handle so that it can rotate about its flange rotation axis by means of a swivel joint.

[0011] According to the invention, the handle has an additional output member which is mounted so as to be rotatable about an axis of rotation parallel to the flange axis of rotation and which is arranged on the handle opposite the distal end member.

[0012] The auxiliary output member is a separate output member from the tool flange, which is rotatably mounted on the handle, specifically rotatable about a rotation axis parallel to the flange rotation axis, and is also actively adjustable, i.e., actively rotatable. Active rotation of the auxiliary output member can be achieved by a separate drive or motor specifically assigned to the auxiliary output member, or by one of the drive devices of the joints of the robot arm, in particular by the drive device that drives the tool flange and / or directly drives the handle.

[0013] The robot arm can have a mechanical configuration such that the flange rotation axis of the tool flange always runs parallel to the rotation axis of the additional output member and / or a hand-guide means, in particular the flange rotation axis of the tool flange and the rotation axis of the additional output member or the hand-guide means always lie on the same straight line, and a pivot axis, about which the hand member is rotatably mounted on an arm member of the robot arm immediately upstream of the hand member in the kinematic chain, is always oriented perpendicular to the flange rotation axis of the tool flange and to the rotation axis of the additional output member or the hand-guide means.

[0014] A torque can be transmitted to a functional element coupled to the additional output element via the drivable additional output element. In addition, due to the coupling of the additional output element and the functional element, a torque can also be transmitted to the additional output element via the functional element.

[0015] In a first embodiment, the functional element can be a manual interface. The manual interface can comprise a hand-guiding means, in particular a hand rest and / or a handle. By means of the hand-guiding means, the hand rest and / or the handle, a user of the robot arm can grasp or grip the hand-guiding means, the hand rest and / or the handle and, for example, in force / torque-controlled operation of the robot arm, adjust the robot arm by manually guiding the robot arm while grasping the hand rest and / or the handle and consequently by moving at least one of the robot arm's links. Due to the drivability of the additional output link to which the functional element is coupled, the hand-guiding means, the hand rest or the handle can also be actively driven in order to provide tactile feedback to the user grasping or gripping the hand-guiding means, the hand rest or the handle.

[0016] The hand-guiding device enables intuitive manual guidance of all degrees of freedom of the robot arm on a generously dimensioned hand-supporting surface. However, unlike the state of the art, this neither reduces the payload due to a larger effective flange distance nor adversely affects the distal interference contour. This user interface enables both direct manual guidance of the robot arm (in one hand-guiding mode) and (in another mode) as an input element for entering commands and settings on the robot or robot controller (input mode).

[0017] In a second embodiment, the functional element can be a manual input device. The functional element can have one or more input devices. Each input device can be configured as a single individual input element for controlling an individual function. Alternatively, the input device can be configured as a multi-input element for controlling multiple individual functions or can comprise multiple individual input elements, wherein each of the multiple individual input elements can be configured to control an individual function.

[0018] The functional element can be a combination of a manual interface, a hand-guiding means, a hand rest and / or a handle, and at least one manual input means. Due to the drivability of the additional output member to which the functional element is coupled, the manual input means can also be actively driven in order to provide the user who is currently operating the manual input means with tactile feedback during manual input.

[0019] In a third embodiment, the functional element can be an additional tool. In this embodiment, the additional output member forms an additional coupling means to which additional robot tools, which can be held, moved, guided, and optionally also controlled by the robot arm, can be attached to the robot arm. The additional robot tool can, for example, be an additional gripper designed to grasp an object to be handled by moving the robot arm. Alternatively, the robot tool can also be an additional processing tool, such as welding tongs or another tool, in particular for mechanically processing or handling a workpiece. The additional output member can have an additional tool flange, which can in particular be an additional flange with a flange pattern according to ISO 9409-1:2004-03.The additional tool flange can also be referred to as an additional mechanical interface of the robot arm.

[0020] The further training courses described below can be applied either within the first design, the second design and / or the third design.

[0021] A gear mechanism may be arranged within the hand member, which gear mechanism is designed to couple the additional output member to the distal end member in order to convert a movement of the distal end member into a movement of the additional output member and / or to convert a movement of the additional output member into a movement of the distal end member.

[0022] The transmission can be a simple mechanical coupling that directly converts the movement of the distal end link into a uniform movement of the additional output link. The transmission can, for example, be a simple shaft into which torque is introduced by the distal end link, transmitted through the shaft, and output to the additional output link.

[0023] The transmission can comprise a shaft which is designed to transmit a torque between the additional output member and the distal end member. In a simple embodiment, the shaft can be fixed at one end to the distal end member and at its opposite end to the additional output member. In this way, a rotary movement of the distal end member can be directly converted into a uniform movement of the additional output member. In the same way, a rotary movement of the additional output member can also be directly converted into a uniform movement of the distal end member if a manual interface, or a hand rest and / or a handle, is connected to the additional output member, which can be manually rotated by the hand of a user in order to manually adjust the distal end member.

[0024] However, the transmission can also have at least one gear ratio, which can create a gear ratio such that, despite the mechanical coupling of the distal end member and the additional output member, the additional output member has a different speed during rotation than the respective speed of the distal end member. The gear ratio can be greater than 1. Alternatively, the gear ratio can be less than 1.

[0025] The transmission may comprise a switchable clutch configured to transmit torque between the auxiliary output member and the distal end member in an engaged state and to interrupt transmission of torque between the auxiliary output member and the distal end member in a disengaged state.

[0026] The switchable clutch can be manually switchable. For this purpose, an actuating device can be arranged on the handle, which can be manually operated, for example, by a user's hand, to switch the clutch. The actuating device can be designed to switch the clutch mechanically. Alternatively or additionally, the actuating device can be designed to switch the clutch driven by a drive device, specifically controlled by the manually operated actuating device.

[0027] Alternatively, the switchable clutch can be switched automatically by a robot controller controlling the robot arm.

[0028] A first drive device can be assigned to the distal end member, which is designed to move the distal end member, and a second drive device different from the first drive device can be assigned to the additional output member, which second drive device is designed to move the additional output member.

[0029] In a first embodiment, the second drive device associated with the additional output member can be controlled independently of the first drive device associated with the distal end member. Such control of the first drive device and the second drive device can be performed by the robot controller.

[0030] In a second embodiment, the second drive device assigned to the additional output member can be controlled as a function of the first drive device assigned to the distal end member. Such control of the first drive device and the second drive device can be carried out by the robot controller. In this respect, the robot controller can be designed and configured to control both the first drive device and the second drive device such that the distal end member and the additional output member execute synchronous movements. The robot controller can in particular be designed and configured to simulate a virtual transmission ratio by controlling the distal end member and / or the additional output member, in which the additional output member has a different speed during rotational movement than the respective speed of the distal end member.The virtual gear ratio can be greater than 1. Alternatively, the virtual gear ratio can be less than 1.

[0031] The first drive device may comprise a first motor and the second drive device may comprise a second motor, wherein the first motor and the second motor can be controlled in dependence on one another by a control device, for example the robot control of the robot arm.

[0032] At least one first position sensor can be assigned to the distal end member, which is designed to detect the rotational position of the distal end member, and at least one second position sensor can be assigned to the additional output member, which is designed to detect the rotational position of the additional output member.

[0033] The first position sensor and the second position sensor can be connected for control purposes to the control device or to the robot control of the robot arm, so that the robot control can control the first drive device and / or the second drive device in accordance with the desired behavior of the distal end member and / or the additional output member depending on the detected sensor values ​​of the first position sensor and the second position sensor.

[0034] A hand guide means arranged on the hand member can be connected to the additional output member in such a way that the additional output member can be adjusted by manually actuating the hand guide means and / or the hand guide means can be automatically adjusted by automatically driving the additional output member.

[0035] In a first variant of the hand-guide means, this can have a rotary actuator rotatably mounted on the handle, which has a ring with a circumferential ring surface and an end face delimited by the circumferential ring surface. The end face can be at least largely or completely flat. The end face of the rotary actuator can extend at least substantially and exactly parallel to the flange plane of the tool flange. The surface of the end face of the rotary actuator points in a direction opposite to the surface of the tool flange. A rotatable mounting of the rotary actuator on the handle can either be achieved by the rotary actuator being rotatably mounted on a housing component of the handle.Alternatively, a rotatable mounting of the rotary actuator on the handle can be achieved by attaching the rotary actuator to the auxiliary output member, whereby the auxiliary output member is rotatably mounted within the handle. The rotary actuator can be manually detachable and reattachable from the auxiliary output member.

[0036] In a second variant of the hand-guide means, the rotary actuator can have a locking device which specifies a locking position for evenly spaced angular positions of the rotary actuator, which can only be left when the rotary actuator is turned if a predetermined minimum triggering force is overcome in order to be able to skip an adjacent locking position.

[0037] The hand guide means can be manually detachably attached to the handle or the additional output member and the additional output member can have a tool coupling means to which an additional tool can be coupled, wherein in a fastened state of the hand guide means on the handle or the additional output member the tool coupling means is concealed by the hand guide means and in a removed state of the hand guide means from the handle or the additional output member the tool coupling means is accessible for coupling a tool.

[0038] Thanks to the tool coupling means, either a manual guide means or an additional tool can be coupled to the additional output member. When the additional tool is removed from the additional output member, the manual guide means attached to the additional output member can additionally form a securing means that prevents unwanted manual intervention in the additional output member, particularly when the additional output member is in motion. The manual guide means does not necessarily have to be coupled to the additional output member, but can instead simply be attached to a housing section of the handle. The manual guide means then also functions as a cover cap.

[0039] The hand-guiding means may comprise a gripping portion or a handle with at least one gripping portion configured for manually guiding the robot arm by a user's hand. The hand-guiding means may accordingly comprise a projecting gripping member that can be grasped by a user's hand in order to move the hand member of the robot arm by moving the gripping member grasped by the hand, and thus to be able to change the joint angle positions of the robot arm.

[0040] However, the hand-guiding means may also have a grip portion which does not protrude but is essentially formed on a surface of the hand-guiding means.

[0041] In a first variant of the handle section, this can be formed by a structured surface of an annular surface of the hand guide means.

[0042] In a second variant of the grip section, the structured surface can be formed by several discrete elevations on the annular surface of the hand-guiding means. The several discrete elevations can be evenly distributed around the circumference of the annular surface. The shape and size of the elevations can be adapted to the average shape and size of the fingers of a human hand, taking ergonomic aspects into account. For example, the several discrete elevations can be designed such that when a person grasps the grip section with their hand, each elevation fits between two adjacent fingers of a hand.

[0043] In a third variant of the grip section, the structured surface can be formed by several discrete depressions in the annular surface of the hand-guiding means. The several discrete depressions can be evenly distributed around the circumference of the annular surface. The shape and size of the depressions can be adapted to the average shape and size of the fingers of a human hand, taking ergonomic aspects into account. Thus, the several discrete depressions can be designed such that when the grip section is grasped with a person's hand, a fingertip of a finger of the person's hand engages in a depression.

[0044] Alternatively or in addition to a handle or handle section, the hand-guiding means can have an input means designed for manually inputting control commands into a control device controlling the robot arm. The input means can, in particular, be an electrical input means, for example an electrical switch or an electrical button, which switches an electrical circuit connected to the robot controller. Thus, a person operating the robot arm can transmit an input signal to the robot controller via the input means. The robot controller then executes a function assigned to the input means.

[0045] In a first variant of the input means, this can comprise at least one button or switch on a front side of the hand-guiding means.

[0046] In a second variant of the input means, this can comprise at least one, in particular several buttons or switches on an annular surface of the hand-guiding means. In the case of several buttons or switches on the annular surface of the hand-guiding means, these can be arranged at equal distances from one another over the circumference on a surface of the annular surface of the hand-guiding means. The arrangement of the several buttons or switches on the annular surface can be coordinated with an arrangement of elevations and / or depressions as grip sections of the hand-guiding means; in particular, each elevation and / or depression can be assigned a single button or switch. Alternatively, only each second elevation and / or depression can be assigned a single button or switch.

[0047] In a third variant of the input means, the hand-guide means can be mounted so as to be adjustable in the axial direction relative to its axis of rotation, and the input means can be formed by pressing the entire hand-guide means in the axial direction. This axial pressing can be assigned a tactile function, so that a signal is only generated for the duration of the pressing. Alternatively, the axial pressing of the hand-guide means can be assigned a switching function, so that a switching state is activated by a single, in particular brief, axial pressing of the hand-guide means, and the activated switching state is deactivated again by a further brief axial pressing of the hand-guide means.

[0048] In a fourth variant of the input device, the function of an enabling button can be assigned to it. The enabling button function can be implemented analogously to an enabling button on a robot's handheld device, as described, for example, in EN ISO 10218-1:2011, particularly in Annex C.

[0049] In a fifth variant of the input device, it can be assigned the function of a selection key or input key (also: return key or enter key). In this function, the input device serves as a confirmation means to trigger a control function of the robot controller through a manual movement of a person's hand or to make a specific selection from several possible states, i.e. to confirm the previously selected state. The selection of a specific state from several possible states can be made, for example, using one or two buttons or switches that are configured to browse or scroll through a menu of a user program that displays several states for selection.

[0050] In a sixth variant of the input means, the at least one key or switch can accordingly be an input means by which a scrolling function can be carried out, so that in a menu of a user program that displays several states for selection, a desired state can be selected by simply or repeatedly pressing the key or switch.

[0051] In a seventh variant of the input device, the input device can be formed by a rotary actuator having a head that can be rotated about the rotation axis and operated with the fingers of one hand. The rotary actuator can be designed in the manner of a rotary switch with several discrete mechanical stages, or it can be designed in the manner of a potentiometer with continuous mechanical adjustment. Each discrete switching stage and / or specific angular positions of the rotary actuator can be assigned a separate state. Such a rotary actuator can be used to implement a scroll function, so that in a menu of a user program that displays several states for selection, a desired state can be selected by turning the rotary actuator accordingly.Additionally, pressing the rotary knob can implement another switching function, such as a selection key or enter key, as described in connection with the fifth input device variant. In this respect, the rotary knob can form a so-called "jog dial."

[0052] Alternatively or in addition to a handle portion and / or an input means, the hand-guiding means may have at least one display means which is designed to optically display states of the robot arm and / or the control device on the hand-guiding means.

[0053] In a first variant of the display means, an electronic display can be provided on the front of the hand-guide means. Values ​​of predetermined status types can be shown on the display. The respective displayed status type can be manually selected from a set of several status types. Using a hand-guide means configured as a rotary control, the status type can also be manually selected, whose current value can then be displayed on the display means.

[0054] In a second variant of the display device, an electronic touch display can be configured on the front of the hand-held device, which, in addition to the display function, also offers the option of manual keystrokes. Using the touch display, manual inputs can be entered directly on the surface on the front of the hand-held device.

[0055] Concrete embodiments of the invention are explained in more detail in the following description with reference to the attached figures.

[0056] They show: Fig. 1 shows an exemplary robot arm with seven joints and eight links, as well as with a robot controller that controls the joints of the robot arm. Figs. 2 to 4 show schematic representations of a distal end region of an exemplary robot arm with an additional output member according to the invention in the form of a hand-guiding means. Fig. 5 shows a schematic representation of a distal end region of a distal end region of an exemplary robot arm with an additional output member according to the invention in the form of a tool coupling means with an additional tool. Figs. 6 and 7 each show a sectional view through a hand member of a robot arm and the additional output member mounted therein. Fig. 8 shows an enlarged partial view of a hand member of the robot arm in the region of the hand-guiding means with a plurality of input means. Fig. 9 shows an enlarged partial view of a hand member of the robot arm in the region of the hand-guiding means with a plurality of display means.Fig. 10 is a schematic sectional view in the area of ​​an input means designed as a rocker switch, Fig. 11 is a schematic sectional view in the area of ​​an input means designed as a button, and Figs. 12 to 14 are schematic representations of hand guide means on the hand member of the robot arm, each of which has display means on the front side.

[0057] In the Fig. 1 a robot 1 is shown with a robot arm 2 and a robot controller 3 controlling the robot arm 2. The robot arm comprises a plurality of joints 5 and a plurality of links 4, which are adjustable relative to one another by the movements of the joints 5 of the robot arm 2, wherein each driven joint 5 is assigned a drive device 6 and the respective drive device 6 is designed to adjust the joint 5 of the robot arm 2 assigned to it, specifically by automatically controlling a motor 7 of the respective drive device 6, comprising a distal end link 4a designed as a tool flange 8, a hand link 4b immediately upstream of the distal end link 4a in the kinematic chain of the joints 5 and links 4, on which hand link 4b the distal end link 4a is mounted so as to be rotatable about a flange rotation axis A, and an additional output link 10 mounted on the hand link 4b so as to be rotatable about a rotation axis D parallel to the flange rotation axis A ( Fig. 6 ), which is arranged opposite the distal end member 4a on the hand member 4b. A hand guide means 11 is coupled to the additional output member 10.

[0058] As shown, the robot arm 2 can have a mechanical configuration such that the flange rotation axis A of the tool flange 8 always runs parallel to the rotation axis D of the additional output member 10 and / or the hand-guide means 11, in particular the flange rotation axis A of the tool flange 8 and the rotation axis D of the additional output member 10 or the hand-guide means 11 always lie on the same straight line, and a pivot axis S, about which the hand member 4b is rotatably mounted on an arm member 4c of the robot arm 2 immediately upstream of the hand member 4b in the kinematic chain, is always oriented perpendicular to the flange rotation axis A of the tool flange 8 and to the rotation axis D of the additional output member 10 or the hand-guide means 11.

[0059] The Fig. 2 shows, in a slightly modified form with respect to the shape of the robot arm, a partial view of the hand member 4b, as it can be pivoted or rotated about the pivot axis S in the direction of arrow P1. The additional output member 10 and the hand guide means 11 are arranged opposite the tool flange 8.

[0060] The hand guide means 11 can be designed to be removable from the handle 4b, so that an additional tool 9 can be coupled to the handle 4b or to the additional output member 10 instead of the hand guide means 11. This is particularly Fig. 5 shown in more detail.

[0061] However, the hand guide means 11 can, as shown in Fig. 3 As indicated, they have gripping sections 12 which, as shown, are arranged on an annular surface of the hand-guiding means 11, so that the hand-guiding means 11 can be gripped and rotated with the fingers of a person's hand 13. Alternatively or in addition to manually rotating the hand-guiding means 11, the robot arm 2 can generally be adjusted in its joint angle positions on the hand-guiding means 11 by guiding it with the hand 13.

[0062] As the Fig. 4 As shown, the hand-guide means 11 on the additional output member 10 can be configured such that, by rotating the hand-guide means 11 in the direction of arrow P2, the tool flange 8 executes a correspondingly coupled rotational movement in the direction of arrow P3. The rotation of the hand-guide means 11 can be converted into an identical rotational movement of the tool flange 8, or can have a transmission in the rotational speed or angular velocity. It is also possible for the tool flange 8 to execute a rotational movement opposite to the rotation of the hand-guide means 11, although in this case it still depends on the adjustment of the hand-guide means 11, optionally synchronously or asynchronously.

[0063] The Fig. 6 shows that a gear 14 can be arranged within the hand member 4b, which is designed to couple the additional output member 10 to the distal end member 4a in order to convert a movement of the distal end member 4a into a movement of the additional output member 10 and / or to convert a movement of the additional output member 10 into a movement of the distal end member 4a. The gear 14 can, as shown, comprise a shaft 15, which is designed to transmit a torque between the additional output member 10 and the distal end member 4a or the tool flange 8. The gear 14 can comprise a switchable clutch 16, which, in an engaged state, is designed to transmit a torque between the additional output member 10 and the distal end member 4a and, in a disengaged state, to interrupt a transmission of a torque between the additional output member 10 and the distal end member 4a.As a drive device 6, a motor M1 can be integrated into the hand member 4b.

[0064] In this respect, a first drive device 6.1 can be assigned to the distal end member 4a, which is designed to automatically move the distal end member 4a, wherein the additional output member 10 or the hand-guiding means 11 is assigned a second drive device 6.2, which is different from the first drive device 6.1 and is designed to move the additional output member 10 or the hand-guiding means 11. Consequently, the hand-guiding means 11 can thereby have a force feedback device. The first drive device 6.1 can have a first motor M1, and the second drive device 6.2 can have a second motor M2, wherein the first motor M1 and the second motor M2 can be controlled, for example, by the control device 3 in dependence on one another.

[0065] At least one first position sensor 17.1, which is designed to detect the rotational position of the distal end member 4a, can be assigned to the distal end member 4a, and at least one second position sensor 17.2, which is designed to detect the rotational position of the additional output member 10, can be assigned to the additional output member 10.

[0066] In the Fig. 7 It is schematically shown that due to the pivotable mounting of the hand member 4b on the arm member 4c about the pivot axis S, the distal end member 4a, ie the tool flange 8, can be oriented downwards, with the additional output member 10 or the hand guide means 11 pointing upwards, or the distal end member 4a, ie the tool flange 8, can be oriented upwards, with the additional output member 10 or the hand guide means 11 then pointing downwards.

[0067] As the Fig. 8 und Fig. 9 show, the hand-guiding means 11 can have one or more input means 18, which are designed for manually inputting control commands into a control device 3 controlling the robot arm 2. The Fig. 10 shows an example of an input means 18 designed as a rocker switch and Fig. 11 shows an example of an input device 18 designed as a button.

[0068] The combined hand guide means 11 and input means, which is positioned in the swivel housing of the robot hand 4b between the last and the penultimate distal axis of the robot arm 2, can accordingly form a support surface for the hand 13, through which the user can ergonomically guide the robot arm by hand and can move the first n-1 axes of the n-axis robot arm directly in a force-controlled manner.

[0069] The preferably ring-shaped, rotatable input field can be used to digitally and directly specify the movement of the distal end member 4a, i.e., the tool flange 8, from the hand member 4b, whereby appropriate feedback can optionally be transmitted back to the user via the hand 18. The following points make operating the last rotation axis particularly direct and natural.

[0070] The ring can be designed to rotate like a jog wheel and thus does not need to have a centering center position. For the purpose of precise and conscious input, the ring can be frictional, i.e., have a dampened behavior or include a segmented grid that the user perceives haptically when turning. In an advantageous variant, this restraining moment can be controlled and changed in order to obtain direct force feedback from the actual last axis, for example, in the event of a collision of the tool 19 ( Fig. 5 ) or when the axis limits of the joints of the robot arm 2 are reached.

[0071] The manual guidance device 11 or the input device can be configured as an enabling switch. The presented operating concept represents a holistic approach in which the user should be able to manually guide the robot arm 2 with just one hand. Therefore, depending on the robot type, hazard potential, and regulations, an enabling switch for manual movement may also be necessary. To enable consent while simultaneously guiding the robot by hand, a switching or push-button element can be placed on the input ring. By gently squeezing the ring, for example, travel can be enabled; by turning it, the last axis (joint of the robot arm 2) can be controlled; and by moving the hand rest, the rest of the robot can be moved. Contact-type buttons, such as capacitive or inductive ones, are also possible.

[0072] As embodiments, as in Fig. 8 und Fig. 9 As shown by way of example, one or more connected buttons 19 in ring form, e.g. laid switching strips or individual switching elements, such as buttons, can be provided, which can also be placed under a ring of touch segments and can be actuated by this when pressed.

[0073] The buttons 19 can be moved individually, analogous to keys on a computer keyboard, or tilted individually ( Fig. 10 und Fig. 11 ) and act on the button. A design is also possible in which the buttons 19 are made of a flexible material, e.g., plastic or elastomer, and both the connections between them and the guide functions and the buttons 19 are directly integrated by means of a suitable shape and a targeted stiffness distribution.

[0074] The hand-guiding means 11 may have at least one display means 20 which is designed to optically display states of the robot arm 2 and / or the control device 3 on the hand-guiding means 11.

[0075] The display means 20 can, for example, comprise an LED ring. An LED ring, which can be controlled segment-by-segment, for example, can visualize the inputs via the control ring. The lights of the LED ring can, for example, be assigned individually or in groups to individual input means or buttons. 0-100% settings, e.g., speed values, and / or angle settings, e.g., axis angle values, can be clearly presented on a display as the display means 20. Likewise, general information such as a status can be clearly displayed.

[0076] A central display can be provided optionally or alternatively, which can show essential information and, for example, in combination with an LED ring and operating ring as well as an enabling button, represents a novel, intuitive but also very puristic operating concept.

[0077] If the control element is used in input mode, the adjustment ring can be used to scroll through a menu on the display, set a value, or select a function. Briefly pressing the enabling button selects the program or menu item. Likewise, the "back option" can be selected, or gesture control can be used; for example, briefly touching the robot structure then selects "back."

[0078] If the control element is operated in manual mode, the ring's movement can normally be transmitted 1:1 to the flange axis. If necessary, a "digital translation" can also change the movement to slow or fast.

Claims

1. Robot arm comprising several joints (5) and several links (4) which can be adjusted relative to each other by the movements of the joints (5) of the robot arm (2), wherein a drive device (6) is assigned to each driven joint (5) and the respective drive device (6) is designed to adjust the joint (5) of the robot arm (2) assigned to it, specifically by respective automatic actuation of a motor (7) of the respective drive device (6), comprising a distal end link (4a) which is designed as a tool flange (8), a hand link (4b) which is arranged directly upstream of the distal end link (4a) in the kinematic chain of the joints (5) and links (4) and on which the distal end link (4a) is rotatably mounted about a flange rotation axis (A), and an additional output link (10) which is rotatably mounted on the hand link (4b) about a rotation axis (D), which is parallel to the flange rotation axis (A), and is arranged on the hand link (4b) so as to lie opposite the distal end link (4a), characterized in that a first drive device (6.1) is assigned to the distal end link (4a) and is designed to move the distal end link (4a) and a second drive device (6.2) that is different from the first drive device (6.1) is assigned to the additional output link (10), the second drive device being designed to move the additional output link (10).

2. Robot arm according to Claim 1, characterized in that a gear mechanism (14) is arranged within the hand link (4b) and is designed to couple the additional output link (10) to the distal end link (4a) in order to convert a movement of the distal end link (4a) into a movement of the additional output link (10) and / or to covert a movement of the additional output link (10) into a movement of the distal end link (4a).

3. Robot arm according to Claim 2, characterized in that the gear mechanism (14) comprises a shaft (15) which is designed to transmit a torque between the additional output link (10) and the distal end link (4a).

4. Robot arm according to Claim 2 or 3, characterized in that the gear mechanism (14) comprises a switchable clutch (16) which is designed to transmit a torque between the additional output link (10) and the distal end link (4a) in an engaged state and to interrupt transmission of a torque between the additional output link (10) and the distal end link (4a) in a disengaged state.

5. Robot arm according to Claim 1, characterized in that the first drive device (6.1) has a first motor (M1) and the second drive device (6.2) has a second motor (M2), wherein the first motor (M1) and the second motor (M2) can be controlled depending on each other by a control device (3).

6. Robot arm according to Claim 5, characterized in that at least one first position sensor (17.1) is assigned to the distal end link (4a) and is designed to detect the rotational position of the distal end link (4a) and at least one second position sensor (17.2) is assigned to the additional output link (10) and is designed to detect the rotational position of the additional output link (10).

7. Robot arm according to any of Claims 1 to 6, characterized in that a manual guiding means (11) arranged on the hand link (4b) is connected to the additional output link (10) in such a way that the additional output link (10) can be adjusted by manually actuating the manual guiding means (11) and / or the manual guiding means (11) can be automatically adjusted by automatically driving the additional output link (10).

8. Robot arm according to Claim 7, characterized in that the manual guiding means (11) is manually detachably attached to the hand link (4b) or the additional output link (10) and the additional output link (10) has a tool coupling means to which an additional tool (9) can be coupled, wherein the tool coupling means is hidden by the manual guiding means (11) in a state in which the manual guiding means (11) is attached to the hand link (4b) or the additional output link (10), and the tool coupling means is accessible for coupling an additional tool (9) in a state in which the manual guiding means (11) is removed from the hand link (4b) or the additional output link (10).

9. Robot arm according to Claim 7 or 8, characterized in that the manual guiding means (11) has a grip portion which is designed for a user's hand (13) to manually guide the robot arm (2) and has at least one input means (18) which is designed for manually entering control commands into a control device (3) controlling the robot arm (2) and has at least one display means (20) which is designed for visually displaying states of the robot arm (2) and the control device (3) on the manual guiding means (11).