In particular, a robot hand for moving the coating device

Abstract

The present invention relates to a robotic hand (100) for moving an application device (60) preferably comprising a printhead device (61), the robotic hand (100) comprising a first articulated structure (10) rotatable about a first axis (11), a second articulated structure (20) rotatable about a second axis (21), a third articulated structure (30) rotatable about a third axis (31), a line feedthrough (40) extending through the first articulated structure (10) and through the third articulated structure (30), preferably with at least one line passing therethrough, and an offset (50) between the first axis (11) and the second axis (21).

Description

[Technical field]

[0001] The present invention relates to a robot hand, in particular for moving a coating device, preferably for mounting on a coating robot. The coating device and / or the coating robot are preferably used for painting automotive body parts. [Background technology]

[0002] Robot-guided sprayers (e.g., rotary sprayers) for painting automotive body parts are usually mounted on actuators called robot hands or robot hand axes, in which one or more joints are partially connected to each other for precise path guidance. An example of such a robot hand (robot hand axis) is disclosed, for example, in Patent Document 1.

[0003] The drive train of a conventional sprayer robot hand typically includes gear wheels, shafts, and bearings to achieve the precision required for spray application.

[0004] However, sprayers have the disadvantage that they have limited application efficiency, since typically only a portion of the applied paint adheres to the part to be coated, while the remaining applied paint must be discarded as so-called overspray.

[0005] On the other hand, more recent developments envisage so-called printheads as application devices, such as those known from US Pat. No. 5,399,623 and US Pat. No. 5,499,636. In contrast to known atomizers, such printheads do not emit a spray mist of the paint to be applied, so that undesirable overspray is virtually eliminated.

[0006] The drive train design described at the beginning, consisting of gear wheels, shafts and bearings, does not allow the desired precision to be achieved, especially when applying paint with a print head.

[0007] For example, parts with high elasticity, such as gears and shafts, that are prone to play in the teeth and deform under load, are the source of inaccuracies. Furthermore, the requirement for compact designs often creates couplings between the drive trains of the individual joints, which increases mechanical play and reduces rigidity. It also makes it difficult to calculate the drive torque required for high-precision movements of the TCP (Tool Center Point), which reduces accuracy.

[0008] The multiple influencing variables that are parameterized (e.g., friction parameters, static parameters, dynamic parameters, etc.) require complex testing to determine their values ​​and / or the use of estimation algorithms, both of which lead to inaccurate calculations and prone to errors in the torque pre-control and therefore inaccurate positioning of the robot hand. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] European Patent Application Publication No. 1632320 [Patent Document 2] DE 102013002412 [Patent Document 3] DE 102010019612 Summary of the Invention [Problem to be solved by the invention]

[0010] It is an object of the invention to provide a robot hand, preferably for moving an application device, which may in particular comprise a printhead device, that is as precise and / or has as little play as possible. [Means for solving the problem]

[0011] This object can be solved by the features of the independent claims. Advantageous further developments of the invention are disclosed in the dependent claims or can be taken from the following description of preferred embodiments of the invention.

[0012] The present invention relates to a robot hand (e.g. a robot hand axis), preferably for moving an application device and / or for mounting, for example, on an application robot. The application device may, for example, comprise a printhead device.

[0013] The robot hand includes a first joint structure rotatable about a first axis, a second joint structure rotatable about a second axis, and a third joint structure rotatable about a third axis.

[0014] The robot hand comprises a line feedthrough extending (e.g. axially) through the first articulated structure and extending (e.g. axially) through the third articulated structure. The line feedthrough may have a passage cross-section, preferably of at least 40 mm and up to 90 mm, preferably of e.g. 70 mm ± 5 mm, in the first articulated structure and / or in the third articulated structure as appropriate.

[0015] At least one line, for example at least one hose (e.g. a media hose) and / or at least one cable (e.g. a control cable (e.g. a data cable) and / or preferably a cable for power supply) can pass through the line feed-through.

[0016] The robotic hand may, for example, comprise an application device which is preferably movable by the robotic hand.

[0017] The application device may, for example, comprise a printhead device having a plurality of nozzles for dispensing a coating material, for example for coating (eg, painting) an automotive body part, among others.

[0018] The printhead apparatus is particularly useful for providing coatings on automotive body parts that are substantially free of overspray.

[0019] The at least one line may preferably comprise at least one media line (e.g. media hose) for the application agent supply (e.g. paint supply) and / or fluid supply (e.g. air supply, compressed air supply and / or rinsing agent supply) of the application device and / or print head device. Alternatively or additionally, the at least one line may comprise at least one cable, e.g. for power supply and / or for controlling the application device and / or print head device.

[0020] The at least one line may also include at least one media return line (e.g., a media hose) for returning fluid (e.g., coating material (e.g., paint), air, compressed air, and / or rinsing agent), for example, from the coating device and / or the printhead device.

[0021] The coating agent is preferably a paint (eg, a water-based paint, a solvent-based paint, a base paint and / or a clear paint).

[0022] However, the coating may also comprise, for example, a wax (eg, a preservative wax), a thickener, a sealant, an insulating material, or an adhesive.

[0023] The robot hand may conveniently have a specifically fixed offset (e.g., offset) between the first and second axes, so that, for example, the first and second axes are preferably arranged at a fixed offset from each other.

[0024] The line feedthrough may also extend (e.g. axially) through the second articulation structure. At least one line may preferably also extend through the second articulation structure.

[0025] The first articulation structure may have a hollow center through which a line feedthrough extends, and / or the third articulation structure may have a hollow center through which a line feedthrough extends.

[0026] The second articulation structure can also, for example, advantageously have a hollow centre through which the line feedthrough extends.

[0027] The first and third axes can, for example, extend in a common plane even when rotating about those axes. The second axis can also intersect the common plane, preferably substantially orthogonally. This can advantageously allow the line feedthrough and / or at least one line to bend (and, for example, twist) without kinking when the articulation structure rotates about those axes.

[0028] The first joint structure may be an entrance joint structure (e.g., kinematically) of the robot hand, and / or the third joint structure may be an exit joint structure (e.g., kinematically) of the robot hand.

[0029] The second articulated structure may preferably be connected (eg kinematically) between the first articulated structure and the third articulated structure.

[0030] The first joint structure can be equipped with a gear, preferably a strain wave gear. Alternatively or additionally, the second joint structure can be equipped with a gear, preferably a strain wave gear. The strain wave gear of the first joint structure and / or the second joint structure is preferably configured as a reduction strain wave gear so that the required rotational moment can be advantageously generated.

[0031] Strain wave gears (also known for example as tension wave gears, sliding wedge gears or strain wave gears (SWG)) are gears with elastic transmission elements, which are advantageously characterised by a particularly low weight, particularly small dimensions, advantageously high gear ratios or high gear reductions and advantageously high precision.

[0032] A gear in the context of the present invention, for example a strain wave gear, in particular comprises at least one of the following: a substantially elliptical disk (e.g. a wave generator), which may for example be provided with a central hub and / or a (expediently thin and / or elliptical) deformable bearing (e.g. ball or roller bearing); the elliptical disk preferably serves as a driving element for the gear; and / or - a deformable cylindrical bush with external teeth (e.g. flexspline), which serves in particular as the output element of the gear; and / or - a (conveniently substantially rigid) cylindrical outer ring with internal teeth (e.g. circular splines), the outer ring preferably surrounding the elliptical disc and the bush; and / or The external teeth of the bushing are preferably at least one less than the internal teeth of the outer ring.

[0033] The first joint structure may comprise a drive (e.g. a motor, in particular an electric motor) for rotating the first joint structure about the first axis. The drive of the first joint structure may, for example, be coupled to the first joint structure without its own housing and / or without its own bearings. The drive of the first joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the first joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular manner. To cool its drive, the first joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or may be provided with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0034] The second joint structure may comprise a drive (e.g. a motor, in particular an electric motor) for rotating the second joint structure about the second axis. The drive of the second joint structure may, for example, be coupled to the second joint structure without its own housing and / or without its own bearings. The drive of the second joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the second joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular shape. To cool its drive, the second joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or be equipped with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0035] The third joint structure may comprise a drive (e.g. a motor, in particular an electric motor) for rotating the third joint structure about the third axis. The drive of the third joint structure may, for example, be coupled to the third joint structure without its own housing and / or without its own bearings. The drive of the third joint structure may, for example, be configured as a kit motor, which preferably comprises a rotor and a stator. In particular, the third joint structure may form a (e.g. ring-shaped) housing for its drive, for example the housing may preferably enclose the drive in an annular shape. To cool its drive, the third joint structure may expediently have at least one cooling body (e.g. at least one cooling fin or cooling channel, etc.) on the outside and / or may be provided with active cooling (e.g. for cooling by air, in particular compressed air, or for cooling by cooling liquid).

[0036] The drive of the third joint structure can, for example, comprise a direct drive and / or can, for example, be configured gearless. The direct drive can, for example, comprise a direct motor or a torque motor. In the context of the present invention, a direct drive includes, for example, a drive in which the drive part and the actuating part and / or the output part are conveniently connected directly without gears.

[0037] The direct drive advantageously allows for maximum precision without play or hysteresis losses. As measuring device for measuring the rotational position of the third articulated structure, for example a particularly high-resolution measuring device measuring on the output side can be used.

[0038] The line feed-through, preferably at least one line, can extend through the drive and / or gear of the first articulated structure. Alternatively or additionally, the line feed-through and preferably at least one line can extend through the drive of the third articulated structure.

[0039] The drive part of the first joint structure comprises a motor hollow shaft and / or a gear hollow shaft, through which a line feedthrough and for example at least one line can extend.

[0040] The drive part of the third articulated structure comprises a motor hollow shaft through which a line feed-through and for example at least one line can extend.

[0041] However, the line feedthrough and for example at least one line preferably extends externally beyond the drive and / or gear of the second articulated structure.

[0042] To know the position of a conventional joint structure, especially the rotational position, the prior art usually uses encoders or motor feedback systems on the motor shaft so that the position of the joint structure can be indirectly determined. However, the drawback here is that the output position thus determined can be relatively inaccurate due to play, wear, hysteresis, etc. in the drive train.

[0043] In particular, direct measurement and / or detection of the joint structures, e.g. the first joint structure, the second joint structure and / or the third joint structure, and thus preferably the output, advantageously results in a very high rotational position determination accuracy.

[0044] In order to know the position, in particular the rotational position, of the joint structures (e.g. the first joint structure, the second joint structure and / or the third joint structure) as accurately as possible, in the context of the present invention (e.g. instead of encoders on the motor shafts or motor feedback systems), a measuring device (e.g. an optical measuring device) can be used which can measure the rotational position of the joint structures conveniently directly at the joint structures themselves, so that wear, play and / or hysteresis, for example in the drive train of the robot hand, do not lead to significant deterioration in the position determination. This makes it possible, for example, to ensure an extremely stiff drive train of the robot hand, with postregulation which can practically only depend on the accuracy of the position determination (e.g. the resolution of the measuring device) and the reaction speed and adjustment quality of the entire system.

[0045] Preferably, for measuring the rotational position of the first joint structure, the second joint structure and / or the third joint structure, particularly high-resolution measuring devices can be used, which for example measure the output side from the respective drives.

[0046] The robot hand can, for example, have a (particularly optical, expediently high-resolution) measuring device for (preferably direct) rotational position measurement of the first articulated structure. The measuring device can, for example, be configured for expediently direct detection of the first articulated structure for the rotational position measurement and / or for detecting the first articulated structure at the output side of the drive of the first articulated structure, whereby advantageously wear, play and / or hysteresis are not taken into account in the position determination.

[0047] The measuring device for the rotational position measurement of the first articular structure can be connected to the first articular structure via a (e.g. substantially play-free and / or preloaded) coupling structure. The coupling structure can, for example, be rotatable and / or comprise meshing teeth. Alternatively or additionally, the coupling structure can, for example, be configured axially parallel or angularly and / or comprise meshing (e.g. conical) gear wheels. The coupling structure can, for example, comprise a pair of gear wheels or a bevel wheel stage.

[0048] The robot hand can have an additional measuring device for example for measuring the rotational position of the first joint structure (preferably on the drive side). The additional measuring device can be configured for example to detect the drive of the first joint structure directly, in particular for measuring the rotational position. Preferably, the drive shaft of the drive of the first joint structure (e.g. the hollow shaft of the motor and the gear) can be detected in particular directly.

[0049] Thus, the robot hand can, for example, be equipped with an expedient output-side measuring device and / or an expedient drive-side measuring device for rotational position measurement of the first joint structure.

[0050] The robot hand can, for example, have a (particularly optical, expediently high-resolution) measuring device for (preferably direct) rotational position measurement of the second articulated structure. The measuring device can, for example, be configured for expediently direct detection of the second articulated structure for the rotational position measurement and / or for detecting the second articulated structure at the output side of the drive of the second articulated structure, whereby advantageously wear, play and / or hysteresis are not taken into account in the position determination.

[0051] The robot hand can have an additional measuring device for, for example, a rotational position measurement (preferably on the drive side) of the second joint structure. The additional measuring device can, for example, be configured for conveniently directly detecting the drive of the second joint structure, in particular for the rotational position measurement. Preferably, the rotor or the drive shaft (e.g. the motor shaft) of the drive of the second joint structure can be directly detected in particular.

[0052] Thus, the robot hand can, for example, be equipped with an expedient output-side measuring device and / or an expedient drive-side measuring device for rotational position measurement of the second joint structure.

[0053] The robot hand can have, for example, a (particularly optical, advantageously high-resolution) measuring device for (preferably direct) rotational position measurement of the third joint structure. The measuring device can, for example, be configured for expediently detecting the third joint structure directly and / or for detecting the third joint structure at the output side of the drive of the third joint structure for the rotational position measurement, so that advantageously wear, play and / or hysteresis are not taken into account in the position determination.

[0054] The robot hand can have an additional measuring device for measuring the rotational position of the third joint structure (preferably on the drive side). The additional measuring device can be configured to detect the drive of the third joint structure directly, for example, in particular for measuring the rotational position. Preferably, the drive shaft of the drive of the third joint structure (for example the motor hollow shaft) can be detected directly in particular.

[0055] The robot hand can therefore, for example, be equipped with an expedient output-side measuring device and / or an expedient drive-side measuring device for rotational position measurement of the third joint structure.

[0056] A measuring device for the rotational position measurement of the third articulated structure can be attached to the second articulated structure and / or connected to the third articulated structure via a (e.g. substantially play-free and / or preloaded) connecting structure. The connecting structure can, for example, be rotatable and / or comprise meshing teeth. Alternatively or additionally, the connecting structure can, for example, be configured axially parallel or angular and / or comprise meshing (e.g. conical) gear wheels. The connecting structure can, for example, comprise a pair of gear wheels or a bevel wheel stage.

[0057] The measuring device of the first joint structure, the measuring device of the second joint structure and / or the measuring device of the third joint structure may have a resolution with a tolerance of, for example, 10 arc seconds, preferably 5 arc seconds, and are therefore particularly high-resolution measuring devices.

[0058] For example, the additional measuring device may preferably have a resolution of 10 arc seconds, in particular 5 arc seconds, tolerable error.

[0059] The robotic hand may, for example, have a neutral position in which the first axis and the third axis are substantially coaxially aligned.

[0060] Starting from the neutral position, the second joint structure can have a rotation range to one side that is greater than 110°, greater than 120° or greater than 130°, e.g. less than 150°, and / or a rotation range to the other side that is greater than 1°, greater than 80° or greater than 90°, e.g. less than 110°.

[0061] The offset can be, for example, between at least 10 mm and a maximum of 100 mm in length to prevent kinking of the at least one line upon rotation of the second joint structure about the second axis while allowing for a suitable bending radius.

[0062] The robot hand may, for example, be equipped with an application device.

[0063] The robotic hand may conveniently directly or indirectly move the application device and / or the application device may be conveniently connected directly or indirectly to a third articulated structure.

[0064] The application device preferably comprises a printhead device having multiple nozzles, in particular for dispensing a coating material (e.g., paint) onto, for example, an automotive body part (e.g., a body and / or fittings therefor). Alternatively, the application device may comprise another applicator, e.g., a rotary atomizer, only a single application nozzle, etc.

[0065] The at least one line may comprise at least one media line for coating agent supply, in particular paint supply to the coating device and / or printhead device. Alternatively or additionally, the at least one line may comprise at least one media return line, for example for returning fluid (e.g. coating agent and / or rinsing agent) from the coating device and / or printhead device.

[0066] Alternatively or additionally, the at least one line may comprise at least one cable for power supply and / or control of the application device and / or the printhead device.

[0067] The robot hand may, for example, be equipped with a conical (advantageously repeatable) socket-pin arrangement for convenience, for mastering and / or calibration of the robot hand.

[0068] The present invention also includes a coating robot, preferably a painting robot, having a robotic hand as disclosed herein.

[0069] The coating robot is preferably a multi-axis articulated arm robot having, for example, at least four, at least five or at least six axes of motion.

[0070] The third axis may have a rotational speed of greater than 1000° / sec, greater than 2000° / sec, greater than 3000° / sec, greater than 4000° / sec, or greater than 5000° / sec, and / or a torsional stiffness of greater than 1000 Nm / arc minutes, greater than 2000 Nm / arc minutes, greater than 3000 Nm / arc minutes, greater than 4000 Nm / arc minutes, greater than 5000 Nm / arc minutes, or greater than 10000 Nm / arc minutes.

[0071] The torsional stiffness can be achieved in particular by post-regulation of the drive of the first articulated structure, the drive of the second articulated structure and / or the drive of the third articulated structure. For this purpose, the application robot can be equipped with, for example, an electronic control device which can control and / or post-regulate the drive of the first articulated structure, the drive of the second articulated structure and / or the drive of the third articulated structure.

[0072] It is to be mentioned that the application device, the print head arrangement and / or the application robot are in particular used for applying a coating material to automotive body parts.

[0073] The coating material is preferably a paint.

[0074] The line feed-through may, for example, comprise a hose (e.g. a protective and / or guiding hose) or a (e.g. partially flexible) tube (e.g. a protective and / or guiding tube), through which the at least one line may run (advantageously protected and / or guided). The hose or tube may advantageously form a protective covering and / or guiding structure for the at least one line.

[0075] It should also be mentioned that the line feed-through, in particular at least one line, can extend through the preferably substantially cylindrical joint body of the first joint structure, the second joint structure and / or the third joint structure.

[0076] It should also be mentioned that the first articulation structure, the second articulation structure and the third articulation structure are preferably rotatable relative to each other.

[0077] The third articulation structure may, for example, be at least partially housed within the second articulation structure.

[0078] The at least one line may, for convenience, comprise one or more lines.

[0079] The first articulated structure may have a range of rotation about the first axis of greater than ±340°, such as substantially or at least ±360°. Alternatively or additionally, the third articulated structure may have a range of rotation about the third axis of greater than ±360°, or greater than ±700°, or substantially ±720°.

[0080] In the context of the present invention, the drive trains are preferably configured to be as direct as possible and are preferably not coupled to one another. These drive trains use a preferably play-free meshing of wave gears for the first and / or second joint structure in order to rapidly generate the output torque required here. The third joint structure, due to its often low load, can, for example, be completely free of gears. Here, a direct drive and / or torque drive can thus be realized which advantageously has a maximum possible stiffness without mechanical play.

[0081] The preferred embodiments and features of the invention described above can be combined with one another. Advantageous developments of the invention are disclosed in the dependent claims or result from the following description of preferred embodiments of the invention in combination with the attached figures. [Brief description of the drawings]

[0082] [Figure 1] FIG. 1 is a perspective view of a robot hand according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a side view of the robot hand. [Diagram 3] FIG. 2 is another perspective view of the robot hand, in particular the line feedthroughs and lines are shown diagrammatically. [Figure 4] FIG. 2 is a perspective view of a robot hand, in particular showing a measuring device for measuring the rotational position of a second articulated structure of the robot hand. [Diagram 5] FIG. 2 is a perspective view of a robot hand, in particular showing a measuring device for measuring the rotational position of a third articulated structure of the robot hand. [Figure 6] FIG. 2 is a perspective view of a robot hand, in particular showing a measuring device for measuring the rotational position of a first articulated structure of the robot hand. [Figure 7] FIG. 1 is a schematic diagram of a coating robot equipped with a robot hand. [Figure 8] 1 shows a schematic example of a wave gear. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0083] The preferred embodiments of the present invention described with reference to the drawings correspond in part, similar or identical parts are given the same reference numerals, and reference can be made to the descriptions of other embodiments to avoid repetition.

[0084] 1 to 3 are different views of a robot hand 100 according to an embodiment of the present invention. The robot hand 100 is used, in particular, to move and attach a coating device 60 to a coating robot 200 (FIG. 7).

[0085] The robot hand 100 includes a first joint structure 10 rotatable about a first axis 11, a second joint structure 20 rotatable about a second axis 21, and a third joint structure 30 rotatable about a third axis 31. Thus, the first joint structure 10, the second joint structure 20, and the third joint structure 30 are rotatable relative to one another.

[0086] The first joint structure 10 may preferably be a kinematic entry joint structure of the robot hand 100, and the third joint structure 30 may, in particular, be a kinematic exit joint structure of the robot hand 100.

[0087] The second joint structure 20 can preferably be kinematically connected between the first joint structure 10 and the third joint structure 30, for example to form a combined structure between the first joint structure 10 and the third joint structure 30.

[0088] The robot hand 100 may comprise an application device 60, which is only partially visible in FIG. 2 but can be moved expediently directly or indirectly by the robot hand 100, in particular by the third articulated structure 30. The application device 60 may in particular comprise a printhead device 61 (FIG. 7), which may comprise a number of nozzles for ejecting an application agent (e.g. paint) onto an automotive body part (e.g. a body and / or its mounting parts). The application agent may be ejected from the nozzles, for example in the form of a continuous application agent jet and / or, for example in the form of application agent droplets. The printhead device 61 is in particular used for coating, in particular painting, substantially without overspray.

[0089] The robotic hand 100 extends through the first articulated structure 10 and through the third articulated structure 30 and preferably comprises a line feedthrough 40 through which runs at least one line 41 for the application device 60 and / or for the printhead device 61.

[0090] The line feedthrough 40 may, for example, comprise a hose or a (e.g. partially flexible) tube through which the at least one line 41 can pass, preferably in a protected and guided manner. The hose or tube may thus form a protective cover and / or a guiding structure for the at least one line 41.

[0091] The robot hand 100 also comprises an offset 50 fixed between the first axis 11 and the second axis 21. The offset 50 may be, for example, at least 10 mm long and up to 100 mm long.

[0092] At least one line 41 passing through the line feed-through 40 preferably serves for the application agent supply, and thus in particular for the paint supply of the application device 60 and / or the printhead arrangement 61. However, the at least one line 41 can also serve, for example, for the power supply, for the control and / or for the fluid supply (e.g. air, compressed air and / or rinsing / cleaning agents) of the application device 60 and / or the printhead arrangement 61. The at least one line 41 can also comprise, for example, a data cable allowing data transmission from and / or to the printhead arrangement 61 and / or the application device 60.

[0093] The line feedthrough 40 may also preferably extend through the second articulation structure 20 .

[0094] The first axis 21 and the third axis 31 may extend in a common plane.

[0095] The second axis 21 intersects the common plane, preferably substantially orthogonally.

[0096] 2 shows the robot hand 100 in a neutral position, with the first axis 11 and the third axis 31 arranged substantially coaxially. Starting from the neutral position, the second joint structure 20 can have a rotation range to one side S1 of, for example, more than 120° or more than 130°, and, for example, less than 150°, and / or a rotation range to the other side S2 of, for example, more than 1°, more than 80°, or more than 90°, and, for example, less than 110°.

[0097] To rotate the first articulated structure 10 about the first axis 11, the first articulated structure 10 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the first articulated structure 10 without its own housing and / or without its own bearings. The drive of the first articulated structure 10 can thus be configured, for example, as a kit motor. The drive of the first articulated structure 10 can comprise a motor hollow shaft and, for example, a gear hollow shaft through which the line feedthrough 40 and at least one line 41 can extend.

[0098] To rotate the second articulated structure 20 about the second axis 21, the second articulated structure 20 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the second articulated structure 20 without its own housing and / or without its own bearings. The drive of the second articulated structure 20 can thus be configured, for example, as a kit motor. The line feedthrough 40 and at least one line 41 extend laterally outward beyond the drive and / or gear of the second articulated structure 20.

[0099] To rotate the third articulated structure 30 about the third axis 31, the third articulated structure 30 comprises a drive. The drive comprises in particular a drive motor (e.g. an electric motor) and is preferably coupled to the third articulated structure 30 without its own housing and / or without its own bearings. The drive of the third articulated structure 30 can thus be configured, for example, as a kit motor. The drive of the third articulated structure 30 can comprise a motor hollow shaft and, for example, a gear hollow shaft through which the line feedthrough 40 and at least one line 41 can run.

[0100] Therefore, it is particularly preferred that all three articulated structures 10, 20 and 30 can be driven via motors which can be integrated directly in the respective articulated structures 10, 20 and 30 without their own housing, whereby each of the articulated structures 10, 20 and 30 can form a convenient ring-shaped housing for their drive.

[0101] The drive of the third articulated structure 30 may for example comprise a direct motor, in particular a torque motor, and / or may for example be configured gearless. Direct motors, torque motors and / or gearless drives in particular include drives in which the drive part and the working part and / or the output part are expediently connected directly, without gears.

[0102] The first articulation structure 10 may comprise a gear, preferably a strain wave gear, substantially free of play. The second articulation structure 20 may also comprise a gear, preferably a strain wave gear, substantially free of play.

[0103] Strain wave gears (also known as tension wave gears, sliding wedge gears or strain wave gears (SWG)) are gears with elastic transmission elements and are advantageously characterized by a high gear ratio and high rigidity.

[0104] A wave gear that can be preferably used in the first joint structure 10 and / or the second joint structure 20 will be described below with reference to FIG.

[0105] The strain wave gear comprises in particular an elliptical disc 71, a deformable substantially cylindrical bush 72 with external teeth and a substantially cylindrical outer ring 73 with internal teeth.

[0106] The elliptical disk 71 (e.g. a wave generator) may for example comprise a central hub and a (expediently thin and / or elliptical) deformable bearing (e.g. a ball or roller bearing). The elliptical disk 71 preferably serves as the drive element of the gear. A cylindrical bush 72 (e.g. a flexspline) serves in particular as the output element of the gear. An outer ring 73 (e.g. a circular spline) may preferably surround the elliptical disk 71 and the bush 72 and / or form a housing for the elliptical disk 71 and the bush 72.

[0107] FIG. 4 is a perspective view of the robot hand 100, and in particular the measuring device 22 is shown in FIG.

[0108] The measuring device 22 is used for (preferably direct) rotational position measurement of the second articulated structure 20, which can be configured, for example, to detect the second articulated structure 20 directly and / or to detect it on the output side from the drive of the second articulated structure 20 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.) for the rotational position measurement, thereby advantageously ensuring that wear, play and / or hysteresis in the drive train of the robot hand 100 do not lead to any or significant deterioration in the accuracy of the position determination.

[0109] FIG. 5 is a perspective view of the robot hand 100, and in particular the measuring device 32 is shown in FIG.

[0110] The measuring device 32 is used for (preferably direct) rotational position measurement of the third articulated structure 30, which can be configured, for example, for the rotational position measurement, to directly detect the third articulated structure 30 and / or to detect it on the output side from the drive of the third articulated structure 30 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.), thereby advantageously ensuring that wear, play and / or hysteresis in the drive train of the robot hand 100 do not lead to any or significant deterioration in the accuracy of the position determination.

[0111] For example, as can be seen in Fig. 5, a measuring device 32 for the rotational position measurement of the third articulated structure 30 can be mounted, for example, on the second articulated structure 20 and connected to the third articulated structure 30 via a preferably substantially play-free, preloaded coupling structure 33, preferably a gear pair and / or a bevel wheel stage, in order to thus enable a direct and / or output-side rotational position measurement. The coupling structure 33 is preferably configured at an angle, for example as a bevel wheel stage, but axially parallel coupling structures 33 are also possible. In particular, the coupling structure 33 can comprise meshing (for example conical) gear wheels.

[0112] FIG. 6 is a perspective view of the robot hand 100, and in particular the measuring device 12 is shown in FIG.

[0113] The measuring device 12 is used for (preferably direct) rotational position measurement of the first articulated structure 10, which can be configured, for example, to detect the first articulated structure 10 directly and / or to detect it on the output side from the drive of the first articulated structure 10 (for example optically, by means of spatial spacing, by means of physical engagement, contact or non-contact, etc.) for the rotational position measurement, thereby advantageously ensuring that wear, play and / or hysteresis in the drive train of the robot hand 100 do not lead to any or significant deterioration in the accuracy of the position determination.

[0114] 6, a measuring device 12 for the rotational position measurement of the first articulated structure 10 can be connected to the first articulated structure 10 via a preferably substantially play-free, preloaded coupling structure 13, preferably a gear wheel pair and / or a bevel wheel stage, thereby enabling a direct and / or output-side rotational position measurement. The coupling structure 13 is preferably configured axially parallel, for example by meshing conical gear wheels, although an angled coupling structure 13 is also possible.

[0115] The measuring devices 12, 22 and 32 may be, for example, optical, expediently high-resolution measuring devices, in particular measuring devices having a resolution with a tolerance of 10 or 5 arcsec (arcsec = arcsec). However, the measuring devices 11, 22 and 32 are not limited to optical measuring devices, but may include any other suitable measuring technique.

[0116] The robot hand 100 can be equipped with an additional measuring device (not shown), in particular for rotational position measurement on the drive side of the first joint structure 10. This additional measuring device can be configured, for example, to detect (conveniently, directly) the drive of the first joint structure 10 (e.g. its drive shaft, in particular the motor and gear hollow shaft), in particular for rotational position measurement. This additional measuring device can, for example, be directly connected to the drive shaft.

[0117] The robot hand 100 may be provided with an additional measuring device (not shown), for example, in particular for rotational position measurement on the drive side of the second joint structure 20. This additional measuring device may be configured, for example, to detect (conveniently, directly) the drive of the second joint structure 20 (e.g., its rotor or drive shaft). Alternatively or additionally, the robot hand 100 may be provided with an additional measuring device (not shown), for example, in particular for rotational position measurement on the drive side of the third joint structure 30. This additional measuring device may be configured, for example, to detect (conveniently, directly) the drive of the third joint structure 30 (e.g., its drive shaft, in particular the motor hollow shaft), in particular for rotational position measurement.

[0118] As a result, the robot hand 100 can be equipped with, for example, measuring devices 12, 22, 32, in particular on the output side and / or measuring devices, in particular on the drive side, for measuring the rotational position of the first joint structure 10, the second joint structure 20 and / or the third joint structure 30.

[0119] FIG. 7 is a schematic diagram of a coating robot 200 equipped with a robot hand 100.

[0120] The coating robot 200 is preferably a painting robot, and moves the coating device 60 by the robot hand 100. The coating device 60 preferably includes a print head device 61 having multiple nozzles for discharging a coating agent (e.g., paint). However, the coating device 60 may also include a coating device other than a print head, such as a sprayer or only one nozzle.

[0121] The at least one line 41 running through the line feed-through 40 preferably consists of a media line for the application agent supply and / or fluid supply (e.g. air, rinsing agent / cleaning agent, compressed air, etc.) of the application device 60 and / or the printhead device 61. However, the at least one line 41 may alternatively or additionally comprise, for example, a cable for the control and / or preferably power supply of the application device 60 and / or the printhead device 61.

[0122] Substantial advantages of the present invention include, for example: A significant increase in the mechanical precision of the robot hand 100, for example due to the zero-play gears of the joint structures 10 and 20 and the direct drive of the joint structure 30, a direct measurement system for the robot hand 100, in particular the articulated structures 10, 20 and 30, - medium guidance (e.g. fluid guidance, in particular paint, air, compressed air and / or cleaning / rinsing agents) and / or cable guidance through the robot hand 100, a large range of movement, in particular of the articulated structure 20, for example from about 100° to about 140°, - high rigidity of the robot hand 100, and / or - The robotic hand 100 has good dynamics due to the small mass being accelerated.

[0123] The present invention is not limited to the preferred embodiment described above. Rather, numerous variations and modifications utilizing the concept of the present invention are possible and therefore fall within the scope of protection. Moreover, the present invention also claims protection for the features of the subject and dependent claims independently of the features and claims mentioned.

[0124] (Additional Note) (Appendix 1) A robotic hand (100) for moving an application device (60) preferably comprising a printhead device (61), a first joint structure (10) rotatable around a first axis (11); a second joint structure (20) rotatable around a second axis (21); a third joint structure (30) rotatable around a third axis (31); Equipped with a line feedthrough (40) extending through the first articulation structure (10) and through the third articulation structure (30), preferably carrying at least one line (41); an offset (50) between the first axis (11) and the second axis (21), Robot hand (100).

[0125] (Appendix 2) The line feedthrough (40) extends through the second joint structure (20). 2. The robotic hand (100) of claim 1.

[0126] (Appendix 3) the first articulation structure (10) has a hollow center through which the line feedthrough (40) extends; and / or The third joint structure (30) is characterized in that it has a hollow center through which the line feedthrough (40) extends. 3. The robot hand (100) according to claim 1 or 2.

[0127] (Appendix 4) The first axis (11) and the third axis (31) extend in a common plane. 4. The robot hand (100) according to any one of claims 1 to 3.

[0128] (Appendix 5) the second axis (21) intersects the common plane, preferably substantially perpendicularly; 5. The robotic hand (100) of claim 4.

[0129] (Appendix 6) the first joint structure (10) is a kinematic inlet joint structure (10), and the third joint structure (30) is a kinematic outlet joint structure (30), 6. The robot hand (100) of any one of claims 1 to 5.

[0130] (Appendix 7) the second joint structure (20) is kinematically connected between the first joint structure (10) and the third joint structure (30), 7. The robot hand (100) of any one of claims 1 to 6.

[0131] (Appendix 8) the first articulated structure (10) comprises a gear; and / or The second joint structure (20) is characterized in that it includes a gear. 8. The robot hand (100) of any one of claims 1 to 7.

[0132] (Appendix 9) the gear of the first joint structure (10) is a strain wave gear; and / or The gear of the second joint structure (20) is a strain wave gear. 9. The robotic hand (100) of claim 8.

[0133] (Appendix 10) the first articulated structure (10) comprises a drive for rotating the first articulated structure (10) about the first axis (11); and / or the second articulated structure (20) comprises a drive for rotating the second articulated structure (20) about the second axis (21); and / or the third joint structure (30) is characterized in that it includes a drive unit that rotates the third joint structure (30) around the third axis (31), 10. The robot hand (100) of any one of claims 1 to 9.

[0134] (Appendix 11) the drive of the first articulated structure (10) is connected to the first articulated structure (10) without its own housing and / or without its own bearings, and / or the drive of the second articulated structure (20) is connected to the second articulated structure (20) without its own housing and / or without its own bearings; and / or characterised in that the drive of the third joint structure (30) is connected to the third joint structure (30) without its own housing and / or without its own bearing, 11. The robotic hand (100) of claim 10.

[0135] (Appendix 12) said first articulated structure (10) forming a housing, preferably ring-shaped, for its drive, and / or said second articulated structure (20) preferably forms a ring-shaped housing for its drive, and / or the third articulated structure (30) is characterized in that it forms a housing, preferably ring-shaped, for its drive part, 12. The robot hand (100) according to claim 10 or 11.

[0136] (Appendix 13) the first joint structure (10) has at least one cooling body on its exterior for cooling its drive and / or is provided with active cooling; and / or the second joint structure (20) has at least one cooling body on its exterior for cooling its drive and / or is provided with active cooling; and / or the third joint structure (30) has at least one cooling body on its exterior and / or is provided with active cooling in order to cool its drive part, 13. The robot hand (100) of any one of claims 10 to 12.

[0137] (Appendix 14) the drive of the third joint structure (30) comprises a direct drive, in particular a torque motor, and / or is configured to be gearless; 14. The robot hand (100) of any one of claims 1 to 13.

[0138] (Appendix 15) The line feedthrough (40) is Extending through the drive and / or gear of the first articulated structure (10); and / or extending through the drive part of the third joint structure (30), 15. The robot hand (100) of any one of claims 8 to 14.

[0139] (Appendix 16) the drive of the first joint structure (10) comprises a motor and a gear shaft through which the line feedthrough (40) extends; and / or The drive section of the third joint structure (30) comprises a motor hollow shaft, and the line feedthrough (40) extends through the motor hollow shaft. 16. The robot hand (100) of any one of claims 10 to 15.

[0140] (Appendix 17) the line feedthrough (40) extends beyond the drive and / or gear of the second joint structure (20) to the outside, 17. The robot hand (100) of any one of claims 8 to 16.

[0141] (Appendix 18) The robot hand (100) is characterized in that it has a measuring device (12) for measuring the rotational position of the first joint structure (10). 18. The robot hand (100) of any one of claims 1 to 17.

[0142] (Appendix 19) The measuring device (12) configured for rotational position measurement comprises: directly detecting said first articulated structure (10); and / or The first joint structure (10) is detected on the output side of the drive unit of the first joint structure (10). 19. The robotic hand (100) of claim 18.

[0143] (Appendix 20) characterised in that the measuring device (12) for measuring the rotational position of the first articulated structure (10) is connected to the first articulated structure (10) via a preferably play-free and / or preloaded coupling structure (13). 20. The robot hand (100) according to claim 18 or 19.

[0144] (Appendix 21) the robot hand (100) has an additional measuring device for measuring the rotational position of the drive part of the first joint structure (10), preferably the additional measuring device being configured to detect the drive part of the first joint structure (10) for the purpose of measuring the rotational position, 21. The robot hand (100) of any one of appendices 18 to 20.

[0145] (Appendix 22) The robot hand (100) is characterized in that it has a measuring device (22) for measuring the rotational position of the second joint structure (20). 22. The robot hand (100) of any one of claims 1 to 21.

[0146] (Appendix 23) The measuring device (22) configured for rotational position measurement comprises: directly detecting the second articulated structure (20); and / or The second joint structure (20) is detected on the output side of the drive unit of the second joint structure (20). 23. The robotic hand (100) of claim 22.

[0147] (Appendix 24) The robot hand (100) is characterized in that it has a measuring device (32) for measuring the rotational position of the third joint structure (30). 24. The robot hand (100) of any one of claims 1 to 23.

[0148] (Appendix 25) The measuring device (32) configured for rotational position measurement comprises: directly detecting said third articulated structure (30); and / or The third joint structure (30) is detected on the output side of the drive unit of the third joint structure (30). 25. The robotic hand (100) of claim 24.

[0149] (Appendix 26) The measuring device (32) for measuring the rotational position of the third joint structure (30) comprises: attached to said second articulated structure (20); and / or connected to the third joint structure (30) via a preferably play-free and / or preloaded connection structure (33), 26. The robot hand (100) according to claim 24 or 25.

[0150] (Appendix 27) The connecting structure (13) of the first joint structure (10) and / or the connecting structure (33) of the third joint structure (30) It is rotatable, and / or have interlocking teeth, and / or configured with axes parallel or at an angle, and / or characterised in that it has meshing conical gear wheels, 27. The robot hand (100) of any one of claims 21 to 26.

[0151] (Appendix 28) the measuring device (12) of the first articulated structure (10), the measuring device (22) of the second articulated structure (20) and / or the measuring device (23) of the third articulated structure (30) are characterized in that they have a resolution with a tolerance of 10 arc seconds, preferably 5 arc seconds; 28. The robot hand (100) of any one of claims 18 to 27.

[0152] (Appendix 29) The robot hand (100) has a neutral position in which the first axis (11) and the third axis (31) are substantially coaxially aligned. 29. The robotic hand (100) of any one of claims 1 to 28.

[0153] (Appendix 30) The second joint structure (20) starts from the neutral position, have a rotation range of 120° or more, or 130° or more, to one side (S1); and / or Characterized in that it has a rotation range of 1° or more, 80° or more, or 90° or more relative to the other side (S2); 20. The robotic hand (100) of claim 29.

[0154] (Appendix 31) the first joint structure (10) has a rotation range of more than ±340°, or at least ±360° about the first axis (11); and / or the third joint structure (30) has a rotation range of ±340° or more, or at least ±360°, or at least ±700°, about the third axis (31); 31. The robot hand (100) of any one of claims 1 to 30.

[0155] (Appendix 32) The length of the offset (50) is at least 10 mm and at most 100 mm. 32. The robot hand (100) of any one of claims 1 to 31.

[0156] (Appendix 33) The coating device (60) is preferably characterized by comprising a print head device (61) having a plurality of nozzles for discharging a coating material onto an automobile body part. 33. The robot hand (100) of any one of claims 1 to 32.

[0157] (Appendix 34) The at least one line (41) and / or comprising at least one medium line for the application agent and / or fluid supply to the application device (60) and / or to the printhead device (61); and / or characterized in that it comprises at least one medium return line for returning fluid from the application device (60) and / or the printhead device (61), 34. The robot hand (100) of any one of claims 1 to 33.

[0158] (Appendix 35) characterised in that the at least one line (41) comprises at least one cable for the power supply and / or control of the application device (60) and / or the printhead device (61), 35. The robot hand (100) of any one of claims 1 to 34.

[0159] (Appendix 36) Preferably, the line feedthrough (40) provided in the first joint structure (10) and / or the third joint structure (30) has a passage cross section of at least 40 mm to a maximum of 90 mm, preferably 70 mm ± 5 mm. 36. The robot hand (100) of any one of claims 1 to 35.

[0160] (Appendix 37) A coating robot (200), preferably a painting robot, comprising the robot hand (100) according to any one of appendixes 1 to 36. [Explanation of symbols]

[0161] 10 First joint structure 11 First axis 12 First joint structure measuring device 13 Connection structure 20 Second joint structure 21 Second Axis 22 Second joint structure measuring device 30 The third joint structure 31 The third axis 32. Measurement device for the third joint structure 33 Connection structure 40 Line feedthrough, preferably with at least one line passing through it 41 At least one line 50 Offset 60 Coating Equipment 61 Print head device 71 Disc 72 Bush 73 Outer Ring S1 side S2 side 100 Robot Hand 200 Coating robot, preferably a painting robot

Claims

1. A robotic hand (100) for moving an application device (60) preferably comprising a printhead device (61), a first joint structure (10) rotatable about a first axis (11); a second joint structure (20) rotatable about a second axis (21); a third joint structure (30) rotatable around a third axis (31); Equipped with a line feedthrough (40) extending through said first articulation structure (10) and through said third articulation structure (30), preferably carrying at least one line (41); an offset (50) between the first axis (11) and the second axis (21), Robotic hand (100).

2. the line feedthrough (40) extends through the second articulation structure (20), The robotic hand (100) of claim 1.

3. said first articulated structure (10) having a hollow centre through which said line feedthrough (40) extends; and / or The third joint structure (30) has a hollow center through which the line feedthrough (40) extends. The robotic hand (100) of claim 1.

4. The first axis (11) and the third axis (31) extend in a common plane. The robotic hand (100) of claim 1.

5. the second axis (21) intersects the common plane, preferably substantially perpendicularly; The robotic hand (100) according to claim 4.

6. The first joint structure (10) is a kinematic entry-side joint structure (10), and the third joint structure (30) is a kinematic exit-side joint structure (30). The robotic hand (100) of claim 1.

7. the second joint structure (20) is kinematically connected between the first joint structure (10) and the third joint structure (30); The robotic hand (100) of claim 1.

8. said first articulated structure (10) comprises a gear; and / or The second joint structure (20) is characterized in that it comprises a gear. The robotic hand (100) of claim 1.

9. the gears of the first articulated structure (10) are strain wave gears, and / or The gear of the second joint structure (20) is a strain wave gear. The robotic hand (100) according to claim 8.

10. the first articulated structure (10) comprises a drive for rotating the first articulated structure (10) about the first axis (11); and / or the second articulated structure (20) comprises a drive for rotating the second articulated structure (20) about the second axis (21); and / or The third joint structure (30) is characterized in that it includes a drive unit that rotates the third joint structure (30) around the third axis (31). The robotic hand (100) of claim 1.

11. the drive of said first articulated structure (10) is connected to said first articulated structure (10) without its own housing and / or without its own bearings, and / or the drive of said second articulated structure (20) is connected to the second articulated structure (20) without its own housing and / or without its own bearing; and / or the drive unit of the third joint structure (30) is connected to the third joint structure (30) without its own housing and / or without its own bearing, The robotic hand (100) according to claim 10.

12. said first articulated structure (10) preferably forms a ring-shaped housing for its drive, and / or said second articulated structure (20) preferably forms a ring-shaped housing for its drive, and / or the third articulated structure (30) is characterized in that it forms a housing, preferably ring-shaped, for its drive part; The robotic hand (100) according to claim 10.

13. the first articulated structure (10) has at least one cooling body externally and / or is provided with active cooling in order to cool its drive; and / or the second articulated structure (20) has at least one cooling body externally and / or is provided with active cooling in order to cool its drive; and / or the third joint structure (30) has at least one cooling body externally and / or is provided with active cooling for cooling its drive part; The robotic hand (100) according to claim 10.

14. the drive of the third articulated structure (30) comprises a direct drive, in particular a torque motor, and / or is configured to be gearless; The robotic hand (100) of claim 1.

15. The line feedthrough (40) extending through the drive and / or gear of said first articulated structure (10); and / or extending through the drive part of the third articulated structure (30), The robotic hand (100) according to claim 8.

16. the drive part of the first articulated structure (10) comprises a motor and a gear shaft through which the line feedthrough (40) extends; and / or the drive part of the third joint structure (30) comprises a motor hollow shaft, and the line feedthrough (40) extends through the motor hollow shaft; The robotic hand (100) according to claim 10.

17. the line feedthrough (40) extends externally beyond the drive and / or gear of the second articulated structure (20); The robotic hand (100) according to claim 8.

18. The robot hand (100) is characterized in that it has a measuring device (12) for measuring the rotational position of the first joint structure (10). The robotic hand (100) of claim 1.

19. The measuring device (12) configured for rotational position measurement comprises: directly detecting said first articulated structure (10); and / or The first joint structure (10) is detected on the output side of the drive unit of the first joint structure (10). The robotic hand (100) according to claim 18.

20. the measuring device (12) for measuring the rotational position of the first articulated structure (10) is connected to the first articulated structure (10) via a preferably play-free and / or preloaded coupling structure (13), The robotic hand (100) according to claim 18.

21. the robot hand (100) has an additional measuring device for measuring the rotational position of the drive part of the first joint structure (10), preferably the additional measuring device being configured to detect the drive part of the first joint structure (10) for the purpose of measuring the rotational position. The robotic hand (100) according to claim 18.

22. The robot hand (100) is characterized in that it has a measuring device (22) for measuring the rotational position of the second joint structure (20). The robotic hand (100) of claim 1.

23. The measuring device (22) configured for rotational position measurement comprises: directly detecting said second articulated structure (20); and / or The second joint structure (20) is detected on the output side of the drive unit of the second joint structure (20). The robotic hand (100) according to claim 22.

24. The robot hand (100) is characterized in that it has a measuring device (32) for measuring the rotational position of the third joint structure (30). The robotic hand (100) of claim 1.

25. The measuring device (32) configured for rotational position measurement comprises: directly detecting said third articulated structure (30); and / or The third joint structure (30) is detected on the output side of the drive unit of the third joint structure (30). The robotic hand (100) according to claim 24.

26. The measuring device (32) for measuring the rotational position of the third articulated structure (30) comprises: attached to said second articulated structure (20), and / or Preferably, the third articulation structure (30) is connected via a zero-play and / or preloaded connection structure (33), The robotic hand (100) according to claim 24.

27. The connecting structure (13) of the first joint structure (10) and / or the connecting structure (33) of the third joint structure (30) is rotatable, and / or have interlocking teeth, and / or configured axially parallel or at an angle, and / or characterized in that it has meshing conical gear wheels, The robotic hand (100) according to claim 21.

28. the measuring device (12) of the first articulated structure (10), the measuring device (22) of the second articulated structure (20) and / or the measuring device (23) of the third articulated structure (30) have a resolution with a tolerance of 10 arc seconds, preferably 5 arc seconds; The robotic hand (100) according to claim 18.

29. The robot hand (100) has a neutral position in which the first axis (11) and the third axis (31) are substantially coaxially aligned. The robotic hand (100) of claim 1.

30. The second joint structure (20) starts from the neutral position and a rotation range of 120° or more, or 130° or more to one side (S1); and / or The rotation range relative to the other side (S2) is 1° or more, 80° or more, or 90° or more.

30. The robotic hand (100) of claim 29.

31. the first articulated structure (10) has a rotation range of more than ±340°, or at least ±360° about the first axis (11); and / or the third joint structure (30) has a rotation range of ±340° or more, or at least ±360°, or at least ±700° about the third axis (31); The robotic hand (100) of claim 1.

32. the length of the offset (50) is at least 10 mm and at most 100 mm; The robotic hand (100) of claim 1.

33. The coating device (60) preferably includes a print head device (61) having a plurality of nozzles for discharging a coating material onto an automobile body part. The robotic hand (100) of claim 1.

34. The at least one line (41) and / or comprising at least one medium line for supplying the coating material and / or the fluid to the coating device (60) and / or the printhead device (61); and / or characterized in that it comprises at least one medium return line for returning fluid from the application device (60) and / or the printhead device (61), The robotic hand (100) of claim 1.

35. characterised in that the at least one line (41) comprises at least one cable for the power supply and / or control of the application device (60) and / or the printhead device (61), The robotic hand (100) of claim 1.

36. Preferably, the line feedthroughs (40) provided in the first articulation structure (10) and / or the third articulation structure (30) have a passage cross section of at least 40 mm and up to 90 mm, preferably 70 mm ± 5 mm; The robotic hand (100) of claim 1.

37. A coating robot (200), preferably a painting robot, comprising the robot hand (100) according to claim 1.

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