robot

Abstract

A robot according to the present invention comprises a robot arm having a base (10) having a base contact surface (11) and an end device (2) and a robot joint module (30), wherein the end device is connected to the base through a joint, and the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5, particularly at least 6, degrees of freedom of operation (q1-q6) with respect to the base (10), and the robot joint module has a first contact surface (31) that is particularly detachably fixed to the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) with respect to the second contact surface (32) about a pivot axis (A), so that the end device (2) has at least 6, particularly at least 7, degrees of operation with respect to the second contact surface (32), particularly the fixed peripheral or moving platform (50). It has degrees of freedom (q0-q6).

Description

Technology Field

[0001] The present invention relates to a robot equipped with a robot arm and a robot joint module, a robot system including the robot, a robot joint module for the robot, a method for assembling the robot, and a method for operating the robot system. Background Technology

[0002] Robots with more joints or axes than are required to move to a predetermined end-device pose, e.g., a 1-, 2-, or 3-dimensional end-device position and / or a 1-, 2-, or 3-dimensional end-device direction, particularly 7-axis or multi-axis robots, have the great advantage that the same end-device pose can be achieved at various robot positions, unlike kinematically determined robots.

[0003] As a result, obstacles within the work area can preferably be bypassed and / or the robot can operate in a narrowly confined environment, particularly, for example, between shelves, under a low ceiling, or against a side wall.

[0004] However, most existing robot applications do not require redundant structures, especially at least 7-axis structures.

[0005] Therefore, while independently developing or purchasing such robots from the outset is often not economical on one hand, it is highly desirable on the other hand for specific applications that will be performed only temporarily and / or added later, depending on the case. The problem to be solved

[0006] The problem of the present invention is to improve a robot and / or its assembly and / or operation. means of solving the problem

[0007] The above problem is solved by a robot having the features of claim 1 or a method having the features of claim 13 or 15. Claims 11 and 12 protect a robot system comprising the robot described herein or the robot joint module described herein. Dependent claims relate to preferred improvements.

[0008] According to an embodiment of the present invention, the robot comprises a base having a (proximal) base contact surface and a (distal) end device connected to the base through a joint or (movement) axis or by a joint or axis, and the joint or axis may be adjustable or operable using a joint drive (robot arm joint drive) of the robot arm so that the end device has at least 5, in the embodiment at least, and in the improved example exactly 6 degrees of operation with respect to the base.

[0009] Accordingly, in the embodiment, the robot arm has at least 5 (operating) joints or (moving) axes, in the improved example, at least 6 (moving) axes in the embodiment.

[0010] In the embodiments, one or more joints are rotary joints, and the robot arm is, in particular, a 5-axis or 6-axis multi-joint robot arm or a multi-joint arm robot (arm) in the embodiments.

[0011] Additionally or alternatively, two or more consecutive joints have parallel joint axes, particularly rotational axes, and / or two or more consecutive joints have mutually intersecting joint axes, particularly rotational axes, in the embodiments that are perpendicular to each other.

[0012] In the embodiments, the joint axis closest to the base and the joint axis of the joint of the robot arm following the joint closest to the base are perpendicular to each other, and preferably intersect each other. Additionally, or alternatively, these joint axes of the joint following the joint closest to the base and the joint axes of the joint of the robot arm following this joint (the second closest to the base) are parallel to each other.

[0013] In the embodiment, a robot tool, particularly a gripper, can preferably be fixed to the end device non-destructively, and in the embodiment, it is fixed.

[0014] A robot arm having one or more of these features can be used independently and preferably in the embodiments, so it is particularly suitable for the present invention.

[0015] According to an embodiment of the present invention, a robot is equipped with a robot joint module, and the robot joint module is,

[0016] - A first contact surface, which is fixed or provided for this purpose in the embodiment, particularly set or used, on the base contact surface of the robot arm, which is detachably fixed in the embodiment, particularly by a shape-fit coupling method and / or a friction coupling method, and which is fixed in the improved example using a screw, coupling, snap buckle or the like;

[0017] - A second contact surface, particularly set or used, which is fixed or provided for this purpose in the embodiment, to which the robot can be fixed to a fixed peripheral or moving platform, in the embodiment, detachably, particularly by a shape-fit coupling method and / or a friction coupling method, in the improved example using a screw, coupling, snap buckle or the like; and

[0018] - The robot joint module drive has at least one robot joint module drive, and by means of or using said robot joint module drive, a first contact surface can be pivoted or pivoted toward or toward a second contact surface, so that the end device of the robot has at least 6, in the embodiment at least, and in the improved example exactly 7, degrees of operation (by means of the robot arm joint drive and the robot joint module drive) with respect to the robot or its (proximal) robot joint module, particularly a stationary peripheral or moving platform, or said robot joint module drive is provided, specifically configured or used for this purpose. In the embodiment, the robot joint module thus has a single degree of operation (by means of the robot joint module drive), and this degree of freedom corresponds to the degree of pivoting of the first contact surface toward the second contact surface around the pivot axis.

[0019] Embodiments of the present invention are based on the idea of ​​expanding or upgrading a generally (more) inexpensive robot arm, particularly later and / or optionally, in the embodiment, into a robot (arm) having additional pivot axes of the robot joint module by using additional robot joint modules in a modular fashion. Thus, in the embodiment, the pivot axes of the robot joint modules form the axis of the robot, and the robot may have a multi-joint arm robot configuration overall. Likewise, the robot according to the present invention may be reduced or downgraded around the pivot axis by separating the first contact surface from the base contact surface.

[0020] As a result, in the embodiment, a (more) cheaper robot arm can be developed and / or sold and optionally, particularly, extended by a robot joint module from the beginning or later to form an extra robot, and said robots can particularly provide the aforementioned advantages.

[0021] In this way, the often uneconomical development of individual, particularly redundant, robots can be particularly reduced, or more desirable robots can be used particularly economically.

[0022] Likewise, in the embodiment, an extra robot is preferably installed first, and then can be reduced or downgraded around the pivot axis.

[0023] In many applications, it may be desirable to extend a standard 5-axis robot arm, which is already sufficient, into (at least) 6-axis robots (arms) by means of a robot joint module having at least one pivot axis, preferably in the embodiment, to enable any positioning and orientation of the end device.

[0024] Preferably, the 6-axis robot arm, which is already sufficient in many applications, is extended to a 7-axis or multi-axis robot (arm), particularly preferably to a 7-axis robot (arm), by a robot joint module having at least, preferably exactly one pivot axis, and the robot (arm) enables the positioning and orientation of the end device according to various positions of the robot (arm) in the embodiment, and thus enables operation in a narrowly restricted environment, such as bypassing obstacles and / or, for example, between shelves, under a low ceiling, (close to) a side wall, etc.

[0025] In the embodiments, the robot is a stationary robot or is fixed to a stationary periphery, in the embodiments, to the floor, wall, or ceiling. Unlike a mobile robot, the fixed workspace of the robot can preferably be extended in the embodiments, and in particular in the embodiments, the reach of the robot and / or its installability can be improved.

[0026] In other embodiments, the robot has a moving platform or is a mobile robot. In the embodiments, the moving platform is a trolley, particularly without rails or not rail-mounted, particularly having one or more driven and / or maneuverable wheels, chains, etc. By extending the degrees of freedom of the robot arm according to the present invention around the pivot axis between the robot arm (base) and the moving platform, the robot arm can be used or positioned in a narrowly confined space, particularly preferably in the embodiments, such as between shelves, under a low ceiling, or against a side wall.

[0027] The first contact surface is, in the examples, an integral surface or a single, continuous surface or a multi-body surface or a surface having two or more sections formed in various structures spaced apart from each other, particularly separated by a gap and / or. In the examples, the first contact surface is at least partially flat and / or has one or more steps.

[0028] The second contact surface is, in the embodiments, an integral surface or a single, continuous surface or a multi-body surface or a surface having two or more sections spaced apart from each other, particularly separated by a gap and / or formed in various structures. In the embodiments, the second contact surface is at least partially flat and / or has one or more steps.

[0029] The base contact surface is, in the examples, an integral surface or a single, continuous surface or a multi-body surface or a surface having two or more sections spaced apart from each other, particularly separated by a gap and / or formed in various structures. In the examples, the base contact surface is at least partially flat and / or has one or more steps.

[0030] As a result, in the embodiments, the fixation of the robot (arm), in particular the stability and / or reliability of the fixation, can be improved.

[0031] In the embodiment, the pivot axis of the robot joint module is positioned on the side of the first contact surface away from the robot arm.

[0032] Additionally or alternatively, the pivot axis of the robot joint module is horizontal in the embodiments, particularly when assembling the robot to the floor or ceiling, or in the case of assembly, or in the case of a robot installed on a flat floor, or in the case of a moving platform located on a flat floor or horizontally. In the embodiments, the robot or the second contact surface is fixed to, set up for, or used on the surrounding floor or ceiling.

[0033] Additionally or alternatively, the pivot axis of the robot joint module is tilted at least 60° and up to 120° with respect to the joint axis of the joint of the robot arm closest to the base, particularly at least 75° and / or up to 105°, and 90° in the embodiment, and in this case, the joint axis of the joint of the robot arm closest to the base is a vertical joint axis in the embodiment, or vertical when the robot is installed, or when the robot is installed on a flat floor, or when the moving platform is positioned horizontally.

[0034] Additionally, or alternatively, the pivot axis of the robot joint module intersects the joint axis of the joint of the robot arm closest to the base in the embodiment, particularly the joint axis, particularly the rotation axis.

[0035] Additionally or alternatively, the pivot axis of the robot joint module overlaps with the first contact surface and / or the second contact surface in the embodiments, and in particular, in the embodiments, the pivot axis intersects the outer contour of the first and / or second contact surfaces or intersects the outer contour at a distance from the outer contour (each) in the embodiments. In other words, the pivot axis is not located laterally next to the first or second contact surface in the embodiments.

[0036] Additionally or alternatively, the pivot axis is parallel to the first contact surface and / or the second contact surface in the embodiments.

[0037] As a result, in the embodiments, each of the aforementioned features, particularly preferably two or more of the aforementioned features are combined to provide a particularly desirable, particularly (more) compact (overall) kinematic of the robot.

[0038] In the embodiment, the joint axis, particularly the rotation axis, of the joint of the robot arm closest to the base, or of the subsequent joint, or of the second-closest joint to the base, is tilted by up to ±30° with respect to the pivot axis of the robot joint module at at least one position or pose, particularly the zero position, of the joint axis of the robot arm, particularly the robot arm closest to the base, and in the improved embodiment, said axis is parallel to the pivot axis of the robot joint module (at said position of the robot arm).

[0039] As a result, the reach of the robot (arm) in the embodiment can be preferably increased.

[0040] In the embodiment, the joint axis of the joint of the robot arm closest to the base, or the joint axis of the next joint or the joint closest to the base, in particular said joint axis, in particular rotation axis, is tilted by at least 60° and in particular at least 120° with respect to the pivot axis of the robot joint module at at least one position or pose of the joint axis of the robot arm, in particular the robot arm closest to the base, in particular zero position, and in the improved embodiment, said axis is perpendicular to the pivot axis of the robot joint module (at said position of the robot arm).

[0041] As a result, in the embodiment, particularly desirable mobility of the robot (arm) can be achieved, and in particular, bypassing obstacles can be made simpler.

[0042] In an embodiment, the first contact surface of the robot joint module and the base contact surface of the robot arm are designed to be fixed to each other in at least two directions offset from each other by at least 45° and / or up to 135°, particularly in at least two directions offset from each other by 90°, and are particularly adjusted to each other. In an embodiment, the first contact surface of the robot joint module and the base contact surface of the robot arm are designed to be fixed to each other only in a distributed direction, and are particularly adjusted to each other.

[0043] In an embodiment, each of the first contact surface of the robot joint module and the base contact surface of the robot arm has a corresponding hole pattern and / or correspondingly distributed or arranged protrusions or recesses, and at least one protrusion in each of one, two or more directions offset from each other engages with the recess, and / or the first contact surface and the base contact surface can be screwed together or are screwed together by a screw penetrating the hole of the hole pattern.

[0044] As a result, in the embodiments, the robot arm can be extended as needed, particularly tilted or preferably around a proximal pivot axis.

[0045] In the embodiments, the first and second contact surfaces of the robot joint module are pivotable relative to each other by up to ±90° or less than ±90°, particularly by up to ±85° or less than ±85°, in the embodiments with and / or without a fixed robot arm, and in the embodiments, by up to ±80° or less than ±80°, and in the embodiments, the (maximum) pivot range of the pivot axis is correspondingly limited by, in the embodiments, structurally or by a shape-fitting method, particularly by a stopper, and / or technically by control, particularly by one or more, particularly non-contact sensors. In other words, in the embodiments, the (maximum) pivot range of the pivot axis is 180° or less, particularly 170° or less, in the embodiments, 160° or less, and in the embodiments, is correspondingly limited by, in the embodiments, structurally or by a shape-fitting method, particularly by a stopper, and / or technically by control, particularly by one or more, particularly non-contact sensors.

[0046] As a result, in the embodiment, the risk of jamming by the robot joint module can be reduced.

[0047] In the embodiments, the first and second contact surfaces of the robot joint module can pivot relative to each other by ±120° or more than ±120°, particularly ±150° or more than ±150°, and in the embodiments by more than ±360°.

[0048] As a result, in the embodiment, the working area of ​​the robot arm can be preferably expanded.

[0049] In the embodiment, the first and second contact surfaces are parallel to each other, particularly only in a pivot position (around the pivot axis) and / or tilted or inclined relative to each other in at least one pivot position (around the pivot axis).

[0050] As a result, in the embodiment, not only the direction of the robot arm of the robot extended by the robot joint module relative to the surrounding or moving platform, which preferably corresponds to the direction of the robot arm fixed to the surrounding or moving platform without the robot joint module, but also a number of additional directions can be realized.

[0051] In the embodiment, the first contact surface is disposed on the L-flange, and in the embodiment, one web of the L-flange may be perpendicular to the pivot axis and / or one web of the L-flange may be parallel to the pivot axis. Additionally, or alternatively, in the embodiment, the second contact surface is disposed on the L-flange, and in the embodiment, one web of the L-flange may be perpendicular to the pivot axis and / or one web of the L-flange may be parallel to the pivot axis.

[0052] As a result, a structurally (more) compact and / or (more) stable robot joint module can be realized in the embodiments.

[0053] In the embodiment, the second contact surface of the robot joint module is designed in such a way that the second contact surface can be fixed to the same interface or counter surface, particularly a peripheral or moving platform, instead of the base contact surface of the robot arm (as an alternative).

[0054] In an improved example, the hole pattern of the second contact surface is designed in such a way that, instead of the hole pattern of the base contact surface, the hole pattern of the second contact surface can be screwed together by using one or more screws with the same screw distribution or the same screw pattern, and in particular, the hole pattern of the second contact surface can correspond to the hole pattern of the base contact surface.

[0055] Additionally or as an alternative, in the improved example, instead of a protrusion distribution or protrusion pattern having one or more protrusions on a base contact surface, a protrusion distribution or protrusion pattern having one or more protrusions on a second contact surface may be inserted into the same recess distribution or the same recess pattern, particularly in a shape-fitting manner, and / or instead of a recess distribution or recess pattern of a base contact surface, a recess distribution or recess pattern of a second contact surface may be disposed on the same protrusion distribution or the same protrusion pattern having one or more protrusions, particularly in a shape-fitting manner.

[0056] As a result, in the embodiments, the robot according to the present invention or its proximal second contact surface is fixed to a peripheral or moving platform instead of the robot arm or its proximal base contact surface or a similar robot arm so that the robot arm can preferably be extended around a pivot axis within an existing robot cell or on an existing moving platform, or conversely, the robot arm or its proximal base contact surface is fixed to a peripheral or moving platform instead of the proximal second contact surface so that the robot can preferably be contracted around a pivot axis within an existing robot cell or on an existing moving platform.

[0057] In the example, when the first contact surface is parallel (rotated) to the second contact surface [(rotated) position], the height H between the first contact surface and the second contact surface is up to 1.5 times the maximum width D of the first or second contact surface, particularly the diameter or maximum spacing between two points of the first or second contact surface, up to 1.25 times and / or at least 0.75 times in the example, particularly at least 0.85 times (H ≤ 1.5·D, in the example H ≤ 1.25·D and / or 0.75·D ≤ H, in the improved example H ≤ 1.25·D and / or 0.85·D ≤ H).

[0058] As a result, in the example, optimal mobility can be realized around the pivot axis of the robot joint module in the case of a compact size.

[0059] In an embodiment, at least one motor of the robot joint module drive is positioned between a first contact surface and a second contact surface and / or is an electric motor.

[0060] Additionally or as an alternative, in the embodiments, the first contact surface overlaps with the robot joint module drive, and in particular in the embodiments, the outer contour of the first contact surface intersects with the outer contour of the robot joint module drive, and in the embodiments, intersects spaced apart from said contour. In the improved example, the first contact surface covers or protrudes from at least one motor of the robot joint module drive.

[0061] As a result, in the example, optimal mobility can be achieved around the pivot axis of the robot joint module in the case of a compact size.

[0062] In the embodiment, the first and second contact surfaces are offset from each other in the direction of the pivot axis, and in the improved embodiment, they are positioned on opposite sides of a plane perpendicular to the pivot axis. As a result, mobility around the pivot axis can be increased in the embodiment.

[0063] In the embodiments, the outer contour of the first contact surface of the robot joint module and the outer contour of the base contact surface have a deviation from each other of up to 10%, preferably up to 5%. This means that in the embodiments, the length of the outer contour of the first contact surface and the length of the outer contour of the base contact surface have a deviation from each other of up to 10%, preferably up to 5% of one or the other length, and / or the outer contour of the first contact surface is located within an outer contour that is 10%, preferably up to 5% longer than the outer contour of the base contact surface and has a constant distance from the outer contour of the base contact surface, as well as within an outer contour that is 10%, preferably up to 5% shorter than the outer contour of the base contact surface and has a constant distance from the outer contour of the base contact surface.

[0064] Additionally or alternatively, on the robot joint module, in the embodiment, its first contact surface, and / or on the robot arm, in the embodiment, its base contact surface, (each) a particularly flexible, integral or multi-body cover, particularly a skirt, etc. is disposed, and said cover is provided to completely or partially cover the gap between the base contact surface and the first contact surface fixed thereto, and is particularly set or used.

[0065] As a result, in each of the embodiments, the probability of getting caught between the first contact surface and the base contact surface, especially when combined, can be reduced.

[0066] In an embodiment, the robot includes a detection device on the robot arm side and / or the robot joint module side, and the detection device is provided for detecting, in particular by sensing and / or contact, in particular mechanically and / or electrically, or non-contactfully, in particular optically, magnetically and / or electrically, the position and / or alignment of a base contact surface (or its presence) on a first contact surface and / or the first contact surface, in particular on the first contact surface, in particular is set or used.

[0067] In the improved example, the detection device has, for this purpose, one or more robot arm-side magnets (provided, specifically set or used for this purpose) and / or one or more robot joint module-side magnets (provided, specifically set or used for this purpose), a magnetic (field) sensor, a button, a wireless transmitter or receiver, in the example, an NFC transmitter or receiver, in particular an RFID transmitter or receiver.

[0068] As a result, safety and / or operation may be improved in the embodiments.

[0069] In an embodiment, the robot includes a detection device on the side of the robot joint module, and the detection device is provided for monitoring, particularly by detection and / or non-contact, optically in the embodiment, particularly by a laser, capacitively and / or ultrasonicly, a safe area around the robot joint module laterally on the pivot axis, on both sides of the pivot axis in the embodiment, or is specifically set or used for this purpose.

[0070] As a result, in the example, the probability of getting stuck when turning around the pivot axis can be reduced.

[0071] In the embodiments, the robot joint module, and in the embodiments, the robot joint module drive, has a brake that brakes the pivot axis, decelerates and / or acts as a locking brake of the pivot axis, or is provided for this purpose, particularly a brake that is set or used, in the embodiments, a mechanical, hydraulic and / or electric, particularly an electromagnetic brake.

[0072] As a result, operation, particularly safety and / or energy consumption, can be improved in the embodiments.

[0073] In an embodiment, the robot joint module has one or more joint forces and / or torques, particularly set or used, which are provided to detect or provide for detecting one or more joint forces and / or torques along or around and / or across the pivot axis, particularly one or more driving-side joint torque sensors and / or one or more output-side joint torque sensors.

[0074] As a result, particularly in the embodiments, if the robot arm has, additionally or alternatively, one or more joint forces and / or torques on or within (each) joint for one or more joints of the robot arm, or is provided for this purpose, particularly set or used detection devices (each), particularly if it has one or more drive-side joint torque sensors and / or one or more output-side joint torque sensors, operation, particularly control and / or safety, may be improved in the embodiments. In the embodiments, signals from the robot joint module-side detection device and the robot arm-side detection device(s) are evaluated together or used to control and / or monitor the robot.

[0075] In an embodiment, the robot joint module has a driving electrical device for operating the robot joint module drive, and in an embodiment, at least one position- and / or speed sensor for detecting the position or speed of the pivot axis, at least one transducer and / or evaluation electronics for the aforementioned joint force- and / or torque detection device and / or position- or speed sensor, safety electronics for monitoring the robot joint module, an alignment sensor for detecting the alignment position of the pivot axis, and / or a cooling device for cooling one or more of the components, in particular an external heat sink and / or one or more cooling fins.

[0076] In the embodiments, the heat sink has one or more cooling fins. Additionally or alternatively, in the embodiments, one or more electronic components, particularly power electronic components, are placed at least partially within the heat sink and / or one or more external connections of the robot, particularly of the robot arm and / or robot joint module, particularly signal-, media- and / or power external connections, are placed on the heat sink. As a result, in the embodiments, operation can be improved and / or the robot can be designed to be (more) compact.

[0077] In addition or as an alternative, in the embodiments, the accuracy of the robot joint module drive, particularly the positioning- or repeatability accuracy, corresponds to the accuracy, particularly the positioning- or repeatability accuracy of at least one of the robot arm joint drives, and / or the sensitivity of the robot joint module drive corresponds to the sensitivity of at least one of the robot arm joint drives, and / or the safety of the robot joint module drive corresponds to the safety of at least one of the robot arm joint drives.

[0078] As a result, the pivot axis or robot joint module drive is controlled by a robot control unit that controls the robot arm joint drive, particularly preferably in the embodiments, and may be controlled together or integrated therein, or the robot joint modules may be added or removed in a modular manner. In this case, control is understood to mean adjustment as well.

[0079] In an embodiment, the robot joint module has at least one line guide, and the line guide is provided for or is specifically set or used for guiding at least one single-channel or multi-channel line for power supply to the robot joint module, particularly the robot joint module drive and / or at least one robot joint module side robot joint module sensor, particularly the drive-side or output-side torque sensor, and / or for communication with the robot joint module, particularly the robot joint module drive and / or at least one robot joint module side robot joint module sensor, particularly the drive-side or output-side torque sensor, particularly in a shape-fitting coupling manner and / or friction coupling manner.

[0080] Additionally or alternatively, the robot joint module has at least one line guide in the embodiment, said line guide is provided or is provided for this purpose in a shape-fitting and / or friction-fitting manner, particularly for powering at least one single-channel or multi-channel line fixed to the robot arm in the embodiment and for communicating with at least one robot arm joint drive and / or robot arm side robot arm sensor and / or tool placed on the end device, and for communicating with at least one robot arm joint drive and / or robot arm side robot arm sensor and / or tool placed on the end device (robot arm line guide).

[0081] In the embodiments, the robot joint module line guide and / or robot arm line guide can rotate about the pivot axis of the robot joint module. As a result, preferably in the embodiments, twisting of the line can be reduced when pivoting about the pivot axis.

[0082] In the embodiments, the robot joint module line guide and / or robot arm line guide cannot rotate about the robot joint module around the pivot axis of the robot joint module. As a result, preferably in the embodiments, unpredictable or unexpected line movements, particularly about the robot joint module, can be reduced.

[0083] In the embodiments, the robot joint module line guide and / or robot arm line guide guide the line (each) at least partially parallel to the pivot axis, and in the embodiments, the robot joint module line guide and / or robot arm line guide or the section of the line guided through said guide is aligned with the pivot axis. As a result, in the embodiments, the movement of the line can preferably be reduced when pivoting around the pivot axis.

[0084] In the embodiments, the robot joint module line guide and / or robot arm line guide surround the pivot axis of the robot joint module at least partially, in the embodiments, by at least 45°, particularly by at least 90°, or by 45°, particularly by at least 90°. As a result, in the embodiments, the twisting of the line can preferably be reduced when pivoting around the pivot axis.

[0085] In the embodiment, the robot joint module line guide and / or robot arm line guide have at least one designated separation point, and the separation point has a friction coupling and / or magnetic connection and / or a set break point that enables non-destructive separation between two separation interfaces in the improved example. As a result, damage to the line (each) can be prevented in the embodiment.

[0086] In an embodiment, at least one single-channel or multi-channel line of a robot arm, at least one robot arm-side robot arm sensor and / or robot arm joint drive and / or at least one single-channel or multi-channel line for power supply to / or at least one robot arm-side robot arm sensor and / or robot arm joint drive and / or tool placed in the end device, and at least one single-channel or multi-channel line for communication with at least one robot arm-side robot arm sensor and / or robot arm joint drive and / or tool placed in the end device are guided into (inserted) into a robot joint module, pass through said robot joint module in an embodiment, and / or have one or more plug connections between the robot arm and the robot joint module and / or one or more sliding contacts between the robot arm and the robot joint module.

[0087] In the embodiment, the line of the robot arm within the integral or multi-body cover is guided into the robot joint module. In the embodiment, the cover is fixed to the base, and in the embodiment, it is fixed to the base.

[0088] Additionally or alternatively, the line of the robot arm is guided within or through a cable guide drum in the embodiment, said cable guide drum is rigidly connected to the robot arm in the embodiment, rigidly connected to or integrally formed with a cover in the improved embodiment, and placed inside a robot joint module in another embodiment.

[0089] In an embodiment, at least one line for powering a robot joint module, particularly a robot joint module drive and / or at least one robot joint module side robot joint module sensor and / or for communicating with the robot joint module, particularly a robot joint module drive and / or at least one robot joint module side robot joint module sensor, is also guided within or through a cable guide drum and / or has a connection point, said connection point is disposed within a common external connection part of the heat sink of the robot joint module, in the embodiment, together with the connection point of the at least one line of the robot arm (said).

[0090] One or more plug connections in the embodiments have (each) at least one robot arm side plug and at least one robot joint module side counter plug and / or are designed to be closed or placed in such a manner when or by fixing the first contact surface to the base contact surface, and are disposed in the embodiments. In the embodiments, the one or more robot arm side plugs of the one or more plug connections are (each) disposed on the base contact surface and / or the one or more robot arm joint module side counter plugs of the one or more plug connections are (each) disposed on the first contact surface.

[0091] One or more lines mentioned herein may be electric lines or power supply lines, particularly electric lines for power supply, or fluid (supply) lines for supplying hydraulic and / or pneumatic media, particularly water, oil, (compressed) air, etc., to a tool placed at the end device.

[0092] In the embodiment, operation can be improved by one or more of the aforementioned features, particularly the risk of line damage can be reduced, and / or the assembly of the robot can be improved, particularly simplified.

[0093] According to an embodiment of the present invention, the robot system has a central, common, or integrated robot control unit that controls the robot arm joint drive of the robot arm and the robot joint module drive of the robot joint module together, or is provided for this purpose, and is particularly set or used in the robot and embodiments described herein.

[0094] In an embodiment, the robot control unit is provided for or specifically configured to simultaneously adjust the pivot axis of the robot joint module or the joint axis of one or more joints of the robot arm and the robot joint module drive and the robot arm, or the joint axis of the robot arm joint drive and the robot arm, or is used for this purpose.

[0095] In an embodiment, the robot control unit controls the robot arm joint drive of the robot arm and the robot joint module drive of the robot joint module, or adjusts its joint axes or drives, in particular, based on a kinematic model stored in the robot control unit, said kinematic model includes control parameters such as the pivot axis of the robot joint module and the joint axis of the robot arm joint, in particular their position and / or orientation relative to each other and / or, for example, adjustment range. In an embodiment, the kinematic model may be an elastic and / or dynamic model having deformation parameters, in particular stiffness, load-related elastic deformation or its compensation or such (elastic model), or inertia parameters, in particular mass, center of gravity, mass moment of inertia, etc. (dynamic model). In an embodiment, the kinematic model is a continuous or uniform model.

[0096] This is based on the aforementioned basic concept of extending a robot arm using a robot joint module to form a robot having at least, in the embodiment, exactly one additional axis, and then using and particularly controlling it as an integral robot.

[0097] According to an embodiment of the present invention, the use of the robot joint module described herein for the robot described herein, particularly for the robot described herein, or particularly for the robot arm described herein for the extension described herein into the robot described herein by fixing the base contact surface to the first contact surface, and / or particularly for the reduction described herein into the robot arm described herein by separating the base contact surface from the first contact surface, is protected.

[0098] According to an embodiment of the present invention, for the assembly of the robot described herein, a first contact surface is fixed to a base contact surface, particularly detachably, and / or, particularly, a second contact surface is fixed to a fixed peripheral or moving platform, either previously, simultaneously, or subsequently.

[0099] First, by fixing a first contact surface to a base contact surface and then fixing a second contact surface to a fixed peripheral or moving platform, the extended robot can preferably be used as a complete robot from the start and, in particular, can be installed. Conversely, by fixing the first contact surface to a base contact surface simultaneously with or subsequently fixing the second contact surface to a fixed peripheral or moving platform, the installation can preferably be performed in stages and / or the robot arm can be used independently at a different location for a longer period.

[0100] In the embodiment, before fixing the first contact surface to the base contact surface, the base contact surface is first separated from the fixed peripheral or movable platform, and then the second contact surface is fixed to the fixed peripheral or movable platform instead of the base contact surface.

[0101] In addition to or as an alternative to extending the robot arm into a robot by means of a robot joint module, according to the present invention, the base contact surface is separated, particularly again, from the first contact surface, which is also referred to in this case as an assembly of a (reduced or downgraded) robot (arm) in generalization. In addition or as an alternative, according to an embodiment of the present invention, particularly following this separation of the base contact surface from the first contact surface, the base contact surface of the robot arm is detachably and / or fixed to a fixed peripheral or moving platform instead of the second contact surface in the embodiment. This highlights the modular or alternative, particularly alternating, use of the robot according to the present invention with or without the robot joint module according to the present invention.

[0102] In the embodiments, the presence of a base contact surface or a base contact surface on a first contact surface and / or the position and / or alignment of a base contact surface, particularly on a first contact surface, with respect to the first contact surface is detected automatically, either completely or partially, and in the embodiments, is detected at least partially by or using a robot joint module and / or by or using a robot arm.

[0103] In an improved example, for this purpose, the robot arm side detection device detects, in particular by detection, a first contact surface on a base contact surface or its presence and / or the position and / or alignment of the first contact surface with respect to the base contact surface, and the robot joint module side detection device detects, in particular by detection, a base contact surface on a first contact surface or its presence and / or the position and / or alignment of the base contact surface with respect to the first contact surface.

[0104] Such detection includes mechanical, electrical, particularly capacitive, magnetic, particularly magnetic field sensing, and / or optical detection in the embodiments.

[0105] In the improved example, for this purpose, at least one magnetic field sensor on the robot arm side detects one or more magnets on the robot joint module side and / or at least one magnetic field sensor on the robot joint module side detects one or more magnets on the robot arm side.

[0106] Additionally or as an alternative, for this purpose, in an improved example, at least one robot arm-side wireless receiver, particularly an NFC wireless receiver, in the embodiment, an RFID wireless receiver detects a wireless signal from one or more robot joint module-side transmitters, particularly antennas, and / or at least one robot joint module-side wireless receiver, particularly an NFC wireless receiver, in the embodiment, an RFID wireless receiver detects a wireless signal from one or more robot arm-side transmitters, particularly antennas.

[0107] In an embodiment, detecting alignment of a base contact surface with respect to a first contact surface comprises adjusting the pivot axis and / or joint axis of at least one robot arm joint, particularly a horizontal joint axis, particularly a rotation axis, detecting a load change caused by this, particularly around the pivot axis, and if necessary, adjusting the joint axis of the robot arm joint after rotating the robot arm with respect to its base contact surface, particularly around 90°, detecting a load change caused by this, particularly around the pivot axis, and determining alignment based on such detected load change(s).

[0108] For example, when a robot arm in a vertical candle arrangement is fixed on the first contact surface of a robot joint module and then the robot arm bends at the horizontal joint axis, this causes a change in load around the pivot axis, provided that the pivot axis and the horizontal joint axis are not perpendicular to each other. This change in load can be detected by the joint torque sensing of the robot joint module, and thus the alignment of the first contact surface with respect to the base contact surface, for example, the alignment of the horizontal joint axis of the robot arm parallel to the pivot axis, and the direction of rotation of the axis can be determined.

[0109] If the pivot axis and the horizontal joint axis are perpendicular to each other, the load change detected around the pivot axis is zero. Then, the horizontal joint axis of the candle arrangement is rotated, for example, 90° around the vertical axis, and then the robot arm can be bent again at the horizontal joint axis that is no longer perpendicular to the pivot axis, so that the alignment of the first contact surface with respect to the base contact surface can be determined as described above.

[0110] In the embodiment, the presence of a base contact surface on a first contact surface or a base contact surface and / or the position and / or alignment of the base contact surface with respect to the first contact surface is manually entered.

[0111] The detected or input position and / or alignment of the base contact surface with respect to the first contact surface and / or the presence of the base contact surface or the base contact surface on the first contact surface are considered in the kinematic model of the robot control unit in the embodiment when controlling the robot in the embodiment, and are stored in the embodiment, in which case the kinematic model in the embodiment is parameterized or updated based on such detected or input data. That is, for example, forward transformation and / or reverse transformation for conversion between joint coordinates and Cartesian coordinates may vary depending on the alignment of the base contact surface with respect to the first contact surface.

[0112] In the embodiment, the robot is calibrated after fixing the base contact surface to the first contact surface and / or the second contact surface to the surroundings or to the moving platform and / or after separating the base contact surface from the first contact surface and / or fixing the base contact surface to the surroundings or to the moving platform instead of the second contact surface.

[0113] As a result, the positioning accuracy of the robot (expanded or reduced) in the embodiment can be improved.

[0114] In the embodiments, one or more, particularly all, steps of the method described herein are performed automatically, in particular by a robot control unit, either completely or partially.

[0115] Of course, the base contact surface (fixed) on the first contact surface or the presence of the base contact surface or the position and / or alignment of the base contact surface with respect to the first contact surface includes the first contact surface (fixed) or the presence of the base contact surface or the position and / or alignment of the first contact surface with respect to the base contact surface.

[0116] In the embodiments, the robot and robot arm (including the robot joint module) have and / or satisfy only the same requirements with respect to operating voltage, safety (category), transmitter system, control unit and / or sensor.

[0117] In an embodiment, the robot control unit controls, is configured for, or is used for, based on or relying on the position and / or alignment of the base contact surface with respect to the first contact surface and / or monitoring of the safety range (by the corresponding detection device) detected on the first contact surface. In an embodiment, the robot control unit restricts or prevents turning around the turning axis when an obstacle is detected within the safety range.

[0118] In an embodiment, the robot control unit moves or adjusts the pivot axis or robot joint module drive, preferably together with or in conjunction with the joint axis of at least one joint of the robot arm or its robot arm joint drive and / or based on a continuous kinematic model, particularly a joint- or axial space and a Cartesian or workspace for guiding the end device to a specified pose and / or a specified path, particularly for conveying a workpiece and / or approaching or moving away from a processing position or processing path, or is set up or used for this purpose.

[0119] One or more protrusions mentioned herein are formed integrally with the corresponding member or corresponding surface in the embodiments. As a result, a particularly stable connection can be realized in the embodiments.

[0120] One or more protrusions mentioned herein are permanently connected to a corresponding member or corresponding surface in the embodiments, particularly in a material bonding manner. As a result, a combination of desirable fabrication and stable connection can be achieved in the embodiments.

[0121] One or more protrusions mentioned herein are non-destructively detachable in the embodiments, particularly in a shape-fitting method and / or friction-fitting method, and are connected to or connected to a corresponding member or corresponding surface. As a result, simple assembly (disassembly) can be realized in the embodiments.

[0122] One or more permanently connected protrusions and / or one or more non-destructively detachably connected protrusions mentioned herein each have at least one separately manufactured pin in the examples, and may be such a pin in particular. An integrally formed protrusion may also preferably be formed in a pin shape.

[0123] Accordingly, in the embodiments, for example, the protrusion distribution of the second contact surface may include one or more protrusions formed integrally with the second contact surface and / or one or more protrusions connected to the second contact surface in a permanent and / or non-destructively detachable manner, particularly pins, in the embodiments, receiving pins, and may be composed particularly thereof, and / or the protrusion distribution of the base contact surface may include one or more protrusions formed integrally with the base contact surface and / or one or more protrusions connected to the base contact surface in a permanent and / or non-destructively detachable manner, particularly pins, in the embodiments, receiving pins, and may be composed particularly thereof.

[0124] Additional advantages and features are presented in dependent claims and embodiments. These are partially schematically illustrated. Brief explanation of the drawing

[0125] FIG. 1 is a drawing illustrating a robot according to an embodiment of the present invention for candle arrangement. FIG. 2 is a detailed enlarged view of the robot joint module and the proximal base of the robot arm of the robot. FIG. 3 is a detailed enlarged view of FIG. 2 from a different perspective. FIG. 4 is a drawing showing a robot joint module alone. FIG. 5 is a drawing corresponding to FIG. 3 showing a robot joint module having a line guide for a line fixed to a robot arm. FIG. 6 is a drawing showing a robot joint module, a line guide, and a line guided through the line guide and fixed to the robot arm. FIG. 7 is a diagram illustrating the kinematic structure of a robot during the first alignment of the first contact surface of a robot joint module with respect to the base contact surface of a robot arm. FIG. 8 is a diagram illustrating the kinematic structure of a robot when the first contact surface is aligned rotated 90° relative to the base contact surface, unlike the alignment of FIG. 7. FIG. 9 is a diagram illustrating the kinematic structure of a robot when assembled on a mobile platform. FIG. 10 is a cross-sectional view of a robot joint module. FIG. 11 is a drawing illustrating a part of a robot according to another embodiment of the present invention corresponding to FIG. 8. FIG. 12A is a drawing illustrating a part of a robot according to another embodiment of the present invention corresponding to FIG. 5. FIG. 12B is a drawing illustrating a part of the robot of FIG. 12A including a line. FIGS. 13A and FIGS. 13B are drawings illustrating parts of a robot according to another embodiment of the present invention corresponding to FIGS. 12A and FIGS. 12B. FIGS. 14A and FIGS. 14B are drawings illustrating parts of a robot according to another embodiment of the present invention corresponding to FIGS. 12A and FIGS. 12B. Specific details for implementing the invention

[0126] FIG. 1 illustrates a robot according to an embodiment of the present invention for candle arrangement.

[0127] The robot has a 6-axis multi-joint robot arm or a robot multi-joint arm, said robot arm has a base (10) with a base contact surface (11; see FIG. 7) and an end device (2), said end device is connected to the base (10) through 6 rotational joints, said rotational joints can be adjusted using a robot arm joint drive so that the end device (2) has 6 degrees of freedom of operation relative to the base (10), as indicated by the corresponding joint angles (q1-q6) in the kinematic diagrams of FIG. 7 to 9.

[0128] The robot includes a robot joint module (30), and the robot joint module has a first contact surface (31) detachably fixed to a base contact surface (11) by a screw (4), a second contact surface (32) detachably fixed to a fixed periphery by a screw (4), and a robot joint module drive for pivoting the first contact surface about the second contact surface about a pivot axis (A), so that the end device (2) has seven degrees of freedom of operation about the second contact surface (32) or the fixed periphery, as indicated by the pivot angle (qO) about the pivot axis (A) in FIGS. 7 and 8.

[0129] In the same remaining embodiment of FIG. 9, the second contact surface (32) is detachably fixed by a screw (4) to a moving platform (50) that can move without a rail by means of a wheel (51).

[0130] The pivot axis (A) of the robot joint module is positioned on the side of the first contact surface (11) (bottom of FIG. 7) away from the robot arm. The pivot axis is a horizontal axis and is tilted 90° with respect to the vertical joint axis of the joint of the robot arm closest to the base, intersects the axis, and the joint axis or joint is indicated by the joint angle (q1). Additionally, the pivot axis (A) overlaps with the first contact surface (11), as can be clearly seen particularly in FIG. 8.

[0131] The joint axis of the joint of the robot arm following the joint closest to the base is tilted at 0° with respect to the pivot axis (A) or parallel to the pivot axis at the zero point position of the robot arm shown in FIG. 7 and FIG. 8 when the base contact surface (11) is aligned with the first contact surface (31) as shown in FIG. 7, and the joint or joint axis is indicated by the joint angle (q2).

[0132] When the base contact surface (11) is aligned with the first contact surface (31) as shown in FIG. 8, the joint axis of the joint of the robot arm following the joint closest to the base is tilted 90° oppositely with respect to the pivot axis (A) at the zero point position of the robot arm as shown in FIG. 7 and FIG. 8, or is perpendicular to the pivot axis.

[0133] In the pivot position shown in FIGS. 7 and 8, the first and second contact surfaces (31, 32) are parallel to each other. The first contact surface (31) is positioned on the L-flange (see FIGS. 4 and 10).

[0134] Since the recess distribution and hole pattern having the recess (32a) of the second contact surface (32) matches the recess distribution or hole pattern of the base contact surface (11) having the recess for the protrusion (31a) of the protrusion distribution of the first contact surface, the second contact surface (32) can be placed on the same interface as an alternative to the base contact surface (11) and can be screwed into the interface by a screw distribution using screws (4). As described above, the protrusion (31a) can be designed as a (receiving) pin that is permanently or non-destructively detachably fixed in the embodiment.

[0135] The first contact surface (31) and the base contact surface (11) of the robot joint module are designed to be fixed to each other in four directions, each offset by 90° relative to each other as an alternative.

[0136] The height (H) between the parallel first contact surface (31) and the second contact surface (32) substantially corresponds to the maximum width (D) of the first contact surface (31).

[0137] The motor (62) of the robot joint module drive is positioned between the first contact surface (31) and the second contact surface (32).

[0138] The first contact surface (31) overlaps with the robot joint module drive and, in particular, covers the motor (62) of the robot joint module drive.

[0139] The outer contour of the first contact surface (31) of the robot joint module and the outer contour of the base contact surface (11) substantially coincide. In a modified example, the flexible cover (110) can cover the gap between the first contact surface and the base contact surface (dotted line in FIG. 9).

[0140] One or more sensors may be disposed inside the housing of the robot joint module to detect the (presence) of a base contact surface on a first contact surface and / or the position and / or alignment of the base contact surface with respect to the first contact surface and / or to monitor a safety range around the robot joint module, and among the sensors, a sensor (61) is schematically illustrated in FIG. 10.

[0141] The robot joint module includes a brake integrated into the motor (62) together with a gear (62a) to brake the pivot axis (A), an output side joint torque sensor (63), a driving electrical device (64) for operating the robot joint module drive, a safety electronic device (65) for monitoring the robot joint module, an alignment sensor (66), and a cooling device in the form of cooling fins (33) for cooling one or more of the components.

[0142] The robot joint module also includes a line guide (68A, 68B.1, 68B.2) aligned with the pivot axis (A) for guiding a line (L) fixed to the robot arm, which is partially parallel to the pivot axis (A), and a cable holder (68B.1, 68B.2) consisting of two parts, a magnetic adapter (68A) fixed to rotation in a shape-fitting coupling manner and a cable guide drum (67) for guiding a line to communicate with a joint torque sensor (63). There is a designated separation point between the two parts of the line guide (68A, 68B.1, 68B.2) and the line guide (68A, 68B.2).

[0143] FIGS. 7 and 8 also illustrate a robot control unit (7) of a robot system according to an embodiment of the present invention for controlling together the robot arm joint drive of the robot arm and the robot joint module drive of the robot joint module, in particular for simultaneously adjusting at least one of the joint axes of the robot arm and the pivot axis (A) based on a kinematic model including the pivot axis of the robot joint module and the joint axis of the joint of the robot arm. In the embodiment of FIG. 9, such a robot control unit is positioned within a moving platform.

[0144] For the assembly of the robot, the base contact surface (11) is screwed to the first contact surface (31), and the second contact surface (32) is screwed to a fixed peripheral or moving platform. When the robot arm is used alone, the base contact surface (11) is separated from the first contact surface (31) and screwed to the fixed peripheral or moving platform instead of the second contact surface (32).

[0145] In the embodiment, the maximum turning range around the turning axis (A) is limited by one or more (not shown) stoppers and / or software, particularly by the robot control unit (7) or by the robot control unit to ±90° or less than ±90° or 180° or less than 180°, for example ±85° or 170°, etc.

[0146] FIG. 11 illustrates a part of a robot according to another embodiment of the present invention corresponding to FIG. 8. Since corresponding parts are identified by the same reference symbols, the foregoing description is referenced and only the differences are described below.

[0147] In the embodiment of FIG. 11, the first and second contact surfaces of the robot joint module (at the corresponding position of the robot arm) are pivotable relative to each other by more than ±120° with the fixed robot arm present, and pivotable relative to each other by more than ±360° without the fixed robot arm present. The first and second contact surfaces are also positioned on opposite sides of a plane perpendicular to the pivot axis. As an alternative to the fixed peripheral support (200), the second contact surface (32) may also be fixed to the movable platform (50) (see FIG. 9).

[0148] FIG. 12A illustrates a part of a robot according to another embodiment of the present invention corresponding to FIG. 5, but in this case the perspective is different, and FIG. 12B illustrates the part of the robot with indicated lines. Since corresponding parts are identified by the same reference symbols, the foregoing description is referenced and only the differences are described below.

[0149] In the embodiments of FIG. 12A and FIG. 12B, a plurality of lines (210) of the robot arm within the cover (220), for example, electrical supply—and communication—or signal lines and / or water—, oil—and / or (compressed) air lines for robot arm joint drives and / or robot arm sensors, are guided (inserted) into the robot joint module (30).

[0150] The cover (220) is fixed to the base (10).

[0151] The line (210) is guided into or through the cable guide drum (67') which is designed to be integral with the cover (220).

[0152] In FIG. 12B, the line (210') for powering the robot joint module sensor (230) on the robot joint module side and / or for communicating with the robot joint module sensor (230) on the robot joint module side is guided within or through the cable guide drum (67').

[0153] The connection point of the above line (210') is placed within a common external connection part (241) of the robot joint module (30) or heat sink (240) together with the connection point of the line (210) of the robot arm.

[0154] The electrical supply—and communication—or signal line for driving the robot joint module is indicated as 250, and the connection point of the line is placed within an additional external connection part (242) of the robot joint module (30) or heat sink (240).

[0155] FIGS. 13A and FIGS. 13B illustrate parts of a robot according to another embodiment of the present invention corresponding to FIGS. 12A and FIGS. 12B. Since corresponding parts are identified by the same reference numerals, the foregoing description is referenced and only the differences are described below.

[0156] In the embodiments of FIG. 13A and FIG. 13B, the cable guide drum (67) is not designed integrally with the cover (220) but is placed inside the robot joint module (30).

[0157] As in the embodiments of FIGS. 12A and 12B, in the embodiments of FIGS. 13A and 13B, the robot joint module (30) includes a heat sink (240) having a power electronic device (not shown) and external connection parts (241, 242).

[0158] FIGS. 14A and 14B illustrate parts of a robot according to another embodiment of the present invention, corresponding to FIGS. 12A, 12B or FIGS. 13A, 13B. Since corresponding parts are identified by the same reference numerals, the foregoing description is referenced and only the differences are described below.

[0159] In the embodiments of FIG. 14A and FIG. 14B, the line (210) has a plug connection, which is indicated in FIG. 14B by a robot arm side plug (260A) and a robot joint module side counter plug (260B).

[0160] While exemplary embodiments have been described in the foregoing description, it should be noted that many variations are possible. Furthermore, it is noted that exemplary embodiments are merely examples and are not intended to limit the scope of protection, applications, and configurations in any way. Rather, the foregoing description provides those skilled in the art with a clue for implementing at least one exemplary embodiment, and various changes may be made, particularly regarding the function and arrangement of the aforementioned components, and in such case, do not exceed the scope of the claims and the scope of protection presented by such equivalent functional combinations. Explanation of the symbols

[0161] 2 terminal device 4 screws 7 Robot Control Unit 10 bases 11 Base contact surface 30 robot joint modules 31 First contact surface 31a protrusion 32 Second contact surface 32a Recess 33 cooling fins 50 mobile platforms 51 wheels 61 sensor 62 motors 62a gear 63 joint torque sensor 64 Driving electrical device 65 Safety Electronic Devices 66 alignment sensors 67; 67'; 67" cable guide drum 68A Magnetic Adapter 66B.1, 66B.2 Cable Holder 110 covers 200 stand 210; 210' line 220 covers 230 sensor 240 heat sink 241, 242 External Connection Section 250 lines 260A, 260B plug connector A pivot axis D maximum width H height L line q0 turning angle q1 Joint angle of the joint closest to the base q2 Joint angle of the joint following the joint closest to the base Q3-Q6 joint angles

Claims

Claim 1 A robot having a base (10) having a base contact surface (11), a robot arm having an end device (2), and a robot joint module (30), wherein the base contact surface (11) is configured to be suitable for fixing the robot arm to a fixed peripheral or moving platform (50), the end device is connected to the base through a joint, the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5 or at least 6 degrees of freedom of operation (q1-q6) relative to the base (10), and the robot joint module has a fixable first contact surface (31) on the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) relative to the second contact surface (32) around a pivot axis (A), so that the end device (2) is the second contact A robot having at least 6 or at least 7 degrees of operation (q0-q6) for a surface (32), or a fixed periphery or the moving platform (50), and the hole pattern of the second contact surface (32) corresponds to the hole pattern of the base contact surface (11) for mounting the base (10) on the fixed periphery or moving platform (50). Claim 2 In claim 1, the pivot axis of the robot joint module is positioned on the side of a first contact surface located away from the robot arm, or the pivot axis is inclined by at least 60° and up to 120° with respect to the joint axis of the joint of the robot arm closest to the base, or the pivot axis intersects the joint axis, or the pivot axis overlaps with at least one of the first and second contact surfaces, or the pivot axis is parallel to at least one of the first and second contact surfaces, or the joint axis of the joint of the robot arm following the joint closest to the base is inclined by up to ±30° with respect to the pivot axis of the robot joint module at at least one position of the robot arm, or is inclined by at least 60° and up to 120°, or the first and second contact surfaces are pivotable relative to each other by ±120° or more than ±120° or up to ±90° or up to ±90°, or the first and second contact surfaces are pivotable relative to each other at the pivot position A robot characterized by at least one of the following: the first and second contact surfaces are parallel or tilted relative to each other at at least one pivoting position, or at least one of the first and second contact surfaces is positioned on an L-flange. Claim 3 In claim 1, the second contact surface of the robot joint module is in a manner such that the second contact surface can be fixed to the same interface instead of the base contact surface of the robot arm, or such that the protrusion distribution of the second contact surface can be inserted into the same recess distribution instead of the protrusion distribution of the base contact surface. A robot characterized by being designed in at least one of the following ways: instead of a recess distribution of a base contact surface, a recess distribution of a second contact surface can be placed on the same protrusion distribution. Claim 4 A robot according to claim 1, characterized in that the first contact surface of the robot joint module and the base contact surface are, alternatively, designed to be fixed to each other in at least two directions offset from each other. Claim 5 A robot according to claim 1, wherein the height (H) between the parallel first contact surface and the second contact surface is up to 1.5 times the maximum width (D) of the first or second contact surface, and at least one motor (62) of the robot joint module drive is positioned between the first contact surface and the second contact surface and / or the first contact surface overlaps with the robot joint module drive. Claim 6 A robot having a base (10) having a base contact surface (11), a robot arm having an end device (2), and a robot joint module (30), wherein the end device is connected to the base through a joint, the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5 or at least 6 degrees of freedom of operation (q1-q6) with respect to the base (10), and the robot joint module has a first contact surface (31) that can be fixed to the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) with respect to the second contact surface (32) about a pivot axis (A), so that the end device (2) has at least 6 or at least 7 degrees of operation with respect to the second contact surface (32) or the fixed peripheral or moving platform (50). A robot having degrees of freedom (q0-q6), wherein the outer contour of the first contact surface of the robot joint module and the outer contour of the base contact surface deviate from each other by up to 10% and / or a cover (110) is disposed on the robot joint module and / or the robot arm to at least partially cover the gap between the first contact surface and the base contact surface. Claim 7 A robot having a base (10) having a base contact surface (11), a robot arm having an end device (2), and a robot joint module (30), wherein the end device is connected to the base through a joint, the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5 or at least 6 degrees of freedom of operation (q1-q6) with respect to the base (10), and the robot joint module has a first contact surface (31) that can be fixed to the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) with respect to the second contact surface (32) about a pivot axis (A), so that the end device (2) has at least 6 or at least 7 degrees of operation with respect to the second contact surface (32) or the fixed peripheral or moving platform (50). A robot characterized by having degrees of freedom (q0-q6) and including a robot arm side and / or robot joint module side detection device for detecting the position and / or alignment of a base contact surface on a first contact surface and / or the base contact surface with respect to the first contact surface. Claim 8 A robot having a base (10) having a base contact surface (11), a robot arm having an end device (2), and a robot joint module (30), wherein the end device is connected to the base through a joint, the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5 or at least 6 degrees of freedom of operation (q1-q6) with respect to the base (10), and the robot joint module has a first contact surface (31) that can be fixed to the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) with respect to the second contact surface (32) about a pivot axis (A), so that the end device (2) has at least 6 or at least 7 degrees of operation with respect to the second contact surface (32) or the fixed peripheral or moving platform (50). A robot characterized by having degrees of freedom (q0-q6) and including a robot joint module side detection device for monitoring a safety area around the robot joint module. Claim 9 A robot according to claim 1, wherein the robot joint module comprises a brake for braking or fixing a pivot axis, a detection device for detecting at least one joint force and / or at least one joint torque, or at least one driving side and / or at least one output side joint torque sensor (63), a driving electrical device (64) for operating the robot joint module drive, a safety electronic device (65) for monitoring the robot joint module, an alignment sensor (66), and / or a cooling device (33; 240) for cooling one or more of the components, and / or the accuracy, sensitivity and / or safety of the robot joint module drive corresponds to the accuracy, sensitivity and / or safety of at least one of the robot arm joint drives. Claim 10 The robot according to claim 1, wherein the robot joint module comprises at least one line guide (67; 68A, 68B.1, 68B.2; 67) for guiding at least one line (L) fixed to the robot arm for power supply to the robot joint module and / or communication with the robot joint module, and / or at least one line (210) of the robot arm is guided into the robot joint module and / or has at least one plug connection (260A, 260B) between the robot arm and the robot joint module and / or has at least one sliding contact between the robot arm and the robot joint module. Claim 11 A robot system comprising a robot according to any one of claims 1 to 10, and a robot control unit (7) for controlling together the robot arm joint drive of the robot arm and the robot joint module drive of the robot joint module, or for adjusting based on a kinematic model including the pivot axis of the robot joint module and at least one joint axis of the joint of the robot arm simultaneously and / or the pivot axis of the robot joint module and the joint axis of the joint of the robot arm. Claim 12 A robot joint module (30) for a robot according to any one of claims 1 to 10. Claim 13 A method for assembling a robot according to any one of claims 1 to 10, wherein a first contact surface (31) is fixed to a base contact surface (11) and / or a second contact surface (32) is fixed to a fixed peripheral or moving platform (50) and / or the base contact surface (11) is separated from the first contact surface (31). Claim 14 A method for assembling a robot having a base (10) having a base contact surface (11), a robot arm having an end device (2), and a robot joint module (30), wherein the end device is connected to the base through a joint, the joint is adjustable using a robot arm joint drive so that the end device (2) has at least 5 or at least 6 degrees of freedom of operation (q1-q6) with respect to the base (10), and the robot joint module has a first contact surface (31) that can be fixed to the base contact surface (11), a second contact surface (32) for fixing the robot to a fixed peripheral or moving platform (50), and at least one robot joint module drive for pivoting the first contact surface (31) with respect to the second contact surface (32) about a pivot axis (A), so that the end device (2) has at least 6 or at least 7 degrees of operation with respect to the second contact surface (32) or the fixed peripheral or moving platform (50). A method having degrees of freedom (q0-q6), wherein a first contact surface (31) is fixed to a base contact surface (11) and / or a second contact surface (32) is fixed to a fixed peripheral or moving platform (50) and / or the base contact surface (11) is separated from the first contact surface (31), and the position and / or alignment of the base contact surface on the first contact surface and / or the base contact surface with respect to the first contact surface is at least partially automatically detected or manually entered and / or corrected by a robot. Claim 15 A method for operating a robot system according to claim 13, wherein the robot control unit (7) controls the robot arm joint drive of the robot arm and the robot joint module drive of the robot joint module together.

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