Robot with offset axis planes

Abstract

The invention relates to a robot (1) having a robot base (2), a rotatable robot link (5), a proximal robot arm (6), a distal robot arm (7) and a robot hand axis (8). According to the invention, the first robot axis (A1) between the robot base (2) and the rotatable robot link (5) and the fourth robot axis (A4) between the distal robot arm (7) and the robot hand axis (8) lie in offset axis planes regardless of the robot position.

Description

[0001] DESCRIPTION

[0002] Robot with offset axis planes

[0003] Technical field of the invention

[0004] The invention relates to a robot, in particular a coating robot (e.g. painting robot) for coating components (e.g. motor vehicle body components) with a coating agent (e.g. paint).

[0005] Background of the invention

[0006] Modern paint shops for painting automotive body components typically use multi-axis painting robots that carry a rotary atomizer as an application device, which sprays the paint to be applied.

[0007] Figures 1A and 1B show such a painting robot 1 as is known from the prior art.

[0008] The painting robot 1 initially has a robot base 2, which is permanently mounted in a paint booth of the paint system. There are two mounting options: firstly, mounting as a stationary robot on a horizontal floor, and secondly, mounting as a wall robot on a vertical wall of the paint booth. For mounting as a stationary robot, the robot base 2 has several feet 3 on its underside. For mounting as a wall robot, the robot base 2 has a mounting flange 4 to which a wall bracket (not shown) can be attached to mount the painting robot 1 to the wall of the paint booth.

[0009] Furthermore, the painting robot 1 has a rotatable robot element 5 which is rotatable relative to the robot base 2 about a vertical robot axis Al.

[0010] A proximal robot arm 6 is pivotably mounted on the rotatable robot section 5, and the proximal robot arm 6 is rotatable relative to the rotatable robot section 5 about a horizontal robot axis A2. In standard technical terminology, the proximal robot arm 6 is also referred to as "arm 1".

[0011] Furthermore, the painting robot 1 has a distal robot arm 7, which is pivotably attached to the distal end of the proximal robot arm 6, with the distal robot arm 7 being pivotable relative to the proximal robot arm 6 about a horizontal robot axis A3. In standard technical terminology, the distal robot arm 5 is also referred to as "arm 2".

[0012] A robot hand 8 is attached to the distal end of the distal robot arm 7 and is rotatable relative to the distal robot arm 7 about a fourth robot axis A4. The robot hand 8 consists of several components 9-11, which are rotatable in pairs relative to each other about the robot axis A4 and / or further robot axes A5_1, A5_2 and A6.

[0013] Finally, the rotary atomizer, which is not shown for simplicity, can be mounted at the distal end of the robot hand 8. Of course, another application device, such as a printhead, can also be mounted instead of a rotary atomizer.

[0014] Figure 1B shows in particular that the first robot axis Al and the fourth robot axis A4 lie in the same plane, regardless of the robot's position. In technical terms, the plane of the first robot axis Al is also referred to as the "base frame," while the plane of the fourth robot axis A4 is also referred to as the "tool frame." Therefore, in the known painting robot 1 described above, the "base frame" and the "tool frame" lie in the same plane.

[0015] The pivoting drive of the distal robot arm 7 is achieved by a drive motor 12 via a reversing gear 13, where the drive motor 12 and the reversing gear 13 are shown only schematically. The output axis of the drive motor 12 is oriented perpendicular to the third robot axis A3, which necessitates the reversing gear 13. This arrangement of the drive motor 12 with its output axis perpendicular to the third robot axis A3 is required because otherwise the proximal robot arm 6 would have to have a very large width to accommodate the drive motor 12. In the known painting robot 1, the drive motor 12 cannot be arranged coaxially with the third robot axis A3, as this would increase the width of the painting robot 1 to such an extent that it could no longer be integrated into the usual system concepts of painting systems. The reversing gear 13 thus enables a reduction in the width of the painting robot 1.On the other hand, the deflection gear 13 involves additional costs that should be avoided if possible.

[0016] For the general technical background of the invention, reference should also be made to DE 100 10615 Al, DE 10 2016 004 846 Al, DE 10 2008 059 505 Al, DE 10 2008 045 553 Al, DE 10 2013 013 038 Al and DE 10 2016 003 966 Al.

[0017] Description of the invention

[0018] The invention is therefore based on the task of creating a robot that is as narrow as possible with a small width, yet manages without a deflection gear.

[0019] This problem is solved by a robot according to the invention as defined in the main claim.

[0020] The robot according to the invention is preferably used for coating components and can carry an application device for this purpose, such as a rotary atomizer, a print head, or another nozzle applicator. Preferably, the robot according to the invention is designed as a painting robot and is used for painting automotive body components. However, the invention is not limited to automotive body components with regard to the type of components to be coated, but can also be used to coat other types of components. Furthermore, the invention is not limited to paints with regard to the type of coating material. Rather, the coating robot according to the invention can also be used to apply other coating materials, such as adhesives, sealants, or insulating materials, to name just a few examples.Furthermore, the robot according to the invention need not be a coating robot. Rather, the concept according to the invention can also be implemented generally in an industrial robot.

[0021] The robot according to the invention initially comprises, in accordance with the prior art, a robot base, which can also be referred to as a robot foot. In a preferred embodiment of the invention, the robot base is fixedly mounted. However, it is also possible within the scope of the invention for the robot base to be movable along a guide rail, as is known from the prior art. Furthermore, the robot according to the invention, in accordance with the prior art, comprises a rotatable robot element that is rotatably mounted on the robot base, wherein the rotatable robot element is rotatable relative to the robot base about a first robot axis. In the preferred embodiment of the invention, the rotatable robot element is rotatably mounted on the top of the robot base, although this is not strictly necessary.

[0022] Furthermore, the robot according to the invention also has, in accordance with the prior art, a proximal robot arm, which is also referred to as "arm 1" in accordance with the usual technical language and is pivotable relative to the rotatable robot element about a second robot axis.

[0023] The proximal robot arm can be mounted on either side of the rotating robot section, allowing for two different robot configurations (left / right). In one configuration, the proximal robot arm is mounted on the left side of the rotating robot section, while in the other, it is mounted on the right side. Depending on the available space, the robot configuration offering the best reach can be selected. Furthermore, both robot configurations can be used side-by-side, allowing the user to choose the one best suited to the specific task at hand.

[0024] A proximal robot arm is pivotably mounted on the distal robot arm, with the distal robot arm being pivotable around a third robot axis relative to the proximal robot arm.

[0025] Finally, a robot hand is mounted on the distal robot arm, and the robot hand is pivotable relative to the distal robot arm about a fourth robot axis. To avoid misunderstandings, it should be noted that the term "robot hand" used within the scope of the invention preferably refers to an assembly of several components that do not necessarily have to resemble a human hand. The term "robot axis" used within the scope of the invention preferably defines mathematical-geometric axes of rotation or pivoting axes.

[0026] The robot according to the invention is characterized by the fact that the first robot axis and the fourth robot axis lie in offset axis planes, independent of the robot's position. Thus, in the robot according to the invention, the "base frame" and the "tool frame" are not in the same plane. This lateral offset between the axis planes of the first robot axis on the one hand and the fourth robot axis on the other allows the respective drive motors to be arranged coaxially with the respective robot axes, thereby eliminating the need for complex deflection gears without excessively increasing the robot's overall width.

[0027] It should be noted that the invention does not only claim protection for robots that have no deflection gear whatsoever. Rather, the invention also claims protection for robots in which at least one robot element is driven without such a deflection gear. The inventive principle of dispensing with a deflection gear therefore does not have to be implemented for all robot axes.

[0028] In one embodiment of the invention, the robot can be mounted as a stationary robot on a horizontal floor and has a mounting surface for this purpose. The first robot axis is preferably oriented perpendicular to the mounting surface and therefore runs vertically when mounted on a horizontal floor. The second robot axis, on the other hand, is preferably oriented parallel to the mounting surface and therefore also runs horizontally when mounted as a stationary robot on a horizontal floor. In the preferred embodiment of the invention, the first and second robot axes do not intersect but run at a mathematical-geometric skew to each other with a perpendicular distance of at least 5 cm, 10 cm, 15 cm, 20 cm, 25 cm, or 30 cm. The third robot axis, however, is preferably again oriented parallel to the mounting surface.Furthermore, it should be mentioned that the first robot axis and the second robot axis preferably define planes of rotation that are perpendicular to each other. The second robot axis preferably runs parallel to the third robot axis, while the third robot axis and the fourth robot axis preferably define planes of rotation that are perpendicular to each other.

[0029] The aforementioned robot hand can be constructed in the robot according to the invention in a conventional manner. The robot hand can thus have several hand axis parts that are rotatable in pairs relative to each other about a fifth robot axis, a sixth robot axis, and / or a seventh robot axis. The robot hand therefore preferably has three additional robot axes. Two of the additional robot axes can be considered sub-axes of a single axis, provided that the sub-axes are always coupled. This is the case when the robot hand is equipped with a double bevel gear, as described, for example, in German patent application DE 10 2007 057 069 A1. The invention is not limited to a robot hand with exactly three additional robot axes.Furthermore, it should be mentioned that the robot kinematics of the robot according to the invention are preferably designed such that the seventh robot axis of the robot hand is aligned with the fourth robot axis in a position of the robot hand, or that the sixth robot axis of the robot hand is aligned with the fourth robot axis in a position of the robot hand, provided that the fifth robot axis is defined as an axis consisting of two sub-axes.

[0030] It has already been mentioned above as an advantage of the invention that the robot kinematics according to the invention offers the possibility of arranging the drive motors for driving the individual robot components parallel to the respective robot axis, which makes it possible to do without a deflection gear.

[0031] The rotatable robot element is preferably driven relative to the robot base by a first drive motor, which is preferably arranged parallel to the first robot axis and preferably coaxially aligned with it. The output axis of the first drive motor and the first robot axis are therefore preferably arranged coaxially. The first drive motor is preferably located within the rotatable robot element and drives it without a gearbox, thus reducing the cost of the drive system.

[0032] A second drive motor is preferably provided to drive the swiveling proximal robot arm relative to the rotatable robot section. This second drive motor is preferably arranged parallel to the second robot axis and preferably aligned with it. The output shaft of the second drive motor and the second robot axis are therefore preferably coaxial. The second drive motor for driving the swiveling proximal robot arm is preferably located within the rotatable robot section and drives the proximal robot arm without a gearbox, thus reducing the cost of the proximal robot arm drive.

[0033] A third drive motor is preferably provided to drive the pivotable distal robot arm relative to the proximal robot arm. This third drive motor is arranged parallel to the third robot axis, preferably aligned with it. This means that the output shaft of the third drive motor is preferably coaxial with the third robot axis. The third drive motor for driving the distal robot arm is preferably located within the proximal robot arm and drives the distal robot arm without a gearbox, thus reducing the cost of the distal robot arm drive.

[0034] As mentioned above, the first and fourth robot axes lie in offset planes, independent of the robot's orientation. Preferably, the plane of the fourth robot axis is offset from the plane of the first robot axis in a direction away from the second drive motor, in order to provide sufficient space for the second drive motor within the robot. In other words, the plane of the fourth robot axis is preferably offset from the plane of the first robot axis in the same direction in which the second drive motor is offset from the plane of the first robot axis. Here, a plane is preferably understood to be a plane that contains the corresponding axis and extends parallel to the rotatable robot element.

[0035] As mentioned earlier regarding the prior art, the robot was optionally mounted as a stationary or wall-mounted robot. This preferably also applies to the robot according to the invention. For mounting as a stationary robot, the robot according to the invention can have feet, in particular screw-in feet, which can be screwed in or unscrewed and are preferably arranged on the underside of the robot base. For mounting as a wall-mounted robot, the robot according to the invention can have a wall bracket, the wall bracket preferably being detachably attached to a mounting flange on the robot base.

[0036] The robot according to the invention can therefore be configured either as a wall-mounted robot or as a floor-standing robot. For configuration as a floor-standing robot, the feet are mounted while the wall mount is removed. Conversely, for configuration as a wall-mounted robot, the feet are removed while the wall mount is installed.

[0037] Furthermore, it should be mentioned that the robot according to the invention preferably has a hose assembly containing at least one hose and / or at least one electrical cable. In a painting robot, for example, the hose assembly can contain hoses for conveying paint, compressed air, cleaning agents, or other media. In the robot according to the invention, the hose assembly is routed along the underside of the robot base from a proximal direction. Alternatively, the hose assembly can also be routed from a proximal direction into the inside of the robot base. The hose assembly is then routed distally out of the robot base and externally to and into the rotatable robot element.Continuing distally, the hose assembly exits the rotatable robot arm and runs externally, outside the proximal robot arm, from the rotatable robot arm to the distal robot arm. There, the hose assembly is guided back into the distal robot arm and then runs internally along its distal length. Between the rotatable robot arm and the distal robot arm, the hose assembly may include a bend to compensate for movement-related length changes when the robot's position changes.

[0038] It should be noted that the offset axis planes of the first robot axis and the fourth robot axis (i.e., “Tool Frame” and “Base Frame”) preferably have a distance of at least 2 cm, 5 cm, 10 cm, 20 cm or 30 cm from each other.

[0039] In contrast, the proximal robot arm preferably has an arm length of at least 50 cm, 75 cm, 100 cm, 120 cm or 130 cm.

[0040] The distal robot arm preferably has an arm length of at least 50 cm, 75 cm, 100 cm, 120 cm, 140 cm or 180 cm.

[0041] Furthermore, it should be mentioned that the rotatable robot element and the distal robot arm are preferably pivotably mounted on the same side of the proximal robot arm, which contributes to a small overall width of the robot.

[0042] Furthermore, the invention provides for the possibility that the robot and its base are fixed in place. Alternatively, however, it is also possible for the robot and its base to be movable on a rail, as is known from the prior art.

[0043] In the preferred embodiment of the invention, the robot is a coating robot designed for coating components with a coating agent. For example, it could be a painting robot for painting automotive body components. The coating robot preferably carries an application device, such as an atomizer (e.g., a rotary atomizer) or a printhead, to apply the coating agent. Finally, the invention also claims protection for a coating booth for coating components, wherein a coating line runs through the coating booth to convey the components to be coated. At least two coating robots according to the invention are arranged on the same side of the coating line within the coating booth.For coating robots on the same side of the coating line, the proximal robot arm can be mounted on different sides of the rotating robot section. With the correct selection of the robot variant (left / right), this results in an advantage in terms of reach compared to conventional robots, as well as the possibility of eliminating the need for an external linear axis.

[0044] Other advantageous embodiments of the invention are characterized in the dependent claims or are explained below together with the description of the preferred embodiments of the invention.

[0045] Brief description of the drawings

[0046] Figure 1A shows a perspective view of a conventional painting robot.

[0047] Figure 1B shows a different view of the conventional painting robot according to Figure 1A.

[0048] Figure 2A shows a perspective view of a painting robot according to the invention.

[0049] Figure 2B shows another view of the painting robot according to the invention according to Figure 2A from the perspective corresponding to the perspective according to Figure 1B.

[0050] Figure 2C shows a detailed view of the robot hand of the painting robot according to the invention.

[0051] Figure 3A shows a perspective view of a modified embodiment of a painting robot according to the invention.

[0052] Figure 3B shows a different perspective view of the painting robot from Figure 3A.

[0053] Figure 4 shows a perspective view of a section of a paint booth with the painting robot according to the invention. Figure 5 shows a perspective view of a modified version of the paint booth from Figure 4.

[0054] Detailed the

[0055] The following section will first describe the painting robot 1 according to the invention, as it is used in the

[0056] Figures 2A-2C illustrate the invention. The painting robot 1 according to the invention largely corresponds to the conventional painting robot 1 as shown in Figures 1A and 1B. To avoid repetition, reference is made to the preceding description of Figures 1A and 1B, using the same reference numerals for corresponding details. Therefore, only the features of the invention are described below.

[0057] A key feature of the painting robot 1 according to the invention is that the axis plane ("base frame") of the first robot axis Al and the axis plane ("tool frame") of the fourth robot axis A4 do not lie in the same plane, but are offset from each other laterally by a lateral offset a, as can be seen particularly in Figure 2B. It should be noted that this lateral offset a is independent of the robot's position. This means that the axis planes are offset from each other in every robot position. The axis plane of the fourth robot axis A4 is the geometric plane in which the fourth robot axis A4 lies regardless of the robot's position. This lateral offset between the two robot axes Al and A4 allows for the creation of installation space in the painting robot 1 without excessively increasing the overall width of the painting robot 1.

[0058] In the robot base 2, a drive motor 14 can therefore be arranged coaxially to the first robot axis Al to drive the rotatable robot element 5. This means that the output axis of the drive motor 14 runs coaxially to the first robot axis Al. Therefore, no complex deflection gear is required.

[0059] A drive motor 15 is arranged in the rotatable robot section 5, which serves to drive the proximal robot arm 6. The drive motor 15 is aligned with its output shaft coaxially to the second robot axis A2 and therefore also does not require a deflection gear.

[0060] The drive motor 12 for driving the distal robot arm 7 is also arranged coaxially to the third robot axis A3 in the painting robot according to the invention and therefore also does not require a deflection gear. The embodiment according to Figures 3A and 3B will now be described, which again largely corresponds to the embodiments described above, so that, to avoid repetition, reference is made to the preceding description, with the same reference numerals being used for corresponding details.

[0061] A special feature of this embodiment is that a wall bracket 16 is mounted on the mounting flange 4 on the robot base 2, allowing the painting robot 1 to be mounted as a wall robot on a booth wall. The feet 3 can then be unscrewed. The painting robot 1 can therefore be configured either as a stationary robot with the feet 3 but without the wall bracket 16, or as a wall robot with the wall bracket 16 but without the feet 3.

[0062] Another special feature of this embodiment is that a hose assembly 17 is routed in a particular way. For example, the hose assembly 17 can contain hoses for conveying media (e.g., paint, stylistic agents, compressed air, etc.).

[0063] The hose assembly 17 exits the robot base 2 and is then guided back into the rotatable robot arm 5. Subsequently, the hose assembly 17 exits the rotatable robot arm 5 and is guided outside the proximal robot arm 6 to the distal robot arm 7, where it is guided back into the distal robot arm 7 and runs to the robot hand 8. Laterally to the proximal robot arm 6, the hose assembly 17 forms a loop to compensate for changes in length when the robot's position changes.

[0064] The embodiment shown in Figure 4, which depicts the painting robot 1 according to the invention in a paint booth, will now be described. Here, the painting robot 1 is mounted as a wall robot on a booth wall 18 of the paint booth.

[0065] A paint line 19 runs through the paint booth, whereby motor vehicle bodies 20 to be painted are conveyed through the paint booth by a conveyor along the paint line 19.

[0066] Furthermore, the drawing shows a rotary atomizer 21, which is mounted on the robot hand 8 of the painting robot 1, wherein the rotary atomizer 21 is guided into the interior of the vehicle body 20 through an open door 22 for interior painting within the vehicle body 20.

[0067] Figure 5 shows a modification of the embodiment according to Figure 4, so that to avoid repetition, reference is made again to the preceding description, using the same reference numerals for corresponding details.

[0068] A special feature of this embodiment is that the proximal robot arm 7 is mounted on the opposite side of the rotatable robot section 5. Figures 4 and 5 thus show two mounting options (left / right) for attaching the proximal robot arm 6 to the rotatable robot section 5.

[0069] The invention is not limited to the preferred embodiments described above. Rather, the invention also includes variants and modifications that likewise make use of the inventive concept and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and the features of the dependent claims independently of the respective referenced claims and, in particular, also without the features of the main claim. The invention thus comprises various aspects of the invention that enjoy independent protection.

[0070] Advantages of the invention

[0071] The inventive offset between the axis planes “Base Frame” and “Tool Frame” advantageously enables a narrow design of the robot according to the invention while simultaneously eliminating the need for deflection gears.

[0072] Furthermore, the invention enables different robot variants (left / right) which differ in that the proximal robot arm is mounted on different sides of the rotatable robot segment. With the correct selection of the robot variant (left / right), an advantage in reachability arises (e.g., the ability to reach the A-pillar of a vehicle body with the door open) compared to conventional robots, as well as the possibility of dispensing with an external linear axis.

[0073] The modular design creates a larger painting area than is possible with current robot variants.

[0074] 1 painting robot

[0075] 2 Robot base of the painting robot

[0076] 3 feet of the robot base

[0077] 4 Mounting flange on the robot base for mounting the wall bracket

[0078] 5 Rotating robot link of the painting robot

[0079] 6 Proximal robot arm (“Arm 1”) of the painting robot

[0080] 7 Distal robot arm (“Arm 2”) of the painting robot

[0081] 8 Robotic hand of the painting robot

[0082] 9-11 Components of the robot hand

[0083] 12 Drive motor for driving the distal robot arm

[0084] 13 Deflection gear

[0085] 14 Drive motor for driving the rotatable robot element

[0086] 15 Drive motor for driving the proximal robot arm

[0087] 16 wall mounts for the robot base

[0088] 17 Hose package

[0089] 18. Cabin wall of the paint booth

[0090] 19 Paint line

[0091] 20 Motor vehicle body

[0092] 21 Rotary atomizers

[0093] 22 Door

[0094] The first robot axis of the painting robot

[0095] A2 Second robot axis of the painting robot

[0096] A3 Third robot axis of the painting robot

[0097] A4 Fourth robot axis of the painting robot

[0098] A5_l First sub-axis of the fifth robot axis of the painting robot

[0099] A5_2 Second sub-axis of the fifth robot axis of the painting robot

[0100] A6 Sixth robot axis of the painting robot a Lateral offset between the axis planes of the first robot axis and the fourth robot axis

Claims

REQUIREMENTS 1. Robot (1), in particular coating robot (1) for coating components (20) with a coating agent, in particular painting robot (1) for painting motor vehicle body components (20) with a paint, comprising a) a robot base (2), b) a robot member (5) rotatably mounted on the robot base (2), wherein the robot member (5) is rotatable relative to the robot base (2) about a first robot axis (Al), which preferably lies in a first axis plane independent of the robot position, c) a proximal robot arm (6) pivotably mounted on the rotatable robot member (5), wherein the proximal robot arm (6) is pivotable relative to the rotatable robot member (5) about a second robot axis (A2), which preferably lies in a second axis plane, d) a distal robot arm (7) pivotably mounted on the proximal robot arm (5),wherein the distal robot arm (7) is pivotable relative to the proximal robot arm (6) about a third robot axis (A3), which preferably lies in a third axis plane, and e) a robot hand (8) which is mounted on the distal robot arm (7), wherein the robot hand (8) is pivotable relative to the distal robot arm (7) about a fourth robot axis (A4), which preferably lies in a fourth axis plane independently of the robot position, characterized in that f) the first robot axis (Al) and the fourth robot axis (A4) lie in offset axis planes independent of the robot position, so that the first axis plane and the fourth axis plane are preferably offset from each other independently of the robot position.

2. Robot (1) according to claim 1, characterized in that a) the robot (1) has a mounting surface and can be mounted on a horizontal floor as a stationary robot, and / or b) that the first robot axis (Al) is oriented perpendicular to the mounting surface, and / or c) that the second robot axis (A2) is oriented parallel to the mounting surface, and / or d) that the second robot axis (A2) is at a distance of at least 5 cm, 10 cm, 15 cm, 20 cm, 25 cm or 30 cm from the first robot axis (Al), and / or e) that the third robot axis (A3) is aligned parallel to the mounting surface, and / or f) that the first robot axis (Al) and the second robot axis (A2) define planes of rotation perpendicular to each other, and / or g) that the second robot axis (A2) is parallel to the third robot axis (A3), and / or h) that the third robot axis (A3) and the fourth robot axis (A4) define planes of rotation perpendicular to each other.

3. Robot (1) according to one of the preceding claims, characterized in that a) the robot hand (8) has several hand axis parts (9-11) which are rotatable in pairs relative to each other, in particular a) a proximal robot axis (A5_1) as the first sub-axis of a fifth robot axis, a2) a middle robot axis (A5_2) as the second sub-axis of the fifth robot axis and / or a3) a distal sixth robot axis (A6), b) that optionally the sixth robot axis (A6) is aligned with the fourth robot axis (A4) in a position of the robot hand (8).

4. Robot (1) according to one of the preceding claims, characterized by a) a first drive motor (14) for driving the rotatable robot element (5) relative to the robot base (2), wherein the first drive motor (14) a) is arranged parallel to the first robot axis (Al), and / or a2) is arranged aligned with the first robot axis (Al), and / or a3) drives the rotatable robot element (5) without a deflection gear, and / or a4) is arranged in the rotatable robot element (5), and / or b) a second drive motor (15) for driving the pivotable proximal robot arm (6) relative to the rotatable robot element (5), wherein the second drive motor (15) bl) is arranged parallel to the second robot axis (A2), and / or b2) is arranged in alignment with the second robot axis (A2), and / or b3) drives the proximal robot arm (6) without a deflection gear, and / or b4) is arranged in the rotatable robot element (5), and / or c) a third drive motor (12) for driving the pivotable distal robot arm (7) relative to the proximal robot arm (6), wherein the third drive motor (12) cl) is arranged parallel to the third robot axis (A3), and / or c2) is arranged in alignment with the third robot axis (A3), and / or c3) drives the distal robot arm (7) without a deflection gear, and / or c4) is arranged in the proximal robot arm (6).

5. Robot (1) according to claim 4, characterized in that the axis plane of the fourth robot axis (A4) is offset relative to the axis plane of the first robot axis (Al) in the same direction in which the second drive motor is also offset relative to the axis plane of the first robot axis (Al).

5. Robot (1) according to one of the preceding claims, characterized in that a) the robot (1) can be optionally mounted as a stationary robot on a horizontal floor as a mounting surface or as a wall robot on a vertical wall as a mounting surface, b) the robot (1) has feet (3) for mounting as a stationary robot, in particular screw feet which can be screwed in and unscrewed, and c) the robot (1) has a wall bracket (16) for mounting as a wall robot.

7. Robot (1) according to claim 6, characterized in that a) the feet (3) are removable in order to configure the robot (1) as a wall-mounted robot, and / or b) the wall bracket (16) is removable in order to configure the robot (1) as a floor-standing robot.

8. Robot (1) according to one of the preceding claims, characterized in that a) the robot (1) has a hose assembly (17) which contains at least one hose and / or an electrical cable, b) the hose assembly (17) is guided from the proximal direction inside the robot base (2) or along the underside of the robot base (2), c) the hose assembly (17) is led out of the robot base (2) in a distal direction and is guided externally to and into the rotatable robot member (5), d) the hose assembly (17) is led out of the rotatable robot member (5) in a distal direction and is guided externally and outside the proximal robot arm (6) from the rotatable robot member (5) to the distal robot arm (7), e) that the hose package (17) is guided distally into the distal robot arm (7) and is guided distally along the distal robot arm (7) inside the distal robot arm (7), and f) that the hose package (17) optionally forms a hose arc between the rotatable robot element (5) and the distal robot arm (7) to compensate for movement-related length changes.

9. Robot (1) according to one of the preceding claims, characterized in that a) the offset axis planes of the first robot axis (Al) and the fourth robot axis (A4) have a distance (a) of at least 2 cm, 5 cm, 10 cm, 20 cm or 30 cm from each other, and / or b) that the proximal robot arm (6) has an arm length of at least 50 cm, 75 cm, 100 cm, 120 cm or 125 cm, and / or c) that the distal robot arm (7) has an arm length of at least 50 cm, 75 cm, 100 cm, 120 cm, 140 cm or 180 cm, and / or d) that the rotatable robot element (5) and the distal robot arm (7) are pivotably mounted on the proximal robot arm (6) on the same side of the proximal robot arm (6), and / or e) that the robot (1) with its robot base (2) mounted in a fixed position or movable on a sliding rail.

10. Robot (1) according to one of the preceding claims, characterized in that a) the robot (1) is a coating robot (1) designed for coating components (20) with a coating agent, in particular a painting robot (1) for painting motor vehicle body components (20), and b) the coating robot (1) carries an application device (21) for applying the coating agent, in particular an atomizer (21) or a printhead.

11. Coating booth for coating components (20), characterized in that a) a coating line (19) leads through the coating booth to convey the components (20) to be coated through the coating booth, b) at least two coating robots (1) according to claim 10 are arranged on the same side of the coating line (19) in the coating booth, and c) the two coating robots (1) are located on the same side of the coating line. (19) the proximal robot arm (6) on opposite sides of the rotatable robot limb (5) is mounted.

Images