METHOD FOR PRODUCING A ROBOT AND DEVICE FOR CARRYING OUT SAID METHOD

• US 20190315002A1
• Filed: 04/20/2017
• Published: 10/17/2019
• Est. Priority Date: 04/20/2016
• Status: Active Grant

• Current Assignee: Kastanienbaum GmbH
• Original Assignee: Kastanienbaum GmbH
• Inventors: Haddadin, Sami
• Granted Patent: US 11,623,355 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 15/0475 Exchangeable fingers
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: B25J 19/007 Means or methods for designing or fabricating manipulators
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping

Abstract

The invention relates to a method and to a device for producing a robot with a robotic arm. Said method can be carried out using an assembly robot wherein first housing segments are arranged in an intended sequence for the robotic arm, drive units are inserted into the first housing segments and the respective complimentary second housing segments are placed on the first housing segments comprising the drive units.

Claims

1. Method for manufacturing a robot having at least one multi-axis robotic arm which consists of a plurality of axis members which are arranged movably relative to one another and each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments which each have at least one of their ends a bearing device for receiving a drive unit,

comprising at least one of the steps:

arranging first housing segments in an order provided for the robotic arm;

inserting the drive units into the first housing segments with connection of the drive units to the bearing devices of the first housing segments provided for this purpose;

placing the respective complementary second housing segments on the first housing segments comprising the drive units, with the drive units being connected to the bearing devices of the second housing segments provided for this purpose; and

fastening the second housing segments to the first housing segments by means of fastening means, whereby the drive units are fixed in the axis members;

the method steps being automatically executable by at least one assembly robot.

2. Method according to claim 1, further comprising the step which can be performed by the at least one assembly robot:

attaching electrical lines and/or media lines and/or sensor modules to the inserted drive units and/or in the housing segments.

3. Method according to claim 1, further comprising the steps which can be performed by the at least one assembly robot:

attaching a base member to the lower axis member of the robotic arm; and

/or

attaching an effector receiving member to the upper axis member of the robotic arm.

4. Method according to claim 1, in which the at least one assembly robot automatically removes the components of the robots to be produced and/or the tools required in each case for the individual assembly steps from a stationary and/or mobile storage.

5. Method according to claim 1, in which the at least one assembly robot automatically changes its effectors required for the individual assembly steps as a function of these assembly steps to be carried out.

6. Method according to claim 1, further comprising the steps which can be performed by said at least one assembly robot:

connecting the assembled robot to a power supply and/or data supply and/or media supply.

7. Method according to claim 6, further comprising the step executable by said at least one assembly robot:

activating at least one functional test for the assembled robot (R).

8. Method according to claim 1, in which the assembly steps can be carried out if the robot to be assembled is arranged horizontally in its longitudinal extension.

9. Method according to claim 8, further comprising the step which can be performed by said at least one assembly robot:

transferring the assembled robot to a defined position.

10. Method according to claim 8, further comprising the steps:

connecting the assembled robot to a power supply and/or data supply; and

controlling the assembled robot so that it automatically moves to a defined position.

11. Method according to claim 1, in which the at least one assembly robot is designed to be compliant and/or sensitive.

12. Method according to claim 1, in which the robot to be assembled is of identical design to the at least one mounting robot.

13. Robot having a multi-axis robotic arm which comprises a plurality of axis members which are arranged movably relative to one another and which each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments, the robot being producible according to claim 1.

14. Device for manufacturing a robot which has at least one multi-axis robotic arm which comprises a plurality of axis members which are arranged so as to be movable relative to one another and each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments which each have at least one of their ends a bearing device for accommodating a drive unit,

having at least one assembly robot which is designed to perform various assembly steps for manufacturing the robot;

and

with a working space which is assigned to the at least one assembly robot, the working space comprising a holding device for at least one housing segment of the robotic arm.

15. Device according to claim 14, in which the holding device is designed at least partially complementary to the contour of the housings of the axis members of the robotic arm.

16. Device according to claim 14, in which the holding device is designed to position the robotic arm horizontally in its longitudinal extension.

17. Device according to claim 16, in which the holding device has an abutment for the two ends of the robotic arm, respectively.

18. Device according to claim 17, in which an abutment for a base element of the robotic arm is designed such that the assembled robot can be tilted into a defined position about this abutment with the aid of the assembly robot.

19. Device according to claim 14, in which at least one support for the components for mounting the robot is provided in the region of the working space.

20. Device according to claim 14, in which at least one conveying device is provided in the region of the working space, along which the components for mounting the robot can be moved.

21. Device according to claim 14, in which at least one holder for various effectors of the assembly robot is provided in the region of the working space.

22. Device according to claim 14, in which the at least one assembly robot is designed to be compliant and/or sensitive.

23. Device according to claim 14, in which at least two assembly robots are assigned to the working space, the assembly robots being designed to carry out different or similar assembly steps simultaneously or sequentially.