ROBOT ARRANGEMENT

• US 20130226341A1
• Filed: 02/26/2013
• Published: 08/29/2013
• Est. Priority Date: 02/27/2012
• Status: Active Grant

• Current Assignee: KUKA Systems GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Systems GmbH (Midea Group Co., Ltd)
• Inventors: STURM, Thomas
• Granted Patent: US 9,149,927 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: A61G 7/1046 Mobile bases, e.g. having wheels
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 5/007 mounted on wheels

Abstract

A robot arrangement has a movable, programmable robot (2), which has a plurality of links (4, 5, 6, 7) and axes of motion (I-VII) and is arranged on a movable, drivable carrying device (15). The robot arrangement (1) has a drive of its own (16), which can be actuated by the robot (2), for the carrying means (15).

Claims

1. A robot arrangement comprising:

a movable, programmable robot comprising a plurality of links and a plurality of axes of motion and including a robot drive for movement of the links relative to each other;

a movable, steerable and drivable carrying device supporting the robot for movement of the robot multidirectionally relative to a support or foundation;

a robot arrangement drive of its own which is actuated by a motion of the robot including by a displacing motion of an end link of the robot; and

a robot control for controlling the movement of the links relative to each other to actuate the robot arrangement drive for moving the carrying device and the robot.

2. A robot arrangement in accordance with claim 1, wherein the robot arrangement drive of its own comprises a drive means for driving the carrying device, the drive means being actuatable by the robot wherein the drive means is designed as a support device that can be gripped by the robot, which the robot causes to mesh with an external counterforce support at a foundation or reference site.

3. A robot arrangement in accordance with claim 2, wherein the counterforce support has one or more relatively stationary, especially stationary openings, especially an opening grid.

4. A robot arrangement in accordance with claim 3, wherein the robot arrangement drive of its own comprises a drive means for driving the carrying device, the drive means being actuatable by the robot wherein the drive means is arranged at the carrying device wherein the drive means is comprises a driving drive device acting at the carrying device as a crank drive.

5. A robot arrangement in accordance with claim 1, wherein the carrying device has one or more rotator and/or translatory axes of motion and is steerable by the robot arrangement drive.

6. A robot arrangement in accordance with claim 1, wherein the carrying device has a sliding or floating device or a sliding carriage or a carriage on swivel wheels.

7. A robot arrangement in accordance with claim 1, further comprising a positioning means for the locomotion of the robot.

8. A robot arrangement in accordance with claim 1, wherein the positioning means comprises a plotting means or as a relatively stationary, positive-locking mount for the carrying device.

9. A robot arrangement in accordance with claim 1, wherein the carrying device has a locking device.

10. A robot arrangement in accordance with claim 1, wherein the carrying device has a position adjusting device with one or more axes of adjustment, the position adjusting device being actuatable by the robot.

11. A robot arrangement in accordance with claim 13, wherein the position adjusting device comprises a height adjusting device and/or as a lateral adjusting device with a lockable floating frame.

12. A robot arrangement in accordance with claim 1, further comprising a deposit site for components and/or tools arranged at the carrying device or at a trailer connected to the carrying device.

13. A robot arrangement in accordance with claim 1, further comprising a controlled auxiliary device interacting with the robot the controlled auxiliary device being arranged at the carrying device for moving and/or positioning a component.

14. A robot arrangement in accordance with claim 1, wherein the robot has at least one of a universal gripper tool and a change coupling for replaceable tools.

15. A robot arrangement in accordance with claim 1, wherein the robot has one or more power-controlled or power-regulated robot axes with an associated sensor system detecting acting loads.

16. A robot arrangement in accordance with claim 1, wherein the robot has at least one flexible robot axis with active compliance regulation, pure force regulation or with a combination of position and force regulation.

17. A process for operating a robot arrangement, the process comprising:

providing a robot arrangement with a movable, programmable robot, which has a plurality of links and a plurality of motion axes, a movable, steerable and drivable carrying device supporting the robot for movement of the robot multiaxially relative to a support or foundation, a robot arrangement drive of its own which is actuated by a motion of the robot including by a displacing motion of an end link of the robot and a robot control for controlling the movement of the links relative to each other to actuate the robot arrangement drive for moving the carrying device and the robot in a plurality of directions or axes relative to the foundation or support; and

actuating the robot arrangement drive of its own by a motion of the robot via a displacing motion of an end link of the robot.

18. A process according to claim 17, further comprising the steps of:

handling or processing a component or workpiece of an aircraft fuselage including assembling or mounting the component or workpiece.

19. A process according to claim 17, further comprising:

moving the robot arrangement to a target or reference location with a component or workpiece using positioned reference points.

20. A process according to claim 19, further comprising;

providing an auxiliary device;

arranging the robot and the auxiliary device on a floating frame of the carrying device;

positioning the robot or the auxiliary device at a workpiece via the floating frame based on reference points; and

subsequently locking the floating frame.