System and method for executing an assembly task by means of a robot
A system for executing an assembly task or production task in a verified way includes: an n-axis robot having a base and an articulated arm which is connected to the base and can be moved in n machine axes relative to the base and includes a first articulated-arm portion and a second articulated-arm portion. The system also includes a tool having a first functional element and a second functional element. The first functional element is coupled to the first articulated-arm portion such that it participates in movements which can be performed by the first articulated-arm portion. The second functional element is coupled to the second articulated-arm portion such that it participates in movements which can be performed by the second articulated-arm portion relative to the first articulated-arm portion and first functional element in the robot joint.
1 . A system for executing an assembly task or production task in a verified way, the system comprising:
a. an n-axis robot having a base and an articulated arm which is connected to the base and can be moved in n machine axes relative to the base and comprises a first articulated-arm portion and a second articulated-arm portion which are directly connected in a robot joint such that they can be moved rotationally about one of the machine axes and/or translationally and axially along said machine axis;
b. a robot controller for controlling and/or regulating the movements of the articulated arm in the n machine axes;
c. a tool for the assembly task, having a first functional element and a second functional element,
wherein
d. the first functional element is directly coupled to the first articulated-arm portion such that it participates in movements which can be performed by the first articulated-arm portion,
e. the second functional element is directly coupled to the second articulated-arm portion such that it participates in movements which can be performed by the second articulated-arm portion relative to the first articulated-arm portion and first functional element in the robot joint, in order to execute the assembly task,
f. and the robot controller is designed to control and/or regulate the position and/or speed of the movements which can be performed by the second articulated-arm portion relative to the first articulated-arm portion in the robot joint, so as to activate a movement and/or function of the second functional element in a verified way.
2 . The system according to claim 1 , wherein either the first articulated-arm portion or the second articulated-arm portion is a final articulated-arm portion of the robot which is distanced from the base by the n machine axes.
3 . The system according to claim 1 , wherein the machine axis in relation to which the second articulated-arm portion can be moved relative to the first articulated-arm portion is the nth machine axis of the robot and n is a natural number which is greater than 2.
4 . The system according to claim 3 , wherein n is equal to 6.
5 . The system according to claim 1 , wherein the n th machine axis is a rotational axis, a sliding axis or a rotational sliding axis of the second articulated-arm portion.
6 . The system according claim 1 , wherein the tool is a processing tool, a polishing device, an applying or dispensing tool for dispensing a material, or a material testing tool.
7 . The system according to claim 6 , wherein the tool is a welding tongs or an applying or dispensing tool for dispensing a fluid material.
8 . The system according to claim 1 , wherein the n th machine axis is or can be connected to the second functional element, directly or via a coupling element.
9 . The system according to claim 1 , wherein the tool is designed to convert a system-predetermined movement of the n th machine axis, into a resultant movement of the second functional element ( 92 ), wherein the resultant movement is different to the predetermined movement.
10 . The system according to claim 9 , wherein the system-predetermined movement of the n th machine axis is a rotational or linear movement, and/or wherein the resultant movement of the second functional element is a linear or rotational movement.
11 . The system according to claim 1 , wherein the first functional element and the second functional element form a threaded pairing, an intermediate gear system, a sliding block guide or a rigid chain.
12 . The system according to claim 1 , wherein the first functional element forms a guide for the second functional element.
13 . The system according to claim 12 , wherein the first functional element guides the second functional element linearly and/or such that it can be moved rotationally.
14 . The system according to claim 1 , wherein the second articulated-arm portion is a robot hand.
15 . The system according to claim 1 , wherein the assembly task is an assembly task within the field of manufacturing for flying objects, land vehicles and watercraft.
16 . The system according to claim 15 , wherein the assembly task is an assembly task within the field of body manufacturing for flying objects, land vehicles and watercraft.
17 . A method for executing an assembly task or production task using the system according to claim 14 ,
wherein the second functional element is coupled to the robot hand, the method comprising:
activating and regulating the robot hand with a robot controller,
converting movement of the robot hand as predetermined by the robot controller into a resultant movement of the coupled second functional element by the tool, and
performing the assembly task or the production task in a verified way by the second functional element.
18 . The method according to claim 17 , wherein the predetermined movement of the robot hand is one of a linear movement and a rotational movement, and the resultant movement of the second functional element is the other of a linear movement and a rotational movement.
19 . The method according to claim 17 , wherein the second functional element is guided linearly or rotationally by the first functional element.
20 . The method according to claim 17 , wherein the industrial robot has a base and n movement axes for a robot arm having k articulated-arm portions, and the kth articulated-arm portion forms the robot hand.