Robot for gripping and/or holding objects

1. A robot ( 1 ) for gripping and/or holding objects ( 2 ), in particular workpieces, tools or carrier parts, the robot comprising:

at least one robot arm ( 3 , 4 , 5 ) which is supported on a support frame ( 19 ) and is movable in space in at least one translational and/or rotational degree of freedom,

a gripping and/or holding device ( 6 ), on which the respective object ( 2 ) is supported in a positionally oriented manner and/or held in a rotational arrangement,

at least one electric motor ( 9 ) provided in the gripping and/or holding device ( 6 ), by means of which a torque and/or a clamping force is generated which acts on the object ( 2 ), and

a drive shaft ( 24 ) mounted in the robot arm ( 5 ), which is coupled in a driving manner to the gripping and/or holding device ( 6 ) in such a way that the gripping and/or holding device ( 6 ) rotates about its own longitudinal axis ( 6 ′),

wherein an interface ( 31 ) is provided between a free end ( 10 ) of the robot arm ( 5 ) at the end and the gripping and/or holding device ( 6 ), which interface ( 31 ) is bridged by a coupler ( 25 ) fixed in a non-rotating arrangement to the robot arm ( 5 ) and by a flange ( 11 ) adapted thereto, which flange ( 11 ) is connected in a non-rotating arrangement to the gripping and/or holding device ( 6 ) and the drive shaft ( 24 ),

characterized in that,

a first inductively operated transceiver ( 12 ) is provided in the coupler ( 25 ), which transceiver ( 12 ) is connected to a power source ( 15 ) via an electrical line ( 14 ) fed to the robot arm ( 5 ),

a second inductively operated transceiver ( 13 ) is provided in the flange ( 11 ), which transceiver ( 13 ) is connected to the electric motor ( 9 ) in the gripping and/or holding device ( 6 ) via electrical lines ( 14 ),

an air gap ( 21 ) is provided between the coupler ( 25 ) and the flange ( 11 ) as part of the interface ( 31 ),

the drive shaft ( 24 ) passes through the air gap ( 21 ) and is coupled in a driving arrangement to the flange ( 11 ),

the first and second inductive transceiver devices ( 12 , 13 ) transmit electrical voltages and/or electrical signals, by means of which the electric motor ( 9 ) in the gripping and/or holding device ( 6 ) is controlled and monitored, and

the gripping and holding device ( 6 ) comprises a plurality of sensors by means of which the signals from the gripping and holding device ( 6 ) are transmitted to the coupler ( 25 ) via an interface or bus interface.

2. The robot according to claim 1 , characterized in that,

at least one modulator ( 26 , 26 . 1 ) and one demodulator ( 27 , 27 . 1 ) are provided in each of the transceiver devices ( 12 , 13 ), by means of which electrical energy and electrical signals are transmitted alternately between the two transceiver devices ( 12 , 13 ).

3. The robot according to claim 2 , characterized in that,

a pair of coils ( 28 , 29 ) is assigned to each pair of modulator ( 26 , 26 . 1 ) and demodulator ( 27 , 27 . 1 ).

4. The robot according to claim 1 , characterized in that,

an arrangement of serial receive signal transmission interfaces is assigned to the coupler ( 25 ) through which a signal or energy transmission is effected bidirectionally.

5. The robot according to claim 1 , characterized in that,

a torque support ( 16 ) is fastened between the free end ( 10 ) of the robot arm ( 5 ) at the end and the coupler ( 25 ), by means of which torque support ( 16 ) the coupler ( 25 ) is locked in a rotationally fixed manner on the robot arm ( 4 ).

6. The robot according to claim 5 , characterized in that,

the torque support ( 16 ) is designed as a rod or strip and in that the two free ends of the torque support ( 16 ) are fastened to the robot arm ( 5 ) or the coupler ( 25 ) by means of fastening screws ( 16 , 17 ).

7. The robot according to claim 1 , characterized in that,

the gripping and/or holding device ( 6 ) can be rotated clockwise and counterclockwise and in that the gripping and/or holding device ( 6 ) can be rotated infinitely or without limit in one direction of rotation.

8. The robot according to claim 1 , characterized in that,

one or more thrust pieces ( 7 , 8 ) are attached to the free end of the gripping and/or holding device ( 6 ), by means of which the respective object ( 2 ) is locked on the gripping and/or holding device ( 6 ).

9. The robot according to claim 1 , characterized in that,

electrical lines ( 14 ) are provided between the flange ( 11 ) and the gripping and/or holding device ( 6 ), which lines ( 14 ) run inside or outside the gripping and/or holding device ( 6 ) or the flange ( 11 ).

10. The robot according to claim 1 , characterized in that,

the thrust pieces ( 7 , 8 ) are mounted on the gripping and/or holding device ( 6 ) so as to be displaceable in the radial direction or lock the object ( 2 ) designed as a tool in such a way that the tool processes a workpiece.

11. The robot according to claim 1 , characterized in that,

the rotational speed of the gripping and/or holding device ( 6 ) is generated by the drive shaft ( 24 ).