EP3079861A1

EP3079861A1 - Working apparatus and working method

Info

Publication number: EP3079861A1
Application number: EP14818921.0A
Authority: EP
Inventors: Thomas Sturm
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2013-12-13
Filing date: 2014-12-11
Publication date: 2016-10-19
Also published as: DE202013105677U1; WO2015086722A1

Abstract

The invention relates to a working apparatus (1) and a working method, wherein a tactile industrial robot (2) works on a workpiece (6) using its sensory capabilities and a process tool (4). The robot cooperates with a robot assistant (3) and its assistance tool (5) located in its working area. The robot assistant (3) has a greater lifting capacity and optionally a greater reach than the tactile industrial robot (2), and supports and relieves the tactile industrial robot (2) during the working process, compensating for its smaller lifting capacity.

Description

DESCRIPTION

Working device and working method

The invention relates to a working device and a working method with the features in the preamble of the method and device main claim.

In practice, it is known tactile industrial robots because of their sensitive properties for complex

Assembly tasks and also for a human-robot cooperation or collaboration (abbreviated MRK)

use. Suitable tactile articulated arm industrial robots for this purpose are e.g. from DE 10 2007 063 099 AI, DE 10 2007 014 023 AI and DE 10 2007 028 758 B4 known.

It is an object of the present invention to provide a

show improved working technique.

The invention solves this problem with the features in the method and device main claim.

The claimed working technique, i. the

Have working device and the working procedure

different advantages. On the one hand, the

Working device can be better utilized and has a higher degree of efficiency.

The tactile industrial robot can be used more concentrated for those activities in which its sensitive properties are useful or necessary. On the other hand, he may from other minor activities, in particular the collection of components or tools or the replacement of empty component containers or the like. be relieved. For these activities the tactile industrial robot can be overqualified. They can be taken over by the assistant robot. Such a

Assistance robot, eg position-controlled Having robot axes, these activities can perform faster and more economically, while he may also have a higher load or carrying capacity. One

In addition, assistant robot can with his

Assistance tool several tactile industrial robots

serve. Conversely, it is possible that a plurality of assistant robots are assigned to a tactile industrial robot.

A tactile robot of the type claimed can have a limited load capacity, which can be compensated by the assistant robot. In particular, the

Assist robots support and bear the weight of heavy components and / or process tools and relieve the tactile industrial robot accordingly. An assistant robot may also have a limited

Compensate range of the tactile industrial robot, especially if this is designed as a relatively small-build and lightweight lightweight robot. A tactile industrial robot needed in some

Applications a plurality of different

Process tools. The assistant robot can with its assistance tool, in particular by means of a local tool magazine, for a fast and accurate

Provide these process tools in the working area of the tactile industrial robot. As a result, a tool change can be accelerated and simplified. The assistant robot can also be used on the

Processing process involved and independent

Perform activities. He can in particular provide for transport of the workpieces to be machined.

On the other hand, the assistant robot can work with the tactile industrial robot, with the

Robot activities complement each other. The tactile

Industrial Robots, with its sensitive skills, can provide pioneering and leadership roles for one of the Assisted robot held tool, eg a

Screwdriver, the assistant robot then performing the further process activities, e.g. the feeding and

Supporting the screwdriver or other tool performs. The assistant robot can also for

Force amplification of the tactile industrial robot can be used in which he holds a corresponding tool and supports the reaction forces and the tactile industrial robot applies the lower operating forces.

In particular, an assistance robot can provide one or more required assembly tools at the right time and as close as possible to the mounting position for the tactile industrial robot. It is particularly favorable if a component to be mounted or to be joined is already gripped by the relevant assembly tool.

In the claimed working technique, the tactile industrial robot can be better utilized in the mentioned manner with tasks requiring sensitive capabilities. On the other hand, this leads to a reduction in the number of robots needed to fulfill the given and possibly complex assembly tasks. This is accompanied by a significant reduction in construction and cost. The tactile industrial robot can with its sensitive

Skills during work sprozess can also be used for path and / or force detection and monitoring, whereby separate detection and monitoring devices are unnecessary or reducible.

The assignment of one or more assistant robots to one or more tactile industrial robots also allows the development of additional applications for such tactile industrial robots, especially if this is lightweight and limited in carrying capacity

Lightweight robots are formed. This allows the joining or mounting of components and the use of Process tools that are much heavier than that

Load capacity of the tactile industrial robot or are.

In addition, process forces required by an assistant robot, e.g. Pressing forces, in any

Working directions, in particular

be applied. These forces can also be greater than the carrying capacity of the tactile industrial robot.

As a result, auxiliary devices, e.g. stationary

Pressing, can be saved. In addition, an overhead assembly of relatively heavy components and possibly with heavy process tools is possible. Further advantages are the realization of screwing or other joining operations in any Schraubachsenlage or Fügeeachsenlage with moments that exceed the permissible

Last moment of the tactile industrial robot are. The assistant robot can also handle logistics tasks

take over, e.g. the feeding and returning of empty component containers. Further advantages are in the

Use of process tools, in particular

Assembly tools, in several different

Stations. It is also beneficial to cover a large number of component variants. Other advantages are in the simplified

Provision of components thanks to the larger

Workspace of an assistant robot. Of the

Assist robot itself can muster relatively high process forces, creating stationary auxiliary and

Drive devices are dispensable. In the ideal case, no tool changes are required, which means that stationary tool trays can be completely eliminated.

The claimed working technique also allows a

Shortening of setup pages in favor of extended

Process times. The tool change can be accelerated and thus set-up time can be saved. Also the number Process tools for the tactile industrial robot can be saved, especially when an assistant robot serves several tactile industrial robots. The assistant robot may possibly already existing one

Be industrial robots in a plant, which is intended there for loading and unloading of heavy workpieces. This industrial robot can be used as part of its

Assistance tasks receive additional tasks and thus be better utilized. Altogether by the claimed working technique the costs of a

Working device and equipped with one or more such working devices station or system significantly reduced. In addition, the flexibility of a working device or station / plant can be increased.

In the subclaims are further advantageous

Embodiments of the invention indicated.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

Figure 1: a working device with a tactile

Industrial robot and an assistant robot in side view,

FIG. 2 shows a variant of the arrangement of FIG. 1,

FIG. 3: a detail III of FIG. 2,

4 shows a variant of an assistance tool, FIGS. 5 and 6 show a process tool in cooperation with an assistance tool;

Figure 7 to 9: further variants of an assistant tool and

Figure 10: a preferred embodiment of a tactile

Industrial robot.

The invention relates to a working device (1) and a working method. It further relates to a equipped with such a working device (1)

Workstation or manufacturing facility. The working device (1) in each of the various embodiments has a tactile one

Industrial robot (2) with a process tool (4) for machining a workpiece (6). The workpiece (6) can be attached to a base (8), e.g. a work table, in a suitable holder or clamping device

be positioned and kept standing or hanging. The tactile industrial robot (2) can also be based (8) or at any other place, in particular on

Floor, be arranged.

The tactile industrial robot (2) performed

Work process can be of any kind. He can do one

Assembly of components (7) on one or more

Workpieces (6), a joining or forming or a

Material application, e.g. Adhesive application, or the like.

affect. The process tool (4) is for this purpose in

suitably trained. If necessary, it can be exchanged automatically by means of an exchangeable coupling (47). In the exemplary embodiments described below, various exemplary variants for work processes and for tool design are indicated.

The tactile industrial robot (2) has sensitive

Properties. He is formed mehrgliedrig (39-43) and has one or more force-controlled or

Force-controlled robot axes (I - VII). It also has an associated sensor (46), which from the outside

recorded encumbrances. The sensor (46) is preferably in the tactile industrial robot (2)

integrated. It has one or more sensors arranged on one or more robot axes (I-VII). These sensors can be the same or

have different functions. In particular, they can be used as force or torque sensors for detecting

acting loads, in particular of moments be formed. You can also detect rotational movements and possibly rotational positions.

The tactile industrial robot (2) can have at least one flexible robot axis (I-VII) with a

Have compliance. This can be a pure one

Force control or a combination of a position ^¬ and force control. The tactile industrial robot (2) has a plurality, for example three or four, movably connected members (40-43) with a preferably rotating output member (44). He has, for example, seven rotary robot axes (I - VII), wherein the members (40-43) are rotatably or hingedly connected to each other. The number of links and axes can be smaller or larger. The axis arrangement may also vary, with rotational and / or

translatory robot axes in any number and

Combination can be present.

The tactile industrial robot (2) can have an integrated media supply (48), which emerges at its output element (44) to the outside and possibly to a local coupling (47) for connecting the process tool (4).

connected. The coupling may be a tool and media coupling, wherein the process tool (4) may be provided with one or more operating media, e.g. electrical signal and power flow or a fluid, in particular compressed air, hydraulic or coolant, can be supplied. The coupling (47), in particular tool and

Media coupling, can also be designed as an automatic change coupling. A preferred embodiment of the tactile robot (2) is shown in Figure 10 and will be described in more detail below.

The tactile industrial robot (2) is assigned an assistance robot (3) with an assistance tool (5). Of the

Assistance robot (3) and in particular the

Assistant tool (5) are at least partially in the working area of the tactile industrial robot (2)

arranged. The two robots (2,3) act on the

Workpiece processing together. For this purpose are in the

specified in the following embodiments, various variants. In a modification of the illustrated embodiment of Figure 1, the working device (1) and a plurality of tactile

Industrial robot (2) and / or more assistant robot (3). Here, e.g. a tactile one

Industrial robot (2) two or more assistant robot (3) to be associated with an assistance tool (5).

Alternatively or additionally, an assistance robot (3) with its assistance tool (5) can also operate a plurality of tactile industrial robots (2). The working areas of the robots (2, 3) overlap accordingly. Apart from the aforementioned exemplary modifications, there are

various other design and

Possible combinations of robots (2,3). The assistant robot (3) is also designed as a multi-unit industrial robot. It can have a plurality of rotary and / or translatory robot axes. This can e.g. be position-controlled robot axes. The robots (2, 3) each have their own control (not shown). You can alternatively have a common control. The robots (2, 3) are designed as articulated-arm robots in the exemplary embodiments shown.

The multi-axis assistance robot (3) has e.g. a pedestal (49) arranged on the floor or fixed elsewhere and to which a robotic arm (50) is pivotably articulated, at the other end of which a further robotic arm (51) is pivotably arranged. This carries at its other free end an end member (52) which, e.g. is designed as a multi-axis robot hand. The end member (52) has an output member (53), e.g. a rotatable output flange on which the

Assistance tool (5) is arranged and fixed. In one variant, an automatic change coupling (54) between the output element (53) and the

Assistance tool (5) may be arranged. Deviating from the embodiment shown, the assistant robot (3) have a different number, arrangement and kinematics of links (49, 50, 51, 52).

The process tool (4) of the tactile industrial robot (2) can be designed in different ways. In some embodiments, it is designed as a gripping tool (9) and for gripping and guiding components (7) and / or other process tools (35, 36, 37) and / or components (18, 20) of the assistance tool (5).

provided and trained. It can alternatively as

Mounting mandrel, pull / push piece, test tool,

Assembly tool, joining tool or be formed in other ways. The assistant robot (3) has a higher load capacity and preferably also greater range than the tactile

Industrial robots (2). The latter can e.g. when

Lightweight robot be formed and have a subsequently explained embodiment. The higher load capacity and possibly range of the assistant robot (3) can, according to the embodiments explained in

be used in different ways.

The assistant tool (5) can be in the simplest

Embodiment be designed as a single tool. In the illustrated and preferred embodiments, the assistance tool (5) is designed as a multiple tool (14). It can have several tool components (15-21, 25). A tool component may e.g. be designed as an auxiliary process tool (15-21).

Such auxiliary process tool (15-21) may be designed and provided to be tactile

Industrial robot (2) to be operated and / or guided. Here, the sensitive properties of the tactile industrial robot (2) are exploited, with the for the

Process execution may require higher Force is applied by the assistant robot (3). Of the

On the other hand, assistant robot (3) can perform an independent activity in carrying out the process with an auxiliary process tool (15-21).

The assistant robot (3) may alternatively or additionally with its assistance tool (5) for providing process tools and / or components (7) for the tactile industrial robot (2) in its working area and preferably close to the work or process station,

in particular on the workpiece (6). Of the

Assist robot (3) can also provide a force support for the tactile with his assistant tool (5)

Industrial robots (2) in the implementation of the

Provide process.

The multiple tool (14) can also be a

Tool component (25) serving as a tool magazine with one or more releasable process tools

(35,36,37) is formed. The tool component (25) may alternatively or additionally also have a component magazine or be designed as such. The components (7) can be of any type, number and size. It can be e.g. around bushes, circlips,

Screws, bearings or the like act.

Figure 1 shows a working device 1 intended for a mounting process, wherein a component (7), e.g. a circlip or bush is mounted on a workpiece (6) by the tactile robot (2). Whose

Process tool (4) is designed as a controllable gripper tool (9).

The assistance tool (5) is designed as a multiple tool (14) and has a tool magazine (25) with a plurality of assembly tools (35, 36) which are arranged peripherally on a frame (26) of the multiple tool (14). The Multiple tool (14) further comprises an auxiliary process tool (15), which is designed, for example, as a central on the frame (26) arranged pressing die whose longitudinal and pressure axis with the output axis of the

Output element (53) is aligned. The assistant robot (3) stops e.g. the assistant tool (5) in an inclined position so that the edge and in unwound position

arranged assembly tools (35,36) in a

process-appropriate position on the workpiece (6) can be brought. On the other hand, the assistance robot (3) can automatically move a component (7) with a mounting tool (35, 36) on a component feed (not shown)

take . The tactile industrial robot (2) takes over with his

Gripping tool (9) the prepared assembly tool (36) together with the entrained component (7) and it solves it from the assistant tool (5). By means of the tool combination (9, 36), the tactile industrial robot (2) can mount the component (7) on the workpiece (6), using its sensitive capability, in particular tactility, by means of the sensor system (46) to locate the mounting position and to carry it out uses the assembly process. On the workpiece (6) can thereby one or more process steps

be carried out, where appropriate, different tool components on the assistant tool (5) are used by the tactile industrial robot (2).

Figure 2 shows a variant of the working device (1), in which the auxiliary process tool (15) is used. The tactile industrial robot (2) has e.g. using the assistance robot (3) and an assembly tool

(35,36) a component (7), e.g. a bearing bush, at a corresponding receiving opening of the workpiece (6)

positioned and pre-assembled. After return of the

Assembly tool (35,36) then takes over the tactile

Industrial robot (2) with his GreifWerkzeug (9) a Mounting mandrel (12) from the assistant tool (5), which is again designed here as a multiple tool (14). As Figure 3 shows in the partial enlargement, the mounting mandrel (12) can be inserted with its effect end fitting into the bearing bush (7) and serves for

Positioning and subsequent pressing of the

Bearing bush (7) in the said receiving opening.

If the required pressing force is relatively low, it can be applied by the tactile industrial robot (2). If it exceeds its carrying capacity, the assistant robot (3) can assist with its auxiliary process tool (15) designed as a press ram in the aforementioned manner. The tactile industrial robot (2) positions the assembly mandrel (12) via its gripper tool (9) in the process-appropriate position, wherein the

Assist robot (3) then presses with his ram (15) on the mounting mandrel (12) and applies the press-in force. Thanks to its sensitive capabilities, the tactile industrial robot (2) can follow the press-in movement and thus the said guiding function

maintained.

FIG. 4 shows an exemplary plan view

Multiple tool (14). In this form it can e.g. used in the above embodiments. The assistance tool (5), in particular multiple tool (14), has a frame-like and e.g. planar frame (26) with a preferably central connection (27) and with a support structure (28) for the tool components (15-21). The connection (27) is used for connection and mounting on the output element (53) or on a

Interchangeable coupling (54) of the assistant robot (3). The

Supporting structure (28) is formed, for example, by a plurality of support arms which emerge in a star shape from the central connection (27) and at their free ends an auxiliary process tool (17, 19) and / or a tool holder (29) wear.

The multiple tool (14) has e.g. an auxiliary process tool designed as a component holder (19), which is provided with suitable holders, grippers or the like. one or more identical or different components (7) receives and can position and keep ready at the process site. The holders may optionally be equipped with an external

Media supply (38) for the supply of one or more required for their function resources.

Another auxiliary process tool (17) may e.g. be designed as a gripping tool, with the

Assistance robot (3) can supply other and larger components or even the workpiece (6) perform and can dissipate. Here also an external media supply (38) may be present. The media feeds (38) may be connected to an external media supply, e.g. via a media coupling on the assistant robot (3) can take place.

The multiple tool (14) also has one

Tool magazine (25) for various process tools used by the tactile industrial robot (2) and, if necessary, detached from the frame (26) and

can be removed. For this purpose, a

Positioning and fixing device (30,31) to the

respective tool holders (29) may be present. One or more of the mentioned process tools can be located on a tool holder (29). The tool holder (29) may have a standardized design, wherein the respective process tools are adapted thereto in their shape and one or more corresponding

Support elements (34) for the interaction with said positioning and fixing means (30,31) may have. In FIG. 4, the releasable process tools are designed, for example, as an assembly mandrel (12), test tool (37), assembly tool (35) with disk pack and as another assembly tool (36) of the type described above with respect to FIGS. 1 to 3. A detachable process tool can also be an external

Media supply (38) have. Alternatively or in addition, it can also be connected to an internal media feed (48) of the tactile robot (2) via a media coupling (47).

Figure 5 shows by way of example the arrangement of a detachable process tool, e.g. an assembly tool (35) on a tool holder (29) and the interaction with the process tool (4), in particular the gripping tool (9), of the tactile robot (2). The tool holder (29) is e.g. formed like a fork and surrounds the process tool (35). This may be one or more, e.g. two diametrically arranged and laterally projecting

Have support members (34) which rest on the fork ends of the tool holder (29) and can be supported. For exact tool positioning, the positioning device (30) is provided, e.g. is formed as centering and has a centering pin and an associated centering ring between the tool holder (29) and the support element (34), possibly in a multiple arrangement.

The fixing device (31) is controllable. It serves to release the process tool (35) when picked up by the tactile industrial robot (2) and for fixing or

Lock on subsequent delivery. The gripping tool (9) has an actuating device (10) with which the fixing device (31) can be actuated as required by the tactile industrial robot (2). For this it has

Gripping tool (9) e.g. one or more movable, driven and controllable gripping arms (11) with a

Actuator. Preferably, two or more parallel gripping arms (11) present, which can be moved or pivoted transversely to its extent and at the free end of an actuator, for example in the form of a nose wear.

The fixing device (31) has e.g. a movable fixing element (32) having a return element (33) which can be opened by the actuating device (10) and which acts self-locking again upon removal of the actuating device (10). The fixing element

(32) is e.g. designed as a slide which can be moved between a release and a locking position back and forth. The slider (32) has a stop at the top and an undercut at the bottom

Locking nose, which can engage around the fork edge of the tool holder (29) in a form-fitting manner. The return element (33) is e.g. designed as a spring arrangement, which the

Fixing element (32) pushes in said locking position. The stop cooperates with the actuating element on the one or more gripping arms (11).

To accept the process tool (35) is the

Gripping tool (9) from the tactile industrial robot (2) with open gripping arms (11) and delivered, for. slipped over the shaft of the process tool (35), wherein

then the gripping arms (11) are moved towards each other while the fixing element (32) from the

Release latch position. At the same time, a safer and e.g. positive connection between the gripper arms (11) and the process tool (35) are produced so that it can be taken over and used by the tactile industrial robot (2) with the fixing device (31) open. For the return, the process tool (35) by means of the positioning device (30) on the

Tool holder (29) positioned and released after opening the gripping arms (11) and by means of

Fixing device (31) again automatically and automatically fixed and locked to the tool holder (29).

Figure 5 also shows the arrangement of a component (7), e.g. a safety ring, at the process and

Assembly tool (35). The mounting tool (35) has an inner and with the gripping arms (11) connectable sleeve, on whose e.g. cylindrical shell outside one

Sliding sleeve is arranged axially movable, the

on the one hand the component (7) summarizes and on the other hand is connected via a spring with the inner sleeve. The

Component (7) is e.g. clamped in the sliding sleeve

held, where it can be applied in this position at the processing location and on the workpiece (6). With a

subsequent axial feed movement of the tactile

Industrial robot (2) is then the inner sleeve relative to the on the workpiece (6) supported sliding sleeve

advanced, wherein the component (7) taken and pressed into the mounting position. FIG. 6 shows the preferably fork-shaped tool holder (29) in a plan view and in cooperation with the recorded process tool (12, 37) and its

Support element (s) (34) and the positioning and

Fixing device (30,31). The process tool (12, 37) is e.g. formed in Figure 6 as an assembly mandrel or as a test tool. It may alternatively be another embodiment, e.g. have according to Figure 5 as an assembly tool (35).

Figure 7 shows another variant of the working device (1), in which case the assistant robot (3) for

Force support of the tactile industrial robot (2) and in particular for supporting very high reaction forces is used, which exceed the carrying capacity of the robot (2). The assistance tool (5) has an auxiliary process tool (16), which is designed, for example, as a toggle press, which offers a high force transmission and which can be moved by the tactile industrial robot (2) by means of a pull lever. / Thrust piece (13) can be actuated in the arrow direction shown transversely to the pressing direction.

The toggle press (16) serves to push in a e.g. designed as a rolling bearing component (7) on a

Workpiece (6). The workpiece (6) is held on a base (8). The tactile industrial robot (2) engages the central joint of the toggle lever and, with its limited load capacity, thanks to the high gear ratio, can generate very strong pressing forces at the end of the axially displaceable

Apply stamping punch. If necessary, can still act an additional power assistance with a cylinder, a spring assembly or the like. Thanks to its considerably higher load capacity, the assistant robot (3) supports the reaction forces of the toggle press (16). The

Assistance tool (5) can otherwise turn as

Multiple tool (14) in the manner described above

be educated. The tactile robot (2) can during

Pressing process record and monitor the force-displacement curve.

FIG. 8 shows a variant of the working device (1) in which an auxiliary process tool (18) in the form of an automatic screwdriver is arranged on the assistance tool (5) and is e.g. gimballed. The screwdriver (18) is guided by the tactile industrial robot (2) with its sensitive capabilities by means of the process or gripping tool (4,9) and used for threading a screw plug (7) at a screw opening of the workpiece (6). Thanks to the sensitive robot features, the correct

Orientation and position of the screw plug (7) are sought and adjusted, in which case the automatic screwdriver (18) is actuated and its

Reaction forces on the assistant tool (5) and on the

Assistance robot (3) are supported. Figure 8 also shows the alternative or additional possibility, as in the manner described above, for example, a retaining ring (7) a bearing opening of the box-like workpiece (6) mounted and can be used to secure a rolling bearing. In the variant shown in FIG. 9 a

Working device (1) is the assistant robot (3) with his assistant tool (5) for holding and supporting a heavyweight component (7) in its

Processing, especially when mounted on a

Workpiece (6). The workpiece (6) is held on a base (8), not shown. The component (7) has a weight which is greater than the carrying capacity of the tactile industrial robot (2), which causes the actual assembly process and the delivery of the component (7), wherein a large part of the component weight of

Assistance robot (3) is worn and supported. For this purpose, the assistance tool (5) has an auxiliary process tool (20) in the form of a holding device (20) which can be gripped and guided by the tactile industrial robot (2), which is known e.g. by means of the above-described process and gripping tool (4,9) can be done. In the holding device (20), the component (7) is detachably clamped with exact and predetermined position, wherein also a position reference and an actuating connection to the tactile industrial robot (2), the latter allows a release after installation.

For power and Gewichtsabstüt tion is on the assistant tool (5) an auxiliary process tool (21) in the form of a

Support means arranged, which cooperates with the holding device (20). The support means (21) comprises e.g. a support arm connected to the holding device (20), which by means of a guide (22), e.g. one

Sliding guide, the assistant tool (5) adjustable, in particular in mounting position is guided vertically displaceable and by a weight compensation (23), e.g. one

Spring package, is supported. The tactile industrial robot (2) then has to apply only small actuating and feeding forces for component assembly. For exact adjustment and fixation of a predetermined starting position of the component

(7) and the holding device (20) can one of the

Assistive robot (3) controllable locking (24) on

Assistance tool (5) may be present, which fixes the support arm in a zero position and releases for mounting.

The initially mentioned preferred embodiment of the tactile and preferably MRK-capable industrial robot (2) is shown in FIG. It is designed as an articulated arm ^¬ or articulated robot and has a plurality, for example four, movable and interconnected members (40 43). The links (40-43) are preferably articulated and connected to each other via rotating robot axes (I-VII) and to a pedestal (39). It is also possible for individual members (41, 42) to be multi-part and movable, in particular rotatable about the longitudinal axis. The tactile industrial robot (2) has seven driven axes or axes of motion (I-VII). The robot axes (I - VII) are with the

Robot controller connected and can be controlled and possibly regulated. The output side end member (43) of the robot (2) is e.g. formed as a robot hand and has a about a rotation axis (45) rotatable output member (44), e.g. an output flange, on. The axis of rotation (45) forms the last robot axis (VII). By an optionally hollow output member (44) and possibly other robot members (40-43) can be a

Media supply (48) with one or more lines for resources, such as power and signal streams, fluids, etc. be performed starting from a terminal on the base (39) and on the flange (44) to the outside. On the flange (44), the coupling (47) can be mounted. The robot axes (I - VII) each have an axle bearing, eg pivot bearing or a joint, and one here

assigned and integrated controllable, possibly adjustable final drive, e.g. Rotary drive, up. In addition, the robot axes (I - VII) can be a control or switchable

Have brake and possibly redundant sensors (46).

The tactile robot (2) can work with humans in an open workspace without a fence or other

Machine boundary work together. It can also come to painless contacts. The robot (2) may e.g. according to DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 or DE 10 2007 028 758 B4. It can have one or more compliant axes (I-VII) for the MRK fitness and for the tactile process function.

have compliant axle drives with a compliance control. Such a compliant axle avoids accidents with persons and crashes with objects in the work area by force limitation and possibly standstill or resilient evasion in the event of unforeseen collisions. On the other hand, it can be used in various ways

Work sprocess be used to advantage. On the one hand, the resilient avoidance capability of the robot (2) can be used for manual teaching and programming. A load detection with the robot sensor (46) on the axes (I - VII) can also be used to assist in finding and finding the working position. Angular errors in the relative position of the links (39-43) can also be detected and corrected if necessary. One or more compliant axes are also advantageous for tracking the process tool (4) according to the feed. The tactile industrial robot (2) can also apply a defined pressing or pulling force as needed. The illustrated tactile industrial robot (2) can be designed as a lightweight robot and off

lightweight materials, e.g. Light metals and plastic exist. He also has a small size. That simplified in its construction and function

Process tool (4) also has a low weight. The robot (2) with its process tool (4) is thereby lightweight overall and can be transported without much effort and moved from one location to another. The weight of robot (2) and tool (4) can be less than 50 kg, in particular about 30 kg. Due to the possibility of manual teaching, the

Workstation (1) quickly and easily programmed, put into operation and to different

Work processes and jobs are adjusted.

The tactile industrial robot (2) is programmable, wherein the robot controller has a computing unit, one or more memories for data or programs and input and output units. The process tool (3) can be used with the robot controller or another

common control and can e.g. when

controlled axis to be implemented in the robot controller. The robot controller may process relevant data, e.g. Sensor data, save and for a

Log quality control and backup.

Modifications of the shown and described

Embodiments are possible in various ways. On the one hand, the features of the embodiments and their modifications can be arbitrarily combined with each other and also replaced. On the other hand, structural modifications of the robots (2, 3) and their tools (4, 5) are possible. The sensor system (46) can be mounted externally on the tactile robot (2). REFERENCE SIGN LIST Work device

Robots, tactile robots, lightweight robots

Robots, assistant robots

process tool

assistance tool

workpiece

Component, bearing bush, retaining ring, screw base, substructure

gripping tool

actuator

Gripping arm, if necessary with actuating element

installation tool

Pull / push piece

Multi-tool

Component, auxiliary process tool, punch component, auxiliary process tool, toggle press component, auxiliary process tool, gripper tool component, auxiliary process tool, screwdriver

Component, auxiliary process tool, component holder component, auxiliary process tool, holding device component, auxiliary process tool, supporting device guide

Weight balance, spring package

lock

Component, tool magazine

Rack, carrier

connection

Supporting structure, support arms

tool holder

Positioning device, centering

fixing

Fixing element, slide

Reset element, spring

supporting member

Process tool, assembly tool 36 process tool, assembly tool

37 process tool, test tool

38 Media feed externally

39 link, socket

40 link, base link

41 member, intermediate member

42 member, intermediate member

43 member, end member, hand

44 Output element, output flange, rotary flange

45 axis of rotation

46 Sensor technology in robots

47 Coupling, tool and media coupling

48 Media feed internally

49 sockets

50 link, robotic arm

51 member, robotic arm

52 member, end member, hand

53 Output element, output flange, rotary flange

54 change coupling

I - VII axis of robot

Claims

Working device that is a tactile

An industrial robot (2) having a process tool (4) which, with its sensitive properties, processes a workpiece (6) held on a base (8), wherein in the working area of the tactile industrial robot (2) an assistance robot (3) with an assistance tool (5 ), which has a higher load capacity and possibly a greater range than the tactile industrial robot (2), the robots (2, 3) cooperating during workpiece machining and the assistant robot (3) compensating for the tactile industrial robot (2) its lower capacity at his

Machining process relieved or supported.

Working device according to claim 1, characterized

There is no such thing as tactile

Industrial robots (2) multi-limbed (39-43)

is formed and one or more

force-controlled or force-controlled robot axes - VII) and an associated, acting

Has loads detecting sensors (46).

A working device according to claim 1 or 2, characterized in that the tactile

Industrial robot (2) at least one resilient robot axis (I - VII) with a

Compliance control, in particular a pure force control or a combination of position ^¬ and force control having.

A working device according to claim 1, 2 or 3, characterized in that the tactile industrial robot (2) has an integrated

Sensor system (46) with one or more sensors, in particular force or torque sensors, on or more robot axes (I - VII)

Working device according to one of the preceding claims, characterized in that the tactile industrial robot (2) has an integrated media supply (48) and at its output element (44) has a coupling (47), in particular a tool and media coupling.

Working device according to one of the preceding claims, characterized in that the coupling (47), in particular tool and

Media coupling, designed as an automatic change coupling.

Working device according to one of the preceding claims, characterized in that the tactile robot (2) as a lightweight robot

is trained.

Working device according to one of the preceding claims, characterized in that a process tool (4) of the tactile

Industrial robot (2) as a gripping tool (9) for gripping and guiding of components (7) and / or other process tools (35,36,37) and / or components (18,20,21) of the assistant tool (5) is formed ,

Industrial robot (2) as a pull / pressure piece (13) or as an assembly mandrel (12) is formed.

10.) working device according to one of the preceding

Claims, characterized in that the assistant robot (3) as multi-membered

Industrial robot with a plurality of rotary and / or translational, preferably position-controlled,

Robot axes is formed and at his

Output element (53) carries the assistant tool (5). 11.) working device according to one of the preceding

Claims, characterized in that the assistant robot (3) an automatic

Interchangeable coupling (54) for swapping

Assistance tools (5).

12.) working device according to one of the preceding

Claims, characterized in that the working device (1) a plurality of tactile

Industrial robots (2) and / or more

Assistance robot (3) with overlapping

Has work areas.

13.) working device according to one of the preceding

Claims, characterized in that the assistance tool (5) as a multiple tool (14) with a plurality of tool components (15-21, 25)

is trained.

Working device according to one of the preceding claims, characterized in that a tool component as an auxiliary process tool (15-21) is formed.

15.) working device according to one of the preceding

Claims, characterized in that an auxiliary process tool (15-21) is adapted to actuated by the tactile industrial robot (2) and / or to be guided.

16.) working device according to one of the preceding

Claims, characterized in that an auxiliary process tool as a rigid press die

(15) or as a movable press mechanism (16) is formed.

17.) working device according to one of the preceding

Claims, characterized in that an auxiliary process tool as a gripping tool (17), in particular for the workpiece (6), is formed.

18.) working device according to one of the preceding

Claims, in that an auxiliary process tool is used as a screwdriver (18).

is trained.

19.) working device according to one of the preceding

Claims, characterized in that an auxiliary process tool as a component holder (19) for one or more components (7) is formed.

20.) working device according to one of the preceding

Claims, characterized in that an auxiliary process tool as a holding device (20) with support means (21) for a heavy component (7) is formed. 21.) working device according to one of the preceding

Claims, characterized in that a tool component (25) as a tool magazine with one or more detachable process tools

(35,36,37) is formed.

22) working device according to one of the preceding

Claims, characterized in that the tool magazine (25) one or more,

preferably standardized tool holders (29) with a positioning device (30) and a

controllable fixing device (31) for a

Process tool (35,36,37) has.

23.) working device according to one of the preceding

Claims, characterized in that the tactile robot (2), in particular be

Process Tool (4,9) comprises an actuating device (10) for the fixing device (31). 24.) working device according to one of the preceding

Claims, characterized in that the assistance tool (5), in particular

Multiple tool (14), a frame (26) with a connection (27) for the assistant robot (3) and with a support structure (28) for several

Tool components (15-21,25) is formed.

25.) working device according to one of the preceding

Claims, characterized in that the assistance tool (5), in particular

Multiple tool (14), a media supply (38) to one or more tool components (15-21,25). 26.) Working method in which a tactile

Industrial robot (2) processed with a process tool (4) and with its sensitive properties a workpiece (6) held on a base (8) and thereby with a in his workspace

arranged assistant robot (3) with a

Assistance tool (5) cooperates, which has a higher load capacity and possibly a greater range as the tactile industrial robot (2), wherein the assistant robot (3) the tactile

Industrial robot (2) under compensation of its lower load capacity relieved or assisted in its machining process.

27.) Process according to claim 26, characterized

g e n c i n e s that one

Assistance robot (3) with his assistant tool (5) several tactile industrial robot (2) operated or a tactile industrial robot (2) are assigned to several assistant robots (3).

28.) Method according to claim 26 or 27, characterized

There is no such thing as the

Assist robots (3) the weight of heavy

Contributes components and / or process tools and relieves the tactile industrial robot (2) accordingly.

29.) The method of claim 26, 27 or 28, characterized

There is no such thing as the

Assistance robot (3) with his assistant tool (5) various components (7) and / or

Process tools in the working area of the tactile

Industrial robot (2) provides.

30.) Method according to one of claims 26 to 29,

By doing so, the tactile industrial robot (2) receives a signal from the

Assistance tool (5) provided

Process tool actuated and / or leads.

31.) Method according to one of claims 26 to 30,

By this means that the

Assist robot (3) holds a tool and the

Reaction forces supported, the tactile Industrial robots (2) the lesser

Acting forces applies.

32.) Method according to one of claims 26 to 31,

This makes it possible to use the tactile industrial robot (2) with its sensitive capabilities in the work process for path and / or force detection and monitoring. 33.) Method according to one of claims 26 to 32,

By this means that the

Assist robots (3) the required

Process forces, in particular press-in forces, in any direction, in particular

Fügerichtungen, apply.

34.) Method according to one of claims 26 to 33,

By doing so, the tactile industrial robot (2) is equipped with a

Gripping tool trained process tool (4)

Components (7) and / or other process tools

(35, 36, 37) and / or components (18, 20, 21) of the assistance tool (5) engage and guide.