Method for the manipulation of objects by means of at least two industrial robots, and associated industrial robot

Patent metadata

Field	Value
Publication number	US-9821456-B2
Application number	US-201414508177-A
Country	US
Kind code	B2
Filing date	Oct 7, 2014
Priority date	Oct 15, 2013
Publication date	Nov 21, 2017
Grant date	Nov 21, 2017

Abstract

An industrial robot and method for manipulating objects using at least two industrial robots. Each robot includes a manipulator arm having multiple links arranged one after another in series and connected by adjustable joints that are adjustable under the control of at least one control device. A first manipulator arm has a first end link, and at least one second manipulator arm has a second end link. The method includes gripping the object using the first manipulator arm such that the object is connected to the first end link, and coupling a link of the at least one second manipulator arm to a link of the first manipulator arm.

First claim

What is claimed is:

1. A method for manipulating objects using a first industrial robot having a first manipulator arm and at least one second industrial robot having a respective second manipulator arm, each manipulator arm including multiple links arranged one after the other in series and connected by adjustable joints which can be adjusted under the control of at least one control device, wherein the first manipulator arm has a first end link and the second manipulator arm has a second end link, the method comprising:
gripping an object with the first manipulator arm such that the object is connected with the first end link; and
coupling a link of the second manipulator arm to one of the links of the first manipulator arm with a gripping device that is connected to the link of the second manipulator arm, the gripping device having opposing flat surface segments for gripping the link of the first manipulator arm on more than one surface;
the first manipulator arm link having two flat surfaces, whereby the gripping device grips the link of the first manipulator arm by gripping the flat surfaces of the link of the first manipulator arm with the flat surface segments of the gripping device.

2. The method of claim 1 , wherein the link of the second manipulator arm to be coupled with the link of the first manipulator arm is the second end link.

3. The method of claim 1 , further comprising:
hoisting the object using the first manipulator arm and the at least one second manipulator arm in such a manner that the at least one second manipulator arm provides a portion of the holding forces via the link that is coupled with one of the links of the first manipulator arm.

4. The method of claim 1 , further comprising:
working on the gripped object using another object, or working on another object using the gripped object; and
absorbing with the at least one second manipulator arm at least one of reaction forces or reaction torques that are directed into the first manipulator arm as a result of the work, via the link of the second manipulator arm coupled with one of the links of the first manipulator arm.

5. The method of claim 1 , further comprising:
controlling the joints of the first manipulator arm with the at least one control device based on measured values regarding the positions of the joints of the first manipulator arm and the positions of the joints of the at least one second manipulator arm.

6. An industrial robot, comprising:
a control device;
a first manipulator arm having multiple links arranged one after the other and connected by adjustable joints that are adjustable under the control of the control device; and
a gripping device connected to at least one of the links of the first manipulator arm, the gripping device having opposing flat surface segments for coupling the link of the first manipulator arm to a link of a second manipulator arm of a second robot, the second manipulator arm link having at least two flat surfaces, the gripping device gripping two flat surfaces of the second manipulator arm link from opposite sides.

7. The industrial robot of claim 6 , wherein two or more links of the first manipulator arm each have at least one or more of coupling links or counter-coupling links.

8. The industrial robot of claim 7 , wherein one link of the first manipulator arm has at least two or more coupling links, two or more counter-coupling links, or at least one coupling link and one counter-coupling link connected to the link and oriented in different spatial directions.

9. A method for manipulating objects using a first industrial robot having a first manipulator arm and at least one second industrial robot having a respective second manipulator arm, each manipulator arm including multiple links arranged one after the other in series and connected by adjustable joints which can be adjusted under the control of at least one control device, wherein the first manipulator arm has a first end link and the second manipulator arm has a second end link, the method comprising:
gripping an object with the first manipulator arm such that the object is connected with the first end link; and
coupling a link of the second manipulator arm to one of the links of the first manipulator arm by gripping the link of the first manipulator arm with a pincher gripper that is connected to the link of the second manipulator arm.

Assignees

• Kuka Lab Gmbh
• Kuka Roboter Gmbh

Inventors

• Riedel Martin

Classifications

• B25J9/0087 Primary

  Dual arms (double SCARA arms B25J9/043) · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• G05B2219/39109

  Dual arm, multiarm manipulation, object handled in cooperation · CPC title

• B25J9/009 Primary

  being mechanically linked with one another at their distal ends · CPC title

• B25J15/00

  Gripping heads {and other end effectors (grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used for mounting electrical components H05K13/04; gripping means used in the manufacture of semiconductors H10P72/7602)} · CPC title