US 12,070,866 B2
Articulated-arm robot
Daniel Meyer-Delius Di Vasto, Munich (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/299,202
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Nov. 14, 2019, PCT No. PCT/EP2019/081333
§ 371(c)(1), (2) Date Jun. 2, 2021,
PCT Pub. No. WO2020/114748, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 18210455 (EP), filed on Dec. 5, 2018.
Prior Publication US 2022/0048192 A1, Feb. 17, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/04 (2006.01); G05B 19/423 (2006.01)
CPC B25J 9/1674 (2013.01) [B25J 9/1633 (2013.01); B25J 13/085 (2013.01); B25J 19/04 (2013.01); G05B 19/423 (2013.01); G05B 2219/36433 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An articulated-arm robot, comprising:
a robot arm with an arm member that is movable by way of a joint;
a sensor for continuously measuring a status parameter of the joint;
an optical signaling device attached to the robot arm, wherein the optical signaling device is separated from the joint by a distance from the joint, and wherein the optical signaling device is assigned to the joint;
an assessment device for continuously assessing the measured status parameter in a joint-specific manner and for controlling the optical signaling device on the basis of a result of the assessment, said assessment device being disposed in the joint or on the robot arm; and
a teaching device for teaching a sequence of movements of the robot arm by manually guiding the robot arm and evaluating the measured status parameter,
wherein the assessment device is set up to control the optical signaling device during the teaching on the basis of the measured status parameter.