# US 2019/0315002 A1 · Method for producing a robot and device for carrying out said method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0315002 A1 - Document ID: US20190315002A1 - Status: Published application - Kind: A1 - Application number: 16/095,336 - Filed: 2017-04-20 - Published: 2019-10-17 - Earliest claimed: 2016-04-20 - Assignees: Kastanienbaum GmbH - Applicants: Kastanienbaum GmbH - Inventors: Sami Haddadin - Web page: https://patentgrep.com/patent/US20190315002A1 ## CPC - B25J 19/007: {Means or methods for designing or fabricating manipulators} - B25J 9/1669: {characterised by special application, e.g. multi-arm co-operation, assembly, grasping} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 15/0475: {Exchangeable fingers} - B25J 17/0258: {Two-dimensional joints} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract The invention relates to a method and to a device for producing a robot with a robotic arm. Said method can be carried out using an assembly robot wherein first housing segments are arranged in an intended sequence for the robotic arm, drive units are inserted into the first housing segments and the respective complimentary second housing segments are placed on the first housing segments comprising the drive units. ## Claims ### Claim 1 Method for manufacturing a robot having at least one multi-axis robotic arm which consists of a plurality of axis members which are arranged movably relative to one another and each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments which each have at least one of their ends a bearing device for receiving a drive unit, comprising at least one of the steps: arranging first housing segments in an order provided for the robotic arm; inserting the drive units into the first housing segments with connection of the drive units to the bearing devices of the first housing segments provided for this purpose; placing the respective complementary second housing segments on the first housing segments comprising the drive units, with the drive units being connected to the bearing devices of the second housing segments provided for this purpose; and fastening the second housing segments to the first housing segments by means of fastening means, whereby the drive units are fixed in the axis members; the method steps being automatically executable by at least one assembly robot. ### Claim 2 (depends on 1) Method according to claim 1, further comprising the step which can be performed by the at least one assembly robot: attaching electrical lines and/or media lines and/or sensor modules to the inserted drive units and/or in the housing segments. ### Claim 3 (depends on 1) Method according to claim 1, further comprising the steps which can be performed by the at least one assembly robot: attaching a base member to the lower axis member of the robotic arm; and/or attaching an effector receiving member to the upper axis member of the robotic arm. ### Claim 4 (depends on 1) Method according to claim 1, in which the at least one assembly robot automatically removes the components of the robots to be produced and/or the tools required in each case for the individual assembly steps from a stationary and/or mobile storage. ### Claim 5 (depends on 1) Method according to claim 1, in which the at least one assembly robot automatically changes its effectors required for the individual assembly steps as a function of these assembly steps to be carried out. ### Claim 6 (depends on 1) Method according to claim 1, further comprising the steps which can be performed by said at least one assembly robot: connecting the assembled robot to a power supply and/or data supply and/or media supply. ### Claim 7 (depends on 6) Method according to claim 6, further comprising the step executable by said at least one assembly robot: activating at least one functional test for the assembled robot (R). ### Claim 8 (depends on 1) Method according to claim 1, in which the assembly steps can be carried out if the robot to be assembled is arranged horizontally in its longitudinal extension. ### Claim 9 (depends on 8) Method according to claim 8, further comprising the step which can be performed by said at least one assembly robot: transferring the assembled robot to a defined position. ### Claim 10 (depends on 8) Method according to claim 8, further comprising the steps: connecting the assembled robot to a power supply and/or data supply; and controlling the assembled robot so that it automatically moves to a defined position. ### Claim 11 (depends on 1) Method according to claim 1, in which the at least one assembly robot is designed to be compliant and/or sensitive. ### Claim 12 (depends on 1) Method according to claim 1, in which the robot to be assembled is of identical design to the at least one mounting robot. ### Claim 13 (depends on 1) Robot having a multi-axis robotic arm which comprises a plurality of axis members which are arranged movably relative to one another and which each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments, the robot being producible according to claim 1. ### Claim 14 Device for manufacturing a robot which has at least one multi-axis robotic arm which comprises a plurality of axis members which are arranged so as to be movable relative to one another and each form an axis of the robotic arm, at least some of the axis members being constructed from at least two complementary housing segments which each have at least one of their ends a bearing device for accommodating a drive unit, having at least one assembly robot which is designed to perform various assembly steps for manufacturing the robot; and with a working space which is assigned to the at least one assembly robot, the working space comprising a holding device for at least one housing segment of the robotic arm. ### Claim 15 (depends on 14) Device according to claim 14, in which the holding device is designed at least partially complementary to the contour of the housings of the axis members of the robotic arm. ### Claim 16 (depends on 14) Device according to claim 14, in which the holding device is designed to position the robotic arm horizontally in its longitudinal extension. ### Claim 17 (depends on 16) Device according to claim 16, in which the holding device has an abutment for the two ends of the robotic arm, respectively. ### Claim 18 (depends on 17) Device according to claim 17, in which an abutment for a base element of the robotic arm is designed such that the assembled robot can be tilted into a defined position about this abutment with the aid of the assembly robot. ### Claim 19 (depends on 14) Device according to claim 14, in which at least one support for the components for mounting the robot is provided in the region of the working space. ### Claim 20 (depends on 14) Device according to claim 14, in which at least one conveying device is provided in the region of the working space, along which the components for mounting the robot can be moved. ### Claim 21 (depends on 14) Device according to claim 14, in which at least one holder for various effectors of the assembly robot is provided in the region of the working space. ### Claim 22 (depends on 14) Device according to claim 14, in which the at least one assembly robot is designed to be compliant and/or sensitive. ### Claim 23 (depends on 14) Device according to claim 14, in which at least two assembly robots are assigned to the working space, the assembly robots being designed to carry out different or similar assembly steps simultaneously or sequentially.