Robot i.e. industrial robot, for installation of bodies of motor vehicle, has tool freely movably connected with robot arm via flexible joints during detachable fixing of tool, in degree of freedom of movement

摘要

The robot has a tool (10) arranged at a robot arm (1), and flexible joints (7, 14) e.g. swivel joints, movably connecting the tool with the arm. Each joint has a joint axis, where the tool and the arm have a degree of freedom of movement relative to each other with respect to the axis. Fixing units (8, 9, 15) and a drive unit (16) detachably fix the tool in one of the positions. The tool is freely movably connected with the arm via the joints during detachable fixation, in the degree of freedom of movement. A tool head (3) has coupling devices (2, 6) that are fixed at the arm. An independent claim is also included for a method for changing a tool-configuration of a robot.