DEVICE FOR CONTROLLING A MANIPULATOR ARM FOR A ROBOT, AND MANIPULATOR ARM COMPRISING SUCH A DEVICE

摘要

The invention relates to a device (1) for controlling a manipulator arm (8) for a robot, comprising a housing (2) which is designed to be arranged at least indirectly on the manipulator arm (8), a support (3) which is connected to the housing (2) in a rotationally and axially fixed manner, a pneumatic device (4) which is arranged on the housing (2), a molding element (5) which is at least partly arranged in the support (3), and at least one sensor device (6). The molding element (5) is designed to at least indirectly receive a tool (7) for the handling device (1), the pneumatic device (4) at least indirectly pushes the molding element (5) into the support (3), the molding element (5) can be moved, rotated, and tilted relative to the support (3) against the pressure of the pneumatic device (4), the at least one sensor device (6) is designed to at least detect the relative position between the molding element (5) and the support (3), and the sensor device (6) is designed to actuate the manipulator arm (8) when a relative movement is detected between the molding element (5) and the support (3). The invention additionally relates to a manipulator arm (8) for a robot, comprising such a device (1).