The invention relates to a method for calibrating a robot arm with the aid of a measuring device that has a first calibration element and a calibration element which is fixed to the robot arm and which can be moved relative to the first calibration element by adjusting joints of the robot arm, wherein the first calibration element and the calibration element fixed to the robot arm are designed such that in the event of a displacement of the calibration element fixed to the robot arm relative to the first calibration element in an advance direction, the calibration element fixed to the robot arm is guided by the first calibration element from various starting positions to the same defined end position, said method comprising the following steps: positioning (S10) the calibration element fixed to the robot arm relative to the first calibration element in one of the starting positions; moving (S20), in a force-controlled manner, the calibration element fixed to the robot arm relative to the first calibration element in the advance direction with the aid of the robot arm, wherein during this movement the calibration element fixed to the robot arm is guided by the first calibration element to the end position and thereat the robot has a calibration setting; detecting (S30) joint settings of the robot arm in the calibration setting; and calibrating (S110) the robot arm on the basis of these joint settings.
A method for planning a path of a driverless mobile robot for approaching a second pose specified in a second reference system, from a first pose specified in a first reference system, includes transforming one of the first or second poses into a common reference system, in which the other of the first and second pose is also described, and planning a transition path from the first pose to the second pose in the common reference system on the basis of the first and second pose described in the common reference system.
The invention relates to a connecting device (1) for the mechanically interlocking connection of a first object to a second object, having an unlocking means (10), which is arranged on a counter-coupling means (3) and is designed to respond to a relative turning of a coupling means (2) and a counter-coupling means (3) about the axis of rotation parallel to the plugging direction (S) by moving a locking element (8) of the coupling means (2) in a predetermined relative rotational-angle setting region of the coupling means (2) and the counter-coupling means (3) out of its locking position into an unlocking position, in which the locking element (8) of the coupling means (2) and the counter-locking element (9) of the counter-coupling means (3) are disengaged, and so the coupling means (2) and the counter-coupling means (3) can be separated from each other counter to the plugging direction (S). The invention also relates to an associated system with such a connecting device (1).
A method for robot-path planning comprises the steps of: dividing (S10) the application into at least two successive phases; specifying (S20) constraints for these phases; assigning (S30) priorities to the constraints; planning (S40) a partial path for carrying out the phase for which the constraint assigned the higher priority has been specified, while taking this constraint into account; subsequently (S50) planning a partial path for carrying out the phase for which the constraint assigned the lower priority has been specified, while taking this constraint into account and on the basis of the planned partial path; and planning (S70) the path of the robot, the planned partial paths being joined together in a transitional region and these joined partial paths forming the path of the robot or part of this path.
The invention relates to a line protector ring (1) for a power supply line (17) on a robot arm (5), having at least one first part-shell (6.1) and at least one second part-shell (6.2), wherein the part-shells (6.1, 6.2), when assembled, complement each other to form a first ring body (7.1) of the line protector ring (6), which first annular body (7.1) has an inner casing wall (7a), which circumferentially surrounds the power supply line (17) when the line protector ring (6) is arranged in its installed position on the power supply line (17), wherein the first ring body (7) has a circumferential seat surface (7b), which is arranged on its outer casing wall and on which an integral, circumferentially closed second ring body (7.2) is mounted.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H02G 11/00 - Installations de câbles ou de lignes électriques entre deux pièces en mouvement relatif
F16L 57/06 - Protection des tuyaux ou d'objets de forme similaire contre les dommages ou les usures internes ou externes contre l'usure
A method for teleoperation of a slave system, comprising detecting control data of a master system, wherein the control data of the master system describe at least one parameter of a control system; detecting a relative change in position of the master system on the basis of the control data of the master system; detecting a relative rotation of the master system on the basis of the control data of the master system; determining scaling of the relative rotation and/or scaling of the relative change in position of the master system on the basis of the control data of the master system; determining a rotation of the slave system on the basis of the scaling of the relative rotation of the master system; determining a position of the slave system on the basis of the relative change in position of the master system; and controlling the slave system on the basis of the determined rotation and the determined position of the slave system.
A robot arm includes a plurality of links and a plurality of joints connecting the links for adjustment relative to one another. At least a first link has a first bearing pin, a second bearing pin located opposite the first bearing pin, and a second link connected in an articulated manner to the first link by one of the joints has a first bearing flange on which the first bearing pin of the first link is rotatably mounted, and has a second bearing flange on which the second bearing pin of the first is rotatably mounted. The first bearing flange of the second link has a circumferentially closed recess in which the first bearing pin of the first link is received, and the second bearing flange of the second link has a circumferentially open recess in which the second bearing pin of the first link is received. An opening in the circumferentially open recess has an opening width that is greater than the width of the second bearing pin of the first link, and the second bearing flange has securing structure with which the second bearing of the first link is secured to the circumferentially open recess of the second bearing flange.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p.ex. du type à coordonnées cylindriques ou polaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
To operate a robot (1) having a plurality of joints (11, 12, 15), during a movement of the robot effected by joint drives (12.1), for two or more, in particular all, joints, in each case based on at least one sensor value, a current one-dimensional or multi-dimensional load variable value for the respective joint is determined (S10) and, based on this current load variable value and a one-dimensional or multi-dimensional predetermined limit value for the respective joint, a one-dimensional or multi-dimensional load value for the respective joint is determined (S20), wherein, based on the load values, an action of the robot is carried out to reduce one or more components of these load values and/or, based on the load values, a load situation of the robot is signalled and/or stored.
A mobile health system and method for performing health tests and for acquiring health-related personal data by a computer network and resources connected in the computer network. Communication means of the network include a health database having a database management system, a personal database, a plurality of mobile health test systems each having at least one automatically controllable robot that is designed and configured to perform a health-related test method, and a test system controller which is connected to the computer network via a first communication means. A plurality of terminals are connected to the computer network via second communication means.
G01N 35/00 - Analyse automatique non limitée à des procédés ou à des matériaux spécifiés dans un seul des groupes ; Manipulation de matériaux à cet effet
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p.ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 10/40 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données relatives aux analyses de laboratoire, p.ex. pour des analyses d’échantillon de patient
G16H 50/80 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la détection, le suivi ou la modélisation d’épidémies ou des pandémies, p.ex. de la grippe
A61B 10/00 - Autres méthodes ou instruments pour le diagnostic, p.ex. pour le diagnostic de vaccination; Détermination du sexe; Détermination de la période d'ovulation; Instruments pour gratter la gorge
A61L 2/24 - Appareils utilisant des opérations programmées ou automatiques
A61L 2/22 - Procédés ou appareils de désinfection ou de stérilisation de matériaux ou d'objets autres que les denrées alimentaires ou les lentilles de contact; Accessoires à cet effet utilisant des substances chimiques des substances à phases, p.ex. des fumées, des aérosols
The invention relates to a method for gripping with 6 degrees of freedom, in particular for gripping, and setting down, using a gripper system, wherein the gripper system comprises at least one fixed depth camera and at least one gripper device, and wherein the method comprises: detecting image data of a scene using the at least one depth camera; determining a depth image based on the image data; determining a 6D pose of the at least one known object based on the depth image; determining a CAD object representation based on the determined 6D pose of the at least one known object and known CAD data of the at least one known object; and determining a gripping probability based on the depth image and the CAD object representation.
A method (100) for assessing and/or monitoring a process and/or a multi-axis machine (1), wherein the method comprises: recording (S10) at least one data time series (Zi), wherein the at least one data time series (Zi) comprises at least one channel describing at least one parameter of the process and/or of the multi-axis machine (1), and wherein the data time series (Zi) is caused by the process; determining (S20) an interpretable result by means of a machine learning algorithm based on the at least one data time series (Zi), wherein the result describes a classification value of a state in the process and/or of a state of the multi-axis machine (1); wherein a warning is output (S30) when determining the result if the classification value of the state in the process and/or of the state of the multi-axis machine (1) is assigned to a value of an error class that is in a warning range or corresponds to a warning range and an all-clear signal is output (S30) if the classification value of the state in the process and/or of the state of the multi-axis machine (1) is assigned to a value of an error class that is in an all-clear range or corresponds to an all-clear range.
The invention relates to a drive module (1) for a cycloid drive, having: a cycloid disc (10) which can wobble eccentrically about a central axis and has a cycloid profile (25) on the edge of the cycloid disc, said profile being in engagement with an outer support (40) at a location; a central opening (6); at least three bearing holes (5); an inner support comprising at least three webs (8), wherein the bearing holes (5) receive the at least three webs (8) and couple the cycloid disc (10) to the inner support; and a direct drive which is designed to act magnetically on the cycloid disc (10) such that the cycloid disc (10) interacts with a magnetic field of the direct drive and is brought into a wobbling motion in a translational manner via the magnetic field. The output process of the drive module (1) is carried out via the outer or inner support.
H02K 41/06 - Moteurs roulants, c. à d. moteurs ayant l'axe du rotor parallèle à l'axe du stator et suivant un parcours circulaire du fait que le rotor roule à l'intérieur ou à l'extérieur du stator
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
13.
SEAL FOR A RADIAL GAP BETWEEN TWO ELEMENTS OF A ROBOT ARM
The invention relates to a robot arm having at least two elements (11, 12), which are rotatably connected together relative to each other about a rotational axis (D) in a joint (13), and a seal assembly having a seal support (20), which is secured to one of the two elements, and an elastic seal (30), which is supported on the seal support and on the other element in order to seal a radial gap (S) between the two elements.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A robot has a robotic arm, including a base with a base contact surface and an end-effector that is connected to the base by joints which can be adjusted by robotic arm joint drives such that the end-effector has at least five, and in particular at least six, actuated degrees of freedom with respect to the base. The robot further includes a robot joint module with a first contact surface that can be fastened—in particular, releasably—to the base contact surface, a second contact surface for fastening the robot to a stationary environment or mobile platform, and at least one robot joint module drive for pivoting the first contact surface relative to the second contact surface about a pivot axis, so that the end-effector has at least six, and in particular at least seven, actuated degrees of freedom with respect to the second contact surface, and in particular with respect to the stationary environment or mobile platform.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention relates to a gripper (13) for handling SMD component roll cassettes (10.1, 10.2) by means of a robotic arm (6) automatically controlled by a robot controller (5), when the robotic arm carries and manipulates the gripper (13) on a tool flange (15) of the robotic arm. The gripper (13) has a drive pinion (12), which is rotatably mounted on the gripper main body (16) and is designed to mesh with an output wheel (11.1, 11.2) of the SMD component roll cassette (10.1, 10.2) when the SMD component roll cassette (10.1, 10.2) is coupled to the gripper (13), and the gripper (13) has a drive motor (17), which is disposed on the gripper main body (16) and is designed to automatically drive the drive pinion (12). The invention also relates to an associated SMD component roll cassette (10.1, 10.2).
The invention relates to a method for automatically reloading SMD component rolls (3.1, 3.2) on SMD assembly machines (1), in which SMD component rolls (3.1, 3. 2) between an exchange magazine (2) of an SMD assembly machine (1) and a belt connector (7) are automatically handled by means of a robot arm (6) controlled by a robot controller (5) in a force/torque-controlled movement control mode of the robot arm (6).
The invention relates to a supporting device for a cable routing device (16) of a robot arm (3), wherein the cable routing device (16) has a receiving area (17), in which a cable portion (18.1) is supported so as to be extendable in an extension direction (A), for supporting the cable routing device (16) on the robot arm (3), said supporting device comprising: a first connection body (25.1) which is designed to rigidly connect the first connection body (25.1) of the supporting device (20) to a cable routing device (16); a second connection body (25.2) which is designed to rigidly connect the second connection body (25.2) of the supporting device (20) to an element (G1-G7) of a robot arm (3); and a support arrangement (26) which is designed to guide the first connection body (25.1) for rotation relative to the second connection body (25.2) in a first rotational degree of freedom (D1) which is perpendicular to the extension direction (A) and, in accordance with the movement of the first connection body (25.1) about the first rotational degree of freedom (D1), to constrainedly support the first connection body in a second rotational degree of freedom (D2) which is both perpendicular to the extension direction (A) and perpendicular to the first rotational degree of freedom (D1).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
18.
EXECUTION OF A ROBOT APPLICATION AND CREATION OF A PROGRAM THEREFOR
The invention relates to a method for creating a program for carrying out a robot application which comprises a plurality of actions of a first robot (1), said method comprising the steps of: detecting (S10) programming inputs for programming these actions of the first robot; and creating (S20) the program on the basis of these detected programming inputs; wherein, to create the program for different robots, in particular by a context, input names are uniformly specified and the programming inputs are interpreted on the basis of the input name used by the particular programming input and the content determined for these used input names by the particular programming input, in particular by means of JSON-LD; and/or at least one of the programming inputs comprises at least one specification of a coordinate space, a specification of a control method of the first robot, a specification of a path of the first robot, a specification of a pose of the first robot, a specification of a tool action of the first robot, and/or a specification of a sensor type and/or action of the first robot.
The invention relates to a robot add-on part (20), comprising: a coupling means (23) which is arranged on the housing (26), can be connected in a form-fitting manner and is designed for releasable attachment to at least one counter-coupling means (24) on an outer surface of a member (G1-G7) of a robot (1); at least one control component (27) which is arranged on the housing (26) or in the housing (26) and comprises a data store (25) in which physical data relating to the robot add-on part (20) is stored; and a control interface (28) which is designed and configured to transmit the physical data relating to the robot add-on part (20) present in the data store (25) to a control device (2) of the robot (1) when the robot add-on part (20) is attached to the member (G1-G7) of the robot (1). The invention further relates to an associated control device (2), to a robot (1) and to a corresponding method.
G05B 19/423 - Apprentissage de positions successives par guidage, c.à d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
A method for monitoring during a robot-assisted first or second process-includes (a.1) detecting process data; and (a.2) performing a model-based assessment with the aid of a machine-learned model on the basis of the detected process data; wherein, if the model-based assessment satisfies an examination criterion, in particular depending on an external confirmation: (b.1) performing a test assessment with the aid of a testing authority; and (b.2) training the machine-learned model further on the basis of the test assessment; and then, for the first process optionally performed again: (c.1) detecting process data; (c.2) performing the model-based assessment with the aid of the further trained model on the basis of the detected process data; and (c.3) monitoring during the first process is performed on the basis of this assessment.
A method for handling a load arrangement with a robot includes:
activating a lifting state of a gripper of the robot for load lifting;
determining a parameter of a time profile of a load arrangement-dependent force variable using at least one sensor of the robot during a movement of the lifted load arrangement;
classifying a load arrangement lifted by the gripper using a machine-learned model on the basis of the determined parameter, in particular during a movement of the lifted load arrangement and/or over the pick-up area in which the load arrangement has been situated for lifting, in particular a pick-up area of a pick-up station and/or over or in a pick-up container; and at least one of the steps of:
carrying out a first process with the robot if the load arrangement has been classified into a first class; and/or
carrying out a second process with the robot if the load arrangement has been classified into a second class.
The invention relates to a robot arm (1) comprising: a plurality of configuration joints (3) which determine the configuration of the robot arm (1); a base stand (2); a carousel (4) which is mounted on the base stand (2) so as to be rotatable about a first axis of rotation (D1) by means of a first joint (3.1) of the configuration joints (3); a rocker (5) which is mounted on the carousel (4) so as to be pivotable about a second axis of rotation (D2) by means of a second joint (3.2) of the configuration joints (3); and an arm boom (6) which is mounted on the rocker (5) so as to be pivotable about a third axis of rotation (D3) by means of a third joint (3.3) of the configuration joints (3), wherein: the rocker (5) has two mechanically separate rocker coupling rods (5.1, 5.2) designed for positioning the third joint (3.3) in the working space of the robot arm (1); the first rocker coupling rod (5.1) is pivotably mounted on the carousel (4) by means of a first base bearing (7.1) and the arm boom (6) is mounted on the first rocker coupling rod (5.1) by means of a first top bearing (8.1); the second rocker coupling rod (5.2) is pivotably mounted on the carousel (4) by means of a second base bearing (7.2) and the arm boom (6) is mounted on the second rocker coupling rod (5.2) by means of a second top bearing (8.2); the two rocker coupling rods (5.1, 5.2) are pivotably driven by a common drive device (9) of the robot arm (1), which common drive device (9) divides among the two rocker coupling rods (5.1, 5.2) the drive energy to be guided via the rocker (5) for positioning the third joint (3.3) in the working space, in order to move the arm boom (6) relative to the carousel (4).
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p.ex. du type à coordonnées cylindriques ou polaires
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
The invention relates to a method for checking a safety configuration of a robot (1) comprising the following steps: determining (S20) or providing a computer-implemented, three-dimensional environment model; determining (S30) providing at least one protection region, working region and/or tool monitoring region of the robot of its distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the at least one protection region, working region and/or tool monitoring region r path using a visualisation device (2; 3) in an augmented reality for checking the at least one protection region, working region and/or tool monitoring region; and moving away from and/or towards at least one pose and/or at least one section of a provided path.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for ascertaining at least one border for operating a robot (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a first surroundings contour on the basis of said detected data; and ascertaining (S30) a first border of a first spatial area to be monitored on the basis of the ascertained first surroundings contour.
The invention relates to a method for planning a path (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a computer-implemented three-dimensional surroundings model on the basis of the detected data, in particular using at least one approximation of features, in particular points, detected using the detection device; planning (S30) a first path of the robot on the basis of the surroundings model and a computer-implemented model of the robot such that a collision between the robot model and the surroundings model is prevented; and visualizing (S40) a virtual representation of the planned first path using a visualization device in an augmented reality.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for controlling a telerobot (1) using an input device having a moveable control means (3), comprising the following steps: detecting (S10) an adjustment of the control means and an external load acting on the telerobot; determining (S20) a target adjustment of a reference (5) of the telerobot fixed to the robot based on the detected adjustment of the control means; detecting (S20) an actual adjustment of the reference fixed to the robot; and controlling (S40) drives (1.1-1.6) of the telerobot based on a difference between the actual and target adjustment; wherein a first operating mode is implemented if the detected load falls in a first range; and a second operating mode is implemented if the detected load falls in a second range; wherein, in the first operating mode, the drives of the telerobot are controlled in such a way that drive loads of the drives increase with an increase in a single- or multi-dimensional component of the difference, in order to reduce this component; and in the second operating mode, the drives of the telerobot are controlled in such a way that drive loads of the drives also increase with the same increase in this component of the difference, in order to reduce this component, however they increase less than in the first operating mode.
A drive device including at least one motor and at least one additional drive component from the group of a transmission, a torque converter, a clutch and/or a brake, wherein the at least one motor and/or the at least one additional drive component includes a control means which changes the torque transmission and which includes at least one illuminant and a material that influences the torque transmission and that includes at least one light-stabilized dynamic material (LSDM). The control means is configured to change the torque transmission by actuating the illuminant, which radiates onto the light-stabilized dynamic material (LSDM). A robot includes at least one such drive device.
B25J 9/12 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs électriques
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H02K 7/10 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques
The invention relates to a method for operating a robot system comprising the steps of: - configuring (S20), on the basis of a one-part or multi-part user input and for a first computer program and a first resource and/or first data of the robot system: - an authorisation of the first computer program to access the first resource and/or the first data; and/or - an error response for an incorrect attempt on the part of the first computer program to access the first resource and/or the first data; and - operating (S30) the robot system, wherein the first computer program is run, - access by the first computer program to the first resource of the first data being controlled on the basis of the configured access authorisation if the access authorisation has been configured, and/or - in the event of an incorrect attempt on the part of the first computer program to access the first resource or the first data, the configured error response is triggered if the error response has been configured. Authorisations are awarded to apps (applications, computer programs) for access to resources or data of a robot system. Error responses are also configured for incorrect access attempts.
G06F 9/46 - Dispositions pour la multiprogrammation
G06F 21/62 - Protection de l’accès à des données via une plate-forme, p.ex. par clés ou règles de contrôle de l’accès
G05B 19/042 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
G05B 19/406 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u caractérisée par le contrôle ou la sécurité
The invention relates to a gripper (1) comprising a main gripper body (3) and at least two gripper fingers (2.1, 2.2), of which at least one is moveably mounted on the main gripper body (3). The gripper (1) comprises a switching means (24) which can be switched between a first switch position and a second switch position, and which completely releases the pulling means (8.1, 8.2) in the first switch position, such that, by pulling on the pulling means (8.1, 8.2), the gripper finger (2.1, 2.2) that is moveably mounted on the main gripper body (3) is both pulled into a closed position and the kinematic chain of the finger element (7) of the moveably mounted gripper finger (2.1, 2.2) is bent, and which blocks a section of the pulling means (8.1, 8.2) running along the kinematic chain of the finger element (7) of the moveably mounted gripper finger (2.1, 2.2) in the second switch position, such that, by pulling on the pulling means (8.1, 8.2), the gripper finger (2.1, 2.2) moveably mounted on the main gripper body (3) is only pulled into a closed position, without the kinematic chain of the finger element (7) of the moveably mounted gripper finger (2.1, 2.2) being bent.
The invention relates to a method for operating a robot (1), comprising the following steps: a) arranging a load on an end element of the robot; b) actuating drives of the robot; c) detecting a raising of the load using a sensor; and e) detecting raising joint positions of the robot; and the step of f) determining a mass of the load using a theoretical model based on the detected raising joint positions; or g) calibrating a theoretical model based on the detected raising joint positions and a known mass of the load; and/or the step of h) determining a permitted region for a vertical distance of the sensor based on the detected raising; and i) monitoring a movement of the robot using the sensor based on the permitted region. In addition or alternatively, the method comprises the following steps: b') actuating drives of the robot; c') detecting a change in a vertical distance of a distance sensor, arranged distally on the robot, relative to an environment; e') detecting a change in the joint positions of the robot; and g') calibrating a theoretical model based on a known mass of the load and the change in the distance and joint positions.
The invention relates to a modular robot-operated handheld device (1), comprising a safety base control device arranged in a housing (2) with an emergency-stop triggering means (5) and an approval device (6), as well as a first mechanical coupling means (7.1) formed on one end wall (3.1) of the housing (2), and a second mechanical coupling means (7.2), identical to the first mechanical coupling means (7.1), formed on the other end wall (3.2) of the housing (2), in such a way that a connection module (10) to be mechanically coupled to the modular robot-operated handheld device (1) can be optionally coupled to the first mechanical coupling means (7.1) on the right-hand side of the modular robot-operated handheld device (1), or to the second mechanical coupling means (7.2) on the left-hand side of the modular robot-operated handheld device (1). The invention also relates to associated connection modules (10) which can be optionally coupled to the modular robot-operated handheld device (1).
The invention relates to a method for planning movements to be performed automatically of a robot arm (3), which is designed to massage a living being (25) by means of a massage appliance (20) automatically guided by the robot arm (3). In the method, the basic program (27) for the robot movement is adapted depending on the predefined body features of a living being (25) detected by an optical detection means (22) in order to obtain an individual program (28) for the robot movement, in which program at least one movement path (30) and/or at least one additional parameter, associated with the movement path (30), of the massage appliance (20) is modified depending on the predefined body features of the living being (25) detected by the optical detection means (22). The invention also relates to an robot system (21) for carrying out the method.
The invention relates to a method for assigning an emergency-stop device (1) to at least one robot system (2.1, 2.2, 2.3) that comprises at least one robot (11.1, 11.2) and/or machine (10.1, 10.2), the assigned robot system (2.1, 2.2, 2.3) being stopped upon actuation of the emergency-stop device (1). The assignment of the emergency-stop device (1) can be removed from a first assigned robot system (2.1, 2.2, 2.3) and assigned to a second robot system (2.1, 2.2, 2.3), e.g. if the emergency-stop device (1) is moved between the robot systems (hand-held operating apparatus 14, vehicle 12). In the method, the emergency-stop device (1) is assigned to a selected range (7.1, 7.2) of effectiveness of a robot system, and the emergency-stop device (1) is integrated into the relevant safety circuit (8) of that robot system (2.1, 2.2, 2.3) which is within the selected range (7.1, 7.2) of effectiveness. The invention also relates to an automation system (4) for carrying out the method.
The invention relates to a method (100) for evaluating and/or monitoring a process, in particular a robotic process, comprising: detecting (102) at least one data time series (Zi), wherein the at least one data time series (Zi) describes at least one parameter of the process, and wherein the data time series (Zi) is created by the process, which executes a process program with process commands, and wherein the at least one data time series (Zi) is assigned to a part of the process program, in particular a process command or a part of the process commands of the process program; determining (106) a result (Y) by means of a first algorithm (AG) or by means of at least a part of an algorithm (AG), based on the at least one data time series (Zi), wherein the result (Y) describes a state of the process, and wherein the result (Y) can be assigned, in particular is assigned, to the part of the process program, in particular the process command or the part of the process commands of the process program.
A method, a robot, and a robot controller for automatically scheduling the timing of a plurality of brake tests, that succeed one another at time intervals, at a plurality of brakes of a robot arm equipped with a plurality of joints and a plurality of links connecting the joints to one another and is connected to a robot controller which is designed and configured to control the joints and the brakes, in order to move the robot arm. At least one individual parameter is configured for each of the brakes. A brake test method associated with the robot arm is automatically initialized, and the initialized brake test method is automatically carried out in accordance with the configured parameters.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
G01L 5/28 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour le test des freins
38.
METHOD FOR DETECTING AND EVALUATING A FRICTION STATUS AT A JOINT, ROBOTIC ARM AND COMPUTER PROGRAM PRODUCT
A method, a robot, and a computer program product for detecting and evaluating a friction status in at least one joint of a robotic arm, wherein, within the scope of a brake test program, at least one motor of a plurality of electric motors is driven automatically in a first rotational direction, wherein a detection of a first motor torque in the driven motor takes place during its rotation in the first rotational direction. The at least one motor is then driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque in the driven motor takes place during its rotation in the second rotational direction. An automatic evaluation of the first motor torque and the second motor torque takes place in order to obtain the friction torque of the joint associated with the driven motor.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p.ex. à la vue ou au toucher
G01L 5/28 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour le test des freins
39.
METHOD, LASER-OPTICAL DETECTION SYSTEM AND ROBOTIC WORKSTATION
The invention relates to a method and a laser-optical detection system (1), comprising a laser projector (7), a camera (3), a control device (8) which is designed and configured to actuate the laser projector (7) and the camera (3) in order to determine features (14) of the object (2), and a sensor unit (10). The control device (8) is designed such that, according to the characterising signal obtained by the sensor unit (10) relating to an approaching or the presence of a person (9) in a critical spatial proximity to the laser projector (7), it adjusts the exposure parameters (P) of the camera according to the reduced maximum irradiation intensity (EV) of the laser projector (7) in relation to the current irradiation intensity (EV) of the laser projector (7). The invention also relates to a robotic workstation (11) comprising a laser optical detection system (1) of this type.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
The invention relates to a robot arm (2) comprising multiple joints (5) and multiple links (4) which can be adjusted relative to one another by means of the movements of the joints (5) of the robot arm (2). Each driven joint (5) is paired with a drive device (6), and each drive device (6) is designed to adjust the robot arm (2) joint (5) paired therewith, namely by means of a respective automatic actuation of a motor (7) of the respective drive device (6). The robot arm has a distal end link (4a) which is designed in the form of a tool flange (8), a hand link (4b) which is arranged directly upstream of the distal end link (4a) in the kinematic chain of the joints (5) and links (4) and on which the distal end link (4a) is rotatably mounted about a flange rotational axis (A), and an additional output link (10) which is rotatably mounted on the hand link (4b) about a rotational axis (D) that is parallel to the flange rotational axis (A) and which is arranged on the hand link (4b) so as to lie opposite the distal end link (4a).
G05B 19/423 - Apprentissage de positions successives par guidage, c.à d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
A logistics system includes a first high-bay rack, at least one further high-bay rack, and at least one robot arm with a plurality of links and joints connecting the links for relative adjustment. One of the links is a bottom link of the robot arm which forms a base. The first high-bay rack has a first robot arm carrier with a first coupling device which, in a state in which the robot arm is coupled to the first robot arm carrier, interacts with a counter-coupling device of the bottom link of the robot arm in such a way that, in a first configuration of the logistics system, the bottom link of the robot arm is connected to the first robot arm carrier in an automatically locked and automatically releasable manner. The further high-bay rack has a further robot arm carrier with a further coupling device which, in a state in which the robot arm is coupled to the further robot arm carrier, interacts with the counter-coupling device of the bottom link of the robot arm in such a way that, in a second configuration of the logistics system, which is different from the first configuration, the bottom link of the robot arm is connected to the further robot arm carrier in an automatically locked and automatically releasable manner.
B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
A01G 9/02 - Récipients, p.ex. pots ou jardinières ; Verres pour la culture des fleurs
A01G 7/04 - Traitement électrique ou magnétique des végétaux pour favoriser leur croissance
A01G 9/24 - Dispositifs de chauffage, d'aération, de régulation de la température ou d'irrigation dans les serres, les châssis ou les installations similaires
A method for executing a process, in particular using at least one robot, includes executing a run-through of the process, detecting a value of a first process variable, and detecting an assessment of this executed process run-through. Assessment learning steps are then repeated multiple times, wherein run-throughs of the process using varied process controls are executed and additional assessments are detected. A first quality factor model of the process, which model determines a quality factor for the process on the basis on the first process variable, is machine-learned based on the detected assessments and values of the first process variable. The method further includes repeating process control optimization steps multiple times.
The invention relates to an electric emergency-stop device (5.1, 5.2) for triggering an emergency-stop function of a machine (1) or a facility (2), having an emergency-stop operating part (7) to be manually actuated and an electric switching means (8) of an electric switching means circuit (8a), said switching means being coupled to the emergency-stop operating part (7). The emergency-stop operating part (7) is paired with at least one electric lighting means (9) of an electric lighting means circuit (9a), said electric lighting means emitting light in a functional operating state of the emergency-stop device (5.1, 5.2) in order to allow the emergency-stop operating part (7) to have an appearance in a specified color, and the electric lighting means (7) is deactivated in a non-functional operating state of the emergency-stop device (5.1, 5.2).
H01H 3/00 - Mécanismes pour actionner les contacts
46.
Mobile Security Basic Control Device Comprising a Coding Device for a Mobile Terminal with Multi- Touchscreen and Method for Setting Up a Uniquely Assigned Control Link
A mobile security basic control device (15) of a robot (1), has a hand-held housing (16), an emergency stop switching means (17) arranged at the housing (16), a communication device (18) for establishing a link in terms of control between the mobile security basic control device (15) and a robot controller (12) of the robot (1). A holder (19) is connected to the housing (16), which is designed to mount the mobile security basic control device (15) on a mobile terminal (20). The mobile terminal has a terminal control system (21) and a multi-touchscreen (22), which is designed to transmit inputs to the terminal control system (21) via the multi-touchscreen (22). The mobile security basic control device (15) comprises a coding device (25) which, in a state where the mobile security basic control device (15) is mounted on the mobile terminal (20) by means of the holder (19), is designed to automatically transmit at least one identification code identifying the mobile security basic control device (15) to the terminal control system (21) via the multi-touchscreen (22).
G05B 19/409 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u - caractérisée par les détails du panneau de commande, par la fixation de paramètres
G06F 3/04883 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p.ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p.ex. des gestes en fonction de la pression exer utilisant un écran tactile ou une tablette numérique, p.ex. entrée de commandes par des tracés gestuels pour l’entrée de données par calligraphie, p.ex. sous forme de gestes ou de texte
G06F 3/039 - Leurs accessoires, p.ex. tapis de souris
47.
METHOD FOR CONTROLLING AT LEAST ONE SERVOMOTOR, ASSOCIATED CONTROL DEVICE, ROBOT AND COMPUTER PROGRAM PRODUCT
A method for controlling a servomotor with a converter includes monitoring a circuit of a direct-voltage DC link that is connected to an input circuit for flow of an electric current; switching off a first switching device to end the supply of the direct-voltage DC link from an electrical grid if a stop signal occurs; braking the servomotor by control of power semiconductor switches of an inverter circuit in a regenerative braking operation, to reduce the rotation speed of the servomotor, if the monitoring detects that an electric current is not flowing after the first switching device has been switched off; and switching off a second switching device to prevent feeding electrical energy from the direct-voltage DC link into the servomotor if the monitoring detects a flow of electric current after the first switching device has been switched off.
G05B 19/4155 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u caractérisée par le déroulement du programme, c.à d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p.ex. choix d'un programme
A method for operating an application of a robot system includes selecting a first robot system situation module from a situation module library that comprises a plurality of predefined application-independent robot system situation modules for the robot system, each of which modules maps at least one input signal onto at least one output signal; linking the first robot system situation module to at least one additional selected robot system situation module from the situation module library, and/or to at least one application-class-specific application class situation module that is predefined for a class of a plurality of applications and maps at least one input signal onto at least one output signal, and/or to at least one application-specific application situation module that maps at least one input signal onto at least one output signal, to form a first application situation module that maps the input signals of its linked situation modules onto at least one output signal; and operating the application on the basis of the first application situation module.
A method to control a robot to perform at least one Cartesian or joint space task comprises using quadratic programming to determine joint forces, in particular joint torques, and/or joint accelerations of said robot based on at least one cost function which depends on said task.
The invention relates to a method for a monitored machine learning process of a process model of a work process of at least one robot (2), having the steps of: detecting (S20) vibration data and measurement data while carrying out the work process; and carrying out a monitored machine learning process (S50) of a process model of the work process on the basis of the measurement data, which is labeled on the basis of the detected vibration data. The invention also relates to a method for evaluating, in particular for monitoring, and/or controlling a work process of at least one robot (2), having the step of: evaluating (S60), in particular monitoring, and/or controlling (S60) a work process of at least one robot (2) on the basis of a process model which is machine-learned using the method for a monitored machine learning process.
The invention relates to a method and a welding device (1) for the friction stir welding of workpieces (2, 3) having different melting and plastification temperatures. The friction stir welding device (1) comprises: - a friction stir welding tool (5), which has a driven and moving, more particularly rotating, friction stir welding element (6); and - a detection device (17), which is designed to detect friction contact of the friction stir welding element (6) with the higher-melting workpiece (3) at the friction stir welding friction point (12) during the friction stir welding process. The detection device (17) comprises a thermoelectric measuring device (18), which detects friction contact of the friction stir welding element (6) with the higher-melting workpiece (3) by means of sensing of the friction temperature, more particularly a change in the friction temperature, at the workpieces (2, 3).
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p.ex. revêtement ou placage la chaleur étant produite par friction; Soudage par friction
B23K 20/227 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p.ex. revêtement ou placage tenant compte des propriétés des matériaux à souder avec une couche ferreuse
B23K 103/20 - Alliages ferreux et aluminium ou ses alliages
52.
METHOD AND SYSTEM FOR ANALYSING OPERATION OF A ROBOT
A method for analysing operation of a robot (1) comprises performing a training phase, having the following steps: obtaining (S10) a first dataset containing at least one temporal characteristic of at least one state parameter of a first robot (1); and training (S20) an artificial neural network that has a first autoencoder having an encoder (11) that maps the first dataset onto temporal characteristic patterns and the activation thereof, and a decoder (12) that uses these temporal characteristic patterns to reconstruct the first dataset; and a second autoencoder having an encoder (21) that maps the temporal characteristic patterns and the activation thereof onto pattern groups, and a decoder (22) that uses these pattern groups to reconstruct the temporal characteristic patterns and the activation thereof; and performing a monitoring phase, having the following steps: obtaining (S30) a second dataset containing at least one temporal characteristic of the at least one state parameter of the first or of a second robot; and identifying (S40) at least one of the pattern groups of the trained second autoencoder within the second dataset.
The invention relates to a control housing system (1), comprising: - at least one control sub-housing (9.1, 9.2) having at least one housing rear wall (11), which supports at least one electrical connector (10); - a slide-in module support (2); and - an interface chamber (3), which is mechanically connected to the slide-in module support (2) and which has at least one cable feedthrough device (4); wherein, when the control sub-housing (9.1, 9.2) is in the position in which it is coupled to the slide-in module support (2), the at least one electrical connector (10) is connected to a corresponding mating electrical connector (7) of the interface chamber (3), and wherein the housing rear wall (11) of the control sub-housing (9.1, 9.2) is seated sealingly against a peripheral seal device (6) of a coupling wall (5) of the interface chamber (3). The invention also relates to a self-driving vehicle (25) having a control housing system (1) of this type.
H05K 5/00 - Enveloppes, coffrets ou tiroirs pour appareils électriques
H01R 13/514 - Socles; Boîtiers formés comme un bloc ou un assemblage modulaire, c. à d. composés de parties coopérantes pourvues de pièces de contact ou maintenant entre elles des pièces de contact
H01R 13/52 - Boîtiers protégés contre la poussière, les projections, les éclaboussures, l'eau ou les flammes
H05K 5/02 - Enveloppes, coffrets ou tiroirs pour appareils électriques - Détails
54.
ANNULAR HEAT SINK, ELECTRIC MOTOR AND DRIVE ARRANGEMENT WITH AN ANNULAR HEAT SINK OF THIS TYPE
The invention relates to an annular heat sink (3) for fastening to an outer shell wall (2c) of a heat-emitting electric motor (2), comprising at least one guide wall portion (11) which is arranged on the annular heat sink (3) and covers portions of at least one flow duct (10), delimited laterally by peripheral cooling fins (9), from the outside, in such a way that an air flow which has entered into a flow duct (10) in a first region of a side of the annular heat sink (3) which faces the incoming air is deflected into a second region of a side of the annular heat sink (3) which faces away from the incoming air. Moreover, the invention relates to an electric motor (2) with an annular heat sink (3) of this type and to a drive arrangement (1) which comprises an electric motor (2) with an annular heat sink (3) of this type.
H02K 5/18 - Enveloppes ou enceintes caractérisées par leur configuration, leur forme ou leur construction avec des nervures ou des ailettes pour améliorer la transmission de la chaleur
H02K 9/14 - Dispositions de refroidissement ou de ventilation dans lesquels l'agent de refroidissement gazeux circule entre l'enveloppe de la machine et une chemise extérieure
H02K 9/22 - Dispositions de refroidissement ou de ventilation par un matériau solide conducteur de la chaleur s'encastrant dans, ou mis en contact avec, le stator ou le rotor, p.ex. des ponts de chaleur
55.
METHOD AND SYSTEM FOR CARRYING OUT AN INDUSTRIAL APPLICATION, IN PARTICULAR A ROBOT APPLICATION
The invention relates to a method for establishing training data for the machine learning of an object recognition, in particular for an industrial application, especially an robot application, said method comprising the steps of: providing (S20) a model of a first object to the recognized (5'); selecting (S30) a model of a first environment of the first object on the basis of the first object from a library containing environment models; virtually arranging (S70) the model of the first object in the model of the first environment in a first pose; and determining (S80) a first image of the first environment with the first object on the basis of the model of the first environment with the model of the first object, which is virtually arranged therein in the first pose, as a training image for the machine learning of an object recognition.
G06V 10/774 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p.ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]; Séparation aveugle de source méthodes de Bootstrap, p.ex. "bagging” ou “boosting”
G06V 10/772 - Détermination de motifs de référence représentatifs, p.ex. motifs de valeurs moyennes ou déformants; Génération de dictionnaires
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching,
transforming, storing, regulating, controlling and
distributing electricity for controlling, regulating and
simulating industrial plants, robotic plants, robots, agvs
(automated guided vehicles) and industrial tools; computers
for controlling, regulating and simulating industrial
plants, robotic plants, robots, agvs (automated guided
vehicles) and industrial tools; computer programs (stored or
downloadable) for controlling, regulating and simulating for
robotics, robot controllers, agvs (automated guided
vehicles), manufacturing equipment, automation and robotics
industry; software (stored or downloadable) for development,
diagnosis, programming, configuration and maintenance for
robotics, robot controllers, agvs (automated guided
vehicles), manufacturing equipment, automation and robotics
industries; simulation software (stored or downloadable) for
robotics, robot controllers, agvs (automated guided
vehicles), manufacturing equipment, automation and robotics
industry; engineering software, for robotics, robot
controllers, agvs (automated guided vehicles), automation
and robotics industry; software (stored or downloadable) in
the field of robotics, manufacturing equipment, agvs
(automated guided vehicles), automation and robotics
industry; computer software for cloud computing services in
the field of robotics, manufacturing equipment, agvs
(automated guided vehicles), automation and robotics
industry. Servicing, maintenance and repair, namely, servicing,
maintenance and repair of machines and machine tools for
working materials and manufacturing, robots, automatic
welding machines, welding equipment, transport machines,
clamping equipment, industrial robots or welding robots for
carrying out welding operations, transport machines and
conveyor machines; maintenance, servicing and repair,
namely, maintenance, servicing and repair of apparatus and
instruments for conducting, switching, converting, storing,
regulating, controlling and distributing electricity,
especially for controlling and regulating machinery;
maintenance, servicing and repair of testing apparatus and
instruments; maintenance, servicing and repair of computers,
especially for controlling, regulating and simulating
manufacturing equipment, robots, mobile platforms and tools;
maintenance, maintenance and repair of measuring apparatus,
electrical/electronic control panels for machines and tools
and measuring and/or testing machines; information on
repairs, in particular by means of remote diagnosis for
robots; installation services, namely assembly, installation
and commissioning of machinery, machine parts and production
equipment; rental of industrial machinery for automation
technology. Software as a service (saas) in the field of robotics,
industrial plants, agvs (automated guided vehicles),
automation and robotics industry; information for service
technicians, planners, programmers, operators and
commissioners in the field of robotics, industrial plants,
agvs and automation and robotics industry; cloud computing
in the field of robotics, industrial plants, agvs and
automation and robotics industry.
A method for controlling and/or monitoring a machine arrangement having at least one machine, in particular at least one robot, with the aid of a processor arrangement having a plurality of processors each with at least one core. The method includes selecting, in particular temporarily selecting, a first available and at least one further available core on the proviso that these cores are implemented, in particular arranged, on different processors of the processor arrangement, in particular during operation of the machine arrangement and/or on the basis of an updated directory and/or on the basis, in particular as a result, of an ascertained need for redundant processing of process signals; processing process signals redundantly with the aid of these selected cores; and controlling and/or monitoring the machine arrangement on the basis of this processing.
A method for controlling at least one servomotor in a braking manner with a frequency converter includes disconnecting a direct-voltage intermediate circuit from an electric alternating-voltage network, braking the servomotor by controlling semiconductor switches of an inverter circuit in a regenerative braking mode in order to reduce the speed of the servomotor, and controlling a brake chopper such that a brake resistor is switched on at a maximum intermediate-circuit voltage, which forms a switch-on threshold for the brake chopper, and is disconnected at a minimum intermediate-circuit voltage, which forms a switch-off threshold for the brake chopper. The switch-on threshold and/or the switch-off threshold are dynamically changed during regenerative braking of the servomotor as a function of the current speed of the servomotor.
H02P 3/14 - Dispositions pour l'arrêt ou le ralentissement de moteurs, génératrices électriques ou de convertisseurs dynamo-électriques pour arrêter ou ralentir individuellement un moteur dynamo-électrique ou un convertisseur dynamo-électrique pour arrêter ou ralentir un moteur à courant continu par freinage en récupération
A method for configuring a communication link between a first node in a first of at least two networks and a second node in a second of at least two networks, wherein at least one of the first and second nodes is an automatable industrial device or an automatable industrial system, or a controller thereof. The at least two networks each individually form a homogeneous address space, but do not together form a homogeneous address space. A call is transmitted to configure the communication link between the first and second nodes, the call having routing path information specifying the routing path from the first node to the second node. The routing path information includes at least one identifier of each network or nodes to be traversed along the routing path, but not necessarily an identifier of the first network. The communication link is configured between the first and second nodes based on the routing path information.
The invention relates to a method for operating, in particular controlling and/or monitoring, a machine, in particular a robot (1), comprising the steps of: a) determining learning error values (e) on the basis of model values (MM) which are determined by means of a first model (6) and a second model (7) on the basis of machine state values (ω) and on the basis of reference values (MR) of the machine; b) filtering the determined learning error values by means of a filter (8) and calibrating the first model on the basis of these learning error values (e1) filtered by means of the first filter; c) filtering the determined learning error values by means of a second filter (9) and calibrating the second model on the basis of these learning error values (e2) filtered by means of the second filter; and d) operating, in particular controlling and/or monitoring, the machine on the basis of model values determined by means of the calibrated first model and the calibrated second model on the basis of machine state values.
A method for positioning a self-piercing-rivet setting tool (20) by means of a robot (10) comprises the steps of: commanding (S120) a robot (10) to position a self-piercing-rivet setting tool (20) in a riveting pose at at least two workpieces (40, 41) to be joined together; and commanding (S130) the self-piercing-rivet setting tool to set a rivet (3) to join the at least two workpieces by means of self-piercing riveting; wherein, during said self-piercing riveting, the robot is commanded to change the pose of the self-piercing-rivet setting tool to at least partially compensate for an elastic deformation, induced by the self-piercing rivet, of the self-piercing-rivet setting tool, and/or the steps of: commanding (S10) the robot to position the self-piercing-rivet setting tool in a riveting pose; commanding (S20) a self-piercing-rivet movement of the self-piercing-rivet setting tool with or without setting of a rivet; and manually or sensor-based, in particular automatically, detecting (S30) a change in pose of a die of the self-piercing-rivet setting tool or of a test element as a result of the self-piercing-rivet movement; the self-piercing-rivet setting tool being checked (S40) and/or a deformation model being calibrated (S100) on the basis of the detected change in pose.
The invention relates to a method for controlling a telerobotic robot (1) using an input device which has a movable actuator (3), having the following steps, which are repeated multiple times in particular: - commanding (S50) a target pose of the telerobotic robot on the basis of a detected position of the actuator; and - commanding (S50) a target force of the actuator; wherein at least one virtual border is specified between a permissible and an impermissible region for the telerobotic robot, and the target force has a restoring force component starting from said border, said restoring force component counteracting an actuation of the actuator for commanding a movement of the telerobotic robot away from the border in the direction of the impermissible region.
The invention relates to a method for controlling a telerobotic robot (1) using an input device which has a movable actuator (3), having the following steps, which are repeated multiple times in particular: - commanding (S50) a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and - commanding (S50) a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.
09 - Appareils et instruments scientifiques et électriques
35 - Publicité; Affaires commerciales
37 - Services de construction; extraction minière; installation et réparation
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching,
transforming, accumulating, regulating, controlling and
distributing electricity, in particular for controlling and
regulating machines, in particular production installations,
robots, mobile platforms and tools; apparatus and
instruments for testing, in particular test stands assembled
therefrom; computers, in particular for controlling,
regulating and simulating production installations, robots,
mobile platforms and tools; computer programs (recorded), in
particular for controlling, regulating and simulating
machines and tools; computer programs (downloadable), in
particular for controlling, regulating and simulating
manufacturing installations, robots, mobile platforms and
tools; measuring apparatus; electric/electronic control
panels for machines and tools; measuring and/or testing
machines; simulation software, especially for online or
offline programming of robots or industrial plants or in the
field of robotics or automation industry; software for
development, diagnostics, configuration and maintenance of
robots, robot controls, agvs (automated guided vehicles) and
industrial plants. Advertising services; marketing services; sales promotion
services. Maintenance, servicing and repair, namely maintenance,
servicing and repair of machines and machine tools for
treatment of materials and for manufacturing, robots,
welding machines welding installations, transporting
machines, tensioning devices, industrial robots or welding
robots for execution of welding work, transporting machines
and conveying machines; maintenance, servicing and repair,
namely maintenance, servicing and repair of apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating, controlling and distributing
electricity, in particular for controlling and regulating
machines; maintenance, servicing and repair of apparatus and
instruments for testing; maintenance, servicing and repair
of computers, in particular for controlling, regulating and
simulating production installations, robots, mobile
platforms and tools; maintenance, servicing and repair of
measuring apparatus, electric/electronic control boards for
machines and tools and measuring and/or testing machines;
repair information, in particular by means of remote
diagnosis for robots (term considered too vague by the
International Bureau - Rule 13 (2) (b) of the Regulations);
installation work, namely the assembly, installation and
commissioning of machines, machine parts and manufacturing
installations (term considered too vague by the
International Bureau - Rule 13 (2) (b) of the Regulations);
rental of industrial machines of automation technology. Education and instruction; provision of training facilities
for robotics and automation; providing of training in
robotics and automation in the form of attended seminars,
online training (web-based training) and/or virtual
classrooms (campus); educational examination services,
namely provision of theoretical and/or practical specialist
tests and awarding of certificates for the successful
completion of training in robotics and automation. IT programming services and information technology [IT]
consultancy services; science and technology services (term
considered too vague by the International Bureau - Rule 13
(2) (b) of the Regulations); design services; design of
computer hardware and software to customer specifications;
installation and maintenance of computer programs;
calibration and function testing of measuring apparatus;
technical consultancy in the field of information
technology; technical consultancy in the field of robotic
engineering; engineering services, in particular for
planning, design, development and construction of automatic
production installations, assembling apparatus and
assembling plants; functional engineering testing, including
tests for proper commissioning of facilities; material
testing; construction drafting; conducting technical project
studies; certification [quality control]; testing services
for the certification of quality or standards; testing of
apparatus in the field of electrical and mechanical
engineering for certification purposes; Software as a
Service (SaaS) in the field of robots, industrial plants,
AGVs, automation- and robotics-industry; providing of
information of service technicians, planners, programmers,
operators and commissioners in the field of robots,
industrial plants, AGVs and the automation and robotics
industry (term considered too vague by the International
Bureau - Rule 13 (2) (b) of the Regulations).
66.
METHOD AND SYSTEM FOR CARRYING OUT A ROBOT APPLICATION
In a method for carrying out a robot application, the robot is controlled so as to carry out a transfer movement in a set-up operation, in which the robot speed reaches a set-up transfer movement top speed; the robot is controlled so as to carry out a process movement in the set-up operation, in which the robot speed reaches a set-up process movement top speed; the robot is controlled so as to carry out the transfer movement in an automatic operation, in which the robot speed reaches an automatic transfer movement top speed; and the robot is controlled so as to carry out the process movement in the automatic operation, in which the robot speed reaches an automatic process movement top speed. The robot is controlled such that the set-up transfer movement top speed is reduced compared to the automatic transfer movement top speed, and the set-up process movement top speed is not reduced compared to the automatic process movement top speed or is reduced to a lesser degree than the set-up transfer movement top speed is reduced compared to the automatic transfer movement top speed and/or an error response is triggered if while the robot is being controlled so as to carry out the transfer movement in the set-up operation, the robot speed exceeds an upper set-up transfer movement speed threshold outside of a process chamber, said upper transfer movement speed threshold being exceedable within the process chamber while controlling the robot so as to carry out the process movement in the set-up operation.
The invention relates to a method for coordinated travel along a first specified path (PTP1,1, PTP1,2, PTP1,3) by a first robot (10) and along at least one second specified path (PTP2,1, PTP2,2, PTP2,3) by a second robot (20), wherein these at least two robots have maximum working ranges that at least partially intersect one another, on the basis of a coordination space which is discretized into cells, the method comprising the steps of: discretizing (S10) the first coordinate axis into first coordinate axis portions on the basis of a specified maximally permissible Cartesian offset of the first robot for the specified path segments of the first path in such a way that the maximum Cartesian offset of the first robot, when traveling along each of the first coordinate axis portions, is in each case smaller than the specified maximally permissible Cartesian offset; discretizing (S20) the second coordinate axis, on the basis of this specified maximally permissible Cartesian offset of the first robot, into collision-free second coordinate axis portions and excluded second coordinate axis portions with potential collisions for the first coordinate axis portions and specified path segments of the second path; and determining (S30) a collision-free coordinated movement of the at least two robots along the specified paths by avoiding travel through cells of the coordination space that are delimited by collision portions.
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
(1) Apparatus and instruments for conducting, switching, transforming, storing, regulating, controlling and distributing electricity for controlling, regulating and simulating industrial plants, robotic plants, robots, agvs (automated guided vehicles) and industrial tools; computers for controlling, regulating and simulating industrial plants, robotic plants, robots, agvs (automated guided vehicles) and industrial tools; computer programs (stored or downloadable) for controlling, regulating and simulating for robotics, robot controllers, agvs (automated guided vehicles), manufacturing equipment, automation and robotics industry; software (stored or downloadable) for development, diagnosis, programming, configuration and maintenance for robotics, robot controllers, agvs (automated guided vehicles), manufacturing equipment, automation and robotics industries; simulation software (stored or downloadable) for robotics, robot controllers, agvs (automated guided vehicles), manufacturing equipment, automation and robotics industry; engineering software, for robotics, robot controllers, agvs (automated guided vehicles), automation and robotics industry; software (stored or downloadable) in the field of robotics, manufacturing equipment, agvs (automated guided vehicles), automation and robotics industry; computer software for cloud computing services in the field of robotics, manufacturing equipment, agvs (automated guided vehicles), automation and robotics industry. (1) Servicing, maintenance and repair, namely, servicing, maintenance and repair of machines and machine tools for working materials and manufacturing, robots, automatic welding machines, welding equipment, transport machines, clamping equipment, industrial robots or welding robots for carrying out welding operations, transport machines and conveyor machines; maintenance, servicing and repair, namely, maintenance, servicing and repair of apparatus and instruments for conducting, switching, converting, storing, regulating, controlling and distributing electricity, especially for controlling and regulating machinery; maintenance, servicing and repair of testing apparatus and instruments; maintenance, servicing and repair of computers, especially for controlling, regulating and simulating manufacturing equipment, robots, mobile platforms and tools; maintenance, maintenance and repair of measuring apparatus, electrical/electronic control panels for machines and tools and measuring and/or testing machines; information on repairs, in particular by means of remote diagnosis for robots; installation services, namely assembly, installation and commissioning of machinery, machine parts and production equipment; rental of industrial machinery for automation technology.
(2) Software as a service (saas) in the field of robotics, industrial plants, agvs (automated guided vehicles), automation and robotics industry; information for service technicians, planners, programmers, operators and commissioners in the field of robotics, industrial plants, agvs and automation and robotics industry; cloud computing in the field of robotics, industrial plants, agvs and automation and robotics industry.
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching, transforming, storing, regulating, controlling and distributing electricity, namely, electrical transformers, electrical accumulators, voltage regulators, electrical controllers, electric power controllers, ethernet controllers, industrial automation controls for use in industrial plants, robotic plants, robots, automated guided vehicles and industrial tools; computers for controlling, regulating and simulating industrial plants, robotic plants, robots, automated guided vehicles and industrial tools; downloadable and recorded computer programs for controlling, regulating and simulating robotics, robot controllers, automated guided vehicles (AGVs), and manufacturing equipment, in the automation and robotics industry; downloadable and recorded software for development, diagnosis, programming, configuration and maintenance for robotics, robot controllers, automated guided vehicles (AGVs), and manufacturing equipment for use in the automation and robotics industries; downloadable and recorded computer simulation software for simulating manufacturing installations, robots, mobile platforms and tools in the field of robotics, robot controllers, automated guided vehicles (AGVs), manufacturing equipment, automation and the robotics industry; downloadable and recorded engineering software for engineering manufacturing installations, robots, mobile platforms and tools in the field of robotics, robot controllers, automated guided vehicles (AGVs), automation and the robotics industry; downloadable and recorded controlling and regulating software for controlling and regulating manufacturing installations, robots, mobile platforms and tools in the field of robotics, manufacturing equipment, automated guided vehicles (AGVs), automation and the robotics industry; downloadable and recorded cloud computing software for online programming of robots and industrial plants in the field of robotics and industrial automation for online and offline programming of robots and industrial plants in the field of robotics and industrial automation in the field of in the field of robotics, manufacturing equipment, automated guided vehicles (AGVs), automation and the robotics industry Servicing, maintenance and repair, namely, servicing, maintenance and repair of machines and machine tools for treatment of materials and manufacturing, robots, automatic welding machines, welding equipment, transport machines, clamping equipment, industrial robots and welding robots for carrying out welding operations, transport machines and conveyor machines; maintenance, servicing and repair, namely, maintenance, servicing and repair of apparatus and instruments for conducting, switching, converting, storing, regulating, controlling and distributing electricity, in particular for controlling and regulating machinery; maintenance, servicing and repair of testing apparatus and instruments; maintenance, servicing and repair of computers, in particular for controlling, regulating and simulating manufacturing equipment, robots, mobile machine operated platforms and tools; maintenance and repair of measuring apparatus, electrical and electronic control panels for machines and tools and measuring and testing machines; providing information relating to repairs, in particular by means of remote diagnosis for robots; installation services, namely, assembly, and installation of machinery, machine parts and production equipment; rental of industrial machinery for automation technology Software as a service (SaaS) featuring software for controlling, monitoring, analyzing, predicting maintenance needs, and remotely controlling manufacturing machines in the field of robotics, industrial plants, automated guided vehicles (AGVs), automation and the robotics industry; providing scientific information for service technicians, planners, programmers, operators and commissioners in the field of robotics, industrial plants, automated guided vehicles (AGVs), automation, and the robotics industry; providing temporary use of on-line non-downloadable cloud computing software for online programming of robots and industrial plants in the field of robotics and industrial automation in the field of robotics, industrial plants, automated guided vehicles (AGVs), automation, and the robotics industry
70.
CARRYING OUT AN APPLICATION USING AT LEAST ONE ROBOT
A method for carrying out an application using at least one robot includes, repeatedly ascertaining a stochastic value of at least one robot parameter and/or at least one environmental model parameter; and carrying out a simulation of the application on the basis of the ascertained stochastic value, training at least one control agent and/or at least one classification agent using the simulations by machine learning, and carrying out the application using the robot. The method may further include configuring a controller of the robot, by means of which the application is carried out wholly or in part, based on the trained control agent, and/or classifying the application using the trained classification agent.
The invention relates to a method for generating a robot program for a robot (10), having the steps of: generating a robot program for traversing a robot path, said program having a plurality of movement sets, at least one of which has a specified target position (P0, P1, P2; ZP) of a reference (11) of the robot, in order to specify the path. At least one of the movement sets is a grinding set for which a grinding position (P11; SP) as a virtual starting position for a successive movement set, an approach of a path section specified by said successive movement set, and an approach of a path section specified by a preceding movement set can be parameterized. In one embodiment, a robot path is traversed by a robot by carrying out (S20) the generated robot program.
A method for monitoring a robot arrangement, which robot arrangement has at least one robot includes capturing optical signals from a plurality of signal sources at least one sensor, wherein the signal sources and/or the sensor is/are positioned on the robot arrangement and triggering a monitoring reaction if a deviation of an actual arrangement of the captured optical signals from a desired arrangement of these signals exceeds a limit value. In one aspect, a reaction may be triggered if at least a predefined minimum number of signals from the desired arrangement is not present in the actual arrangement of the captured optical signals.
The invention relates to a control device (3) for controlling a machine (1) or system (2), comprising a monitoring unit (13), which is designed and configured to monitor the functional state of the second control unit (12) such that, when the second control unit (12) is in an activated functional state, by means of which the machine (1) or system (2) is put into a safe state, the monitoring unit (13) connects at least one input means (8.2) associated with the second control unit (12) to a first control unit (11) such that non-safety-relevant functions of the machine (1) or system (2) can be triggered by manual actuation of the input means (8.2), as long as the second control unit (12) is in its activated functional state, in which the input means (8.2) is not connected to the machine (1) or system (2) as a proper safety switching means.
A method and a system for automatically securing the operation of a robot system and corresponding components of the system, wherein operation is controlled by a mobile operating device. The robot system receives presence signals transmitted from a mobile operating device via a short-range first signal connection and an operating signal transmitted via a second signal connection designed to be independent of the first signal connection. The operating signal contains a safety-relevant control command for the robot system. The control command is released for execution by the robot system only if a presence check has ascertained that the last received presence signal satisfies a presence criterion specified with respect to the determination of a spatial proximity of the operating device to the robot system. A configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration based on the result.
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p.ex. à la vue ou au toucher
G05B 19/409 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u - caractérisée par les détails du panneau de commande, par la fixation de paramètres
A cable feedthrough for a control cabinet having a casing that can be closed with a casing cover. The cable feedthrough includes a frame which is open on one side and can be fastened detachably to and flush with an end face of the casing. At least one removable feed element for feeding through a cable is situated in the frame.
A control cabinet for at least one electrical drive controller includes a control cabinet housing a first cabinet compartment formed in the control cabinet housing and having at least one inlet opening for fresh air, at least one first transfer opening and a fresh air duct flow-connecting the inlet opening to the first transfer opening. A second cabinet compartment is formed in the control cabinet housing and has at least one outlet opening for exhaust air, at least one second transfer opening, and an exhaust air duct flow-connecting the outlet opening to the second transfer opening. A third cabinet compartment is formed in the control cabinet housing and is sealed off in terms of flow from the first cabinet compartment, the second cabinet compartment, and the environment outside the control cabinet. A partition delimits the third cabinet compartment in terms of flow from the first cabinet compartment and the second cabinet compartment, and has the at least one first transfer opening and the at least one second transfer opening. The third cabinet compartment is in the form of a rack with at least one drawer, wherein each drawer is designed to receive an insertable control device.
A robot arm includes a first structural component, in particular a main frame for fixing the robot arm in its surroundings, a second structural component, in particular a carousel, which is mounted rotatably about an axis of rotation on the first structural component and a transmission for twisting the second structural component relative to the first structural component. The transmission includes a transmission casing and, a casing of the first structural component has at least one integrated cavity for receiving lubricant for the transmission. The cavity is fluidically connected to the transmission casing by at least one connecting duct in the casing of the first structural component.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
78.
MACHINE LEARNING AN OBJECT DETECTION PROCESS USING A ROBOT-GUIDED CAMERA
A method for machine learning an object detection process using at least one robot-guided camera and at least one learning object includes positioning the camera in different positions relative to the learning object using a robot and capturing and storing at least one localization image, in particular a two-dimensional and/or three-dimensional localization image, of the learning object in each position. A virtual model of the learning object is ascertained on the basis of the positions and at least some of the localization images, and the position of a reference of the learning object in at least one training image captured by the camera, in particular at least one of the localization images and/or at least one image with at least one interference object which is not imaged in at least one of the localization images, is ascertained on the basis of the virtual model. An object detection of the reference on the basis of the ascertained position in the at least one training image is machine learned.
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06V 10/12 - Acquisition d’images - Détails des dispositions d’acquisition; Leurs détails structurels
G06V 10/774 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant l’intégration et la réduction de données, p.ex. analyse en composantes principales [PCA] ou analyse en composantes indépendantes [ ICA] ou cartes auto-organisatrices [SOM]; Séparation aveugle de source méthodes de Bootstrap, p.ex. "bagging” ou “boosting”
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
H04N 5/232 - Dispositifs pour la commande des caméras de télévision, p.ex. commande à distance
G06V 10/70 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique
G06T 17/00 - Modélisation tridimensionnelle [3D] pour infographie
The invention relates to a method for planning a path of a driverless mobile robot for approaching a second pose specified in a second reference system, from a first pose specified in a first reference system, comprising the steps: - transforming the one of the first and second pose in a common reference system, in which the other of the first and second pose is also described, and - planning a transition path from the first pose to the second pose in said common reference system on the basis of the first and second pose described in said common reference system.
A method for operating at least one robot includes determining the minimum distance of the robot from an obstacle, in particular the closest obstacle to the robot, in particular excluding at least one previously known, in particular temporary, obstacle; reducing the maximum speed of the robot if this minimum distance is below a first minimum distance; and reducing this maximum speed of the robot more if the minimum distance is below a second minimum distance which is smaller than the first minimum distance.
A method and apparatus for joining using friction and current, wherein the friction/current joining apparatus includes a friction device, a forging device, an electrical current source, and a programmable controller, as well as workpiece holders for the workpieces to be joined. The friction/current joining apparatus is controlled such that, in a contacting phase, the workpieces are initially moved along a process axis, and their mutually facing joining surfaces oriented transverse to a common process axis are brought into contact. In a grinding phase, while subjected to contact pressure by mutual relative movement, the joining surfaces, are ground together and made smooth. At the end of the grinding phase, the relative frictional movement is permanently stopped and, in a forging phase following the grinding phase, the workpieces are pressed together, plasticized, and joined while subjected to contact pressure on their contacting joining surfaces along the process axis, and subjected to conductive heating with electrical current.
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p.ex. revêtement ou placage la chaleur étant produite par friction; Soudage par friction
82.
ROBOT HAVING AT LEAST ONE COVERING AND AT LEAST ONE CONTACT SENSOR
A robot includes a robot arm having a plurality of motor-driven joints and a plurality of links, each of which interconnect two adjacent joints. At least one of the links has a supporting structural component configured to transmit forces and/or torques from an adjacent joint to the other adjacent joint. The structural component is provided with at least one covering that at least partially covers the structural component and at least one contact sensor. The at least one contact sensor is configured as a switching strip arranged between the structural component and the covering. Movable mounting of the covering on the structural component, which mounting is spring-preloaded into the basic position of the covering, is adjusted by an inherent elasticity of the switching strip.
xzxzz) acting on the reference in at least one second direction, in which an external load acting on the reference can be reliably detected on the basis of detected joint loads despite the vicinity to the singular position.
The invention relates to a coupling device (1) for coupling an autonomous vehicle (2) to a patient transport device (3), said coupling device having: - an attachment element (4) which is designed to fasten the coupling device (1) to an autonomous vehicle (2), - a first control arm (5) having a proximal end portion (5.1) and an opposite distal end portion (5.2), wherein the proximal end portion (5.1) of the control arm (5) is rotatably mounted on the attachment element (4) by means of a rotary joint (D) of the coupling device (1), and - an angled coupling rod (6) having a proximal leg (6.1) and a distal leg (6.2) which is angled with respect to the longitudinal extension of the proximal leg (6.1), wherein the proximal leg (6.1) of the coupling rod (6) is pivotably mounted on the distal end portion (5.2) of the control arm (5) by means of a pivot joint (S) of the coupling device (1) and the distal leg (6.2) of the coupling rod (6) forms an attachment portion (7) in order to couple the coupling device (1) to a patient transport device (3). The invention also relates to an associated system and to a method for operating such a system.
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A61G 5/04 - Fauteuils ou moyens de transport personnels spécialement adaptés pour des personnes handicapées, p.ex. fauteuils roulants à moteur
The invention relates to a robot arm (1) having multiple links (2) and multiple joints (3) connecting the links (2) such that they are adjustable relative to one another. At least one first link (2.1) of these links (2) has a first bearing pin (4.1) and a second bearing pin (4.2) located opposite the first bearing pin (4.1), and a second link (2.2), which is pin-connected to the first link (2.1) by one of the joints (3), has a first bearing flange (5.1) on which the first bearing pin (4.1) of the first link (2.1) is rotatably mounted, and a second bearing flange (5.2) on which the second bearing pin (4.2) of the first link (2.1) is rotatably mounted. The first bearing flange (5.1) of the second link (2.2) has a recess (6a) which is circumferentially closed and in which the first bearing pin (4.1) of the first link (2.1) is received, and the second bearing flange (5.2) of the second link (2.2) has a recess (6b) which is circumferentially open and in which the second bearing pin (4.2) of the first link (2.1) is received. An opening (7) in the circumferentially open recess (6b) has an opening width (W) that is greater than the width of the second bearing pin (4.2) of the first link (2.1), and the second bearing flange (5.2) has a securing means (8) which is secured to the second bearing pin (4.2) of the first link (2.1) on the circumferentially open recess (6b) of the second bearing flange (5.2). The invention also relates to a method for assembling such a robot arm (1).
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p.ex. du type à coordonnées cylindriques ou polaires
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
86.
METHOD FOR AUTOMATICALLY FITTING A SHOE UPPER ONTO A LAST
A method for automatically pulling a shoe upper onto a last using a robot which includes a robot controller, a robot arm controlled automatically by the robot controller, and a gripper which is moved by the robot arm and which is designed to hold a shoe upper.
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching, transforming, storing, regulating, controlling and distributing electricity for controlling, regulating and simulating industrial plants, robotic plants, robots, AGVs (automated guided vehicles) and industrial tools; Computers for controlling, regulating and simulating industrial plants, robotic plants, robots, AGVs (automated guided vehicles) and industrial tools; Computer programs (stored or downloadable) for controlling, regulating and simulating for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industry; Software (stored or downloadable) for development, diagnosis, programming, configuration and maintenance for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industries; Simulation software (stored or downloadable) for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industry; Engineering software, for robotics, robot controllers, AGVs (automated guided vehicles), automation and robotics industry; Software (stored or downloadable) in the field of robotics, manufacturing equipment, AGVs (automated guided vehicles), automation and robotics industry; Computer software for cloud computing services in the field of robotics, manufacturing equipment, AGVs (automated guided vehicles), automation and robotics industry. Servicing, maintenance and repair, namely, servicing, maintenance and repair of machines and machine tools for working materials and manufacturing, robots, automatic welding machines, welding equipment, transport machines, clamping equipment, industrial robots or welding robots for carrying out welding operations, transport machines and conveyor machines; Maintenance, servicing and repair, namely, maintenance, servicing and repair of apparatus and instruments for conducting, switching, converting, storing, regulating, controlling and distributing electricity, especially for controlling and regulating machinery; Maintenance, servicing and repair of testing apparatus and instruments; Maintenance, servicing and repair of computers, especially for controlling, regulating and simulating manufacturing equipment, robots, mobile platforms and tools; Maintenance, maintenance and repair of measuring apparatus, electrical/electronic control panels for machines and tools and measuring and/or testing machines; information on repairs, in particular by means of remote diagnosis for robots; Installation services, namely assembly, installation and commissioning of machinery, machine parts and production equipment; Rental of industrial machinery for automation technology. Software as a Service (SaaS) in the field of robotics, industrial plants, AGVs (automated guided vehicles), automation and robotics industry; information for service technicians, planners, programmers, operators and commissioners in the field of robotics, industrial plants, AGVs and automation and robotics industry; cloud computing in the field of robotics, industrial plants, AGVs and automation and robotics industry.
An autonomous vehicle includes a vehicle body having a receiving device configured to receive an object to be transported, a chassis having at least one driven wheel, and at least one sensor device having a detection region surrounding the autonomous vehicle for recognizing obstacles which enter the detection region in the immediate surroundings of the autonomous vehicle. The autonomous vehicle includes a joint arrangement configured to adjust the sensor device relative to the vehicle body such that the sensor device can be operated in a first arrangement which monitors the basic peripheral contour of the vehicle body, and in at least one second arrangement which monitors a total peripheral contour including the basic peripheral contour and an expansion contour of the autonomous vehicle that is formed when an object to be transported is received.
A method for traveling down a prescribed arrangement of paths which are connected to one another at nodes with a mobile robot. The robot changes from an initial route, which contains all as yet untraveled paths, to a different replacement route including a loop route which retakes at least one path and at least one further path, and a subsequent remaining route which contains all as yet untraveled paths at that time if a value of a quality function for the replacement route is lower than a value of this quality function for the initial route. The quality function is dependent on a first effort, a second effort, and a variable weighting of the first and second values in relation to one another. The variable weighting weights the second effort lower for a first localization uncertainty of the robot.
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G01C 21/00 - Navigation; Instruments de navigation non prévus dans les groupes
G01C 21/34 - Recherche d'itinéraire; Guidage en matière d'itinéraire
A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.
09 - Appareils et instruments scientifiques et électriques
37 - Services de construction; extraction minière; installation et réparation
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching, transforming, storing, regulating, controlling and distributing electricity for controlling, regulating and simulating industrial plants, robotic plants, robots, AGVs (automated guided vehicles) and industrial tools; Computers for controlling, regulating and simulating industrial plants, robotic plants, robots, AGVs (automated guided vehicles) and industrial tools; Computer programs (stored or downloadable) for controlling, regulating and simulating for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industry; Software (stored or downloadable) for development, diagnosis, programming, configuration and maintenance for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industries; Simulation software (stored or downloadable) for robotics, robot controllers, AGVs (automated guided vehicles), manufacturing equipment, automation and robotics industry; Engineering software, for robotics, robot controllers, AGVs (automated guided vehicles), automation and robotics industry; Software (stored or downloadable) in the field of robotics, manufacturing equipment, AGVs (automated guided vehicles), automation and robotics industry; Computer software for cloud computing services in the field of robotics, manufacturing equipment, AGVs (automated guided vehicles), automation and robotics industry. Servicing, maintenance and repair, namely, servicing, maintenance and repair of machines and machine tools for working materials and manufacturing, robots, automatic welding machines, welding equipment, transport machines, clamping equipment, industrial robots or welding robots for carrying out welding operations, transport machines and conveyor machines; Maintenance, servicing and repair, namely, maintenance, servicing and repair of apparatus and instruments for conducting, switching, converting, storing, regulating, controlling and distributing electricity, especially for controlling and regulating machinery; Maintenance, servicing and repair of testing apparatus and instruments; Maintenance, servicing and repair of computers, especially for controlling, regulating and simulating manufacturing equipment, robots, mobile platforms and tools; Maintenance, maintenance and repair of measuring apparatus, electrical/electronic control panels for machines and tools and measuring and/or testing machines; information on repairs, in particular by means of remote diagnosis for robots; Installation services, namely assembly, installation and commissioning of machinery, machine parts and production equipment; Rental of industrial machinery for automation technology. Software as a Service (SaaS) in the field of robotics, industrial plants, AGVs (automated guided vehicles), automation and robotics industry; information for service technicians, planners, programmers, operators and commissioners in the field of robotics, industrial plants, AGVs and automation and robotics industry; cloud computing in the field of robotics, industrial plants, AGVs and automation and robotics industry.
A method for operating a robot having a robot arm which is arranged on a platform guided on a track comprises the steps of: determining (S10) at least one pose of a robot arm member relative to a first reference system and an associated position of the robot arm at different platform locations along the track; and determining (S20) a forward transform from the first reference system or a backward transform into the first reference system on the basis of a current platform location along the track, and a first kinematic transform assigned thereto on the basis of an assignment which is determined on the basis of these determined poses; or the steps of: determining (S100) a location of at least one point of the platform at different platform locations along the track with or without the robot arm arranged on the platform; and determining (S200) a forward transform from a reference system or a backward transform into the reference system on the basis of a current platform location (s) along the track, and a correction assigned thereto on the basis of an assignment which is determined on the basis of these determined locations; and the step of: operating (S30; S300) the robot on the basis of this determined forward or backward transform.
The invention relates to a method for performing health tests and for acquiring health-related personal data by means of a computer network (1) and resources (3) connected in this computer network (1) via communication means (2), comprising - a health database (3.1) having a database management system (3.2) and a personal database (3.3), - a plurality of mobile health test systems (3.4) each having at least one automatically controllable robot (4), which is designed and configured to perform a health-related test method, and a test system controller (5) which is connected to the computer network (1) via a first communication means (2.1), and - a plurality of terminals (6) which are connected to the computer network (1) via second communication means (2.2). The invention further relates to an associated mobile health test system (3.4).
A61B 10/00 - Autres méthodes ou instruments pour le diagnostic, p.ex. pour le diagnostic de vaccination; Détermination du sexe; Détermination de la période d'ovulation; Instruments pour gratter la gorge
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p.ex. basé sur des systèmes experts médicaux
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
94.
METHOD AND SYSTEM FOR PERFORMING A PREDETERMINED TASK USING A ROBOT
A method for carrying out a predetermined task using a robot, which is redundant with regard to the task. When the task is carried out, an admittance motion that is dependent on a force exerted externally on the robot and on a predetermined virtual mass, stiffness and/or damping is carried out in the zero space.
A patient-positioning device includes a first link designed as a base frame for fastening the patient-positioning device on a support surface, a second link mounted on the first link for rotation about a first axis of rotation by a first joint, and a third link mounted on the second link for rotation about a second axis of rotation by a second joint. The third link is arranged on the second link by the second joint in such a way that, with a floor mounting of the first link, the third link is arranged below the second link by the second joint in order to suspend the third link on the second link in an overhead arrangement by means of the second joint. The third link is mounted so as to be rotatable under the second link by the second joint.
A robot according to the invention comprises: - a robotic arm which has a base (10) with a base contact surface (11) and which has an end effector (2) that is connected to the base by means of joints which can be moved by means of robotic-arm joint drives such that the end effector (2) has at least five, more particularly at least six, actuated degrees of freedom (q1-q6) with respect to the base (10); and - a robot joint module (30) which has a first contact surface (31) that can be fastened, in particular releasably, to the base contact surface (11), a second contact surface (32) for fastening the robot to a stationary environment or mobile platform (50), and at least one robot-joint-module drive for pivoting the first contact surface (31) relative to the second contact surface (32) about a pivot axis (A), the end effector (2) thus having at least six, more particularly at least seven, actuated degrees of freedom (q0-q6) with respect to the second contact surface (32), more particularly with respect to the stationary environment or mobile platform (50).
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p.ex. du type à coordonnées cylindriques ou polaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
In a method according to the invention for monitoring during a robot-assisted first process, the following steps are performed for the first or a robot-assisted second process: (a.1) process data are detected (S10; S11); and (a.2) a model-based assessment is performed with the aid of a machine-learned model on the basis of these detected process data (S20; S21); wherein, if this performed model-based assessment satisfies an examination criterion, in particular depending on an external confirmation: (b.1) a test assessment is performed with the aid of a testing authority (S80; S51); and (b.2) the machine-learned model is trained further on the basis of this test assessment (S85; S61); and then, for the first process optionally performed again: (c.1) process data are detected (S10; S81); (c.2) the model-based assessment is performed with the aid of the further trained model on the basis of these detected process data (S20; S81); and (c.3) monitoring during the first process is performed on the basis of this assessment (S30; S81).
The invention relates to a method for handling a load arrangement (21) with a robot (10), comprising the steps of: - activating a lifting state of a gripper (12) of the robot for load lifting; - determining a parameter of a time profile of a load arrangement-dependent force using at least one sensor of the robot during a movement of the raised load arrangement; - classifying a load arrangement raised by the gripper using a machine-learned model on the basis of the determined parameter, in particular during a movement of the raised load arrangement and/or over the receiving area in which the load arrangement for raising has been located, in particular a receiving area of a receiving station and/or over or in a receiving container (20); and at least one of the steps: - carrying out a first process (S141) with the robot if the load arrangement has been classified in a first class; and/or - carrying out a second process (S142) with the robot if the load arrangement has been classified in a second class.
09 - Appareils et instruments scientifiques et électriques
35 - Publicité; Affaires commerciales
37 - Services de construction; extraction minière; installation et réparation
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching,
transforming, accumulating, regulating, controlling and
distributing electricity, in particular for controlling and
regulating machines, in particular production installations,
robots, mobile platforms and tools; apparatus and
instruments for testing, in particular test stands assembled
therefrom; computers, in particular for controlling,
regulating and simulating production installations, robots,
mobile platforms and tools; computer programs (recorded), in
particular for controlling, regulating and simulating
machines and tools; computer programs (downloadable), in
particular for controlling, regulating and simulating
manufacturing installations, robots, mobile platforms and
tools; measuring apparatus; electric/electronic control
panels for machines and tools; measuring and/or testing
machines. Advertising services; marketing services; sales promotion
services. Maintenance, servicing and repair, namely maintenance,
servicing and repair of machines and machine tools for
treatment of materials and for manufacturing, robots,
welding machines welding installations, transporting
machines, tensioning devices, industrial robots or welding
robots for execution of welding work, transporting machines
and conveying machines; maintenance, servicing and repair,
namely maintenance, servicing and repair of apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating, controlling and distributing
electricity, in particular for controlling and regulating
machines; maintenance, servicing and repair of apparatus and
instruments for testing; maintenance, servicing and repair
of computers, in particular for controlling, regulating and
simulating production installations, robots, mobile
platforms and tools; maintenance, servicing and repair of
measuring apparatus, electric/electronic control boards for
machines and tools and measuring and/or testing machines;
repair information, in particular by means of remote
diagnosis for robots; installation work, namely the
assembly, installation and commissioning of machines,
machine parts and manufacturing installations; rental of
industrial machines of automation technology. Education and instruction; provision of training facilities
for robotics and automation; providing of training in
robotics and automation in the form of attended seminars,
online training (web-based training) and/or virtual
classrooms (campus); educational examination services,
namely provision of theoretical and/or practical specialist
tests and awarding of certificates for the successful
completion of training in robotics and automation. IT programming services and information technology [IT]
consultancy services; scientific and technology services;
design services; design of computer hardware and software to
customer specifications; installation and maintenance of
computer programs; calibration and function testing of
measuring apparatus; technical consultancy in the field of
information technology; technical consultancy in the field
of robotic engineering; engineering services, in particular
for planning, design, development and construction of
automatic production installations, assembling apparatus and
assembling plants; functional engineering testing, including
tests for proper commissioning of facilities; material
testing; construction drafting; conducting technical project
studies; certification [quality control]; testing services
for the certification of quality or standards; testing of
apparatus in the field of electrical and mechanical
engineering for certification purposes.
09 - Appareils et instruments scientifiques et électriques
35 - Publicité; Affaires commerciales
37 - Services de construction; extraction minière; installation et réparation
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Apparatus and instruments for conducting, switching,
transforming, accumulating, regulating, controlling and
distributing electricity, in particular for controlling and
regulating machines, in particular production installations,
robots, mobile platforms and tools; apparatus and
instruments for testing, in particular test stands assembled
therefrom; computers, in particular for controlling,
regulating and simulating production installations, robots,
mobile platforms and tools; computer programs (recorded), in
particular for controlling, regulating and simulating
machines and tools; computer programs (downloadable), in
particular for controlling, regulating and simulating
manufacturing installations, robots, mobile platforms and
tools; measuring apparatus; electric/electronic control
panels for machines and tools; measuring and/or testing
machines. Advertising services; marketing services; sales promotion
services. Maintenance, servicing and repair, namely maintenance,
servicing and repair of machines and machine tools for
treatment of materials and for manufacturing, robots,
welding machines, welding installations, transporting
machines, tensioning devices, industrial robots or welding
robots for execution of welding work, transporting machines
and conveying machines; maintenance, servicing and repair,
namely maintenance, servicing and repair of apparatus and
instruments for conducting, switching, transforming,
accumulating, regulating, controlling and distributing
electricity, in particular for controlling and regulating
machines; maintenance, servicing and repair of apparatus and
instruments for testing; maintenance, servicing and repair
of computers, in particular for controlling, regulating and
simulating production installations, robots, mobile
platforms and tools; maintenance, servicing and repair of
measuring apparatus, electric/electronic control boards for
machines and tools and measuring and/or testing machines;
repair information, in particular by means of remote
diagnosis for robots; installation work, namely assembly
services relating to the installation, installation and
reconditioning of machines, machines parts and manufacturing
installations; rental of industrial machines of automation
technology. Education and instruction; provision of training facilities
for robotics and automation; providing of training in
robotics and automation in the form of attended seminars,
online training (web-based training) and/or virtual
classrooms (campus); educational examination services,
namely provision of theoretical and/or practical specialist
tests and awarding of certificates for the successful
completion of training in robotics and automation. IT programming services and information technology [IT]
consultancy services; scientific and technology services;
design services; design of computer hardware and software to
customer specifications; installation and maintenance of
computer programs; calibration and function testing of
measuring apparatus; technical consultancy in the field of
information technology; technical consultancy in the field
of robotic engineering; engineering services, in particular
for planning, design, development and construction of
automatic production installations, assembling apparatus and
assembling plants; functional engineering testing, including
tests for proper commissioning of facilities; material
testing; construction drafting; conducting technical project
studies; certification [quality control]; testing services
for the certification of quality or standards; testing of
apparatus in the field of electrical and mechanical
engineering for certification purposes.
