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.
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.
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.
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
10.
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
11.
GRIPPER FOR HANDLING SMD COMPONENT ROLL CASSETTES, AND ASSOCIATED SMD COMPONENT ROLL CASSETTE
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
14.
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
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.
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.
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
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).
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
37.
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
39.
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
40.
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
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.
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.
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.
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.
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.
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
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
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.
The invention relates to a method for conveying a wire and to a wire conveyor device comprising a controllable wire drive (7) which acts on a wire (2) preferably in a slip-free manner. The wire conveyor device (1) has a movable support (11), which is acted upon by a clamping means (15, 16) in the movement direction thereof, and a sensor (17) which detects the support movements. A mounting (21, 22) is arranged on the support (11) for a wire jacket (3, 4) which surrounds the wire (2) in sections.
The invention relates to a winding device (1) and a method for applying windings (3) made of winding wire (4) to a winding carrier (2). The winding device (1) has a supply apparatus (5) for winding wire (4), a winding tool (10), and a multi-axis handling apparatus (9) for guiding the winding tool (10). The handling apparatus (9) has four or more driven axes of movement (30). The winding wire (4) can be applied to the winding carrier (2) with an adjustable tensile force.
The invention relates to a drive device comprising at least one motor (M1-M6) and at least one additional drive component (20) from the group of a transmission (25), a torque converter (24), a clutch (23) and/or a brake (22), wherein the at least one motor (M1-M6) and/or the at least one additional drive component (20) comprises a control means (21) which changes the torque transmission and which comprises at least one lamp (21.1) and a material (21.2) that influences the torque transmission and that comprises at least one light-stabilised dynamic material (LSDM), wherein the control means (21) is configured to change the torque transmission by actuating the lamp (21.1), which radiates onto the light-stabilised dynamic material (LSDM). The invention also relates to a robot comprising at least one such drive device.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
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
F16C 1/00 - Arbres flexibles; Moyens mécaniques pour transmettre un mouvement dans une gaine flexible
F16D 63/00 - Freins non prévus ailleurs; Freins combinant plusieurs des types mentionnés dans les groupes
F16H 1/00 - Transmissions à engrenages pour transmettre un mouvement rotatif
H02K 7/00 - Dispositions pour la mise en œuvre d'énergie mécanique associées structurellement aux machines dynamo-électriques, p.ex. association structurelle avec des moteurs mécaniques d'entraînement ou des machines dynamo-électriques auxiliaires
62.
SAFETY CONTROL SYSTEM AND METHOD FOR EXECUTING A SAFETY FUNCTION
The invention relates to a safety control system and method for executing a safety function for at least one automation system component, wherein the safety control system comprises a safety controller and one or more safety input means, and wherein the execution of the safety function is triggered by actuating one of the safety input means and a display device is arranged on each of the safety input means, wherein the display device is designed to display an effective range of the safety function according to a predefined safety configuration of the safety controller, if the automation system component is connected to the safety controller.
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 19/409 - 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
63.
GRIPPER FINGER AND GRIPPER COMPRISING GRIPPER FINGERS OF THIS TYPE
The invention relates to a gripper finger (1), comprising a transmission (5) which is designed to pivot the gripper finger (1) about a pivot axis (S) associated with the finger base element (2.1) and to curve the kinematic chain of the finger element (2) by pulling on the first pulling means (3), wherein the transmission (5) has a pivotally mounted first transmission element (5.1) that is connected to the first pulling means (3), and has a pivotally mounted second transmission element (5.2) that is connected to the finger base element (2.1), and the first transmission element (5.1) is coupled to the second transmission element (5.2) by means of a transmission coupler (6) in such a way that a pivoting of the gripper finger (1) is brought about with a common pivoting movement of the first transmission element (5.1) and the second transmission element (5.2), and, with a sole pivoting movement of the first transmission element (5.1) relative to the second transmission element (5.2), a pulling force is introduced into the first pulling means (3) and forwarded to the finger tip element (2.2) in order to bring about the curving of the gripper finger (1). The invention also relates to a gripper (14) comprising gripper fingers (1) of this type.
The invention relates to a gripper (1) having a gripper main part (2), a drive motor (3) arranged on the gripper main part (2), and at least one pair of gripper fingers (4.1, 4.2) mounted on the gripper main part (2), wherein least one of the gripper fingers (4.1, 4.2) is mounted on the gripper main part (2) so as to be drivingly adjustable by the drive motor (3) such that the gripper (1) can be opened and closed as a result of a driven movement of the at least one gripper finger (4.1, 4.2) by the drive motor (3), wherein the gripper main part (2) has at least one securing recess (5.1, 5.2, 5.3, 5.4, 5.5) which extends inwards from the outer contour of the gripper main part (2) and is designed to receive and manually releasably secure a functional component (6.1, 6.2, 6.3, 6.4) of the gripper (1) on the gripper main part (2).
The invention relates to a gripper (1) having a gripper main part (3), at least two gripper fingers (2.1, 2.2), at least one of which is adjustably mounted on the gripper main part (3), and a drive motor (4) which is arranged on the gripper main part (3) and is designed to move the at least one gripper finger (2.1, 2.2) that is adjustably mounted on the gripper main part (3), wherein each of the gripper fingers (2.1, 2.2) adjustably mounted on the gripper main part (3) is moved by at least one respective traction means (8.1, 8.2), into which a traction force is introduced by the drive motor (4) in order to selectively open or close the gripper (1) by moving the at least one gripper finger (2.1, 2.2) that is adjustably mounted on the gripper main part (3). The gripper also has a central cable actuation means (16) which is arranged between the at least two gripper fingers (2.1, 2.2) and is designed to pull the at least one traction means (8.1) onto the central cable actuation means (16) in the closing direction of the gripper (1) by means of a drive movement of the drive motor (4) arranged on the gripper main part (3).
The invention relates to a method for configuring, running, and/or analyzing an application of a robot assembly (1, 1.1) comprising at least one mobile and/or collaborative robot (1) using a user interface (2; 2') for inputting and/or outputting data, having the step of: superimposing (S20) at least one virtual object (110-210) on a view, in particular a representation (10; 20; 30), of an environment; wherein the superimposing step is provided for configuring, running, and/or analyzing the application by means of the user interface, in particular on the user interface, in particular the view of the surroundings and the virtual object are superimposed by means of the user interface, in particular on the user interface, and/or the application is configured, ran, and/or analyzed (S30), in particular by means of the user interface, on the basis of the superimposing step.
The invention relates to a method for detecting and evaluating a friction status at at least one joint of a robotic arm (9), wherein, in the scope of a brake test program, at least one motor of multiple electric motors (M1-M6) is automatically driven, in a first rotational direction, wherein a detection of a first motor torque (M_1) in the driven motor takes place during its rotation in the first rotational direction, and then the at least one motor is driven in a second rotational direction opposite the first rotational direction, wherein a detection of a second motor torque (M_2) in the driven motor takes place during its rotation in the second rotational direction, and an automatic evaluation of the first motor torque (M_1) and the second motor torque (M_2) takes place in order to obtain the friction torque (Mr) of the joint associated with the driven motor. The invention also relates to an associated robot (8) and an associated computer program product.
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
The invention relates to a machine learning method for detecting disturbances, in particular for training an artificial neural network (20), in order to detect disturbances in a robot assembly with at least one robot (100). According to one aspect, the method has the steps of: - providing (S10) time sequences (1, T), which have been evaluated to be undisturbed, of data of a first robot assembly with at least one robot (100); - generating (S20) time sequences (3) of data with artificial disturbances on the basis of at least some (1) of the provided time sequences evaluated to be undisturbed using a generator (10) of a GAN; and - training (S30) a discriminator (20) of the GAN on the basis of the generated time sequences (3) with artificial disturbances, the artificial disturbances, and at least some (T) of the provided time sequences evaluated to be undisturbed; wherein the discriminator (20) is trained to detect the points in time (ti) and/or magnitude (A(ti)) of disturbances; and the generator (10) is trained to generate time sequences (3) with artificial disturbances which have a magnitude that is underestimated by the discriminator (20), in particular which is not detected by the discriminator or which is estimated to be lower than the artificial disturbances of the generated time sequences. The invention also relates to a machine learning method, in particular using distance- and/or clustering-based machine learning and/or with or without the use of at least one artificial neural network, for example random forests, ARMA/ARIMA models, gradient boosting, or the like, for detecting disturbances, in particular for training at least one artificial neural network (30, 40), in order to detect disturbances in a robot assembly with at least one robot (100). According to one aspect, the method has the steps of: - providing (S100) data of a first robot assembly with at least one robot (100), said data having data sets ((1.1, 2.1), (1.2, 2.2), (1.3, 2.3)) of data ((1.1, 2.1, 1.2, 2.2, 1.3, 2.3) assigned to one another, in particular in a chronological manner, each data set having one respective piece of data from a plurality of different data channels (1000, 2000); and - machine learning (S200), in particular using distance- and/or clustering-based machine learning and/or with or without the use of at least one artificial neural network, for example random forests, ARMA/ARIMA models, gradient boosting, or the like, for detecting disturbances, in particular for training at least one artificial neural network (30, 40), on the basis of data, wherein finally one piece of data of a data set is not classified as a piece of data of a disturbance if the assigned data is not classified as data of a disturbance at least in a specified number and/or group of the data channels.
The invention relates to a method for automatically scheduling the timing of a plurality of brake tests (1), that succeed one another at temporal intervals, at a plurality of brakes of a robotic arm (9) which is equipped with a plurality of joints (L1-L6) and a plurality of links connecting the joints (L1-L6) to one another and is connected to a robot controller (10) which is designed and configured to control the joints (L1-L6) and the brakes (B1-B6) in order to move the robotic arm (9). According to said method, at least one individual parameter (P1-P6) is configured for each of the brakes (B1-B6), a brake test method associated with the robotic arm (9) is automatically initialised, and the initialised brake test method is automatically carried out in accordance with the configured parameters (P1-P6). The invention also relates to a robot (8), the robot controller (10) of which is designed and configured to carry out a corresponding method.
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
A method according to the invention for modeling an object by means of a camera guided by means of a robot comprises the steps of: orienting (S30) the robot-guided camera toward a target point; moving (S40) the robot-guided camera into different poses relative to the object while maintaining the orientation toward the target point; capturing (S50) images of the object by means of the camera in the different poses; storing (S50) pose data, which depend on the pose in question, and image data, which depend on an image captured in said pose; and determining (S60, S70) a model of the object on the basis of the stored pose data and image data.
The invention relates to a method for executing a process, in particular with the aid of at least one robot (10), which method has the steps of: executing (S10) a run-through of the process with a process control, in particular of the robot; detecting (S10) a value of a first process variable (x) for this execution; and detecting (S10) an assessment (E) of this executed process run-through; the following assessment learning steps, repeated multiple times: varying (S20) the process control, in particular at least one parameter of the process control, in particular of a controller (31), by an optimiser (4) to achieve a varied process control on the basis of values of a quality criterion for executed process run-throughs; executing (S20) a run-through of the process with the varied process control; detecting (S20) a value of the first process variable for this execution; and detecting an assessment (E) of this executed process run-through; wherein a first quality factor model (51) of the process, which determines a quality factor (E') of the process on the basis of the first process variable (x), is machine-learned on the basis of these detected assessments and values of the first process variable; and the following process control optimisation steps, repeated multiple times: varying (S40) the process control by the optimiser to achieve a varied process control on the basis of values of the quality criterion for executed process run-throughs; executing (S40) a run-through of the process with the varied process control; and detecting (S40) a value of the first process variable for this execution; wherein the value of the quality criterion for at least one of the process run-throughs executed with one of the altered process controls is determined on the basis of a quality factor (E') determined by the machine-learned first quality factor model on the basis of the value of the first process variable detected for this process run-through.
G05B 13/02 - Systèmes de commande adaptatifs, c. à d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques
G06N 3/00 - Agencements informatiques fondés sur des modèles biologiques
The invention relates to a logistics system (1) having a first high-bay rack (2.1) and at least one further high-bay rack (2.2), and at least one robot arm (3) having a plurality of links (3a) and joints (3b) that connect the links (3a) so as to be automatically adjustable with respect to one another, wherein one of the links (3a) is a base-forming bottom link (4) of the robot arm (3), wherein the first high-bay rack (2.1) has a first robot-arm carrier (5.1), which has a first coupling device (6.1) which cooperates, when the robot arm (3) is in a state coupled to the first robot-arm carrier (5.1), with a mating coupling device (7) of the bottom link (4) of the robot arm (3) in such a way that, in a first configuration of the logistics system (1), the bottom link (4) of the robot arm (3) is connected to the first robot-arm carrier (5.1) in an automatically locked and automatically releasable manner, and the further high-bay rack (2.2) has a further robot-arm carrier (5.2), which has a further coupling device (6.2) which cooperates, when the robot arm (3) is in a state coupled to the further robot-arm carrier (5.2), with the mating coupling device (7) of the bottom link (4) of the robot arm (3) in such a way that, in a second configuration, different from the first configuration, of the logistics system (1), the bottom link (4) of the robot arm (3) is connected to the further robot-arm carrier (5.2) in an automatically locked and automatically releasable manner.
In a method according to the invention for adjusting a robot arm (1) which has at least one axis (10) with a drive structural member (11), an output structural member (12) mounted thereon, and a drive (M, G) with a motor (M) for moving the output structural member relative to the drive structural member, the output structural member, in particular when at least one further such axis (20) of the robot arm is at a standstill, is moved by the drive relative to the drive structural member, in particular at a maximum speed, which is reduced in comparison to automatic operation, in a search direction (S20) corresponding to a predefined movement direction in order to approach, in particular to overrun, a predefined adjustment position. This search direction is reversed (S70) and the output structural member is moved (S20) counter to the predefined movement direction in order to approach, in particular to overrun, the predefined adjustment position if, during the movement in the predefined movement direction, a collision of the output structural member with an end stop (13) on the drive structural member is detected and/or if, during the movement in the predefined movement direction, a collision of the drive structural member with an end stop on the output structural member is detected and/or if, during the movement in the predefined movement direction, a collision of the robot arm with itself or its environment (3) is detected.
G05B 19/4061 - Evitement des collisions ou des zones interdites
G05B 19/401 - 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 des dispositions de commande pour la mesure, p.ex. étalonnage et initialisation, mesure de la pièce à usiner à des fins d'usinage
A method to control a robot (1) 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.
A method according to the invention for operating an application of a robot system comprises the steps of: selecting (S10) 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 (S20) this 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 which 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 which 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 (S30) the application on the basis of the first application situation module.
The invention relates to a method for controlling a servomotor (M, M1-M6) by means of a converter (1), comprising the steps of: monitoring a circuit of the constant-voltage DC link (4) for a flow of electric current, which circuit is connected to the input circuit (3); switching off the first switching device (21, 21a) in order to end the supply of the direct-voltage DC link (4) from the electrical grid (2), if a stop signal occurs; braking the servomotor (M, M1-M6) by means of the control of the power semiconductor switches (S1-S6) of the inverter circuit (7) in generative braking operation in order to reduce the rotation speed of the servomotor (M, M1-M6), if the monitoring detects that an electric current is not flowing after the first switching device (21, 21a) has been switched off; and switching off the second switching device (22, 22a) in order to prevent the feeding of electrical energy from the direct-voltage DC link (4) into the servomotor (M, M1-M6), if the monitoring detects a flow of electric current after the first switching device (21, 21a) has been switched off. The invention further relates to an associated control device (27), to a robot (8) and to a computer program product.
H02P 3/22 - 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 alternatif par freinage sur court-circuit ou sur résistance
H02H 7/00 - Circuits de protection de sécurité spécialement adaptés pour des machines ou appareils électriques de types particuliers ou pour la protection sectionnelle de systèmes de câble ou ligne, et effectuant une commutation automatique dans le cas d'un chan
77.
METHOD FOR AUTOMATICALLY CONTROLLING THE MOVEMENT OF AT LEAST ONE JOINT OF A ROBOTIC ARM, ROBOTIC ARM AND COMPUTER PROGRAM PRODUCT
The invention relates to a method for automatically controlling the movement of at least one joint (L1-L6) of a robotic arm (9), wherein the robotic arm (9) has multiple elements (G1-G7), which can be adjusted relative to one another by the movements of the joints (L1-L6) of the robotic arm (9), and the at least one joint (L1-L6) comprises a transmission which is designed to adjust the at least one joint (L1-L6), namely by automatically controlling an electric motor (M1-M6) of the robotic arm (9) connected to the transmission. The invention also relates to a an associated robot (8) and an associated computer program product.
d,i-2d,i-1d,id,i+1d,i+2nearnear) of the permissible poses closest thereto, such that, in the case of a deviation between the current pose and the first pose, the drive forces effect a return force on the reference according to the difference, wherein the return force corresponds to a restoring force from the current pose to the first pose, according to the difference, the component of which restoring force is suppressed in the direction of a bridging between the first pose and a second pose, adjacent thereto, of the permissible poses, such that the component of a total force effected by the drive forces on the reference in the direction of the bridging is independent of the difference; and/or at least one portion of the drive forces is dependent, in particular linearly, on velocities of the drives and/or a velocity of the reference.
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
The invention relates to a method for controlling at least one servomotor (M, M1-M6) in a braking manner by means of a frequency converter (1) which comprises a rectifier circuit (3) connectable to an electric alternating-voltage network (2), a direct-voltage intermediate circuit (4), which is fed from the electric alternating-voltage network (2) in the state connected to the electric alternating-voltage network (2) and has an intermediate-circuit capacitor (5) and has a brake resistor (6), which can be connected and disconnected via a brake chopper (S7) of the direct-voltage intermediate circuit (4), and at least one inverter circuit (7), which is fed from the direct-voltage intermediate circuit (4) and has controllable semiconductor switches (S1-S6). The invention also relates to a correspondingly designed robot (8) and an associated computer program product.
H02P 3/22 - 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 alternatif par freinage sur court-circuit ou sur résistance
81.
METHOD FOR EXECUTING AN APPLICATION OF A ROBOT SYSTEM
The invention relates to a method for executing, in particular starting up, an application of a robot system, comprising the steps of: instantiating (S10) at least one first robot instance from a first robot data object template from a data object template library, having an identification and at least one coordinates system; instantiating (S10) at least one first component instance from a first component data object template from the data object template library, having an identification and at least one coordinates system; at least one of the following steps: instantiating (S10) at least one second component instance from the first component data object template or a second component data object template from the data object template library, having an identification and at least one coordinates system; and/or instantiating at least one further robot instance from the first robot data object template or a further robot data object template from the data object template library, having an identification and at least one coordinates system; and the steps of: integrating (S20) these instances into a scene graph of the robot system, which comprises at least one root coordinates system; and controlling (S30) the robot system to execute the application based on data of the scene graph.
The invention relates to a method for the control and/or monitoring a machine arrangement comprising at least one machine, in particular at least one robot (1, 2, 3), with the aid of a processor arrangement having a plurality of processors each with at least one core (11, 12, 21, 22, 31, 32), said method comprising the steps of: (a) choosing, in particular temporarily choosing (S20), 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 of, in particular as a result of, an ascertained need for redundant processing of process signals; (b) processing (S40) process signals redundantly with the aid of these selected cores; and (c) controlling and/or monitoring (S50) the machine arrangement on the basis of this processing.
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
The invention relates to a mobile care assistance apparatus (1) comprising: an autonomous vehicle (2) which has a vehicle body (3) on which a plurality of wheels (4) are rotatably mounted, at least one wheel (4) of which is driven in order to move the autonomous vehicle (2); at least one robotic arm (7) which is mounted on the autonomous vehicle (2) and has a plurality of links (8) and a plurality of joints (9), wherein the plurality of links (8) can be adjusted with respect to one another by movements of the joints (9), and for this purpose electrically controllable motors of the robotic arm (7) are in each case associated with the joints (9) so that the joints (9) can be moved automatically in a controlled manner using a robot control unit (10) of the care assistance device (1); and a coupling device (11) which is designed to guide a rollator (13) handled by a person (12), a wheelchair (14) in which a person (12) is seated, and/or a walking, sitting or standing person (12), in order to bring the person (12) from a starting location to a destination in an automatically guided manner by means of the mobile care assistance device (1). The invention also relates to an associated patient transport logistics system.
The invention relates to a method for operating an autonomous vehicle (1), comprising the step of drivingly controlling at least one wheel (4) driven onto a second subsurface (5.2) in mutually coordinated rotational directions, rotational speeds and/or steering positions with the wheels (4) remaining on a first subsurface (5.1) on the basis of imported position and/or orientation data of the geometric properties of the second subsurface (5.2) and on the basis of the movement speed and the movement direction of the second subsurface (5.2) relative to the first subsurface (5.1).
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
The invention relates to a method for operating an autonomous vehicle (1), which has a vehicle body (2), on which vehicle body a plurality of wheels (4) are rotatably mounted, of which at least one wheel (4) is driven, the wheels (4) being designed to move the autonomous vehicle (1) on a base surface (5.1, 5.2, 5.3) by virtue of the control of the wheels (4) in their respective directions of rotation, rotational velocities and/or steering positions by means of a control device (3). The invention further relates to an autonomous vehicle (1), in particular an autonomous omnidireictional-wheel vehicle, and to an associated computer program product.
The invention relates to a method for establishing a communication connection between a first node (11) in a first network of at least two networks and a second node (31) in a second network of the at least two networks. At least one node of the first and second nodes (11, 31) is an automatable industrial device (e.g. a robot) or an automatable industrial system or a controller for same. Each of the at least two networks individually forms a homogeneous address space, but the at least two networks do not form a homogeneous address space together. The method has at least the following steps: transmitting (101) a call to establish the communication connection between the first node and the second node, said call having routing path information (10/20/30/31) which indicates the routing path from the first node (11) to the second node (31), wherein the routing path information (10/20/30/31) has at least one identifier (10, 20, 30, 31) for each of the networks or nodes to be traversed on the routing path but not necessarily an identifier for the first network; and establishing (102) the communication connection between the first node (11) and the second node (31) on the basis of the routing path information (10/20/30/31). The invention additionally relates to a corresponding control device, a computer program, and a computer program product.
G05B 19/418 - Commande totale d'usine, c.à d. commande centralisée de plusieurs machines, p.ex. commande numérique directe ou distribuée (DNC), systèmes d'ateliers flexibles (FMS), systèmes de fabrication intégrés (IMS), productique (CIM)
H04L 12/66 - Dispositions pour la connexion entre des réseaux ayant différents types de systèmes de commutation, p.ex. passerelles
H04L 12/721 - Procédures de routage, p.ex. routage par le chemin le plus court, routage par la source, routage à état de lien ou routage par vecteur de distance
An input apparatus according to the invention for controlling a robot (1) has, in one embodiment, a first input means (10) for commanding a movement of a robot-fixed reference in a predefined first degree of freedom relative to a predefined, in particular environment-based, first reference system (xb, zb) and a second input means (20) for commanding a movement of the robot-fixed reference in a predefined second degree of freedom relative to a predefined, in particular robot-based, second reference system (xt, yt), wherein the first and second input means can be actuated without changing over between the two reference systems, and/or a first further input means (30) for commanding a movement of the robot-fixed reference in a predefined first further degree of freedom relative to the first reference system, wherein the first degree of freedom is a rotation of the robot-fixed reference, in particular a, in particular the, predefined robot-fixed reference axis, in particular an impact direction of a robot-guided tool or workpiece, about an axis perpendicular to the reference axis and a normal of a predefined reference plane of the reference system and about a pivot point, and the first further degree of freedom is a rotation of the robot-fixed reference, in particular reference axis, about the normal and about a, in particular the, pivot point.
The invention relates to a transport container gripper (1) comprising a first gripper device (8.1) arranged on a first fork arm (6.1) and designed to grip the transport container (7) at a first gripping section (7.1) on a first side wall of the transport container (7), and comprising a second gripper device (8.2) arranged on a second fork arm (6.2) and designed to grip the transport container (7) at a second gripping section (7.2) opposite the first gripping section (7.1) on a second side wall of the transport container (7), wherein the first gripper device (8.1) and the second gripper device (8.2) are designed to grip the transport container (7) selectively in a first orientation of the gripper fork (6), in which a bridge section (6.3) of the gripper fork (6) encompasses a third side wall of the transport container (7), or in a second orientation of the gripper fork (6), rotated out of the first orientation, in which the bridge section (6.3) of the gripper fork (6) encompasses a top wall of the transport container (7).
H01L 21/677 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitement; Appareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le transport, p.ex. entre différents postes de travail
H01L 21/687 - Appareils spécialement adaptés pour la manipulation des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide pendant leur fabrication ou leur traitement; Appareils spécialement adaptés pour la manipulation des plaquettes pendant la fabrication ou le traitement des dispositifs à semi-conducteurs ou des dispositifs électriques à l'état solide ou de leurs composants pour le maintien ou la préhension en utilisant des moyens mécaniques, p.ex. mandrins, pièces de serrage, pinces
90.
ELECTRICAL CHARGING OF A VEHICLE ENERGY STORE WITH THE AID OF A MULTIAXIAL ROBOT
The invention relates to a method for electrically charging an energy store (11) of a vehicle (10) with the aid of an automated charging assistant (20) having at least one multiaxial robot (21), comprising the following steps: - the charging assistant receives a charge request message (11) transmitted by the vehicle; - a charge point (12) of the vehicle is approached by a counterpart (22) guided by the robot, on the basis of the charge request message received, by means of motorised movement of axes of the robot by the charging assistant; - the charge point and the counterpart are connected; - the charging assistant electrically charges the energy store through the connected charge point and counterpart; - the charging assistant receives a cancel message (15; 15.1), particularly transmitted by the vehicle (10) or a person (30); - the charging assistant ends charging on the basis of the cancel message received; - the charge point and counterpart are disconnected; and - the robot-guided counterpart is removed from the charge point by means of motorised movement of axes of the robot by the charging assistant.
The invention relates to a control cabinet for at least one electrical drive controller (2), having: a control cabinet housing (3); a first cabinet compartment (4.1) which is formed in the control cabinet housing (3) and has at least one inlet opening (5) for fresh air, at least one first transfer opening (6.1, 6.2, 6.3), and a fresh air duct (7) flow-connecting the at least one inlet opening (5) to the at least one first transfer opening (6.1, 6.2, 6.3); a second cabinet compartment (4.2) which is formed in the control cabinet housing (3) and has at least one outlet opening (8) for exhaust air, at least one second transfer opening (9.1, 9.2, 9.3), and an exhaust air duct (10) flow-connecting the at least one outlet opening (8) to the at least one second transfer opening (9.1, 9.2, 9.3); and a third cabinet compartment (4.3) which is formed in the control cabinet housing (3) and is sealed off in terms of flow from the first cabinet compartment (4.1), the second cabinet compartment (4.2) and the environment (12) outside the control cabinet (1); wherein the control cabinet housing (3) has a partition (13) which delimits the third cabinet compartment (4.3) in terms of flow from the first cabinet compartment (4.1) and the second cabinet compartment (4.2) and has the at least one first transfer opening (6.1, 6.2, 6.3) and the at least one second transfer opening (9.1, 9.2, 9.3), and the third cabinet compartment (4.3) is in the form of a rack with at least one drawer (14.1, 14.2, 14.3), wherein each drawer (14.1, 14.2, 14.3) is designed to receive an insertable control device (2).
The invention relates to a cable feedthrough (1) for a control cabinet (2) having a casing (3) which can be closed with a casing cover (4), wherein the cable feedthrough (1) comprises a frame (5) which is open on one side and can be fastened detachably to and flush with an end face (6) of the casing (3), wherein at least one removable feed element (8a-8f) for feeding through a cable (9a, 9b) is situated in the frame (5).
H02B 1/30 - Enveloppes; Leurs parties constitutives ou accessoires à cet effet - Parties constitutives ou accessoires
H02G 3/22 - Installations de câbles ou de lignes à travers les murs, les sols ou les plafonds, p.ex. dans les immeubles
H02B 1/28 - Enveloppes; Leurs parties constitutives ou accessoires à cet effet étanches à la poussière, aux projections, aux éclaboussures, à l'eau ou aux flammes
The present invention relates to a robot arm comprising: a first structural component, more particularly a main frame (100) for fixing the robot arm in its surroundings; a second structural component, more particularly a carousel (200), which is mounted rotatably around an axis of rotation (A) on the first structural component (100); and a transmission (10-12) for twisting the second structural component (200) relative to the first structural component (100), which transmission has a transmission housing (10), wherein a housing (110) of the first structural component (100) has at least one integrated cavity (120) for receiving lubricant for the transmission, which cavity is fluidically connected to the transmission housing (10) by at least one connecting duct (123) in the housing (110) of the first structural component (100).
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
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
94.
CARRYING OUT AN APPLICATION USING AT LEAST ONE ROBOT
The invention relates to a method for carrying out an application using at least one robot (1), comprising the steps, repeated multiple times: ascertaining (S100) a stochastic value of at least one robot parameter and/or at least one environmental model parameter, in particular on the basis of a specified stochastic parameter model and/or using at least one random generator (3a); and carrying out (S200) a simulation, in particular a multi-stage simulation, of the application on the basis of the ascertained stochastic value; the steps: training (S200, S500) at least one control agent and/or at least one classification agent using the simulations by means of machine learning, in particular training a first control agent and/or first classification agent by means of first stages of the simulations, and at least one additional control agent and/or additional classification agent by means of additional stages of the simulations; and carrying out (S600) the application using the robot; and at least one of the steps: configuring (S400) a controller of the robot, by means of which the application is carried out wholly or in part, on the basis of the trained control agent, in particular on the basis of the trained control agents; and/or classifying (S700) the application using the trained classification agent, in particular using the trained classification agents.
The invention relates to the field of operating a robot system by means of a mobile operating device which is external to the robot system. In particular, the invention relates to a method and a system for automatically securing the operation of a robot system and corresponding components of the system, said operation be controlled by such 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, said operating signal containing a safety-relevant control command for the robot system. The control command is only released for execution by the robot system if a presence check has ascertained that the last received presence signal satisfies a presence criterion which is specified with respect to the determination of a spatial proximity of the operating device to the robot system. Additionally, a configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration on the basis of the result.
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
96.
MACHINE LEARNING AN OBJECT DETECTION PROCESS USING A ROBOT-GUIDED CAMERA
The invention relates to a method for machine learning an object detection process using at least one robot-guided camera (12) and at least one learning object (30), having the steps of: - positioning (S10) the camera in different positions relative to the learning object using a robot (10), wherein at least one localization image, in particular a two-dimensional and/or a three-dimensional localization image, which images the learning object, is captured in each position and is stored; - ascertaining (S20-S60) a virtual model of the learning object on the basis of the positions and at least some of the localization images; - ascertaining (S70-S90) 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, on the basis of the virtual model; and - machine learning (S100) an object detection of the reference on the basis of the ascertained position in the at least one training image. A method according to the invention for operating a robot (10) has the steps of: - ascertaining (S130, S140) a position of at least one reference of an operating object (30') using the object detection process which has been learned using the method; and - operating (S150, S160) the robot on the basis of said position.
G06K 9/00 - Méthodes ou dispositions pour la lecture ou la reconnaissance de caractères imprimés ou écrits ou pour la reconnaissance de formes, p.ex. d'empreintes digitales
The invention relates to a method for operating at least one robot (2, 30), comprising the steps of: - determining (S10-S30) the smallest distance of the robot from an obstacle (4), in particular the closest obstacle to the robot, in particular excluding at least one previously known, in particular temporary, obstacle; - reducing (S40, S50) the maximum speed of the robot, if this smallest distance is below a first minimum distance; and - reducing (S40, S50) this maximum speed of the robot more if the smallest distance is below a second minimum distance which is smaller than the first minimum distance.
The invention relates to a method and an apparatus for friction current joining, the friction current joining apparatus (1) having a friction device (7), a compressing device (8), an electrical current source (16) and a programmable controller (24), as well as workpiece receptacles (14, 15) for the workpieces (2, 3) to be joined. The friction current joining apparatus (1) is controlled in such a way that the workpieces (2, 3) are first brought into contact with the joining surfaces (4, 5) thereof, which face each other, in an approach phase (a), and then, in a friction phase (b), the joining surfaces (4, 5) thereof are rubbed against each other and leveled under a pressing pressure (p) by mutual relative movement, wherein the rubbing relative movement is subsequently permanently ended and, in a compression phase (c), the contacting joining surfaces (4, 5) of the workpieces (2, 3) are pressed together, plasticized and joined under a pressing pressure (p) and under conductive heating by means of electrical current (I).
B23K 20/02 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p.ex. revêtement ou placage au moyen d'une presse
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 28/02 - Procédés ou appareils combinés pour le soudage ou le découpage
99.
METHOD AND SYSTEM FOR MONITORING A ROBOT ARRANGEMENT
A method according to the invention for monitoring a robot arrangement, which has at least one robot (10), comprises the steps of: - capturing (S10) optical signals from a plurality of signal sources (20) by means of at least one sensor (30-32), wherein the signal sources and/or the sensor is/are positioned on the robot arrangement; and - triggering (S50) 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 particular 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.
Disclosed is a method according to the invention for controlling a mobile robot (10), having the following, in particular cyclically repeated, steps: a1) approaching a first pose of a chassis (12) of the robot on a surface (20) in order to assume a first predefined pose (P1) of the chassis; b1) determining the first pose (P1') approached in this step a1); and an) approaching a second pose of the chassis on the surface in order to assume a second predefined pose (Pn) of the chassis after this step a1) in terms of time; wherein - a first correction is determined on the basis of a discrepancy between the approached and predefined first poses of the current step a1) and/or at least one earlier step a1), in particular a filter and/or mean value of these discrepancies; and step a1) is carried out again after this step an) in terms of time and the first pose is approached here on the basis of this previously determined first correction.
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