An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another. The operating device includes three input arrangements which are each configured to specify a movement of the manipulator along an x-axis, y-axis or z-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis, y-axis or z-axis of the manipulator. The three input arrangements are thereby respectively aligned along one of three main axes of the operating device.
B25J 13/06 - Postes de commande, p.ex. pupitres, tableaux de contrôle
B25J 13/02 - Moyens de commande à préhension manuelle
G05B 19/19 - 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 systèmes de commande de positionnement ou de commande de contournage, p.ex. pour commander la position à partir d'un point programmé vers un autre point ou pour commander un mouvement le long d'un parcours continu programmé
4.
Manipulator system and method for identifying operating devices
A manipulator system includes at least one manipulator and a control device assigned to the manipulator; and at least one mobile operating device for controlling the at least one manipulator. In addition, an electronic display device is provided, which is arranged to display at least one optically readable identifier, and at least one optical reading device is provided and arranged to detect the displayed optically readable identifier. The manipulator system is arranged to release control of the manipulator by means of the mobile operating device when the optically readable identifier has been correctly detected by the optical reading device.
A method for operating a manipulator system, that includes a driverless transport system having a driverless transport vehicle. A protected field of the manipulator system is monitored by a monitoring device. Environment information of the manipulator system, including for example an orientation, position, movement, and/or state of an object or an obstacle in the environment, is obtained and used to adjust the protected field.
G06F 17/00 - TRAITEMENT ÉLECTRIQUE DE DONNÉES NUMÉRIQUES Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des fonctions spécifiques
F16P 3/14 - Dispositifs de sécurité agissant en conjonction avec la commande ou le fonctionnement d'une machine; Commandes exigeant l'emploi simultané de plusieurs parties du corps humain avec dispositifs, p.ex. des éléments sensibles, qui agissent sur la commande ou le fonctionnement de la machine lorsqu'une partie du corps humain se trouve dans ou près de la zone de danger les dispositifs étant des cellules photo-électriques ou d'autres dispositifs sensibles sans contact mécanique
A method for moving along a predetermined path with a robot in an at least a partially automated manner includes determining a deployment position on a current path section of the predetermined path for which a distance parameter satisfies a predetermined condition, and moving to the deployment position with the robot. In one aspect, the robot may be moved to the deployment position if a deployment condition is satisfied. The distance parameter may be determined on the basis of a distance of a current position of the robot relative to the current path section. The predetermined condition may be that the distance parameter has a value that is less than or equal to the values of the distance parameter of all positions in a partial area of the current path section, which is in particular complementary to the deployment position.
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
8.
Torque sensor and method for detecting torques occurring on or in a joint of an articulated arm robot
G01L 3/10 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple comporte un arbre élastique en torsion impliquant des moyens électriques ou magnétiques d'indication
G01L 5/22 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de la force appliquée aux organes de commande, p.ex. organes de commande des véhicules, détentes
G01L 5/16 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de plusieurs composantes de la force
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p.ex. à la vue ou au toucher
A method for controlling a manipulator system including a manipulator, several drives and a mobile platform A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is used for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.
A method for actuating a manipulator system by means of a portable end device, a corresponding portable end device, and a robot system. The portable end device includes a 3-D camera that is a plenoptic camera. A three-dimensional image is acquired by means of the 3-D camera of the portable end device of at least part the manipulator system to be actuated. The image identifies at least one actuatable object in the manipulator system. A task is selected for the identified object to actuate. By selecting the identified actuatable object, the object is actuated to perform the task.
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
11.
Determining the robot axis angle and selection of a robot with the aid of a camera
A method for identifying a manipulator by means of a portable terminal device, wherein the portable terminal device comprises a 3D camera. The method operates to detect a three-dimensional image of at least one part of the manipulator to be identified by means of the 3D camera of the portable terminal device. An actual status of the manipulator is determined based on the three-dimensional image detected. The 3D camera is a plenoptic camera, and the detected three-dimensional image comprises a four-dimensional light field of at least one part of the manipulator to be identified.
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
A handheld robot operation unit includes a housing having a handle-like grip section, a basic safety control device arranged in the housing, and at least one holder connected to the housing and configured for manually detachably coupling the housing to a device that is different from the handheld robot operation unit and which electronically communicates with the basic safety device. The holder includes a first holding arm for mechanically connecting the handheld robot operation unit to a first edge section of the device, with an opposite edge section of the device being free. A second holding arm is configured to mechanically connect the handheld robot operation unit to a second edge section of the device, adjacent the first edge section and forming a corner section of the device, with an edge section of the device opposite the second edge section being free. A corresponding method is disclosed.
A vehicle combination and a method for forming and operating a vehicle combination that includes at least first and second autonomous vehicles. Each of the autonomous vehicles is configured to automatically control its motions in a state wherein the first and second autonomous vehicles do not form the vehicle combination. When the vehicle combination is formed, the two autonomous vehicles are connected via a communications connection and the first autonomous vehicle automatically controls the motion of the second autonomous vehicle via the communication connection.
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
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
B62D 59/04 - Remorques avec roues motrices ou éléments similaires entraînées par un ensemble de propulsion placé sur la remorque
A method for altering an initially predetermined path of a robot arrangement having at least one robot includes selecting a portion of the initially predetermined path, altering the selected portion of the path, and predetermining an altered path based on the altered portion of the path. A deviation between the initially predetermined path and the altered path is determined, and a reaction is triggered if the deviation fulfills a predetermined condition for a reaction. In another aspect, a computer programming product, when executed by a computer, causes the computer to select a portion of the initially predetermined path, alter the selected portion of the path, predetermine an altered path based on the altered portion of the path, determine a deviation between the initially predetermined and the altered path, and trigger a reaction if the deviation fulfills a predetermined condition for a reaction.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
A robotic arm of an industrial robot includes successive links connected by joints having respective drives and associated transmissions for moving the links. First and second links have respective first and second housings that transfer forces and moments arising from the weight of the robotic arm, or a load carried by the arm, to adjacent links. A first drive rotatably connecting the first and second links includes a drive housing, a rotor, and a stator connected to the drive housing. The drive housing is fastened to the first housing of the first link and forms an external wall of the robotic arm. The transmission associated with the first drive includes an input link that is joined with the rotor of the first drive. An output of the first drive is connected to a flange that is fastened to the second housing and rotatable relative to the drive housing.
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
A method for controlling a multiaxial jointed-arm robot. A plurality of reference data sets are recorded during a previous monitored reference travel. During an operational travel, a trajectory progress variable is established and is used to monitor the movement of the manipulator on the basis of the reference data sets.
G05B 19/42 - Systèmes d'enregistrement et de reproduction, c. à d. dans lesquels le programme est enregistré à partir d'un cycle d'opérations, p.ex. le cycle d'opérations étant commandé à la main, après quoi cet enregistrement est reproduit sur la même machine
An apparatus for recording positions in a control program of a manipulator, which includes a manipulator, a controller having a control program, and a manual control device, wherein the controller can actuate the manipulator 10 in a compliance control, in which the manipulator is allowed to occupy an actual position different to the nominal position, wherein the controller, when recording the current position of the manipulator in the control program, carries over into the control program in a situation-based manner the nominal position, the actual position or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed.
G05B 19/425 - Apprentissage de positions successives par commande numérique, c.à d. des commandes étant introduites pour commander l'asservissement en position de la tête porte-outil ou de l'effecteur de bout de bras
18.
Method and manipulator assembly for the conditional stopping of at least one manipulator on a path
A method for the conditional stopping of at least one manipulator and a manipulator assembly. The manipulator travels along a path which has a stopping point. In order to be able to stop the manipulator at the stopping point, a braking point on the path is calculated as a function of a speed of the manipulator. If the status of a travel condition variable necessitates braking of the manipulator in the event of exceeding the braking point, the manipulator is braked.
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 controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.
A modular low-floor transport system comprises at least one drive module and at least one carrier module. The drive module includes a drive base and a drive chassis connected to the drive base. The drive chassis includes at least one driven wheel coupled to a drive. The carrier module includes a carrier base and a carrier chassis connected to the carrier base. The carrier chassis includes at least one non-driven carrier wheel. The drive base and the carrier base are rigidly connected to each other with respect to a stroke direction, and the drive chassis is movably mounted in the stroke direction to the drive base.
B66F 9/06 - Dispositifs pour lever ou descendre des marchandises volumineuses ou lourdes aux fins de chargement ou de déchargement se déplaçant, avec leurs charges, sur des roues ou sur un dispositif analogue, p.ex. chariots élévateurs à fourche
B60G 17/033 - Suspensions élastiques permettant d'ajuster les caractéristiques des ressorts ou des amortisseurs de vibrations, de réguler la distance entre la surface porteuse et la partie suspendue du véhicule ou de bloquer la suspension pendant l'utilisation pou les caractéristiques des ressorts caractérisés par des moyens de régulation agissant sur plusieurs ressorts
B60G 99/00 - Matière non prévue dans les autres groupes de la présente sous-classe
B60B 19/00 - Roues non prévues ailleurs ou ayant des caractéristiques précisées dans l'un des sous-groupes du présent groupe
The invention relates to a method and a system for determining gripping regions on an object. The object is to be gripped, based on the determined gripping regions, by means of a robot. At least one first gripping pose of the robot is taught at the object, and additional gripping poses are determined at the object. Based on these gripping poses, a first gripping region is configured.
The invention relates to a method and a system for controlling a robot, which has at least one redundant degree of freedom. The method according to the invention prevents the robot from colliding with its surrounding environment and/or from getting into an inconvenient position as a result of its redundancy, and does so without causing any disadvantageous displacement of the tool center point.
G05B 19/04 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique
G05B 19/18 - 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
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
The invention relates to a method or a system for the dependable stopping of axes of an industrial robot. The industrial robot comprises a control device (501, 502), power electronics (201, 202, 203) and a DC source (300), as well as at least one axis (700), which is assigned to an electric motor (100) and to a mechanical brake (600). In order to stop the axis a direct current is supplied by the DC source in at least one motor phase of the motor, which generates a braking torque.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention relates to a method and a system for controlling a robot, which non-simultaneously shares a working space with another robot. On the basis of a determined residual period, in which the working space remains occupied, the path planning of a robot is adjusted in a cycle time-optimized manner, in order to avoid a deceleration at the working space limit and a wait for the working space to be vacated.
A method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor guided on the robot are recorded. A plurality of measurable objects is measured, the sensor being guided with the robot along the actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot. The compensation stage is carried out after a determined number of measurements.
G01B 21/00 - Dispositions pour la mesure ou leurs détails, où la technique de mesure n'est pas couverte par les autres groupes de la présente sous-classe, est non spécifiée ou est non significative
26.
Method of programming an industrial robot and industrial robots
The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.
Automated guided vehicle, system comprising a computer and an automated guided vehicle, method of planning a virtual track, and method of operating an automated guided vehicle
The invention relates to an automated guided vehicle, a system with a computer and an automated guided vehicle, a method of planning a virtual track and a method of operating an automated guided vehicle. The automated guided vehicle is to move automatically along a virtual track within an environment from a start point to an end point. The environment comprises sections connecting the start point the end point, and the intermediate point. A graph is assigned to the environment.
G01C 22/00 - Mesure de la distance parcourue sur le sol par des véhicules, des personnes, des animaux ou autres corps solides en mouvement, p.ex. en utilisant des odomètres ou en utilisant des podomètres
G01C 21/34 - Recherche d'itinéraire; Guidage en matière d'itinéraire
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G06Q 10/04 - Prévision ou optimisation spécialement adaptées à des fins administratives ou de gestion, p. ex. programmation linéaire ou "problème d’optimisation des stocks"
G05D 1/00 - Commande de la position, du cap, de l'altitude ou de l'attitude des véhicules terrestres, aquatiques, aériens ou spatiaux, p.ex. pilote automatique
G01C 21/20 - Instruments pour effectuer des calculs de navigation
28.
Method and programming means for modification of a robot path
A method in accordance with the invention for modification of a robot path which has a plurality of path points comprises the following steps of specifying a modification region which has at least two path points of the robot path, specifying a modification of a reference point of the modification region, and automated modification of the modification region, in particular of path points of the modification region, on the basis of the specified modification.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
G05B 19/425 - Apprentissage de positions successives par commande numérique, c.à d. des commandes étant introduites pour commander l'asservissement en position de la tête porte-outil ou de l'effecteur de bout de bras
29.
Method and apparatus for fixing a manipulator axis
A method for fixing the position at least one axis of a manipulator, in particular of a robot, includes closuring a mechanical brake of the axis, deactivating an actuator of the axis with a motion controller, monitoring the mechanical brake, and activating the actuator with the motion controller if a monitoring system identifies a fault condition of the mechanical brake.
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
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
30.
Method for programming an industrial robot and industrial robot
A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a 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
Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument
A surgical instrument arrangement has a modular motor drive unit which has a drive arrangement having at least one output element, an instrument shaft that can be detachably connected to the drive unit, and a drive arrangement having at least one input drive element. The output drive arrangement and the input drive arrangement can be coupled to each other by a mechanical interface that has at least one single-sided linkage, a pin, and a cut-out, wherein the pin can be radially expanded in the cut-out. Alternatively, a gap may be formed between the pin and the cut-out, which gap is wavy in the radial direction, and in which a radially displaceable, axially fixed intermediate element arrangement is arranged. The surgical instrument arrangement may also include a sterile barrier, which is provided to envelop the drive unit and to be arranged between the drive unit and the instrument shaft.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
32.
Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument
A surgical instrument arrangement has a modular motor drive unit which has a drive arrangement having at least one output element, an instrument shaft that can be detachably connected to the drive unit, and a drive arrangement having at least one input drive element. The output drive arrangement and the input drive arrangement can be coupled to each other by a mechanical interface that has at least one single-sided linkage, a pin, and a cut-out, wherein the pin can be radially expanded in the cut-out. Alternatively, a gap may be formed between the pin and the cut-out, which gap is wavy in the radial direction, and in which a radially displaceable, axially fixed intermediate element arrangement is arranged. The surgical instrument arrangement may also include a sterile barrier, which is provided to envelop the drive unit and to be arranged between the drive unit and the instrument shaft.
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
33.
Procedure and control means for controlling a robot
A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
A robotic surgery system includes a robot and an instrument assembly. The instrument assembly includes a drive unit with at least one rotary drive having an electric motor and a drive shaft that has a coupling part for coupling to a drive shaft of the instrument; an instrument including an instrument shaft and a drive shaft that has a coupling part for coupling to a drive shaft of the drive unit; and an instrument interface including a sheath that encompasses the drive unit. In order to detachably couple an instrument module to an instrument part of a surgical instrument, an electromagnet in a magnet assembly of the instrument module is activated or deactivated, a permanent magnet of said magnet assembly is moved into a locking position and/or an angular position of a coupled counter element assembly of the instrument part is detected by an angle sensor of the instrument module.
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
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
G01D 5/54 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens spécifiés dans plusieurs des groupes , , , et
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
35.
Method for manually adjusting the pose of a manipulator arm of an industrial robot and industrial robots
A method for manually guided adjustment of the pose of a manipulator arm of an industrial robot includes detecting a guidance force applied to the manipulator arm by an operator of the industrial robot, determining one of at least two degrees-of-freedom of a reference coordinate system as a selected freedom direction, wherein the selected freedom direction corresponds to the degree-of-freedom in which the guidance force has its greatest force vector component, and controlling the drives of the industrial robot using force control in such a manner that a pre-specified reference point associated with the manipulator arm is moved only in the selected freedom direction as a result of movement of the manipulator arm by an operator during a manually-guided adjustment of the pose of the manipulator arm.
G05B 19/423 - Apprentissage de positions successives par guidage, c.à d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.
A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.
The invention relates to an automated guided vehicle and a method for operating an automated guided vehicle. Upon arriving at a destination, then the automated guided vehicle is moved, based on a comparison of signals or data assigned to the environment detected by at least one sensor with signals or data which are assigned to a target position or to a target position and orientation of the automated guided vehicle at the destination, such that the actual position or the actual position and orientation is the same as the target position or target position and orientation at least within a pre-specified tolerance.
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
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
39.
Automated guided vehicle, system having a computer and an automated guided vehicle, and method for operating an automated guided vehicle
The invention relates to an automated guided vehicle, a system having a computer and an automated guided vehicle, and a method for operating an automated guided vehicle. The automated guided vehicle is to travel along track sections automatically from a start point to an end point.
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
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
G06Q 10/04 - Prévision ou optimisation spécialement adaptées à des fins administratives ou de gestion, p. ex. programmation linéaire ou "problème d’optimisation des stocks"
G01C 21/34 - Recherche d'itinéraire; Guidage en matière d'itinéraire
According to a method according to the invention for controlling a robot, in particular a human-collaborating robot, a robot- or task-specific redundancy of the robot is resolved, wherein, in order to resolve the redundancy, a pose-dependent inertia variable of the robot is minimized.
A method of safety monitoring for a robot assembly with at least one robot that is configured with a linking function arrangement with at least one first linking function including a fixed and predetermined number of monitoring functions of a monitoring function arrangement. The monitoring functions are logically linked to one another such that the first linking function has a reaction state whenever all of the monitoring functions indicate the violated and/or error state. The first linking function does not have a reaction state whenever any monitoring function from the plurality of monitoring functions does not indicate the violated and/or error state. The reaction state is executed by the controller when all of the monitoring functions are in the violated and/or error state.
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 is concerning a robotic arm that features several consecutive mobile links and motors associated with axes relative to one another for the moving of the links. At least one of the links is selectively mountable in at least two configurations relative to its adjacent links.
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
Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.
An electrical device having a clocked circuitry, and a method for testing the power supply unit of the electrical device. The electrical device comprises an electrical load, a clocked power supply unit, at least one pulse transformer and an evaluation device. The power supply unit comprises a power stack having at least one power semiconductor switch and is configured for generating a clocked voltage for the electrical load from an electric voltage based on an alternating on/off switching of the power semiconductor switch. The power stack exhibits at least one current path, through which an electric current flows during operation. The pulse transformer generates a signal assigned to the change in the charge and/or the direction of the electric current flowing through the current path. The evaluation device evaluates the signal coming from the pulse transformer and draws a conclusion regarding the operational reliability of the power semiconductor switch.
H02M 3/155 - Transformation d'une puissance d'entrée en courant continu en une puissance de sortie en courant continu sans transformation intermédiaire en courant alternatif par convertisseurs statiques utilisant des tubes à décharge avec électrode de commande ou des dispositifs à semi-conducteurs avec électrode de commande utilisant des dispositifs du type triode ou transistor exigeant l'application continue d'un signal de commande utilisant uniquement des dispositifs à semi-conducteurs
45.
Electronic power circuit, electric motor, and procedure for checking the operability of an electronic power circuit
An electronic power circuit, electrical machine and a method for verifying the functionality of an electronic power circuit. The invention relates to an electronic power circuit, an electrical machine with the electronic power circuit and a method for verifying the functionality of the electronic power circuit. The electronic power circuit comprises a power unit with at least one power semi-conductor switch, which is equipped to generate a pulsed electrical voltage for an electrical consumer from an electrical voltage on the basis of an alternating powering on and off of the at least one power semiconductor switch, and control electronics equipped to control the power semiconductor switch for the alternating powering on and off.
H02H 7/122 - 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 pour redresseurs pour convertisseurs ou redresseurs statiques pour onduleurs, c. à d. convertisseurs de courant continu en courant alternatif
H02M 7/5387 - Transformation d'une puissance d'entrée en courant continu en une puissance de sortie en courant alternatif sans possibilité de réversibilité par convertisseurs statiques utilisant des tubes à décharge avec électrode de commande ou des dispositifs à semi-conducteurs avec électrode de commande utilisant des dispositifs du type triode ou transistor exigeant l'application continue d'un signal de commande utilisant uniquement des dispositifs à semi-conducteurs, p.ex. onduleurs à impulsions à un seul commutateur dans une configuration en pont
H02M 1/32 - Moyens pour protéger les convertisseurs autrement que par mise hors circuit automatique
G01R 31/327 - Tests d'interrupteurs de circuit, d'interrupteurs ou de disjoncteurs
G01R 31/42 - Tests d'alimentation d'alimentations en courant alternatif
H02M 1/092 - Circuits spécialement adaptés à la production d'une tension de commande pour les dispositifs à semi-conducteurs incorporés dans des convertisseurs statiques pour la commande simultanée de dispositifs à semi-conducteurs connectés en série ou en parallèle les signaux de commande étant transmis optiquement
H02M 1/08 - Circuits spécialement adaptés à la production d'une tension de commande pour les dispositifs à semi-conducteurs incorporés dans des convertisseurs statiques
An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.
An industrial robot includes a robot arm having multiple connecting links connected by joints, wherein at least two adjacent connecting links are connected by a swivel joint and can be adjusted by a motor. A mechanical stop device defines a maximum rotatable adjustment angle between the adjacent links and includes a stop projection connected to one of the two adjacent connecting links, an engaging piece connected to the other one of the two adjacent connecting links, and a trailing stop which can be adjusted by the engaging piece. The trailing stop comprises a trailing stop body and an annular body which is connected with the trailing stop body and which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.
H01H 25/06 - Organe moteur à mouvement angulaire et à mouvement rectiligne, le mouvement rectiligne s'effectuant le long de l'axe du mouvement angulaire
The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.
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
49.
Industrial robot with actuators extending in a primary hand enclosure
An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.
The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.
A telepresence system includes a man-machine interface and a teleoperator configured to communicate bidirectionally with the man-machine interface via a communications channel. The teleoperator performs actions based on first signals generated due to a manual operation of the man-machine interface and transmitted over the communication channel, and sends second signals to the man-machine interface over a second communication channel. At least one buffer device buffers signals transferred through the communication channel and releases the signals delayed so that the signals coming from the man-machine interface and the signals coming from the teleoperator each are transmitted through the communication channel with an effective constant time delay.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
A method for designating and/or controlling a manipulator process for a manipulator configuration having at least one manipulator, in particular, an industrial robot, wherein the manipulator process includes a given oriented manipulator path for the manipulator configuration. The method includes designating or executing at least one action by the manipulator configuration, in particular, differently, in response to a reverse movement running counter to the oriented manipulator path, and/or a return movement running in the same direction as the oriented manipulator path.
G05B 19/04 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique
G05B 19/18 - 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
G05B 19/4155 - Commande numérique (CN), c.à d. machines fonctionnant automatiquement, en particulier machines-outils, p.ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'u caractérisée par le déroulement du programme, c.à d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p.ex. choix d'un programme
a positioning device (17), designed to position the robot arm (2), which can be automatically moved on the support vehicle (1), in relation to the support vehicle (1), and a drive dedicated to the positioning device (17) for moving the robot arm (2) in relation to the support vehicle (1).
B62D 57/00 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
B25J 5/04 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage dans lequel le chemin de guidage est aussi mobile, p.ex. du type pont roulant
B25J 9/02 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p.ex. du type à coordonnées cartésiennes
In addition to an automatic operating mode (“AUTOMATIC”), in which protective monitoring (1) is carried out, and a set-up operating mode (“SET-UP”), in which manual control input (3, 6) is provided, a method according to the invention for controlling a robot comprises a remote access operating mode (“REMOTE ACCESS”) in which the protective monitoring (1) is carried out and manual control input (3, 5, 7) is provided.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention concerns an industrial robot and a method to determine a torque having an effect on a limb of the robotic arm. The robotic arm has several sequentially arranged limbs, of which a first limb is stored relative to a second limb of the limbs on an axis of rotation, and using a stationary motor relative to the second limb and a gearbox connected to the motor, is rotatable around the axis of rotation.
A manipulator configuration according to the invention comprises at least one manipulator and at least one control device and features a mechanical energy storage device, which is configured for storing mechanical energy of at least one manipulator.
H02P 3/14 - Dispositions pour l'arrêt ou le ralentissement de moteurs, génératrices électriques ou de convertisseurs dynamo-électriques pour arrêter ou ralentir individuellement un moteur dynamo-électrique ou un convertisseur dynamo-électrique pour arrêter ou ralentir un moteur à courant continu par freinage en récupération
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention relates to a method for operating an autonomous industrial truck (1), having the following method steps: determining, by means of a measuring apparatus (6) of the autonomous industrial truck (1), whether the industrial truck potentially hits at least one obstacle (7) on the basis of the present movement of said industrial truck (1), determining that point (14) of the industrial truck (1), and determining a maximum velocity for the present movement of the industrial truck (1) on the basis of the determined distance (d), with the result that the industrial truck reliably comes to a standstill in front of the obstacle (7) on the basis of possible braking of the industrial truck (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
B66F 9/06 - Dispositifs pour lever ou descendre des marchandises volumineuses ou lourdes aux fins de chargement ou de déchargement se déplaçant, avec leurs charges, sur des roues ou sur un dispositif analogue, p.ex. chariots élévateurs à fourche
B66F 17/00 - Dispositifs de sécurité, p.ex. pour limiter ou indiquer la force de levage
G01S 17/93 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions
G01S 13/93 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions
An invention-based control system for at least one robot comprises a, especially symmetric, multi-core architecture with a first virtual machine (V1) with at least one computing engine (C3), which has been provided for controlling at least one process application (P) of this robot.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
A handling system and method for automatically moving a gravity-based load body using a robot. The load body is supported by a load body holding means connected to an end effector flange of the robot. A gravity compensation device includes a connector element acting on an element or the end effector flange of the robot to compensate for the gravity of the load body.
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
62.
Process module library and programming environment for programming a manipulator process
A process module library according to the invention for programming a manipulator process, in particular an assembly process, comprises a plurality of parametrisable process modules (“search( )”, “peg_in_hole( )”, “gear( )”, “screw( )”) for carrying out a sub-process which in particular is common to different manipulator processes. Each of the process modules comprises a plurality of basic commands of a common set of basic commands for carrying out a basic operation, in particular an atomic or molecular operation, and a process module can be linked, in particular mathematically, to a further process module and/or a basic command. During programming, a manipulator can be controlled by means of a functional module of a graphic programming environment (100).
G05B 19/04 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique
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
A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.
The invention relates to a medical work station which has a medical instrument which is intended to be inserted at least partially into the interior of a lying being for treating the latter, an imaging device which is set up to create image data records of the interior of the living being during the treatment, and a robot. The robot includes a robot arm having a plurality of members situated one after another, on which the imaging device or the medical instrument may be situated, and a control device intended for moving the robot arm, which is set up to move the robot arm in such a way that the imaging device attached to the robot arm follows a motion of the medical instrument, or the medical instrument attached to the robot arm follows a motion of the imaging device.
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 5/00 - Mesure servant à établir un diagnostic ; Identification des individus
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
65.
Machine with position determination of relative rotatable members
The invention relates to a machine comprising a first member, a rotatable second member rotatable relative to the first member relative to an axis, a control device, a drive connected with the control device for moving the two members relative to one another, and a first Hall sensor connected with the control device and arranged on the first member. On the second member, a first, second and third magnet are arranged next to each other on a common circular trajectory such, that during a rotation of the two members relative to one another, the first Hall sensor is located at a specific position in the detection zone of the magnets. The second magnet which is developed as the center magnet is facing towards the first Hall sensor with another magnetic pole than the first and third magnet.
G01B 7/30 - Dispositions pour la mesure caractérisées par l'utilisation de techniques électriques ou magnétiques pour tester l'alignement des axes
G01D 5/249 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques produisant des impulsions ou des trains d'impulsions utilisant des impulsions codées
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
G01D 5/14 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens électriques ou magnétiques influençant la valeur d'un courant ou d'une tension
The invention relates to a method for operating a robot (R), and a correspondingly set-up robot. The robot (R) has a robot arm (M) having a plurality of members (1) following sequentially, an attaching device (3) for attaching an end effector (4, 46), and drives for moving the members (1), and a control device (S) connected to the drives. Stored in the control device (S) is a hierarchical regulating and control strategy having a plurality of differently prioritized regulating and control functionalities, and the method has the following process step: during the movement of the robot arm (M), switching over to a higher-prioritized regulating and control functionality, as soon as stable movement of the robot arm (M) by means of the higher-prioritized regulating and control functionality is possible, and an execution condition independent of the higher-prioritized regulating and control functionality is fulfilled.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
G05B 19/414 - Structure du système de commande, p.ex. automate commun ou systèmes à multiprocesseur, interface vers le servo-contrôleur, contrôleur à interface programmable
The invention relates to a method for creating a robot model (17) of an industrial robot (1) which has a robotic arm (2) having a plurality of successive limbs (3-8) which are adjustable by means of drives (11-16) via transmissions (5) in relation to axes (A1-A2), controlled by a control device (10) of the industrial robot (1). According to the invention, the robotic arm (2) is moved in a plurality of poses. At least one of the limbs (4) is moved in the same first movement direction (18) by means of the drive (11) thereof at least upon approaching the individual poses. In order to obtain the robot model (17), the robotic arm (2) is measured at each of the poses thereof.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
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
68.
Method for determining a drive position of an electric drive
A method for referencing a drive position of an electric drive of a gripper half of a production gripper in a closed position of two gripper halves includes closing the open gripper halves, determining multiple actual positions of an electric drive and tracking error values of the electric drive in a time interval during the closing of the gripper halves until beyond a point in time in which the closed position is reached, determining a straight line based on the ascertained tracking error values depending on a related time-tracking-error function, determining the instant of the zero crossing of the straight line of the time-tracking-error function, and determining the actual position of the electric drive that corresponds to the instant of the zero crossing of the straight line of the time-tracking-error-function. A production gripper and a respective control device for operating the production gripper are set up to carry out such a method.
The invention relates to a medical work station which has a medical technology apparatus and a patient support device. The medical technology apparatus includes a medical technology device and at least one first robot, which has a first robot arm, having a plurality of members and a first control device that controls a motion of the first robot arm. The medical technology device is attached to a first attaching device of the first robot arm. The patient support device includes a patient table and a second robot, which has a second robot arm having a plurality of members, and a second control device that controls a motion of the second robot arm. The patient table is attached to a second attaching device of the second robot arm.
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)
A61B 6/00 - Appareils pour diagnostic par radiations, p.ex. combinés avec un équipement de thérapie par radiations
A61B 6/04 - Mise en position des patients; Lits inclinables ou similaires
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
The invention relates to a measuring device (20) for ascertaining a torque acting on an axis (A2,) and to a robot (1) with a robot arm (2) having a plurality of members which are rotatably mounted in reference to axes (A1-A6). The robot (1) also has the measuring device (20), in order to determine for at least one of the axes (A2) the torque exerted on that axis (A2).
The invention relates to a robot and a method for controlling a robot. The distance between an object and the robot and/or the derivative thereof or a first motion of the object is detected by means of a non-contact distance sensor arranged in or on a robot arm of the robot and/or on or in an end effector fastened on the robot arm. The robot arm is moved based on the first motion detected by means of the distance sensor, a target force or a target torque to be applied by the robot is determined based on the distance detected between the object and the robot, and/or a function of the robot or a parameterization of a function of the robot is triggered based on the first motion detected and/or a target distance between the object and the robot and/or the derivative thereof detected by means of the distance sensor.
A method for automated commissioning of bundles includes providing different source palettes and palettizing at least one target palette, with bundle layers of different source palettes being individualized and/or magazined in alternation and/or with variable predetermination, and/or bundles or bundle groups being magazined and/or demagazined in stacks before palettizing of the target palette, and/or the target palette is selectively palettized with at least one non-individualized bundle layer of a source palette.
The invention relates to a conducting line protection device for an industrial robot having at least one power line, having a basic ring section, a hollow cylinder section whose diameter is matched to an inside diameter of a pipe component of the industrial robot that rotates relative to the conducting line protection device, an inner edge rounding section whose rounding radius is matched to a diameter of the power line, and a radial bearing section for rotatable support of the conducting line protection device relative to the pipe component of the industrial robot. The invention also relates to an industrial robot having such a conducting line protection device.
A transport system for piece goods includes a conveyor for moving the piece goods along a conveying path, an unloading device including a multi-axis manipulator for unloading piece goods from the conveyor, and a clearing tool. The clearing tool is moved relative to the conveyor by the multi-axis manipulator to discharge a piece good from the conveyor, and the movement of the clearing tool includes a directional component transverse to the direction of movement of the conveying path and a directional component in the direction of movement of the conveying path.
The invention relates to an industrial robot, having a multiple-axis robot arm, with a base, a carousel that is rotatably supported relative to the base in reference to an axis and a mechanical stop device provided to limit a rotary motion of the carousel relative to the base. The stop device has a slider situated on the base, with stops situated at its ends, a trailing stop situated in the slider and a drive dog situated on the carousel. The drive dog and the slider are designed so that the drive dog is introduced into the slider by a corresponding rotary motion of the carousel relative to the axis and pushes the trailing stop against the relative stop. The trailing stop includes a plastically deformable damping element, which is provided to brake the carousel due to a plastic deformation caused by the trailing stop being pushed against the relevant stop by the drive dog.
A method for error recognition in a control system of a medical treatment and/or diagnosis device includes processing, by the control system, data in a regular operating mode and supplying, by the control system, test data of a test data record to a safety-critical component of the control system in a test mode of the control system. The safety-critical component of the control system is also checked in the test mode of the control system.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
In a robot system, and a method for operating a robot system, for loading general cargo units, a gripper unit of the robot is operated to stack the general cargo units in a stack, by movements controlled by a computerized control unit. In order to avoid unstable loading patterns, the computerized control unit automatically determines the loading pattern of the stack of general cargo units, and also automatically determines at least one characteristic that represents the stability of the loading pattern.
In a method and device for automated welding using a positioning device, in particular a welding robot, a welding pose is occupied by the positioning device in a regulated manner, and the welding pose is flexibly held during the closing of an electrode holder, during the welding process and/or during the opening of the electrode holder.
A method for regulation of a multi-axis automated manipulator, in particular of a robot, includes flexible regulation of at least one guide axis, and rigid regulation of at least one additional axis, and determining a desired value of the at least one additional axis on the basis of a real value of the guide axis.
G05B 19/18 - 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
81.
Omnidirectional wheel and method for the assembly thereof
An omnidirectional wheel has a hub that is rotatable around a rotational axis, and two wheel discs connected to the hub and spaced coaxially on the hub. A number of roller bodies are located between the wheel discs, evenly distributed around a circumferential edge of the wheel. The respective roller axes of the roller bodies are aligned at a diagonal angle relative to the rotational axis, and are each supported in a freely rotating manner between the wheel discs at opposite ends thereof. Each roller body is mounted in a freely rotating manner in respective modules respectively attached to the wheel discs.
A method for the automatic palletizing of stable package stacks includes the steps of virtual generation of multiple follow-up configurations by adding packages to at least one initial configuration, assessment of these follow-up configurations, and pursuit of follow-up configurations that are assessed as good as initial configurations. These steps are repeated until a termination criterion is satisfied. The follow-up configurations are assessed on the basis of different partial stack heights, towers and/or overbuildings. Another version of the method includes the steps of virtual generation of a package stack, and determination of a characteristic stability value of a package of a layer of a virtual package stack on the basis of the characteristic stability value of packages on which the package rests.
G06F 15/18 - dans lesquels un programme est modifié en fonction de l'expérience acquise par le calculateur lui-même au cours d'un cycle complet; Machines capables de s'instruire (systèmes de commande adaptatifs G05B 13/00;intelligence artificielle G06N)
G06N 3/00 - Agencements informatiques fondés sur des modèles biologiques
G06N 3/12 - Agencements informatiques fondés sur des modèles biologiques utilisant des modèles génétiques
83.
Method and device for automated palletizing of packages
In a method for automated palletizing of packages, in particular by means of a manipulator, packages are arranged on the edge of a loading area and, if possible, a virtual initial layer of multiple packages is initially generated and this layer is then centered relative to the loading area.
In a computerized method, and a computer-readable medium encoded with programming instructions for implementing the method, multiple layers of packages stacked on a load carrier are virtually constructed in a computer and, for each of the layers, an automatic determination is made with regard to the additive pressure that each layer exerts on the respective layers therebelow in the stack. The packages are organized in the multiple layers in the virtual construction dependent on predetermined constraints for the respective additive pressures, and the virtual construction is made available at an output of the computer in a form allowing the actual loading of the load carrier with the packages to be guided.
In a method for spacing bundles of a bundle layer by means of a manipulator gripper with at least one support base that engages bundles and a stop for the placement of bundles, separation between an edge of the support base and the stop is reduced, by a placement motion of the support base in a placement direction that is superimposed on the relative motion of the support base and the stop and is synchronized with this relative motion.
G06F 7/00 - Procédés ou dispositions pour le traitement de données en agissant sur l'ordre ou le contenu des données maniées
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
B65G 57/22 - Empilage d'objets de forme particulière à trois dimensions, p.ex. cubiques, cylindriques en couches, chacune selon une disposition horizontale prédéterminée
B65G 61/00 - Utilisation d'appareils de prise ou de transfert, ou de manipulateurs, pour empiler ou désempiler des objets, non prévus ailleurs
86.
Omnidirectional vehicle, driving module, and mobile industrial robot
An omnidirectional vehicle has a driving module and a mobile industrial robot. The omnidirectional vehicle has omnidirectional wheels and a vehicle body, on which at least one of the omnidirectional wheels is mounted by means of an individual suspension.
B62D 57/00 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles
B62D 61/10 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p.ex. quatre roues disposées en losange avec plus de quatre roues
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
B60B 19/00 - Roues non prévues ailleurs ou ayant des caractéristiques précisées dans l'un des sous-groupes du présent groupe
B60G 3/01 - Suspensions élastiques pour une seule roue la roue étant montée de façon à pouvoir coulisser, p.ex. dans ou sur une glissière verticale
B62D 57/024 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p.ex. par jambes mécaniques spécialement adaptés pour se déplacer sur des surfaces inclinées ou verticales
B62D 61/12 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p.ex. quatre roues disposées en losange avec un nombre variable de roues en contact avec le sol, p.ex. avec certaines roues disposées plus haut que les autres ou avec des roues rétractables
87.
Method and automated manipulator system for palletizing packages dependent on a grip position of the packages
In a method for palletizing packages using an automated manipulator, and a non-transitory computer-readable medium encoded with programming instructions for implementing the method, a sequence of grip positions is designated for accepting packages with the automated manipulator, and a supply of provided packages is automatically checked with regard to the grip positions of the packages in the supply. The supplied packages are palletized according to a predetermined initial palletizing pattern as long as the packages are supplied in the grip positions in the sequence. The packages are palletized by the manipulator according to an alternate palletizing pattern, different from the initial palletizing pattern, in the event that a package is not supplied to the manipulator in a grip position in the sequence.
B65G 57/22 - Empilage d'objets de forme particulière à trois dimensions, p.ex. cubiques, cylindriques en couches, chacune selon une disposition horizontale prédéterminée
88.
Method and device for automated loading of packages on a load carrier
A method and system for loading a loading carrier, in particular pallets, with packages by means of an automated manipulator, a model of a package stack on the loading carrier is automatically determined, an initial desired position for a package in the mode is determined, the package stack is detected on the loading carrier, a deviation between the detected package stack and the model is determined, the package is placed by the manipulator, and the steps are repeated until a termination criterion is reached.
In a method to separate bundle layers by way of a first conveyor track and a second conveyor track whose conveyor speed is greater than the conveyor speed of the first conveyor track, bundles are spaced apart from one another in the transport direction by a speed jump between the first conveyor track and second conveyor track; positions of bundles on the second conveyor track that are spaced apart from one another are detected by a position detection device. The bundles are moved from the second conveyor track with a manipulator, wherein the manipulator is controlled on the basis of the detected bundle positions on the second conveyor track.
B65G 47/31 - Dispositifs pour influencer la position relative ou l'orientation des objets pendant le transport par transporteurs arrangeant les objets, p.ex. faisant varier l'espace entre chaque objet pendant le transport par une série de transporteurs en faisant varier les vitesses relatives des transporteurs en série
A transfer device for transferring product stacks has a connecting element for connecting the transfer device to a transport device, and the transfer device has a number of receiver regions therein, that each receive a product stack. Each receiver region has guide elements with spring-loaded closure elements, and a plate that is movable in a spring-loaded manner toward the closing elements along the direction of the guide elements. When the transfer device with the product stacks therein reaches its transfer destination, the product stacks are pushed from the transfer device by the plates by spring force.
changing of said industrial control from a first operating mode (A) into a second operating mode (H) on basis of said received first packet (I-1) if the first packet (I-1) is addressed to said industrial control, wherein in the first opening mode (I) and in the second operating mode (II) different groups of components (1.1-1, 1-1.3, 1-1.4, 1-1.5, 1-1.6) of the industrial control (1-1) are supplied with energy.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
92.
Method and device for automatically stacking tires on a support
The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern. The stored positional data and trajectories are retrieved and transferred to the handling device, which receives the tires (4) at a given receiving position and puts the same on the support (1) in accordance with the positional data and associated trajectories. The present method and the associated device make it possible to automatically stack the tires with an optimal stacking pattern for the tires.
In a computerized device for processing a robot control program, at least one local area of a robot path of a robot is displayed at a display screen, the robot path containing a support point that is to be modified. The display screen also shows the support point, as well as a path course therethrough and at least one direction also proceeding through the support point perpendicularly to the path course. An input device allows a user to modify the path course by modifying the position of the support at the display screen.
G06F 19/00 - Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des applications spécifiques (spécialement adaptés à des fonctions spécifiques G06F 17/00;systèmes ou méthodes de traitement de données spécialement adaptés à des fins administratives, commerciales, financières, de gestion, de surveillance ou de prévision G06Q;informatique médicale G16H)
The invention relates to a workpiece positioning device (1) comprising at least one positioning axis (35, 39) and a modular machine frame (3) on which at least one workpiece receiving element (8, 9) is arranged. At least one frame part (4, 5, 6, 7) comprises at least one frame module (15) provided, in turn, with a long carrier element (16) and at least one connection element (17, 18, 18′).
Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.
G06F 17/00 - TRAITEMENT ÉLECTRIQUE DE DONNÉES NUMÉRIQUES Équipement ou méthodes de traitement de données ou de calcul numérique, spécialement adaptés à des fonctions spécifiques
Disclosed is a robot-controlled optical measurement array (1) comprising an optical sensor (2) that is fastened to a spacer (3). Reference marks (22) are provided on the spacer (3) and/or on a sensor (2) housing (2′). Said optical measurement array (1) is calibrated by means of an auxiliary device (13) that is placed on the optical measurement array (1) and is provided with a sensor target (16) which is disposed on the auxiliary device so as to lie within one measurement space (17) of the optical sensor (2) when the optical measurement array (1) and the auxiliary device (13) are in the assembled state. In order to calibrate the optical measurement array (1), measured values of the sensor target (16) are generated with the aid of the sensors (2), said measured values being used for calculating the three-dimensional position of the sensor coordinate system (10) in relation to the sensor target (16). Furthermore, measurements of the three-dimensional positions of the reference marks (22) and the auxiliary device are taken using an additional (stationary) measuring apparatus (21). The three-dimensional position of the sensor coordinate system (10) relative to the reference marks (22) can be determined with great accuracy from a combination of all of said measurements.
G01B 11/14 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer la distance ou la marge entre des objets ou des ouvertures espacés
To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design.
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
G05B 19/18 - 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
98.
Method and device for operating a machine, such as a multiaxial industrial robot
In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.
g). As a result of the thus created, layered or superimposed arrangement of machine attachments (7) and flexible elements (2) guided on the machine space conflict between the same is avoided.
b) associated with it. A method is also provided for influencing at least one ambient condition, such as temperature, humidity, pressure, contamination and/or bacterial presence, in the vicinity of the drive units of a manipulator. This reliably ensures a safe operation of the inventive manipulator (1), even in areas with strict hygiene requirements.
brevets
