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.
G05B 19/19 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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.
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E.V. (Germany)
Inventor
Zimmermann, Uwe
Danzer, Marinus
Scheurer, Christian
Sharma, Shashank
Bodenmüller, Tim
Stemmer, Andreas
Abstract
A method according to the invention comprises the step of: ascertaining (S110) at least one possible desired pose of a robot (10) of a robot arrangement for at least one prescribed initial position (Xa) and task of the robot on the basis of a selection set ({{R}i}), ascertained particularly before operation of the robot, of possible initial poses (Pa, ij) prescribed for this at least one task and initial position (Xa, i). Additionally or alternatively, the method comprises the steps of: ascertaining (S30) a starting set of initial poses (Pa, ij) of the robot for the at least one initial position (Xa, i) of the robot; selecting (S70) at least one initial pose (Pa, ij) from the starting set on the basis of the at least one task of the robot and a prescribed selection criterion (Gij), particularly one prescribed on a user input basis; and adding (S80) this initial pose to the selection set as a possible initial pose prescribed for this initial position and task.
The invention relates to a gripper (11) having at least one gripper finger (16, 16.1, 16.2, 16.3), which has a finger main part (18) with a finger base section (18.1) facing the gripper main part (12) and with a finger end section (18.2) lying opposite the finger base section (18.1); a finger central element (19), which comprises a first gripping surface (19.1), a first bearing point (20.1), and a second bearing point (20.2) and the first bearing point (20.1) of which is pivotally mounted on the finger base section (18.1) of the finger main part (18) by means of a first joint (21); and a fingertip element (23), which comprises a second gripping surface (19.2) and which is pivotally mounted on the second bearing point (20.2) of the finger central element (19) by means of a second joint (22). The finger end section (18.2) has a counter bearing (24) on which the fingertip element (23) is supported such that the fingertip element (23) rotates opposite the pivoting direction of the finger central element (19) when the finger central element (19) is pivoted.
The present invention relates to an operating device (1) for controlling or programming a manipulator (9) with six degrees of freedom that can be controlled independently from one another. The operating device (1) comprises three input arrangements (2x, 2y, 2z) which are each configured to specify a movement of the manipulator (9) along an x-axis or y-axis or z-axis of the manipulator (9) and to specify a rotation of the manipulator (9) about the x-axis or y-axis or z-axis of the manipulator (9). The three input arrangements (2x, 2y, 2z) are thereby respectively aligned along one of the three main axes of the operating device (1).
The invention relates to a manipulator system which in particular can be a driverless transport system. Said manipulator system comprises a monitoring device designed to monitor a safety zone around the manipulator system. The manipulator system further comprises a projection device designed to project safety zone information in the surroundings of the manipulator system.
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
The invention relates to a mobility support system (100), comprising: a drive unit (112), which is designed to drive at least one wheel (121, 122, 131, 132) of the mobility support system (100); a modular structural frame, wherein the modular structural frame comprises a central module (110) and at least one side module (120, 130), wherein the drive unit (112) is arranged in the central module (110) and/or the at least one side module (120, 130), and wherein at least one wheel (121, 122; 131, 132) is associated with the side module (120, 130); and the central module (110) and the at least one side module (120, 130) each have at least one interface, by means of which the central module (110) can be mechanically and/or electronically reversibly coupled to the at least one side module (120, 130).
The invention relates to a manipulator system (1; 2) comprising at least one manipulator (160; 260), a controller (140, 240) paired with the manipulator (160; 260), and at least one mobile operating device (110, 210) for controlling the at least one manipulator (160; 260). Furthermore, an electronic display device (111; 270) is provided which is designed to display at least one optically readable identifier (112; 272), and at least one optical reading device (150; 250) is provided which is designed to detect the displayed optically readable identifier (112; 272). The manipulator system is designed to release the control of the manipulator (160; 260) by means of the mobile operating device (110; 210) if the optically readable identifier (112; 272) has been correctly detected by the optical reading device (150; 250).
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
14.
MANIPULATOR WITH MONITORING OF EXTERNAL LOAD TORQUES
The present invention relates to a multiaxial manipulator (10) and to at least one associated method. When a fastening action is being carried out, in particular when a manipulator tool is being fastened, a load torque (ML) is applied to the manipulator hand (12) from the outside. At least during the fastening action, torques (M1-M7) on the movement axes (I-VII) of the manipulator (10) are sensed and the external load torque (ML) is determined from these torques (M1-M7). If the load torque (ML) exceeds a limit value, in particular a maximum tightening torque, a safety action can be triggered, for example in the form of a yielding movement of the manipulator (10).
The invention relates to a supply line device (16), comprising a first line device flange (17.1), which has at least one first fastening means (18.1), which is designed to fixedly fasten the first line device flange (17.1) to a first link (12.1) of a robot (1), a first circular ring component (19.1), which is supported on the first line device flange (17.1) in such a way that the first circular ring component can be rotated about a first main axis (HA1) and which, together with the first line device flange (17.1), forms a first rotary feed-through (20.1) for transferring line-conducted fluids or electrical energy, a second line device flange (17.2), which has at least one second fastening means (18.2), which is designed to fixedly fasten the second line device flange (17.2) to a second link (12.2) of the robot (1), and a second circular ring component (19.2), which is supported on the second line device flange (17.2) in such a way that the second circular ring component can be rotated about a second main axis (HA2) and which, together with the second line device flange (17.2), forms a second rotary feed-through (20.2) for transferring line-conducted fluids or electrical energy. The invention further relates to an associated robot (1) having such a supply line device (16).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
16.
SENSITIVE ROBOTS USING SENSOR TECHNOLOGY ARRANGED BEFORE THE FIRST ROBOT AXIS
The invention relates to a robotic system beneficially suited for use in human-robot collaborations. The robotic system comprises a multiple axis manipulator, a sensor arrangement and a modelling device. Said multiple axis manipulator is preferably in the form of a multiple axis articulated robotic arm. The sensor arrangement is configured to detect forces and torques while the modelling device is configured to model target forces and target torques. On the basis of the detected forces and torques and the modelled target forces and target torques, a collision-monitoring system can be implemented for the manipulator in an advantageous manner.
The invention relates to methods for operating a manipulator system, which can comprise, in particular, a driverless transport system (1) and also, in particular, a driverless transport vehicle. A protected field (7) of the manipulator system is monitored by a monitoring device (3). The method comprises providing environment information regarding an environment of the manipulator system and adjusting the protected field (7) on the basis of the environment information.
F16P 3/14 - Safety devices acting in conjunction with the control or operation of a machineControl arrangements requiring the simultaneous use of two or more parts of the body with means, e.g. feelers, which in case of the presence of a body part of a person in or near the danger zone influence the control or operation of the machine the means being photocells or other devices sensitive without mechanical contact
The present invention relates to a method for controlling a robot system, and in particular for orienting a robot system with respect to a reference body. The robot system in this case comprises a manipulator and a mobile platform that supports the manipulator. In this case, a reference position of the platform with respect to the reference body and a reference configuration of the manipulator are provided. Furthermore, the manipulator is coupled to the reference body and the robot system is actuated in the coupled state such that the reference configuration of the manipulator is taken up.
A method for controlling a mobile robot with redundant degrees of freedom (ρ1, ρ2), wherein the robot has a mobile base (10) and a multi-axis robot arm (20), and the mobile base (10) travels along a route and at the same time the robot arm (20) travels along a predefined path (B), wherein the robot detects an obstacle (40) which is located on the route, and the route of the mobile base (10) changes in such a way that a collision with the obstacle (40) is avoided. The robot arm (20) is controlled here in such a way that the predefined path (B) is travelled along further, i.e. the TCP still remains on the predefined path (B).
Ein erfindungsgemäßes Verfahren zum Steuern eines Roboters (30), insbesondere einer medizinischen Applikation, umfasst die Schritte: - Ermitteln (S10-S40) einer Kollisions-Kraft ([Fc, x, Fc, y, Fc, z]) auf Basis einer modellgestützt ermittelten externen Kraft (Fe, [F'e, x, F'e, y, F'e, z]), die aus einer externen Belastung des Roboters resultiert, eines Positionsfehlers ([Δx, Δy, Δz]) des Roboters und einer Pose (z) und/oder Geschwindigkeit ([dx/dt, dy/dt]) des Roboters; und - Erfassen (S50) einer Kollision des Roboters auf Basis dieser Kollisions-Kraft.
The invention relates to a robot (1) having a robot control (10) which is designed and configured to execute a robot program, and having a robot arm (2) having at least three joints (J1-J6) connected by limbs (L1-L8), and having a number of drives (M1-M6) corresponding to the at least three joints (J1-J6), of which each drive (M1-M6) is designed to adjust one joint (J1-J6) of the at least three joints (J1-J6) allocated thereto and is drivable according to the robot program, automatically or in a manual travel mode, by the robot control (10) in order to automatically adjust the allocated joint (J1-J6), wherein at least one of the joints (L1-L8) has a force measurement device (14) which is designed to measure a force on the limb (L1-L8) in a specified direction.
The present invention relates to a method for controlling a robot and/or an autonomous driverless transport system on the basis of sensor-based detection of objects. In this case, point pair features of the 2-D surface contours are produced on the basis of 2-D surface contours of the objects to be detected. A point cloud of the environment is captured by means of a distance sensor and a surface normal is estimated for each point, and corresponding point pair features of the environment are produced. In a voting method, environment features are compared with model features in order to efficiently generate pose hypotheses which are subjected to optimization and to a consistency check in further steps in order to finally be accepted or rejected as detection.
The invention relates to a method for automatically ascertaining an input command (Td) for a robot (1), said input command being entered by manually exerting an external force (F) onto the robot. The input command is ascertained on the basis of the joint force (Te) component attempting to cause a movement of the robot in only one robot joint coordinate sub-space which is specific to the input command, said joint forces being imprinted with the external force.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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.
The present invention relates to a method and to a system for positioning a component (30). The method and the system are suitable in particular for mounting components such as luggage compartments in aircraft production. The system has a supporting device (20) which comprises a movable component holder (21) and at least one means (22) for sensing forces acting on the supporting device. Furthermore, the system has control means (17, 27) which are set up to move the component when the at least one means senses a force.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
26.
IMPROVEMENT OF TEMPERATURE DRIFT COMPENSATION BY THE TEACHING-IN OF THE REMAINING DRIFT
The invention relates to a method for moving to a point, in particular to a component point, by means of a manipulator. The method comprises providing a temperature-dependent calibration, by means of which a correction value is calculated on the basis of certain reference-point remaining drift values. Then the point is moved to while taking into account the correction value.
The invention relates to a method for moving along a predetermined track with a robot (10) in an at least partially automated manner, said method comprising the steps of: - determining (S70) a deployment position (xn) on a current track section (Ya1) of the predetermined track, for which a distance characteristic variable, which is determined on the basis of a distance of a current position (xa1) of the robot relative to the current track section, satisfies a predetermined condition, in particular its value being less than or equal to the values of the distance characteristic variable of all positions in a partial area of the current track section, which is in particular complementary to the deployment position; and - moving (S80) to the deployment position with the robot, in particular as far as a deployment condition is satisfied.
The invention relates to a method for the redundancy-optimized planning of the operation of a redundant mobile robot (1), which has a mobile carrier vehicle (2), a robot arm (6) having a plurality of segments (11-16), which are connected by means of joints and which are rotatably supported with respect to axes of rotation (21-25), drives for moving the segments (11-16) in relation to each other, and an electronic control device (5), which is designed to control the drives for the segments (11-16) and the carrier vehicle (2) for motion of the mobile robot (1).
The invention relates to a method for controlling a machine, in particular a robot (1), by means of a portable hand-held device (10) comprising the following at least partially automated steps: determining (S10) an acceleration value (a), which depends on an acceleration, in particular a three-dimensional and/or inertial acceleration, of the hand-held device and/or a time derivative of said acceleration; and shutting down (S30) the machine depending (S20, S40, S70) on the acceleration value.
G05B 19/406 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
The invention relates to a method for controlling a manipulator. Said method consisting of providing a temperature-dependent calibration, using said calibration a correction parameter set is calculated which is based on determined reference point residual drift values. Subsequently, the manipulator is controlled by taking into account the correction parameter set.
The invention relates to a method for correcting a manipulator-parameter, wherein a manipulator is controlled at least by means of a manipulator-parameter. A change in the manipulator-parameter is determined over time and a residual error in the positional precision of the manipulator is corrected using the specific change in the manipulator-parameter over time.
The invention relates to a line guiding device (16) for guiding at least one supply line (17) along a robot arm (5), having a supply line (17); a spring device (25) which is designed to automatically return the supply line (17) from an extended state of the supply line (17) to a retracted state of the supply line (17) by means of spring force; a front end portion (25a) and a rear end portion (25b) when seen in the extension direction (A) of the supply line (17); a spring device seat (26) which is rigidly connected to the supply line (17) and on which the rear end portion (25b) of the spring device (25) is mounted; a counter-bearing seat (28) on which the front end portion (25a) of the spring device (25) is mounted; a securing device (32) which is designed to secure the line guiding device (16) to an element (G1-G7) of the robot arm (5); and an adjusting device (30) which supports the counter-bearing seat (28) and which is designed to movably support the counter-bearing seat (28) relative to the securing device (32). The invention further relates to a corresponding industrial robot (1).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The present invention relates to a method for determining a path point for robot programming, comprising the detection of a first temperature profile of a surrounding area and the determination of the path point using the detected first temperature profile. The present invention further relates to a corresponding system for determining a path point for robot programming.
The invention relates to a method for operating a robot (1) at a robot workstation, and an associated robot (1) and robot workstation, wherein the robot comprises a control device (10) that is designed and/or configured to specify a status type to be monitored of the robot workstation or of the robot (1), to monitor a status parameter corresponding to the status type of the robot workstation or of the robot (1), to specify a limit value for the monitored status parameter of the robot workstation or of the robot (1), to move the robot arm (2) in a manually guided manner via the manual application of forces on one or more of the members (L1-L8) in order to adjust the joints (J1-J7) of the robot arm (2), and to generate a vibration on the robot arm (2), controlled via the control device (10), during the manually guided movement, if the monitored status parameter reaches the specified limit value.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
36.
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.
The invention relates to a robot (1), comprising a robot arm (3) which has a plurality of joints (L1-L6) which are connected by members (G1-G7) which can be adjusted automatically according to a robot program by drive motors (M1-M6) of the robot (1) coupled to the joints (L1-L6), or in manual operation of the robot (1) in a drive-controlled manner, in order to change the configuration of the robot arm (3), wherein a first member (G1-G7) is connected to a second member (G1-G7) by at least one joint (L1-L6), across which there runs a power cable harness (17) of the robot arm (3) designed to transmit drive energy to the at least one drive motor (M1-M6), wherein the robot arm (3) comprises a cable housing (21) which encloses an intermediate harness section (17.3) of the power cable harness (17) running outside of the structural parts (18, 19) of the robot arm (3).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The present invention relates to a wheeled walking frame having an especially motorized chassis (10), a transport container (20) that is movably mounted on the chassis in at least one degree of freedom (x), in particular parallel to a support surface of the chassis, and/or a storage surface (30) that is movably mounted on the chassis in at least two degrees of freedom (x, y), in particular parallel to a support surface of the chassis.
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.
The present invention relates to a method for determining a calibration parameter of a vehicle, and in particular of a driverless transport vehicle. The vehicle comprises a first and a second sensor. A position and an orientation of the vehicle can be determined by means of at least one of the at least two sensors and on the basis of the calibration parameter. The present invention further relates to a vehicle, in particular a driverless transport vehicle, which has at least a first and a second sensor. The vehicle further comprises a control system which is designed for carrying out a method for determining a calibration parameter of the vehicle.
The invention relates to a safety control device for releasing an operation of a machine, in particular a robot (100), comprising an input means (1) for detecting a manual contact, in particular a finger contact. The safety control device has a retaining device (2) for securing the input means to a finger, in particular a fingertip (10), of an operator, in particular in a frictional manner, and/or a signaling means (20) for outputting a signal („ +! "), in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force (P) detected by the input means is smaller than a specified upper minimum value (P2) and/or for outputting a signal („ -! "), in particular the same signal or a different signal, in particular an optical, acoustic, tactile, thermal, and/or electric signal, if a contact force (P) detected by the input means is greater than a specified lower maximum value (P3).
The invention relates to a method for controlling a manipulator. The method of the invention involves releasing the manipulator in reaction to a release request by an operator, wherein the recognition of the release request involves monitoring the variation over time of a measured value that is characteristic of a state of the manipulator. This significantly increases the robustness of the recognition of the release request.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
43.
Vehicle combination and method for forming and operating a vehicle combination
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.
The invention relates to a method for controlling at least one manipulator for carrying out a working process which is controlled by a process controller and comprises the steps of providing one or more working points to be approached by the manipulator, approaching a working point (An) by the manipulator, checking whether a subsequent working point (An+1) is present and, if a subsequent working point (An+1) is present, retrieving one or more data sets for the subsequent working point (An+1) while the working process is being carried out at the working point(An).
The invention relates to a system and to a method for carrying out a teleoperative process, wherein an image capture device (20) and a tool (30) are used. In this case, the tool (30) is guided by a first manipulator (31), and the currently sensed region (24) of the image capture device (20) is determined. Monitoring the position of the tool (30) relative to the currently sensed region (24) of the image capture device (20) makes it possible to prevent the tool (30) from unintentionally leaving the sensed region (24). The axes of the manipulator (31) are provided with sensors for sensing the forces and/or torques acting on the axes.
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 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
The invention relates to a medical robot system comprising: a robotic arrangement that has at least one mobile base (5, 5') and one multi-jointed robotic arm (3, 3') which is proximally connected to said base and has a distal adapter flange (7) for the connection of a medical device (6, 6'); and an input device arrangement that comprises at least one input device (8, 8') for the, particularly manual, input of control commands for said robotic arrangement and/or for at least one medical device (6, 6') guided by the robotic arrangement, said input device being able to be connected to the robotic arrangement in an articulated and/or detachable manner.
The invention relates to a method for specifically selecting displayed elements on a touch-sensitive display, wherein the method comprises the following method steps of: a) selecting a first displayed element by means of an input point on the touch-sensitive display; b) sensing a first direction of movement of the input point and selecting a displayed element which corresponds to the current position of the input point on a first scale; c) sensing a second direction of movement, wherein the selection of the displayed element is maintained; d) upon sensing the second direction of movement of the input point, changing the first scale to a second, different scale; and then e) sensing a movement of the input point in the first direction of movement and selecting a displayed element which corresponds to the current position of the input point on the second scale.
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
A robot bearing according to the invention for the pivotable mounting of a robot has a base (10) and a support (20) mounted thereon for the, in particular releasable, fastening of a foot (30) of the robot, the support being pivotably mounted relative to the base between an operating position and a stowage position.
The invention relates to a diagnostic and/or therapeutic apparatus and to a method for operating the diagnostic and/or therapeutic apparatus, said diagnostic and/or therapeutic apparatus comprising a stationary diagnostic and/or therapeutic device, at least one movable patient bed, and at least one manipulator. The patient bed can be coupled to the manipulator. In addition, the manipulator can move the patient bed from a preparation position into a treatment position.
The invention relates to a robot system comprising (I) a robot (100) for guiding an application part (300). The robot (100) has the following: (a) a robot arm (110) with a base (112), a region (114) which is proximal to the base (112), a region (116) which is distal to the base (112), and a securing device (130) for securing the application part (300), in particular in a removable manner, said securing device (130) being arranged in the distal region (116); b) a grounding (180); and (c) a cable (200) for connecting to the application part (300) and to a control device (500), in particular in a removable manner, comprising at least one signal line (250) and/or at least one energy supply line (240), a protection conductor (230), a distal connection means (140) for electrically connecting the application part (300) to the cable (200), in particular in a removable manner, and a proximal connection means (150) for electrically connecting the control device (500) to the cable (200), in particular in a removable manner; and (II) an adapter (400) which has an electric line for (410) for electrically connecting the protection conductor (230) of the cable (200) to the grounding (180) of the robot (100), in particular in a removable manner. The invention further relates to a method for producing a robot system of the aforementioned type and to a use of a robot system of the aforementioned type.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
52.
MANIPULATOR SYSTEM FOR THE COORDINATED CONTROL OF AT LEAST TWO MANIPULATORS
The invention relates to a manipulator system for the coordinated control of at least two manipulators, which comprises a main computer that is set up to execute sequence control. Furthermore, the manipulator system comprises at least two multiaxial manipulators, wherein each manipulator is assigned a manipulator controller and preferably at least one axis controller, which manipulator controllers are spatially separated from the main computer and are set up in a separate housing. Preferably, each manipulator comprises converters for actuating the actuators of the axes of the manipulator, wherein the converter assigned to an actuator is arranged in the vicinity of the actuator such that the convertor can be carried along when the manipulator moves.
The invention relates to a method for adjusting a torque sensor (D2, D3) of a robot arm (1). The robot arm (1) is configured as an open kinematic chain and comprises an attachment device (3) for attaching an end effector (4), a plurality of joints (J1-J7) and a plurality of members (G1-G8) arranged one after the other and connected by means of the joints (J1-J7). One of the members (G1-G8) is a start member (G1) forming a start of the robot arm (1), and another of the members is an end member (G8) forming an end of the robot arm (1). The end member (G8) comprises the attachment device (3), an axis of rotation (A1-A7) is assigned to each of the joints (J1-J7) and the members (G1-G8) can move relative to one another in relation to the axes of rotation (A1-A7). One portion of the axes of rotation (A1, A3, A5, A7) are configured as roll axes and another portion of the axes of rotation (A2, A4, A6) are configured as tilt axes. At least the axis of rotation (A7) assigned to the joint between the end member (G8) and the member (G7) mounted upstream of the end member (G8), and the axis of rotation (A1) assigned to the joint between the start member (G1) and the member (G1) mounted directly downstream of the start member (g1) are formed as roll axes. The torque sensor (D2, D3) is provided to measure a torque which is assigned to one of the axes of rotation (A1-A7).
A robotic training system comprises a robot (10), a robot-guided actuation surface (30A), an activity detection means (40) for determining a biomechanical and/or cardiovascular stress of a user (20), in particular on the basis of an impingement of the actuation surface measured by a force measuring means (12), and a control unit (40) for the closed-loop control of the robot on the basis of a predetermined and of a measured biomechanical and/or cardiovascular stress of the user.
A63B 21/00 - Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
A63B 21/005 - Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
A63B 21/002 - Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices isometric or isokinetic, i.e. substantial force variation without substantial muscle motion
A63B 22/00 - Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
55.
TRANSMISSION, ELECTRIC DRIVING DEVICE AND INDUSTRIAL ROBOT
The invention relates to a transmission (12), to a transmission housing (13), to a driving member (14) mounted rotatably in the transmission housing (13), to an output member (18) mounted rotatably in the transmission housing (13) and to at least one speed-changing transmission stage (15a) which couples the output member (18) to the driving member (14) and has a torque-supporting member (16), wherein the driving member (14) together with the output member (18) and the torque-supporting member (16) forms a preassembled assembly in which the torque-supporting member (16) is mounted rotatably on the transmission housing (13) by means of a transmission-stage rolling bearing device (17) and has a toothing (19) which is in engagement with a driving pinion (20) mounted rotatably in the transmission housing (13). The invention also relates to an electric driving device and to an industrial robot (1) having at least one such transmission.
F16H 37/08 - Combinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with a plurality of driving or driven shaftsCombinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings with arrangements for dividing torque between two or more intermediate shafts with differential gearing
The invention relates to an amusement ride, comprising: a robot assembly having at least one multi-link robot arm (10) having a base (11) and a passenger holder (12) for transporting at least one person; and a controller for controlling the robot assembly, comprising: a storage means (20) for storing a limit of a working space arrangement having at least one working space (100, 200); a spacer (13, 40, 41) for determining a distance of the passenger holder from the working space arrangement; and a safety means (20) for determining maximum permissible motion components in at least two spatial directions (x, y, z) depending on the determined distance.
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 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
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 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
59.
METHOD AND DEVICE FOR CONTROLLING A DRIVE ARRANGEMENT FOR MOVING A TOOL, IN PARTICULAR A ROBOT-GUIDED TOOL
A method according to the invention for controlling a drive arrangement having at least one drive for moving a tool (30), in particular a robot-guided tool (30), comprises the steps of: (S10) sensing a characteristic variable (formula 1) which has a contouring error (Δ) and/or an output (I) and/or modification thereof; (S20) sensing any exceeding of a first threshold value (formula 2; formula 3) by the characteristic variable; and (S30) sensing tool contact (t3; t4; x0) on the basis of the exceeding of the first threshold value.
The invention relates to a control apparatus (30) and to a method for coupling and decoupling an input device (10) with a manipulator (20), wherein the input device is designed to control the manipulator. The manipulator is moved to a position and orientation (pose 22a, b) that corresponds to the position and orientation (pose 12a, b) commanded at the input device and that lies within an input tolerance range (14), with the input device subsequently being coupled and the coupling allowing the conversion of user inputs into manipulator movements. If the manipulator leaves the working space (24) or reaches an obstacle space (28), the input device is decoupled and a user input is no longer directly converted into a manipulator movement upon decoupling. During laparoscopic interventions, the working space can thus be limited to a safe space and the intervention performed safely .
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
61.
METHOD AND SYSTEM FOR CALIBRATING THE TONG PRESSING FORCE OF AN AUTOMATICALLY ACTUATABLE PAIR OF MANUFACTURING TONGS
The invention relates to a method for calibrating the tong pressing force of an automatically actuatable pair of manufacturing tongs (11), in reverse mode, said tongs comprising two tong halves (14, 16) which are mounted to be adjustable relative to one another and each have a tong tip (13a, 13b), in order to generate a tong pressing force, and said tongs comprising a drive (20) designed to move at least one of the tong halves (14, 16) so as to build a tong pressing force between the two tong tips (13a, 13b), the drive (20) being able to be driven automatically in a position-controlled manner such that a target tong pressing force is actuated by automatically setting a target drive position, associated with said target tong pressing force, for said drive (20) by means of a closing movement of the tong halves (14, 16). The invention also relates to an associated method for automatically actuating a pair of manufacturing tongs (11) in reverse mode, and to a system of a pair of welding tongs, clinching tongs, crimping tongs and/or a gripping tool with a control device (10).
The invention relates to an industrial robot comprising a robot control (10), which is designed to perform a robot program, and a robot arm (2) having a plurality of members (G1-G7) which are connected via joints, said joints being designed to automatically adjust the members (G1-G7) relative to one another according to the robot program, wherein at least one of the joints is designed as a rotary joint (L1-L6) which connects a first member (14) of the plurality of members (G1-G7) to an adjacent second member (15) of the plurality of members (G1-G7) for rotation relative to one another, and wherein the first member (14) comprises a shaft sealing ring (12) which has a sealing lip (13) of a PTFE material and the second member (15) has a shaft portion (16) with a running surface (17) of a PTFE material, on which the shaft sealing ring (12) bears with its sealing lip (13) in a sealing manner. The invention further relates to a method for moving a robot arm (2) which is arranged in a clean room (18).
F16J 15/3228 - Sealings between relatively-moving surfaces with elastic sealings, e.g. O-rings with at least one lip formed by deforming a flat ring
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
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 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
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 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 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The invention relates to a system (1) and to a method for robot-assisted medical treatment of a patient. The system comprises a manipulator (20), a medical visualization device (30) which is fitted to the manipulator (20) in order to be moved by the manipulator; and a medical instrument (40) which is provided with at least one marker (41) in order to be able to detect the position of the medical instrument (40). The manipulator, according to the invention, moves the visualization device in such a way that the visualization device is oriented on the basis of the location or position of the medical instrument.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
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 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B60G 17/033 - Spring characteristics characterised by regulating means acting on more than one spring
B60G 99/00 - Subject matter not provided for in other groups of this subclass
B60B 19/00 - Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
Disclosed is a method for correcting the processing path of a robot-guided tool for processing at least one component (1), wherein: a target position for a plurality of points (xs,1 - xs,8) of a target machining path is specified (S10); from said points, points (xs,1, xs,3, xs,5, xs,7) to be corrected are selected (S20); the actual position for the selected points (x1, x3, x5, x7) to be corrected is measured or detected on at least one component (1) to be processed (S30); and wherein the processing path corresponding to the measured or detected actual position of the points (xs,1, xs,3, xs,5, xs,7) of the component (1) to be processed is correspondingly corrected (S50). The method is suitable, for example, for welding a component (1) into a borehole by means of a laser beam (L), wherein the processing path of the laser beam (L) is corrected in such a way so as to correspond to the contour of the component (1).
G05B 19/401 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
69.
Determination of object-related gripping regions using a robot
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.
A method according to the invention for automatically predetermining an intended movement (d) of a manipulator arrangement (30, 31, 40, 41) of a medical system having a medical instrument (20, 21) and a recording means (10, 11) for generating images (5), the recording means and/or the instrument being guided by the manipulator arrangement, comprises the following steps: establishing (S10) an intended transformation (T s) between a reference (K, B) stationary in relation to the recording means and a reference (W, W') stationary in relation to the instrument; monitoring (S20, S30) a deviation (Δ) between the intended transformation and a current transformation (TKW(t)) between the reference stationary in relation to the recording means and the reference stationary in relation to the instrument; and determining (S40) a reset movement (d) of the manipulator arrangement for returning the current transformation to the intended transformation if the deviation satisfies a predetermined condition (ΔᡶΔ0) which, in particular, is predetermined in a variable manner.
The invention relates to a method for weaving welding at least one workpiece (21) by means of a welding tool (18), which is moved automatically by a robot arm (1a) of an industrial robot (1) along a programmed path relative to the workpiece (21), and thereby produces a weld seam (25) on the workpiece (21), comprising the steps of performing a programmed feed movement by the robot arm (1a) along the programmed path; executing a pendulum movement of the welding tool (18) which is synchronous to the feed movement; braking the feed movement within a pendulum period (P1) up to a standstill (S) before the pendulum movement has reached its next inversion point (U); determining a residual deflection value (R) which is defined by a first position (S) at standstill and a second position (U) at the next reversal point of the pendulum movement; and braking the feed movement in a following pendulum period (P2) with a brake movement which is delayed from a previous pendulum period as a function of the residual deflection value (R).
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 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
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 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
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.
The invention relates to an industrial robot comprising at least one first member that is mounted on another part of the industrial robot via a first revolute joint, and an associated sensor unit for sensing the relative rotary movement between the first member and the other part. The sensor unit includes an active sensor head and a passive indicator strip which are equipped with a covering device in order to protect same against dirt.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
76.
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.
The invention relates to a positioning device for a robot (10) comprising an end effector (13), in particular a surgical end effector, which has a base (1) and a flange (7) to which the robot can be secured, wherein the flange is connected to the base by means of a kinematic system which has at least two joints (2, 4, 6). The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position relative to the base by means of the kinematic system, said second position being spaced from the first position. The invention is characterized by an orientation means (100, 101; 102) for reorienting the flange from a first orientation in the first position into a second orientation, which is rotated about a reference axis by at least 75° in particular relative to the first orientation, in the second position as a result of an adjustment from the first position to the second position.
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
The present invention relates to a carrier system for a manipulator, in particular a robot (10), comprising a carrier (9) and a flange (7) for fastening the manipulator, characterized by an air chamber assembly, which is arranged on the carrier and has at least one pressure chamber (41A, 41B; 41), which is clad with a pressure apron (40A, 40B; 40) and can be connected to a compressed-air supply (50, 51, 52; 55, 56).
The invention relates to a driverless transport vehicle (1, 40) and to a method for operating a driverless transport vehicle (1, 40). The driverless transport vehicle (1, 14) is intended to travel automatically to a target position (Z) relative to an object (10, 41). The object (10, 41) comprises two characteristic features (14a, 15a, 42a, 43a), and the target position (Z) lies on the connecting line between the two characteristic features (14a, 15a, 42a, 43a) or at a distance (A) from said connecting line.
The invention relates to a machine (1) and to a method for operating a machine (1). The machine comprises a mechanism (2) having at least two components (3-7) which are arranged relative to one another and can be moved relative to one another with respect to an axis (A1-A6) by means of at least one drive of the machine (1), a memory (11), and a control apparatus (10) which is coupled to the at least one drive and is set up to control the at least one drive to move the mechanism (2) in a first operating mode in such a manner that the mechanism (2), in particular a distinguished point (TCP) assigned to the mechanism (2), moves along a movement path, to record the movement path in the memory (11) in the first operating mode, and to control the at least one drive on the basis of the movement path recorded in the memory (11) in a second operating mode in such a manner that the mechanism (2), in particular the distinguished point (TCP), moves along the movement path recorded in the memory (11).
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
81.
TORQUE SENSOR AND METHOD FOR DETECTING TORQUES OCCURRING ON OR IN A JOINT OF AN ARTICULATED ARM ROBOT
The invention relates to a torque sensor (10), in particular for detecting torques occurring on or in a joint of an articulated arm robot. The sensor comprises a number of measuring spikes (1, 2, 3, 4) that are designed to deform under the effects of torque, and a number of strain gauges (DR11, DR12, DR21, DR22, DR31, DR32, DR41, DR42), wherein two respective strain gauges are arranged on two opposing sides of the several measuring spikes (1, 2, 3, 4). In addition, a number of strain gauges are each connected in one of at least two bridge circuits.
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
82.
METHOD FOR OPERATING A BRAKE OF A MACHINE OR A ROBOT
The invention relates to a machine or a robot and to a method for operating a brake of a machine or a robot. Depending on the angular position of the drive motor of the robot joint or of the drive shaft thereof, the brake has a higher or a lower brake torque (21). Target brake torques (22, 23) or brake torque minimum values are defined that are maintained by setting the drive motor or the drive shaft to an angular range (24) in which the brake torque (21) is above the target brake torques (22, 23) so that the drive motor or the drive shaft reliably comes to a standstill or is locked or stopped and the electric current or the voltage of the drive motor can be switched off. The invention further relates to a method for determining a brake torque minimum value of a brake of a machine or of a robot, a plurality of (angular) positions of the machine or of the robot being moved to, the drive torque of the drive motor of the joint being measured depending on the position and the highest drive torque being selected as the brake torque minimum value.
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 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G05D 1/02 - Control of position or course in two dimensions
G06Q 10/04 - Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G01C 21/20 - Instruments for performing navigational calculations
84.
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 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G05B 19/425 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
85.
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 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
G01L 5/28 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for testing brakes
86.
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 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
The invention relates to a welding robot and to a method for operating a laser welding device (9) provided for applying a welded seam (21) to a workpiece (20). Said laser welding device (9) comprises a device (7) for generating a laser beam (11) for welding, which is moved, in particular, by means of an arm (2) of an industrial robot (1).
B23K 26/06 - Shaping the laser beam, e.g. by masks or multi-focusing
88.
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 - Surgical instruments, devices or methods
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 46/10 - Surgical drapes specially adapted for instruments
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
The invention relates to an x-ray device (1) for a medical workstation, comprising an in particular C-arm-shaped support (2), which has a first support retaining segment (3), on which an x-ray transmitting apparatus (5) is retained, and which has a second support retaining segment (4), which is opposite the first support retaining segment (3) and on which an x-ray receiving apparatus (6) is retained, and also comprising an adjusting apparatus (7a, 7b, 7c), which is designed to change a relative pose of the x-ray transmitting apparatus (5) and/or the x-ray receiving apparatus (6) in relation to the C-arm-shaped support (2) by adjusting the pose of the x-ray transmitting apparatus (5) on the first support retaining segment (3) and/or by adjusting the pose of the x-ray receiving apparatus (6) on the second support retaining segment (4) independently of each other.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
90.
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, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 46/10 - Surgical drapes specially adapted for instruments
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
91.
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 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
The invention relates to an electrical drive (13) and an industrial robot (1) that comprises at least one such electrical drive (13), having: an electric motor (14) that comprises a motor housing (15), a drive shaft (18) rotatably mounted by means of at least two roller bearings (21, 22), a stator (16) secured in said motor housing (15), and a rotor (17) that is connected to said drive shaft (18) and can rotate in said motor housing (15); as well as a harmonic drive gear (19) that comprises a gear housing (20), a circular spline (23) with an inner toothing (24), a flex spline (25) that has an outer toothing (26), and a wave generator (27) that can be rotated in the gear housing (20) and that rolls on the flex spline (25), said outer toothing (26) of the flex spline (25) engaging with the inner toothing (24) of the circular spline (23) such that they become meshed as a function of a rotational movement of the wave generator (27). The rotor (17) is secured on the drive shaft (18), and a first of said at least two roller bearings (21, 22) is arranged inside the flex spline (25) and is designed to mount said drive shaft (18) such that it can rotate inside the gear housing (20).
The invention relates to a method for the automated installation of threaded inserts (15, 15a, 15b) in components (12), having the steps: provision of a component (12) that has at least one threaded hole (16) at an automated installation station of an installation cell, serial supply of threaded inserts (15, 15a, 15b) to an individual removal point (13), automatic pick-up of the threaded insert (15, 15a, 15b) positioned at the individual removal point (13) by means of a tool (11) fastened to a flange (8) of an automatically actuated industrial robot (1), and automatic screwing of the threaded insert (15, 15a, 15b) held by the industrial robot (1) into the threaded hole (16) in the component (12) by means of the tool (11).
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
B23P 19/06 - Screw or nut setting or loosening machines
94.
LINE GUIDING DEVICE AND INDUSTRIAL ROBOT WITH SUCH A LINE GUIDING DEVICE
The invention relates to a line guiding device (14, 15) for guiding at least one supply line (19) along a manipulator arm (1) which comprises multiple elements (G1-G7) connected by at least three joints (L1-L6), having: - at least one mounting (20, 21, 22) which is designed to secure at least one supply line (19) section (19a), in particular a fixed supply line section, on at least one of the elements (G1-G7) of the manipulator arm (1), and - a controllable drive device (16, 17) which is designed to actively move at least one other supply line (19) section (19b), in particular a movable supply line section, relative to the manipulator arm (1). The invention also relates to an industrial robot (3) with such a line guiding device (14, 15).
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
The invention relates to an instrument arrangement, comprising a surgical instrument (10) with at least one carriage (12) for actuating a degree of freedom of an instrument, said carriage being mounted in a rotationally fixed and an axially movable manner and comprising an internal thread (13); and a drive unit (20) that is releasably connected to the surgical instrument and comprises at least one input shaft (31) and a positive-locking arrangement (23; 40A - 40C), which can be brought into engagement with the internal thread, in order to convert a rotational movement of the input shaft into a linear movement of the carriage.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/29 - Forceps for use in minimally invasive surgery
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
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, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 46/10 - Surgical drapes specially adapted for instruments
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G01D 5/54 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using means specified in two or more of groups , , , , and
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
97.
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 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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.
In a method according to the invention for configuring a manipulator process with a specified movement phase (9) and a variable movement phase (10), a kinematic variable of the manipulator process in the variable movement phase (10) is specified in such a way that an energy variable is reduced.
The invention relates to an industrial robot (1), comprising a robot arm (2), which is formed having members (9, 10, 12) and is formed to bear a load and to move said load in space, having articulations (11), which connect the members (9, 10, 12) such that they can move relative to each other by means of drives (13) and gearing systems (14) associated with the drives (13), of which members at least one first member (9) has a first housing (9a) and at least one second member (10) has a second housing (10a), said housings being formed to transmit forces and moments that occur owing to the dead weight of the robot arm (2) and/or of the load to at least one adjacent member (9, 10) in each case; wherein the first member (9) is articulated in a rotatable manner in relation to the second member (10) by means of one of the drives (13), and said drive (13) has a drive housing (15), a rotor (16) and also a stator (17), which is connected to the drive housing (15), and the drive housing (15) is fastened to the first housing (9a) of the first member (9) and forms an outer wall section (2a) of the robot arm (2), said outer wall section transmitting the forces and moments; wherein one of the gearing systems (14) is associated with said drive (13) and has an output member (19) and an input member (20), which is connected to the rotor (16) of the drive (13), and in which the output member (19) of the gearing system (14) is connected to a flange (22), the flange (22) is mounted such that the flange (22) can rotate in relation to the drive housing (15), and the second housing (10a) of the second member (10) is fastened to the flange (22).
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
patents
