The invention relates to a sensor holder (2) for fastening a sensor (1) to a vehicle (4), comprising a bracket connector (2a) which has at least one first tab (2.1) extending in a first plane and at least one second tab (2.2) extending in a second plane orthogonal to the first plane of the first tab (2.1). The sensor holder (2) additionally has, on the first tab (2.1), a first articulation point (10.1) for pivotably receiving a manual lever (5) about a third axis of rotation (D3) oriented parallel to a first axis of rotation (D1), and the second tab (2.2) of the sensor holder (2) additionally has a second articulation point (10.2) for pivotably receiving a manual lever (5) about a fourth axis of rotation (D4) oriented parallel to a second axis of rotation (D2). The invention also relates to a vehicle (4) having a sensor holder (2) of this type.
G01S 7/481 - Caractéristiques de structure, p. ex. agencements d'éléments optiques
F16M 13/02 - Autres supports ou appuis pour positionner les appareils ou les objetsMoyens pour maintenir en position les appareils ou objets tenus à la main pour être portés par un autre objet ou lui être fixé, p. ex. à un arbre, une grille, un châssis de fenêtre, une bicyclette
B60R 11/00 - Autres aménagements pour tenir ou monter des objets
The invention relates to an automated handling system, comprising: a robot arm (2) having a plurality of members (3) and a plurality of joints (4) which connect the members (3) adjustably with respect to one another, wherein a proximal end member of the robot arm (2) forms a base frame (3a) via which the robot arm (2) is fixed or mounted with respect to a foundation (5), and a distal end member of the robot arm (2) has a connection flange (3b) to which a load body (6) is fastened, which load body is to be moved (6) by the robot arm (2); a gravity compensation device (7) which is separate from the robot arm (7), said gravity compensation device having a base support (8) via which the gravity compensation device (7) is fixed or mounted on a construction structure (9) arranged in a stationary manner in relation to the foundation (5), having an extension arm (10) mounted on the base support (8); and a support means (11), for the load body (6), coupled to the extension arm (10), which support means has a connection member (12) which is connected to a member (3) of the robot arm (2) or is connected directly to the load body (6), wherein the gravity compensation device (7) has at least one magnet spring (13) arranged between the support means (11) and the extension arm (10). The invention also relates to a method for operating an automated handling system (1).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
F16F 6/00 - Ressorts magnétiquesRessorts magnétiques à fluide
3.
Monitoring a Multi-Axis Machine Using Interpretable Time Series Classification
A method for assessing and/or monitoring a process and/or a multi-axis machine includes recording at least one data time series, wherein the at least one data time series includes at least one channel describing at least one parameter of the process and/or of the multi-axis machine, and wherein the data time series is caused by the process. An interpretable result is determined by a machine learning algorithm based on the at least one data time series, wherein the result describes a classification value of a state in the process and/or of a state of the multi-axis machine. A warning is output when determining the result if the classification value of the state in the process and/or of the state of the multi-axis machine is assigned to a value of an error class that is in a warning range or corresponds to a warning range, and an all-clear signal is output if the classification value of the state in the process and/or of the state of the multi-axis machine is assigned to a value of an error class that is in an all-clear range or corresponds to an all-clear range.
A method for automatically reloading SMD component reels on SMD assembly machines wherein SMD component reels between an exchange magazine of an SMD assembly machine and a belt connector are automatically handled by a robot arm controlled by a robot controller in a force/torque-controlled movement control mode of the robot arm.
A drive module for a cycloid drive includes a cycloid disc that can wobble eccentrically about a central axis and has a cycloid profile on the edge of the cycloid disc, the profile being in engagement with an outer support at a location. The cycloid disc further includes a central opening, at least three bearing holes, and an inner support comprising at least three webs, wherein the bearing holes receive the webs and couple the cycloid disc to the inner support. A direct drive is designed to act magnetically on the cycloid disc such that the cycloid disc interacts with a magnetic field of the direct drive and is brought into a wobbling motion in a translational manner via the magnetic field, wherein the output process of the drive module is carried out via the outer or inner support.
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
H02K 41/06 - Moteurs roulants, c.-à-d. moteurs ayant l'axe du rotor parallèle à l'axe du stator et suivant un parcours circulaire du fait que le rotor roule à l'intérieur ou à l'extérieur du stator
6.
Seal for a Radial Gap Between Two Links of a Robot Arm
A robot arm having at least two links, which are connected to one another in a joint so as to be rotatable relative to each other about a rotational axis, and a sealing arrangement having a seal support attached to one of the two links, and an elastic seal, which, in order to seal a radial gap between this link and the other of the two links, is supported on the seal support and on the other link.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
7.
Gripper for Handling SMD Component Reel Cassettes, and Associated SMD Component Reel Cassette
A gripper for handling SMD component reel cassettes using a robotic arm automatically controlled by a robot controller wherein the robotic arm carries and manipulates the gripper on a tool flange of the robotic arm. The gripper includes a drive pinion, which is rotatably mounted on the gripper main body and is designed to mesh with an output wheel of the SMD component reel cassette when the SMD component reel cassette is coupled to the gripper. The gripper includes a drive motor, which is disposed on the gripper main body and is designed to automatically drive the drive pinion.
A method for creating a robot application comprises the steps of: S10: providing a robot application; S20: determining a modification of the robot application by means of at least partially machine-learning-based first data processing on the basis of a user specification; S30: carrying out a simulation of the robot application modified with the modification, by means of an integrated development environment; S40: evaluating the modification on the basis of the simulation carried out; S50: carrying out steps S20-S40 again if the evaluation satisfies an iteration criterion, wherein a new modification of the robot application is then determined in step S20 by means of the first data processing on the basis of the simulation carried out; S60: outputting the modification to a user interface if the evaluation satisfies a proposal criterion; S70: checking a user response; S80: carrying out steps S20-S70 again if the user response satisfies a rejection criterion, wherein a new modification of the robot application is then determined in step S20 by means of the first data processing on the basis of a new user specification; S90: implementing the modification if the user response satisfies an acceptance criterion; S100: carrying out steps S20-S90 again if a user input requests a further modification, wherein a new modification of the robot application is then determined in step S20 by means of the first data processing on the basis of a new user specification; and S110: outputting the robot application if the user input requests an output. The invention also relates to a method for operating a robot application, and to a system and a computer program (product).
The invention relates to a lifting apparatus for raising and lowering a work platform (2) relative to a base frame (3), having a base frame (3), a work platform (2), at least one first stationary linear guide rail (4.1) fastened to the base frame (3) at an acute angle, and at least one second stationary linear guide rail (4.1) fastened to the base frame (3) at the same acute angle mirror-symmetrically to the first stationary linear guide rail (4.1), at least one first liftable linear guide rail (5.1) which is connected to the work platform (2) at an opposite acute angle, and at least one second liftable linear guide rail (5.2) which is connected to the work platform (2) at an acute angle mirror-symmetrically to the first liftable linear guide rail (5.1), and at least one first sliding block element (6.1) which has a first sliding block body (6a) which is mounted on the first stationary linear guide rail (4.1) so as to be guided in a longitudinally displaceable manner and has a second sliding block body (6b) which is mounted on the first liftable linear guide rail (5.1) so as to be guided in a longitudinally displaceable manner, and at least one second sliding block element (6.2) which has a third sliding block body (6c) which is mounted on the second stationary linear guide rail (4.2) so as to be guided in a longitudinally displaceable manner and has a fourth sliding block body (6d) which is mounted on the second liftable linear guide rail (5.2) so as to be guided in a longitudinally displaceable manner.
B66F 7/06 - Châssis de levage, p. ex. pour lever des véhiculesAscenseurs à tablier à tabliers supportés par des leviers pour un mouvement vertical
B66F 7/14 - Châssis de levage, p. ex. pour lever des véhiculesAscenseurs à tablier à tabliers supportés directement par des crics par des crics mécaniques à vis
10.
OPERATING A ROBOT USING DATA PROCESSING AND TRAINING SAID DATA PROCESSING
The invention relates to a method for training data processing based at least in part on machine learning, to determine robot poses on the basis of image data from a robot environment, comprising the steps of: providing at least one item of initial training information comprising a training robot pose and training input data, said data comprising image data from an initial image of a robot environment associated with said training robot pose, wherein a blocked or released image subregion is identified in at least one initial image; generating at least one item of additional training information for at least one item of initial training information, said item of additional training information comprising the training robot pose of the item of initial training information and training input data, said data comprising image data from an additional image of a robot environment associated with said training robot pose, wherein said additional image is generated by augmenting at least part of the released image subregion or of the unblocked image subregion in the initial image of the item of initial training information for which this item of additional training information is generated or in the additional image of a further item of additional training information generated for this item of initial training information; and training data processing based at least in part on machine learning to determine robot poses on the basis of image data from a robot environment, wherein the data processing is trained on the basis of one or more of the items of additional training information. The invention also relates to a method for operating a robot and to a system and computer program (product).
A supporting device for a cable routing device of a robot arm, wherein the cable routing device has a receiving space, in which a cable portion is mounted so as to be extendable in an extension direction, for supporting the cable routing device on the robot arm. The supporting device includes a first connection body designed to rigidly connect the first connection body to a cable routing device, a second connection body designed to rigidly connect the second connection body to a member of a robot arm, and a bearing arrangement designed to move the first connection body relative to the second connection body in a first rotational degree of freedom which is perpendicular to the extension direction. The bearing arrangement is guided in a rotationally movable manner and supported in a forcibly guided manner in a second rotational degree of freedom oriented perpendicular to both the extension direction and to the first rotational degree of freedom, depending on the movement of the first connection body about the first rotational degree of freedom.
A robot system has a first robot arrangement comprising at least one first robot (1), a first robot controller (10) for controlling this first robot and a first communication master module (11), a first component arrangement comprising at least one first component (110), which has an actuator system and/or a sensor system, and a first communication slave module (111), wherein the first communication master module and the first communication slave module are configured to wirelessly transmit data from the first communication master module to the first communication slave module and/or from the first communication slave module to the first communication master module. The invention also relates to a method and a computer program (product).
A method for operating an assembly which has at least two control devices (1, 10, 20) has the steps of: specifying (S10) a clock pulse; running (S20) a timer in a master control device of the assembly, the reset frequency of said timer being based on the specified clock pulse; emitting (S30) a clock signal from the master control device, said clock signal being based on the timer; receiving (S30) the clock signal by means of a first slave control device of the assembly; running (S30) a timer in the first slave control device, the reset frequency of said timer being determined on the basis of the clock signal received from the master control device; determining (S40) a signal propagation time between the master control device and the first slave control device; shifting (S40) an interruption triggered by the timer in the first slave control device on the basis of the determined signal propagation time between the master control device and the first slave control device; and triggering (S60) an action by the first slave control device on the basis of the shifted interruption. The invention also relates to a system and to a computer program (product).
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
09 - Appareils et instruments scientifiques et électriques
Produits et services
Software zur Verwaltung und Navigation von autonomen mobilen Robotern (Automated Guided Vehicles, Fahrerlosen Transportfahrzeugen), fahrerlosen Fahrzeugen und automatischen Transporteinheiten, sowie zugehörige Steuerungen.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Software zur Konfiguration und Steuerung von autonomen mobilen Robotern (Automated Guided Vehicles, Fahrerlose Transportfahrzeuge), fahrerlosen Fahrzeugen und automatischen Transporteinheiten, sowie zugehörige Steuerungen.
09 - Appareils et instruments scientifiques et électriques
Produits et services
Software zum Steuern, Regeln und Simulieren von autonomen mobilen Robotern (Automated Guided Vehicles, Fahrerlose Transportfahrzeuge), fahrerlosen Fahrzeugen und automatischen Transporteinheiten, sowie zugehörige Steuerungen.
The invention relates to a method for moving a robot (10), comprising the steps: providing (S10) a first limitation having a first specified geometric relationship between at least one first robot-side geometric primitive and at least one first surroundings-side geometric primitive; receiving (S40) a movement command, generated by a user, for moving the robot; and controlling (S50) drives of the robot in a first operating mode on the basis of this movement command and the first limitation. The invention also relates to a controller, to a system, and to a computer program (product).
The invention relates to a method for carrying out a robot application, comprising the following steps: operating a robot assembly for carrying out the robot application; during this operation of the robot assembly, checking whether a first state exists which is defined by means of a specified first geometric condition for the robot assembly; and triggering a first action which is specified for the first state if this check shows that the first state exists. The invention also relates to a system and to a computer program (product).
A robot add-on part includes a coupling which is connectable in a form-fitting manner, arranged on the casing and designed for releasable coupling to at least one counter-coupling on an outer surface of a link of a robot. At least one control component is arranged on the casing or in the casing and includes a data memory in which physical data of the robot add-on part are stored. A control interface is designed and configured to transmit the physical data of the robot add-on part present in the data memory to a control device of the robot when the robot add-on part is coupled to the link.
A robot arm includes a plurality of configuration joints which determine the configuration of the robot arm; a base stand; a carousel mounted on the base stand for rotation about a first axis by a first joint of the configuration joints; a link arm mounted on the carousel pivot about a second axis of rotation by a second joint; and an arm boom pivotably mounted on the link arm about a third axis a third joint. The link arm has two mechanically separate pivot coupling rods designed for positioning the third joint in the working space of the robot arm. The first pivot coupling rod is pivotably mounted on the carousel by a first base bearing and the arm boom is mounted on the first pivot coupling rod by a first top bearing. The second pivot coupling rod is pivotably mounted on the carousel by a second base bearing and the arm boom is mounted on the second pivot coupling rod by a second top bearing. The two pivot coupling rods are pivotably driven by a common drive apparatus of the robot arm, which divides among the pivot coupling rods the drive energy to be guided via the link arm for positioning the third joint in the working space, in order to move the arm boom relative to the carousel.
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A method for planning a path includes data of real surroundings of the robot using a detection device, in particular a mobile detection device, in particular a portable detection device; ascertaining a computer-implemented three-dimensional surroundings model on the basis of the detected data, in particular using at least one approximation of features, in particular points, detected using the detection device; planning a first path of the robot on the basis of the surroundings model and a computer-implemented model of the robot such that a collision between the robot model and the surroundings model is prevented; and visualizing a virtual representation of the planned first path using a visualization device in an augmented reality.
A method for checking a predefined path of a robot includes determining or providing a computer-implemented three-dimensional environment model; determining a distance between a computer-implemented model of the robot and the environment model for different portions of the path; and visualizing a virtual representation of the path using a visualization device in an augmented reality for checking the path, wherein, in this visualization, a warning is issued for a portion of the path if the distance determined for this portion falls within a predefined warning range, and an all-clear is issued for a portion of the path if the distance determined for this portion falls within an all-clear range.
A method for configuring and/or checking a boundary for a robot (10) or a part of the robot comprises the following step: providing (S10) geometry data of a working space ascertained to be freely accessible for the robot or part of the robot, or a protective space complementary hereto. In one embodiment, the method comprises the following step: configuring (S30) a boundary for the robot or part of the robot based on a user input, wherein during this configuring, this boundary is visualised together with the working space or protective space based on the user input and the provided geometry data, the boundary being visualised with the aid of a user interface. Additionally or alternatively, the method comprises the following steps: planning (S40) a movement of the robot for checking a or the configured boundary for the robot or part of the robot based on the provided geometry data; controlling (S50) drives of the robot to carry out the planned movement; and detecting a triggering of a safety monitoring device as a result of said movement being carried out. The invention also relates to a system and to a computer program (product).
09 - Appareils et instruments scientifiques et électriques
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Machines for material processing, transport, manufacturing and production and machine tools, in particular robots; motors (except motors for land vehicles), in particular for robots; clutches and transmission devices (except for land vehicles), in particular for robots; non-hand-operated agricultural equipment. Hand-operated tools and apparatus. Scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking, rescue and teaching apparatus and instruments, especially for robotics; apparatus and instruments for conducting, switching, converting, storing, regulating and controlling electricity, especially for robot control; cash registers, calculating machines, data processing equipment and computers. Scientific and technological services and research and design services relating thereto, in particular for robotics; industrial analysis and research services, in particular for robotics; design and development of computer hardware and software.
The invention relates to a welding method comprising the steps of: joining a first joining part (1) to a second joining part (2) by means of a pressure welding method, wherein, after the joining, a weld bead (4) is formed on the edge of the joint of the first joining part (1) and of the second joining part (2), the weld bead protruding beyond the surface (3) of the joined first joining part (1) and second joining part (2); and subsequently remelting the weld bead (4) by means of a fusion welding method such that the elevation formed by the protruding weld bead (4) is flattened and/or levelled out. The invention also relates to a welding machine (7) for carrying out such a welding method.
B23K 37/08 - Dispositifs ou procédés auxiliaires non spécialement adaptés à un procédé couvert par un seul des autres groupes principaux de la présente sous-classe pour l'ébavurage
B23K 9/04 - Soudage pour d'autres buts que l'assemblage de pièces, p. ex. soudage de rechargement
B23K 20/12 - Soudage non électrique par percussion ou par une autre forme de pression, avec ou sans chauffage, p. ex. revêtement ou placage la chaleur étant produite par frictionSoudage par friction
B23K 26/34 - Soudage au laser pour des finalités autres que l’assemblage
26.
ROBOT TRANSMISSION AND ROBOT ARM HAVING SUCH A ROBOT TRANSMISSION
The invention relates to a robot transmission (1) having an annular space (9) in which a cable (8) forming a cable loop (8a) is guided, wherein the annular space (9) is formed on the radially inner side by at least one inner casing wall (10.1, 10.2) of two housing parts (6.1, 6.2), and the annular space (9) is formed on the radially outer side by at least one outer casing wall (11.1, 11.2), wherein on the outer casing wall (11.1, 11.2) a flange (12.1, 12.2) is arranged which is designed to axially connect an element (13) of a robot arm (14), and the annular space (9) has at least one axial opening (15.1, 15.2) which is formed in at least one of the housing parts (6.1, 6.2) for guiding the electric cable (8) axially out of the robot transmission (1). Moreover, the invention relates to a robot arm (14) having such a robot transmission (1).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention relates to a method for monitoring at least one robot (10; 20), in which method the following steps are carried out at several points in time: providing (S30) ascertained current values of state parameters of the robot; predicting (S40) first expected values for these state parameters on the basis of these ascertained current values and a first numerical model; and comparing (S50) the predicted first expected values and ascertained current values, with a potential anomaly being identified for a state parameter if a deviation between the predicted first expected value and the ascertained current value for this state parameter satisfies an anomaly criterion, and with a present anomaly being identified for a state parameter if a potential anomaly has been identified and an additional verification criterion has been satisfied for this state parameter, and with an error response being triggered (S90) if a present anomaly has been identified. The invention also relates to a system and to a computer program (product).
The invention relates to a method for controlling robot, having the steps of: providing (S10) a first data processing operation, which is at least partially based on machine learning, for determining a target movement of a first reference fixed on the robot; providing (S10) a second data processing operation, which is at least partially based on machine learning, for determining a target movement of a second reference fixed on the robot; determining (S20) a target axis movement of the robot based on a target movement of the first reference determined by means of the first data processing operation and a target movement of the second reference determined by means of the second data processing operation, wherein during said determining of the target axis movement, the determined target movement of the first reference is prioritised over the determined target movement of the second reference; and controlling (S30) the robot based on the determined target axis movement. The invention also relates to a system and to a computer program (product).
The invention relates to a protective cover element (1) to be placed onto an outer wall section of a member of a robot (8), comprising an inner wall (2) which has a shape adapted to the shape of an outer wall section of a member of a robot (8) onto which the protective cover element (1) is to be placed; an outer wall (3) which is located at a distance from the inner wall (2) which distance determines the thickness of the protective cover element (1) at least in sections; and a plurality of resilient thin supports (4, 4.1, 4.2) which integrally connect the inner wall (2) to the outer wall (3) and are designed to adjustably and/or deformably mount at least sections of the outer wall (3) relative to the inner wall (2), wherein at least one first resilient thin support (4.1) and at least one second resilient thin support (4.2) between the outer wall (3) and the inner wall (2) delimit at least one hollow channel section (5) which is designed to accommodate control components (6).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A gripper includes a main gripper body and at least two gripper fingers, at least one of which is movably mounted on the main gripper body. The gripper has a switch that can be switched between a first switch position and a second switch position, wherein the first switch position, fully releases a pulling device so that by the pulling device being pulled, the gripper finger movably mounted on the main gripper body is pulled into a closed position and the kinematic chain of the finger elements of the movably mounted gripper finger is bent. In the second switch position, a pulling section of the pulling device running along the kinematic chain of the finger elements of the movably mounted gripper finger is locked, so that by the pulling device being pulled, the gripper finger is only pulled into its closed position without the kinematic chain of the finger elements of the gripper finger being bent.
A method for controlling a telerobot using an input device having a movable control includes detecting an adjustment of the control and an external load acting on the telerobot; determining a target adjustment of a telerobot reference fixed to the robot, based on the detected adjustment of the control; detecting an actual adjustment of the telerobot reference; and controlling drives of the telerobot based on a difference between the actual adjustment and target adjustment. A first operating mode is implemented if the detected load falls in a first range, and a second operating mode is implemented if the detected load falls in a second range. The drives of the telerobot are controlled in the first operating mode such that drive loads of the drives increase with an increase in a one- or multi-dimensional component of the difference in order to reduce the component; and, the drives of the telerobot are controlled in the second operating mode such that drive loads of the drives likewise increase with the same increase in this component of the difference in order to reduce the component, but less than in the first operating mode.
PREDICTION OF A POTENTIAL COLLISION OF A ROBOT ON A TRAJECTORY, PLANNING A ROBOT TRAJECTORY, OPERATION OF A ROBOT, AND TRAINING OF A DATA PROCESSING UNIT FOR ASCERTAINING A DISTANCE VALUE
In a method and system for operating a robot, at least one first direction, in which an external load acting on a reference is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, is displayed as not being monitored on the basis of detected joint loads, and/or at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position, is displayed as being monitorable on the basis of detected joint loads. Additionally or alternatively, at least one first direction is blocked if an external load acting on the reference in said direction is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, and if at least one direction is blocked and multiple joints of the robot are simultaneously actuated, a monitoring process is carried out on the basis of detected joint loads for an external load acting on the reference in at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position.
ii+1i+1) of the robot are connected against one another movably relative to one another by a drive (10), has the steps: detecting (S10) an acceleration of one of the two limbs with the aid of at least one accelerometer (30); determining (S20) a position of the joint on the basis of this detected acceleration; and controlling (S40) the robot on the basis of the determined joint position. The invention also relates to a system and to a computer program (product).
A method for evaluating and/or monitoring a process, in particular a robotic process, includes detecting at least one data time series that describes at least one parameter of the process, and wherein the data time series is created by the process, which executes a process program with process commands, and wherein the at least one data time series is assigned to a part of the process program, in particular a process command or a part of the process commands of the process program. The method further includes determining a result using a first algorithm or at least a part of an algorithm based on the at least one data time series, wherein the result describes a state of the process, and wherein the result can be assigned, in particular is assigned, to the part of the process program, in particular the process command or the part of the process commands of the process program.
The invention relates to a clamping device (1) for workpieces, having: - a clamping table (2), which is designed for the placing and prepositioning of at least one workpiece to be clamped, - at least one clamping means (3), which has a main body (4) and a pressing element (5) which is mounted on the main body (4) so as to be displaceable between a clamping position and a release position, wherein the at least one clamping means (3) is designed to fixedly clamp the at least one workpiece on the clamping table (2) by virtue of the pressing element (5) of the at least one clamping means (3), when in the clamping position, pressing the at least one workpiece placed on the clamping table (2) against the clamping table (2), and - at least one bridge support (6) which extends over the clamping table (2) and has a first bridge support end (6.1), which is mounted on a first side of the clamping table (2), and a second bridge support end (6.2) opposite the first bridge support end (6.1), which is mounted on a second side of the clamping table (6) opposite the first side of the clamping table (2), wherein the at least one clamping means (3) is mounted on the bridge support (6).
B23K 37/04 - Dispositifs ou procédés auxiliaires non spécialement adaptés à un procédé couvert par un seul des autres groupes principaux de la présente sous-classe pour maintenir ou mettre en position les pièces
B23Q 3/00 - Dispositifs permettant de maintenir, supporter ou positionner les pièces ou les outils, ces dispositifs pouvant normalement être démontés de la machine
B26D 7/02 - Moyens pour maintenir ou mettre en position la pièce comportant des moyens de serrage
37.
DETERMINATION OF TARGET POSITIONS OF MOVEMENT AXES OF A ROBOT ASSEMBLY
The invention relates to a method for determining target positions of movement axes of a robot assembly which has at least one kinematic system (1) with a plurality of movement axes (A1-A6), said method comprising: determining (S70) one or more target positions of the movement axes of the kinematic system on the basis of a) a connection of at least one geometric primitive, specified as a controllable primitive, to the movement axes of the kinematic system, b) a first geometric constraint, which is specified for at least one specified geometric primitive, and c) an identity or specified link of this primitive, for which the first geometric constraint is specified, to the controllable primitive. The invention also relates to a method for operating the robot assembly, a method for programming a process for operating the robot assembly, a system and a computer program (product).
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
Produits et services
transporting machines, in particular linear guide units being machines for moving objects, conveyor units being machines, translational movement units being machines for moving objects, traversing axes being machines for moving objects, conveyor belts; structural parts and accessories of the above-mentioned goods vehicles and means of transport, other than for transportation of people, in particular mobile work platforms being land vehicles for moving industrial and service robots; structural parts and accessories of the above-mentioned goods
transporting machines, in particular linear guide units being machines for moving objects, conveyor units being machines, translational movement units being machines for moving objects, conveyor belts; mobile work platforms being parts of machines; structural parts and accessories of the above-mentioned goods; all the aforementioned goods excluding mill bearings and mills
A robot arm includes multiple joints and multiple links which can be adjusted relative to one another by movements of the joints of the robot arm. Each driven joint is paired with a drive device, and each drive device is designed to adjust the robot arm joint paired therewith, namely by automatic actuation of a motor of the respective drive device. The robot arm has a distal end link designed in the form of a tool flange, a hand link arranged directly upstream of the distal end link in the kinematic chain of the joints and links and on which the distal end link is rotatably mounted about a flange rotational axis. An additional output link is rotatably mounted on the hand link about a rotational axis that is parallel to the flange rotational axis and which is arranged on the hand link so as to lie opposite the distal end link.
The invention relates to a method for operating a robot, comprising the steps of: providing image data of surroundings of the robot, said image data being assigned to robot poses; forecasting or updating a robot target pose or determining new robot target poses by means of data processing which is at least partially based on machine learning; determining or updating an intended robot movement or determining a new intended robot movement on the basis of the target pose and controlling drives of the robot to carry out the intended robot movement. The invention also relates to a method for training the data processing, and to a system and computer program (product).
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
42.
METHOD AND SYSTEM FOR ANALYSING OPERATION OF A ROBOT
A method for analyzing an operation of a robot includes performing a training phase by obtaining a first dataset containing at least one temporal characteristic of at least one state parameter of a first robot and training an artificial neural network. The artificial neural network includes a first autoencoder having an encoder that maps the first dataset onto temporal characteristic patterns and the activation thereof, and a decoder that uses these temporal characteristic patterns to reconstruct the first dataset; and a second autoencoder having an encoder that maps the temporal characteristic patterns and the activation thereof onto pattern groups, and a decoder that uses these pattern groups to reconstruct the temporal characteristic patterns and the activation thereof. The method further includes performing a monitoring phase by obtaining a second dataset containing at least one temporal characteristic of the at least one state parameter of the first or of a second robot; and identifying at least one of the pattern groups of the trained second autoencoder within the second dataset.
The invention relates to a portable robot teaching device (13) for manually teaching-in work points, path points and/or trajectories of a work process to be carried out automatically by a robot (1) after the teaching-in, specifically on the basis of a robot program in which the work points, path points and/or trajectories learnt by means of the portable robot teaching device (13) in the teach-in method are recorded, inter alia having a sensor apparatus (20) for detecting at least one state of an actuator (17) of the portable robot teaching device (13) synchronously to the recorded work points, path points and/or trajectories. The invention also relates to an associated method for manually teaching-in, by means of a portable robot teaching device (13), work points, path points and/or trajectories of a work process to be carried out automatically by a robot (1) after the teaching-in.
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
44.
METHOD FOR ASSIGNNG AN EMERGENCY-STOP FUNCTIONALITY, AND AUTOMATION SYSTEM
A method and an automation system for assigning an emergency-stop device to at least one robot system that includes at least one robot and/or machine, wherein the assigned robot system is stopped upon actuation of the emergency-stop device. The assignment of the emergency-stop device can be removed from a first assigned robot system and assigned to a second robot system, e.g., if the emergency-stop device is moved between the robot systems (hand-held operating apparatus vehicle. In the method, the emergency-stop device is assigned to a selected range of effectiveness of a robot system, and the emergency-stop device is integrated into the relevant safety circuit of that robot system which is within the selected range of effectiveness.
B23Q 15/007 - Commande automatique ou régulation du mouvement d'avance, de la vitesse de coupe ou de la position tant de l'outil que de la pièce pendant l'action de l'outil sur la pièce
A modular robot-operated handheld device includes a safety base control device arranged in a housing with an emergency-stop trigger and an approval device, as well as a first mechanical coupling formed on one end wall of the housing. A second mechanical coupling, identical to the first mechanical coupling is formed on the other end wall of the housing in such a way that a connection module to be mechanically coupled to the modular robot-operated handheld device can be optionally coupled to the first mechanical coupling on the right-hand side of the modular robot-operated handheld device, or to the second mechanical coupling on the left-hand side of the modular robot-operated handheld device. Associated connection modules can be optionally coupled to the modular robot-operated handheld device.
The invention relates to a method having the steps of: providing (S10; S60) digital signal data which is based on the time curve of at least one state variable of a process, and generating (S20; S70) at least one digital image which is an image of the provided signal data. In one embodiment, the method has the step of: ascertaining (S80, S90) an analysis result using an image processing of the generated digital image. In one embodiment, the method has the step of: configuring (S30, S50) at least one parameter of an image processing and/or a detection of at least one event in the process and/or an evaluation of the course of the process and/or the result of the process in order to ascertain an analysis result using an image processing on the basis of the generated digital image. The invention additionally relates to a system or a computer program (product).
A control housing system includes at least one control sub-housing having at least one housing rear wall, which supports at least one electrical connector; a slide-in module support; and an interface chamber, which is mechanically connected to the slide-in module support and which has at least one cable feedthrough device. When the control sub-housing is in a position coupled to the slide-in module support, the at least one electrical connector is connected to a corresponding mating electrical connector of the interface chamber. The housing rear wall of the control sub-housing is seated sealingly against a peripheral seal device of a coupling wall of the interface chamber.
H01R 13/629 - Moyens additionnels pour faciliter l'engagement ou la séparation des pièces de couplage, p. ex. moyens pour aligner ou guider, leviers, pression de gaz
48.
Annular Heat Sink, Electric Motor, and Drive Arrangement with an Annular Heat Sink
An annular heat sink for fastening to an outer shell wall of a heat-emitting electric motor includes at least one guide wall portion which is arranged on the annular heat sink and covers portions of at least one flow duct, delimited laterally by peripheral cooling fins, from the outside, in such a way that an air flow which has entered into a flow duct in a first region of a side of the annular heat sink which faces the incoming air is deflected into a second region of a side of the annular heat sink which faces away from the incoming air. The heat sink may be used in an electric motor, which may in turn be used in a drive arrangement.
H02K 9/22 - Dispositions de refroidissement ou de ventilation par un matériau solide conducteur de la chaleur s'encastrant dans, ou mis en contact avec, le stator ou le rotor, p. ex. des ponts de chaleur
H02K 5/18 - Enveloppes ou enceintes caractérisées par leur configuration, leur forme ou leur construction avec des nervures ou des ailettes pour améliorer la transmission de la chaleur
The invention relates to a method for planning a path of a robot, comprising the following steps: providing (S100) alternative target poses of the robot; providing (S100) environmental data, which specify a geometry of an environment of the robot; evaluating (S110) the alternative target poses with the help of a machine-learned forecast for a collision-free path for the respective target pose on the basis of this environmental data; selecting (S110) one of the alternative target poses on the basis of this evaluation as a target pose candidate; and carrying out (S120, S130) path planning on the basis of this target pose candidate. A method for machine learning of the forecast comprises the following steps: specifying (S10) alternative learning poses of the robot; providing (S10), in particular alternative, environmental learning data, which specify a geometry of an environment of the robot; carrying out (S20, S30) path planning on the basis of these learning poses and environment learning data; and machine learning (S60) of the forecast on the basis of the learning poses, environmental learning data and results of the path planning. The invention also relates to a system and to a computer program (product).
The invention relates to a method for calibrating a light section sensor (1) with respect to one member (2) of a robot kinematics system (4) which can be controlled by a robot control device (3) and has a plurality of members (2) and joints (5) which adjustably connect the members (2) to each other, wherein the light section sensor (1) is fastened to the one member (2). The method comprises, amongst other things, automatically moving the light section sensor (1) in a first vertical position along a first section, which is parallel to the first line feature (L1), in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8), automatically moving the light section sensor (1) along a second section, which is parallel to the first line feature (L1) and is different from the first section, in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8), and automatically moving the light section sensor (1) in a second vertical position, which is different from the first vertical position, along a third section, which is parallel to the first line feature (L1) and is different from the first section and the second section, in the direction of the second line feature (L2) of the calibration object (8) until the projected line (10) hits the second line feature (L2) of the calibration object (8). The invention also relates to an associated robot system (6).
The invention relates to a robot system (6) for automatically opening and closing a container (7). The robot system (6) comprises, inter alia, a gripper (5) which is fastened to a tool flange (4) of a robot arm (2) such that the gripper (5) is automatically movable along a programmed movement path by a robot controller (3), on which the programmed movement path is stored in a robot program, setting the envisaged joint configuration in question at the robot arm (2), and which gripper has a first gripping tool (5.1) for automatically moving a container upper part (7.2) between its closed position and its open position, and at least one second gripping tool (5.2) for automatically moving a latching tab (8.1, 8.2) of the container (7) between its locking position and its release position.
A method (100) for determining a robotic gripper path for a robotic gripper, the method (100) including a step of determining (S10) robotic gripper path data and varying a gripping pose, the robotic gripper path data describing a robotic gripper path containing the gripping pose, based on a determined success probability for the gripping pose.
A method for controlling and/or monitoring a robot application includes determining a time series of first output data values on the basis of a time series of first input data values, a time series of second input data values, a time series of property changes of the first input data values and property changes of the second input data values relative to one another, and a predefined first link of the first and second input data values with the output data values that includes a predefined temporal target sequence of property changes of the first input data values and property changes of the second input data values relative to one another. The method further includes controlling and/or monitoring the robot application on the basis of the determined first output data values.
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'un programme sous forme numérique 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
54.
TRANSFER OF OBJECTS HELD BY ROBOTS FROM RECEIVING POSES TO TARGET POSES
The invention relates to a method having the steps of: ascertaining (S60) a predicted result for an attempt to transfer an object (41, 42,..., 45) which is held by a robot (10) from a receiving pose to a target pose of the transfer attempt on the basis of gripping data based on a gripping process for gripping the object in the receiving pose by means of the robot and at least one of the two steps of: providing (S50) the gripping data and/or controlling and/or monitoring (S70) the transfer attempt on the basis of the ascertained predicted result. The invention additionally relates to a system or computer program (product).
The invention relates to a method for determining a space which can be used by or is blocked for a robot, comprising the following steps: moving (S30) the robot into different robot poses; and determining (S40) the space such that a space which can be used by the robot is extended on the basis of these robot poses or a space which is blocked for the robot is reduced on the basis of these robot poses. The invention also relates to a system and to a computer program (product).
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 operating, in particular controlling and/or monitoring, a machine, in particular a robot includes: a) determining learning error values on the basis of model values, which are determined by a first model and a second model on the basis of machine state values, and on the basis of reference values of the machine; b) filtering the determined learning error values with a first filter and calibrating the first model on the basis of the filtered learning error values; c) filtering the determined learning error values with a second filter and calibrating the second model on the basis of the learning error values filtered by the second filter; and d) operating, in particular controlling and/or monitoring, the machine on the basis of model values determined by the calibrated first model and the calibrated second model on the basis of machine state values.
A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly: —commanding a target pose of a reference of the telerobotic robot, said reference being fixed to the robot, on the basis of a detected position of the actuator; and —commanding a target force of the actuator; wherein a contact operating mode is carried out if a contact is ascertained between the reference fixed to the robot and an obstacle in a contact direction, and a non-contact operating mode is carried out after said contact is no longer ascertained and/or before said contact is ascertained. In the contact operating mode, the target force has a contact force component of a virtual spring, said contact force component simulating a contact between the reference fixed to the robot and an obstacle, and the contact force component is omitted in the non-contact operating mode.
A method for generating a robot program for a robot includes generating a robot program for traversing a robot path, the program having a plurality of movement sets for specifying the path, at least one of which has a specified target pose of a reference of the robot. At least one of the movement sets is a grinding set for which a grinding pose as a virtual starting pose for a successive movement set, an approach to a path section specified by the successive movement set, and an approach from a path section specified by a preceding movement set can be parameterized. A robot path may be traversed by a robot by executing the generated robot program.
A method for carrying out a robot application includes controlling the robot to: carry out a transfer movement in a set-up operation, in which the robot speed reaches a set-up transfer movement top speed; carry out a process movement in the set-up operation, in which the robot speed reaches a set-up process movement top speed; carry out the transfer movement in an automatic operation, in which the robot speed reaches an automatic transfer movement top speed; and carry out the process movement in the automatic operation, in which the robot speed reaches an automatic process movement top speed.
A method for controlling a telerobotic robot using an input device which has a movable actuator includes repeatedly:
commanding a target pose of the telerobotic robot on the basis of a detected position of the actuator; and
commanding a target force of the actuator;
wherein at least one virtual border is specified between a permissible and an impermissible region for the telerobotic robot, and the target force includes a restoring force component starting from said border, the restoring force component counteracting an actuation of the actuator for commanding a movement of the telerobotic robot away from the border in the direction of the impermissible region.
A method for positioning a self-piercing-rivet setting tool using a robot includes commanding a robot to position a self-piercing-rivet setting tool in a riveting pose at at least two workpieces joined, and commanding the tool to set a rivet to join the workpieces. During self-piercing riveting, the robot is commanded to change the pose of the tool to at least partially compensate for an elastic deformation induced by the self-piercing rivet. The method may additionally or alternatively include commanding the robot to position the tool in a riveting pose, commanding a self-piercing-rivet movement of the tool with or without setting of a rivet, and manually or sensor-based detecting a change in pose of a die of the tool or of a test element as a result of the self-piercing-rivet movement. The self-piercing-rivet setting tool may be checked and/or a deformation model may be calibrated based on the detected change in pose.
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'un programme sous forme numérique 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
The invention relates to a connection device (7) for connecting a member (2) of a robot arm (1) to a joint body (5) of the robot arm (1), having a connection ring (9) which is connected to an outer cladding wall (3) of a member (2) and which has multiple receiving areas (10) distributed uniformly over the circumference, each said receiving area being designed to receive a respective engagement element (8) of a joint support ring (6) in a form-fitting manner in order to connect the member (2) to the joint body (5) when the connection ring (9) is connected to the joint support ring (6) in that the engagement elements (8) of the joint support ring (6) engage into the receiving areas (10) of the connection ring (9) in a form-fitting manner. The invention additionally relates to a corresponding robot arm (1).
A method for operating a robot (10) which guides a gripper (2) comprises the steps of: determining (S10) a pose of the gripper on the basis of a position of the robot, determining (S20; S40) at least one virtual boundary contour (S; G) in an image of at least part of the gripper in the surroundings of the gripper on the basis of the determined pose; classifying (S30; S50) data of the image on the basis of the determined at least one boundary contour, determining (S60) a pose of a load (3), held by the gripper, on the basis of the classified data; and controlling (S70) the robot and/or the gripper on the basis of the determined pose of the load.
The invention relates to a method (20) for automatically extracting features and/or assigning features, having the steps of: capturing (S10) an image with the perspective of a scene (10) comprising at least one object (5) by means of a capturing device (4): ascertaining (S40) a descriptor image on the basis of the captured image; and ascertaining (S50) at least one feature (M1, M2, M3) of the at least one object (5) on the basis of the ascertained descriptor image.
A method for calibrating a controller (3) for controlling a robot arm (10) and/or a gripper (20, 21, 22) guided by the robot arm comprises the steps of: recording (S20) a first image of the robot-guided gripper given a first actual robot arm position of the robot arm and a first actual finger position of a first finger (21) of the gripper relative to a base (20) of the gripper using a recording device (4); determining (S30) a first actual pose of the first finger on the basis of this first image; determining (S40) a first target pose of the first finger for this first actual finger position and this first actual robot arm position; and calibrating (S80) the controller on the basis of this determined first actual pose and first target pose of the first finger.
A method (20) for operating a gripping robot (2, 3), wherein at least one object (5, 9) to be gripped is at least partially located in packaging material (8) and/or is at least partially covered by the latter, in particular in a container (6) with packaging material (8), wherein the method (20) comprises: determining (S10) scene data of a scene by means of a camera (4), wherein the scene data describe depth information and colour information of a scene (10); determining (S12) classification data by classifying the scene data, wherein the classification data describe an association with packaging material (8); determining (S14) a collision object by filtering, in particular segmenting, the scene data on the basis of the classification data; determining (S16) grip position data and/or motion data on the basis of the collision object, wherein the grip position data describe at least one grip position (11, 11') of the gripping robot (2, 3) on at least one object (5, 9) to be gripped, and wherein the motion data describe at least one motion path for at least part of the gripping robot (2, 3).
The invention relates to an input device (4) for actuating a robot (15), comprising a latching device (10) which is configured to allow the actuating button (7) to latch selectively in one of a plurality of discrete latching angle positions depending on its rotary angle position when the actuating button (7) is situated in its first vertical position (H1), and to mount the actuating button (7) in a spring-preloaded manner so as to move back into a basic angle position, with the result that the actuating button (7) can be deflected manually in a first rotational direction by a first angular magnitude and/or in an opposite second rotational direction by a second angular magnitude out of the basic angle position counter to its spring preload and, after the actuating button (7) is released manually, the actuating button (7) returns automatically into its basic angle position on account of its restoring spring preload when the actuating button (7) is situated in its second vertical position (H2).
B25J 13/02 - Moyens de commande à préhension manuelle
B25J 13/06 - Postes de commande, p. ex. pupitres, tableaux de contrôle
G05G 5/05 - Moyens pour faire revenir ou tendant à faire revenir les organes de commande vers une position de repos ou une position neutre, p. ex. en prévoyant des ressorts de retour ou des butées de fin de course élastiques
G05G 5/06 - Moyens pour empêcher, limiter ou inverser le mouvement de certaines pièces d'un mécanisme de commande, p. ex. verrouillage des organes de commande pour maintenir les organes de commande, seulement sur une ou sur un nombre limité de positions définies
G05G 1/02 - Organes de commande actionnés à la main par un mouvement linéaire, p. ex. boutons poussoirs
G05G 1/08 - Organes de commande actionnés à la main par un mouvement de rotation, p. ex. volants
A control device for controlling a machine or system includes a monitoring unit designed and configured to monitor the functional state of a second control unit such that, when the second control unit is in an activated functional state, by which the machine or system is put into a safe state, the monitoring unit connects at least one input means associated with the second control unit to a first control unit such that non-safety-relevant functions of the machine or system can be triggered by manual actuation of the input means, as long as the second control unit is in its activated functional state in which the input means is not connected to the machine or system as a proper safety switching means.
The invention relates to a handheld device (100; 200) which has a housing, a sensor apparatus which is arranged on the housing and has at least one sensor for sensing a manipulation of the handheld device, and an evaluation apparatus arranged on the housing for initiating a manipulation response as a result of a manipulation sensed with the aid of the manipulation apparatus, wherein the handheld device is a hand-held operating device for operating a robot (10) and/or the handheld device has at least one energy store, arranged on the housing, for supplying the evaluation apparatus with electrical energy and/or the sensor has a sliding arrangement with at least one sliding track and at least one sliding contact for producing an electrical contact to said sliding track in a variably adjustable position, wherein a value, determined by the position, of an electrical characteristic value of the sliding arrangement is stored and/or the sliding arrangement is designed such that this position is lost as a result of a manipulation. Furthermore, the invention relates to a system comprising the handheld device and to a method for producing or operating the handheld device.
A method for automatic optimization of parameters for a robot-assisted gripping operation, comprising determining of gripping real data, wherein the gripping real data describe at least one gripping success of a grip position on an object gripped by way of a gripping robot; and/or determining holding real data, wherein the holding real data describe at least one parameter which is linked to a gripping operation, in particular grip, in particular a force on the object gripped by way of a gripping robot; simulating, in particular replicating, at least one gripping operation, in particular grip, in a simulation environment based on the gripping operation, in particular grip, which forms the basis of the determined gripping real data and/or the determined holding data; data-based optimizing of parameters, in particular optimizing of the parameters based on the determined gripping real data and/or based on the determined holding real data, in order to determine optimized parameters.
A method and a system for automatically securing the operation of a robot system and corresponding components of the system, wherein operation is controlled by a mobile operating device. The robot system receives presence signals transmitted from a mobile operating device via a short-range first signal connection and an operating signal transmitted via a second signal connection designed to be independent of the first signal connection. The operating signal contains a safety-relevant control command for the robot system. The control command is released for execution by the robot system only if a presence check has ascertained that the last received presence signal satisfies a presence criterion specified with respect to the determination of a spatial proximity of the operating device to the robot system. A configuration signal derived from the result of the presence check is transmitted back to the operating device for configuration based on the result.
B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
G05B 19/409 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par l'utilisation de l'entrée manuelle des données [MDI] ou par l'utilisation d'un panneau de commande, p. ex. commande de fonctions avec le panneauCommande 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'un programme sous forme numérique caractérisée par les détails du panneau de commande ou par la fixation de paramètres
The invention relates to a method for controlling a robot (1), having the steps of: moving (S10) the robot, detecting (S20) a collision of the robot, and carrying out (S30) an emergency operating mode of the robot as a result of the detected collision, wherein in the emergency operating mode, the robot is controlled such that the robot can be moved by means of a manual guiding force exerted manually onto the robot and in the process is virtually fixed on a manual guiding path for control purposes, said manual guiding path having a trajectory which is at at least partly traversed by the robot up to the detected collision.
The invention relates to a method for calibrating a robot arm with the aid of a measuring device that has a first calibration element and a calibration element which is fixed to the robot arm and which can be moved relative to the first calibration element by adjusting joints of the robot arm, wherein the first calibration element and the calibration element fixed to the robot arm are designed such that in the event of a displacement of the calibration element fixed to the robot arm relative to the first calibration element in an advance direction, the calibration element fixed to the robot arm is guided by the first calibration element from various starting positions to the same defined end position, said method comprising the following steps: positioning (S10) the calibration element fixed to the robot arm relative to the first calibration element in one of the starting positions; moving (S20), in a force-controlled manner, the calibration element fixed to the robot arm relative to the first calibration element in the advance direction with the aid of the robot arm, wherein during this movement the calibration element fixed to the robot arm is guided by the first calibration element to the end position and thereat the robot has a calibration setting; detecting (S30) joint settings of the robot arm in the calibration setting; and calibrating (S110) the robot arm on the basis of these joint settings.
A method for planning a path of a driverless mobile robot for approaching a second pose specified in a second reference system, from a first pose specified in a first reference system, includes transforming one of the first or second poses into a common reference system, in which the other of the first and second pose is also described, and planning a transition path from the first pose to the second pose in the common reference system on the basis of the first and second pose described in the common reference system.
The invention relates to a connecting device (1) for the mechanically interlocking connection of a first object to a second object, having an unlocking means (10), which is arranged on a counter-coupling means (3) and is designed to respond to a relative turning of a coupling means (2) and a counter-coupling means (3) about the axis of rotation parallel to the plugging direction (S) by moving a locking element (8) of the coupling means (2) in a predetermined relative rotational-angle setting region of the coupling means (2) and the counter-coupling means (3) out of its locking position into an unlocking position, in which the locking element (8) of the coupling means (2) and the counter-locking element (9) of the counter-coupling means (3) are disengaged, and so the coupling means (2) and the counter-coupling means (3) can be separated from each other counter to the plugging direction (S). The invention also relates to an associated system with such a connecting device (1).
A method for robot-path planning comprises the steps of: dividing (S10) the application into at least two successive phases; specifying (S20) constraints for these phases; assigning (S30) priorities to the constraints; planning (S40) a partial path for carrying out the phase for which the constraint assigned the higher priority has been specified, while taking this constraint into account; subsequently (S50) planning a partial path for carrying out the phase for which the constraint assigned the lower priority has been specified, while taking this constraint into account and on the basis of the planned partial path; and planning (S70) the path of the robot, the planned partial paths being joined together in a transitional region and these joined partial paths forming the path of the robot or part of this path.
The invention relates to a line protector ring (1) for a power supply line (17) on a robot arm (5), having at least one first part-shell (6.1) and at least one second part-shell (6.2), wherein the part-shells (6.1, 6.2), when assembled, complement each other to form a first ring body (7.1) of the line protector ring (6), which first annular body (7.1) has an inner casing wall (7a), which circumferentially surrounds the power supply line (17) when the line protector ring (6) is arranged in its installed position on the power supply line (17), wherein the first ring body (7) has a circumferential seat surface (7b), which is arranged on its outer casing wall and on which an integral, circumferentially closed second ring body (7.2) is mounted.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H02G 11/00 - Installations de câbles ou de lignes électriques entre deux pièces en mouvement relatif
F16L 57/06 - Protection des tuyaux ou d'objets de forme similaire contre les dommages ou les usures internes ou externes contre l'usure
A method for teleoperation of a slave system, comprising detecting control data of a master system, wherein the control data of the master system describe at least one parameter of a control system; detecting a relative change in position of the master system on the basis of the control data of the master system; detecting a relative rotation of the master system on the basis of the control data of the master system; determining scaling of the relative rotation and/or scaling of the relative change in position of the master system on the basis of the control data of the master system; determining a rotation of the slave system on the basis of the scaling of the relative rotation of the master system; determining a position of the slave system on the basis of the relative change in position of the master system; and controlling the slave system on the basis of the determined rotation and the determined position of the slave system.
A robot arm includes a plurality of links and a plurality of joints connecting the links for adjustment relative to one another. At least a first link has a first bearing pin, a second bearing pin located opposite the first bearing pin, and a second link connected in an articulated manner to the first link by one of the joints has a first bearing flange on which the first bearing pin of the first link is rotatably mounted, and has a second bearing flange on which the second bearing pin of the first is rotatably mounted. The first bearing flange of the second link has a circumferentially closed recess in which the first bearing pin of the first link is received, and the second bearing flange of the second link has a circumferentially open recess in which the second bearing pin of the first link is received. An opening in the circumferentially open recess has an opening width that is greater than the width of the second bearing pin of the first link, and the second bearing flange has securing structure with which the second bearing of the first link is secured to the circumferentially open recess of the second bearing flange.
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
To operate a robot (1) having a plurality of joints (11, 12, 15), during a movement of the robot effected by joint drives (12.1), for two or more, in particular all, joints, in each case based on at least one sensor value, a current one-dimensional or multi-dimensional load variable value for the respective joint is determined (S10) and, based on this current load variable value and a one-dimensional or multi-dimensional predetermined limit value for the respective joint, a one-dimensional or multi-dimensional load value for the respective joint is determined (S20), wherein, based on the load values, an action of the robot is carried out to reduce one or more components of these load values and/or, based on the load values, a load situation of the robot is signalled and/or stored.
A mobile health system and method for performing health tests and for acquiring health-related personal data by a computer network and resources connected in the computer network. Communication means of the network include a health database having a database management system, a personal database, a plurality of mobile health test systems each having at least one automatically controllable robot that is designed and configured to perform a health-related test method, and a test system controller which is connected to the computer network via a first communication means. A plurality of terminals are connected to the computer network via second communication means.
G01N 35/00 - Analyse automatique non limitée à des procédés ou à des matériaux spécifiés dans un seul des groupes Manipulation de matériaux à cet effet
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 10/40 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données relatives aux analyses de laboratoire, p. ex. pour des analyses d’échantillon de patient
G16H 50/80 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la détection, le suivi ou la modélisation d’épidémies ou des pandémies, p. ex. de la grippe
A61B 10/00 - Instruments pour le prélèvement d'échantillons corporels à des fins de diagnostic Autres procédés ou instruments pour le diagnostic, p. ex. pour le diagnostic de vaccination ou la détermination du sexe ou de la période d'ovulationInstruments pour gratter la gorge
A61L 2/24 - Appareils utilisant des opérations programmées ou automatiques
A61L 2/22 - Procédés ou appareils de désinfection ou de stérilisation de matériaux ou d'objets autres que les denrées alimentaires ou les lentilles de contactAccessoires à cet effet utilisant des substances chimiques des substances à phases, p. ex. des fumées, des aérosols
The invention relates to a method for gripping with 6 degrees of freedom, in particular for gripping, and setting down, using a gripper system, wherein the gripper system comprises at least one fixed depth camera and at least one gripper device, and wherein the method comprises: detecting image data of a scene using the at least one depth camera; determining a depth image based on the image data; determining a 6D pose of the at least one known object based on the depth image; determining a CAD object representation based on the determined 6D pose of the at least one known object and known CAD data of the at least one known object; and determining a gripping probability based on the depth image and the CAD object representation.
A method (100) for assessing and/or monitoring a process and/or a multi-axis machine (1), wherein the method comprises: recording (S10) at least one data time series (Zi), wherein the at least one data time series (Zi) comprises at least one channel describing at least one parameter of the process and/or of the multi-axis machine (1), and wherein the data time series (Zi) is caused by the process; determining (S20) an interpretable result by means of a machine learning algorithm based on the at least one data time series (Zi), wherein the result describes a classification value of a state in the process and/or of a state of the multi-axis machine (1); wherein a warning is output (S30) when determining the result if the classification value of the state in the process and/or of the state of the multi-axis machine (1) is assigned to a value of an error class that is in a warning range or corresponds to a warning range and an all-clear signal is output (S30) if the classification value of the state in the process and/or of the state of the multi-axis machine (1) is assigned to a value of an error class that is in an all-clear range or corresponds to an all-clear range.
The invention relates to a drive module (1) for a cycloid drive, having: a cycloid disc (10) which can wobble eccentrically about a central axis and has a cycloid profile (25) on the edge of the cycloid disc, said profile being in engagement with an outer support (40) at a location; a central opening (6); at least three bearing holes (5); an inner support comprising at least three webs (8), wherein the bearing holes (5) receive the at least three webs (8) and couple the cycloid disc (10) to the inner support; and a direct drive which is designed to act magnetically on the cycloid disc (10) such that the cycloid disc (10) interacts with a magnetic field of the direct drive and is brought into a wobbling motion in a translational manner via the magnetic field. The output process of the drive module (1) is carried out via the outer or inner support.
H02K 41/06 - Moteurs roulants, c.-à-d. moteurs ayant l'axe du rotor parallèle à l'axe du stator et suivant un parcours circulaire du fait que le rotor roule à l'intérieur ou à l'extérieur du stator
F16H 1/32 - Transmissions à engrenages pour transmettre un mouvement rotatif avec engrenages à mouvement orbital dans lesquels l'axe central de la transmission est situé à l'intérieur de la périphérie d'un engrenage orbital
85.
SEAL FOR A RADIAL GAP BETWEEN TWO ELEMENTS OF A ROBOT ARM
The invention relates to a robot arm having at least two elements (11, 12), which are rotatably connected together relative to each other about a rotational axis (D) in a joint (13), and a seal assembly having a seal support (20), which is secured to one of the two elements, and an elastic seal (30), which is supported on the seal support and on the other element in order to seal a radial gap (S) between the two elements.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
A robot has a robotic arm, including a base with a base contact surface and an end-effector that is connected to the base by joints which can be adjusted by robotic arm joint drives such that the end-effector has at least five, and in particular at least six, actuated degrees of freedom with respect to the base. The robot further includes a robot joint module with a first contact surface that can be fastened—in particular, releasably—to the base contact surface, a second contact surface for fastening the robot to a stationary environment or mobile platform, and at least one robot joint module drive for pivoting the first contact surface relative to the second contact surface about a pivot axis, so that the end-effector has at least six, and in particular at least seven, actuated degrees of freedom with respect to the second contact surface, and in particular with respect to the stationary environment or mobile platform.
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
The invention relates to a gripper (13) for handling SMD component roll cassettes (10.1, 10.2) by means of a robotic arm (6) automatically controlled by a robot controller (5), when the robotic arm carries and manipulates the gripper (13) on a tool flange (15) of the robotic arm. The gripper (13) has a drive pinion (12), which is rotatably mounted on the gripper main body (16) and is designed to mesh with an output wheel (11.1, 11.2) of the SMD component roll cassette (10.1, 10.2) when the SMD component roll cassette (10.1, 10.2) is coupled to the gripper (13), and the gripper (13) has a drive motor (17), which is disposed on the gripper main body (16) and is designed to automatically drive the drive pinion (12). The invention also relates to an associated SMD component roll cassette (10.1, 10.2).
The invention relates to a method for automatically reloading SMD component rolls (3.1, 3.2) on SMD assembly machines (1), in which SMD component rolls (3.1, 3. 2) between an exchange magazine (2) of an SMD assembly machine (1) and a belt connector (7) are automatically handled by means of a robot arm (6) controlled by a robot controller (5) in a force/torque-controlled movement control mode of the robot arm (6).
The invention relates to a supporting device for a cable routing device (16) of a robot arm (3), wherein the cable routing device (16) has a receiving area (17), in which a cable portion (18.1) is supported so as to be extendable in an extension direction (A), for supporting the cable routing device (16) on the robot arm (3), said supporting device comprising: a first connection body (25.1) which is designed to rigidly connect the first connection body (25.1) of the supporting device (20) to a cable routing device (16); a second connection body (25.2) which is designed to rigidly connect the second connection body (25.2) of the supporting device (20) to an element (G1-G7) of a robot arm (3); and a support arrangement (26) which is designed to guide the first connection body (25.1) for rotation relative to the second connection body (25.2) in a first rotational degree of freedom (D1) which is perpendicular to the extension direction (A) and, in accordance with the movement of the first connection body (25.1) about the first rotational degree of freedom (D1), to constrainedly support the first connection body in a second rotational degree of freedom (D2) which is both perpendicular to the extension direction (A) and perpendicular to the first rotational degree of freedom (D1).
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
90.
EXECUTION OF A ROBOT APPLICATION AND CREATION OF A PROGRAM THEREFOR
The invention relates to a method for creating a program for carrying out a robot application which comprises a plurality of actions of a first robot (1), said method comprising the steps of: detecting (S10) programming inputs for programming these actions of the first robot; and creating (S20) the program on the basis of these detected programming inputs; wherein, to create the program for different robots, in particular by a context, input names are uniformly specified and the programming inputs are interpreted on the basis of the input name used by the particular programming input and the content determined for these used input names by the particular programming input, in particular by means of JSON-LD; and/or at least one of the programming inputs comprises at least one specification of a coordinate space, a specification of a control method of the first robot, a specification of a path of the first robot, a specification of a pose of the first robot, a specification of a tool action of the first robot, and/or a specification of a sensor type and/or action of the first robot.
The invention relates to a robot add-on part (20), comprising: a coupling means (23) which is arranged on the housing (26), can be connected in a form-fitting manner and is designed for releasable attachment to at least one counter-coupling means (24) on an outer surface of a member (G1-G7) of a robot (1); at least one control component (27) which is arranged on the housing (26) or in the housing (26) and comprises a data store (25) in which physical data relating to the robot add-on part (20) is stored; and a control interface (28) which is designed and configured to transmit the physical data relating to the robot add-on part (20) present in the data store (25) to a control device (2) of the robot (1) when the robot add-on part (20) is attached to the member (G1-G7) of the robot (1). The invention further relates to an associated control device (2), to a robot (1) and to a corresponding method.
G05B 19/423 - Apprentissage de positions successives par guidage, c.-à-d. la tête porte-outil ou l'effecteur de bout de bras étant saisis et guidés, avec ou sans assistance par servo-moteur, pour suivre un contour
A method for monitoring during a robot-assisted first or second process-includes (a.1) detecting process data; and (a.2) performing a model-based assessment with the aid of a machine-learned model on the basis of the detected process data; wherein, if the model-based assessment satisfies an examination criterion, in particular depending on an external confirmation: (b.1) performing a test assessment with the aid of a testing authority; and (b.2) training the machine-learned model further on the basis of the test assessment; and then, for the first process optionally performed again: (c.1) detecting process data; (c.2) performing the model-based assessment with the aid of the further trained model on the basis of the detected process data; and (c.3) monitoring during the first process is performed on the basis of this assessment.
A method for handling a load arrangement with a robot includes:
activating a lifting state of a gripper of the robot for load lifting;
determining a parameter of a time profile of a load arrangement-dependent force variable using at least one sensor of the robot during a movement of the lifted load arrangement;
classifying a load arrangement lifted by the gripper using a machine-learned model on the basis of the determined parameter, in particular during a movement of the lifted load arrangement and/or over the pick-up area in which the load arrangement has been situated for lifting, in particular a pick-up area of a pick-up station and/or over or in a pick-up container; and at least one of the steps of:
carrying out a first process with the robot if the load arrangement has been classified into a first class; and/or
carrying out a second process with the robot if the load arrangement has been classified into a second class.
The invention relates to a robot arm (1) comprising: a plurality of configuration joints (3) which determine the configuration of the robot arm (1); a base stand (2); a carousel (4) which is mounted on the base stand (2) so as to be rotatable about a first axis of rotation (D1) by means of a first joint (3.1) of the configuration joints (3); a rocker (5) which is mounted on the carousel (4) so as to be pivotable about a second axis of rotation (D2) by means of a second joint (3.2) of the configuration joints (3); and an arm boom (6) which is mounted on the rocker (5) so as to be pivotable about a third axis of rotation (D3) by means of a third joint (3.3) of the configuration joints (3), wherein: the rocker (5) has two mechanically separate rocker coupling rods (5.1, 5.2) designed for positioning the third joint (3.3) in the working space of the robot arm (1); the first rocker coupling rod (5.1) is pivotably mounted on the carousel (4) by means of a first base bearing (7.1) and the arm boom (6) is mounted on the first rocker coupling rod (5.1) by means of a first top bearing (8.1); the second rocker coupling rod (5.2) is pivotably mounted on the carousel (4) by means of a second base bearing (7.2) and the arm boom (6) is mounted on the second rocker coupling rod (5.2) by means of a second top bearing (8.2); the two rocker coupling rods (5.1, 5.2) are pivotably driven by a common drive device (9) of the robot arm (1), which common drive device (9) divides among the two rocker coupling rods (5.1, 5.2) the drive energy to be guided via the rocker (5) for positioning the third joint (3.3) in the working space, in order to move the arm boom (6) relative to the carousel (4).
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
The invention relates to a method for checking a safety configuration of a robot (1) comprising the following steps: determining (S20) or providing a computer-implemented, three-dimensional environment model; determining (S30) providing at least one protection region, working region and/or tool monitoring region of the robot of its distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the at least one protection region, working region and/or tool monitoring region r path using a visualisation device (2; 3) in an augmented reality for checking the at least one protection region, working region and/or tool monitoring region; and moving away from and/or towards at least one pose and/or at least one section of a provided path.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for ascertaining at least one border for operating a robot (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a first surroundings contour on the basis of said detected data; and ascertaining (S30) a first border of a first spatial area to be monitored on the basis of the ascertained first surroundings contour.
The invention relates to a method for planning a path (1), having the steps of: detecting (S10) data of real surroundings (6) of the robot using a detection device (5A; 5B), in particular a mobile detection device, in particular a portable detection device; ascertaining (S20) a computer-implemented three-dimensional surroundings model on the basis of the detected data, in particular using at least one approximation of features, in particular points, detected using the detection device; planning (S30) a first path of the robot on the basis of the surroundings model and a computer-implemented model of the robot such that a collision between the robot model and the surroundings model is prevented; and visualizing (S40) a virtual representation of the planned first path using a visualization device in an augmented reality.
The invention relates to a method for checking a predefined path of a robot (1), comprising the following steps: determining (S20) or providing a computer-implemented three-dimensional environment model; determining (S30) a distance between a computer-implemented model of the robot and the environment model for different sections of the path; and visualising (S40) a virtual representation of the path using a visualisation device (2; 3) in an augmented reality for checking the path, wherein, in this visualisation, a warning is output for a section of the path if the distance determined for this section falls within a predefined warning range, and an all-clear is output for a section of the path if the distance determined for this section falls within an all-clear range.
The invention relates to a method for controlling a telerobot (1) using an input device having a moveable control means (3), comprising the following steps: detecting (S10) an adjustment of the control means and an external load acting on the telerobot; determining (S20) a target adjustment of a reference (5) of the telerobot fixed to the robot based on the detected adjustment of the control means; detecting (S20) an actual adjustment of the reference fixed to the robot; and controlling (S40) drives (1.1-1.6) of the telerobot based on a difference between the actual and target adjustment; wherein a first operating mode is implemented if the detected load falls in a first range; and a second operating mode is implemented if the detected load falls in a second range; wherein, in the first operating mode, the drives of the telerobot are controlled in such a way that drive loads of the drives increase with an increase in a single- or multi-dimensional component of the difference, in order to reduce this component; and in the second operating mode, the drives of the telerobot are controlled in such a way that drive loads of the drives also increase with the same increase in this component of the difference, in order to reduce this component, however they increase less than in the first operating mode.
