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公开(公告)号：EP3371663A1
公开(公告)日：2018-09-12
申请号：EP16787892.5
申请日：2016-10-28
申请人： KEBA AG
IPC分类号： G05B19/042 , G05B9/02 , B25J19/06
CPC分类号： G05B19/0425 , B25J13/006 , B25J13/06 , B25J13/065 , B25J19/06 , G05B9/02 , G05B19/0423 , G05B2219/33192 , G05B2219/39384 , G05B2219/40197 , G05B2219/49137
摘要： The invention relates to a control system for electrically controlled installations, comprising at least one electronic control apparatus and at least one portable, mobile handheld operating unit, and a wireless communication connection between the at least one control apparatus and the handheld operating unit. Furthermore, at least one material coupling means, flexible in terms of form, with a restricted maximum longitudinal extent is provided for selectively establishing and releasing a physical link between the handheld operating unit and a machine-side coupling counterpart. The control system is embodied to release or block supervision-relevant control commands depending on a coupling state and/or a linkage state of the coupling means.
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公开(公告)号：EP3369536A1
公开(公告)日：2018-09-05
申请号：EP16859290.5
申请日：2016-10-25
发明人： MUNETO, Koji
IPC分类号： B25J19/06
CPC分类号： B25J19/063 , B25J9/1633 , B25J13/085 , B25J19/06 , G01L5/0052 , G01L5/226
摘要： A monitoring device of a robot system including: a robot including at least one joint axis and at least one servo motor which drives the joint axis, and a controller which controls the servo motor which drives the joint axis, the monitoring device comprising: a current sensor which detects a value of a current flowing through the servo motor; a current/torque converting section which converts the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section which estimates at least a part of driving torque required to drive the servo motor; a differential torque calculating section which calculates differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting section which converts the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates a stop signal for the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.
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公开(公告)号：EP3351356A1
公开(公告)日：2018-07-25
申请号：EP16845887.5
申请日：2016-08-24
IPC分类号： B25J19/06
摘要： Collision of a robot is detected by the following method. The robot includes a motor, a gear reducer connected to the motor, an encoder detecting a rotation of the motor, a temperature sensor installed to the encoder, and an object which is driven by the motor via the gear reducer. An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of the robot from a torque output to the gear reducer by the motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold. The predetermined collision detection threshold is set to a first value in a case where a temperature detected by the temperature sensor is less than a predetermined temperature threshold. The predetermined collision detection threshold is set to a second value less than the first value at a first time point at which the detected temperature is equal to or greater than the predetermined temperature threshold in a case where a maximum value of the collision torque estimation value is less than a first maximum value determination threshold in a period to the first time point from a second time point prior to the first time point by a predetermined length of time. The predetermined collision detection threshold is set to the first value at the first time point in a case where the maximum value of the collision torque estimation value is equal to or greater than the first maximum value determination threshold in the period.
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公开(公告)号：EP3248740B1
公开(公告)日：2018-07-11
申请号：EP17169710.5
申请日：2017-05-05
发明人： Frisk, Johan , Löfgren, Robin
CPC分类号： B25J9/1676 , B25J5/00 , B25J19/02 , B25J19/06 , F16P3/14 , G05B19/4061 , G05B2219/40201 , G05B2219/40219 , G05B2219/49141 , Y10S901/49
摘要： The present invention relates to an industrial robot system comprising a movable platform (1), an industrial robot (2) located on the movable platform, a sensor system comprising two sensors (4, 5) arranged to detect motions of an object within at least one safety zone (A, B) defined in relation to the sensors, and a safety control unit (7) configured to adjust the speed of the robot if a moving object is detected in the at least one safety zone. Each of the sensors is configured to detect motions within an angle of at least 90° in a horizontal plane. Each of the sensors (4, 5) are arranged so that their positions are adjustable in relation to the movable platform between a first position on or in close vicinity of the movable platform, and a second position located at a distance of a least 0.5 m from the movable platform (1).
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公开(公告)号：EP3342557A1
公开(公告)日：2018-07-04
申请号：EP16838716.5
申请日：2016-05-27
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system according to the present disclosure includes a master device configured to receive a manipulating instruction from an operator and transmit the received manipulating instruction as a manipulating input signal, a plurality of slave robots configured to operate according to the manipulating input signal transmitted from the master device, a management control device configured to manage operations of the plurality of slave robots, respectively, and an output device configured to output information transmitted from the management control device. The management control device determines a priority of transmitting the manipulating input signal from the master device to the slave robot among the plurality of slave robots that are in a standby state of the manipulating input signal, and transmits information related to the determined priority to the output device. Thus, the operator is able to efficiently transmit the manipulating input signal to the plurality of slave robots through the master device.
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公开(公告)号：EP3342541A1
公开(公告)日：2018-07-04
申请号：EP16838703.3
申请日：2016-05-27
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.
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公开(公告)号：EP3269999A1
公开(公告)日：2018-01-17
申请号：EP16197879.6
申请日：2016-11-09
摘要： An elastic actuator (2) is provided, which may include a position motor (21) and an electromagnetic spring (24). The position motor (21) may include a motor output shaft (211). The electromagnetic spring (24) may include a rotor (241), a stator (242) and a gear set (23). The stator (242) may drive the rotor (241) to rotate. The gear set (23) may include a first input shaft (231), a second input shaft (232) and an output shaft (233); the first input shaft (231) may connect to the motor output shaft (211), and the second input (232) may connect to the rotor (241). The power generated by the rotor (241) and the power generated by the position motor (21) may be outputted from the output shaft (233) after being coupled via the gear set (23).
摘要翻译： 提供弹性致动器（2），其可以包括位置电机（21）和电磁弹簧（24）。 位置马达（21）可以包括马达输出轴（211）。 电磁弹簧（24）可以包括转子（241），定子（242）和齿轮组（23）。 定子（242）可以驱动转子（241）旋转。 齿轮组（23）可以包括第一输入轴（231），第二输入轴（232）和输出轴（233）; 第一输入轴（231）可以连接到电动机输出轴（211），第二输入轴（232）可以连接到转子（241）。 由转子241产生的动力和由位置电动机21产生的动力可以在经由齿轮组23联接之后从输出轴233输出。
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公开(公告)号：EP3265275A1
公开(公告)日：2018-01-10
申请号：EP16708296.5
申请日：2016-02-18
发明人： WERNER, Jeffrey, Kyle , SALIMIAN, Alexander, Cyrus , BOLLINGER, Robert, Scott , GORDON, Robert, Paul , SWENSON, Keith, Andrew
CPC分类号： B25J19/063 , B25J9/1676 , B25J13/086 , B25J15/04 , G05B2219/40202
摘要： A safety device for a mechanical motion device and a method for protecting a person or object in the vicinity of a mechanical motion device are described herein. The safety device may include: a shroud; a coupling mechanism; and a detection device. The coupling mechanism joins the shroud in a displaceable manner to a mechanical motion device. The detection device is configured for communication with the safety control system of a mechanical motion device. The detection device is capable of detecting misalignment of the shroud from its initial aligned position and/or a collision between the shroud and a person or object. The detection device may send a signal to the safety control system of the mechanical motion device to at least slow the movement of the mechanical motion device before the mechanical motion device reaches the location of the collision of the shroud with an object or person.
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公开(公告)号：EP3264592A1
公开(公告)日：2018-01-03
申请号：EP16755048.2
申请日：2016-01-08
申请人： Sony Corporation
发明人： KAMIKAWA, Yasuhisa , FUKUSHIMA, Tetsuharu , KOKUBO, Wataru , TSUBOI, Toshimitsu , KURODA, Yohei , ARAI, Jun
CPC分类号： B25J9/102 , A61B34/00 , A61B34/70 , A61B90/00 , A61B90/25 , A61B90/35 , A61B90/50 , B25J19/023 , B25J19/06 , H02P29/00 , H02P29/40
摘要： [Object] To enable greater compactness and also to be capable of preventing breakdown more reliably.
[Solution] Provided is an actuator, including: a motor; and a reduction gear having a breakdown torque that is less than a starting torque of the motor. A limit value in accordance with the breakdown torque of the reduction gear is set with respect to a control value for driving the motor.摘要翻译： 为了实现更大的紧凑性并且能够更可靠地防止故障。 [解决方案]提供一种致动器，包括：电动机; 以及具有小于电动机的起动转矩的击穿转矩的减速齿轮。 根据驱动马达的控制值设定与减速机的故障转矩对应的限制值。
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公开(公告)号：EP3222394A2
公开(公告)日：2017-09-27
申请号：EP17162546.0
申请日：2017-03-23
发明人： Takeuchi, Junichi
CPC分类号： B25J13/085 , B25J13/084 , B25J19/02 , B25J19/063 , G01L5/226 , G01L5/228 , G05B2219/40201 , G05B2219/40202
摘要： A robot (1) includes a movable section (234), a first member (31) disposed in the movable section (234), a second member (32) configured to form a space (S) between the second member (32) and the first member (31), a third member (33) located between the first member (31) and the second member (32) and configured to restrain displacement of the second member (32) in a direction separating from the first member (31), and a pressure detecting section (34) configured to detect pressure in the space (S).
摘要翻译： 本发明提供一种机器人（1），其包括可动部（234），配置于可动部（234）的第一部件（31），配置于第二部件（32）与第二部件 所述第一部件31位于所述第一部件31与所述第二部件32之间，用于限制所述第二部件32向远离所述第一部件31的方向移位的第三部件33， ）以及构造成检测空间（S）中的压力的压力检测部（34）。
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